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plotUlog.m
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function plotUlogs(varargin)
% Inputs:
% arg1 - File name of .ulog file or Folder name of already created csv files location
% arg2 - Folder name description
%
% Example:
% plotUlogs("log001.ulg","Test1")
% plotUlogs("001_Test1\")
%
% Other m-files required: checkFile.m, findMax.m
% See also: plotAttitudeControl, plotAltitudeControl, plotPositionControl, plotPower, plotSensorData
% Author: Kyuhyong You
% Website: https://github.com/kyuhyong/plotulog
% Sep 2018;
% Revision: 2018/9/28
%------------- BEGIN CODE --------------
input_ulogFile = false;
input_folderName = false;
argnum = length(varargin);
arg1 = varargin{1};
% Check if first input argument is .ulg file
disp('arg1')
disp(argnum)
try
C=strsplit(arg1,'.');
if(C{2} =='ulg')
ulogFileName = varargin{1}
D = strsplit(ulogFileName,'.');
E =strsplit(D{1}, 'log');
input_ulogNum = E{2};
% Check if descriptive folder name supplied
if(argnum>1)
arg2 = varargin{2};
folderName = sprintf('%s_%s', input_ulogNum, arg2);
disp(folderName);
else
folderName = input_ulogNum
end
%if(~checkFile(ulogFileName)) return; end;
cmd = sprintf('mkdir %s', folderName);
disp(cmd);
if(system(cmd)==0)
cmd = sprintf('ulog2csv %s -o %s', ulogFileName, folderName);
disp('Covnerting ulg to csv...'); system(cmd);
else
disp('Folder exists')
end
folderName = sprintf('%s/',folderName);
end
catch
% First argument is folder name
folderName = arg1;
end
% Split folder name with leading number for searching file name
if(strfind(folderName,'_')>0)
F = strsplit(folderName,'_');
fnum = F{1};
else
F = strsplit(folderName,'/');
fnum = F{1};
end
disp(folderName);
fnames = dir('folderName');
fname_att = sprintf('%slog%s_vehicle_attitude_0.csv',folderName, fnum);
fname_att_sp = sprintf('%slog%s_vehicle_attitude_setpoint_0.csv',folderName, fnum);
fname_lp = sprintf('%slog%s_vehicle_local_position_0.csv',folderName, fnum);
fname_lp_sp = sprintf('%slog%s_vehicle_local_position_setpoint_0.csv',folderName, fnum);
fname_flow = sprintf('%slog%s_optical_flow_0.csv',folderName, fnum);
fname_sens = sprintf('%slog%s_sensor_combined_0.csv',folderName, fnum);
fname_debug_vect = sprintf('%slog%s_debug_vect_0.csv',folderName, fnum);
fname_dist = sprintf('%slog%s_distance_sensor_0.csv',folderName, fnum);
fname_input_rc = sprintf('%slog%s_input_rc_0.csv',folderName, fnum);
fname_power_sys = sprintf('%slog%s_system_power_0.csv',folderName, fnum);
fname_batt_sts = sprintf('%slog%s_battery_status_0.csv',folderName, fnum);
fname_air_data = sprintf('%slog%s_vehicle_air_data_0.csv',folderName, fnum);
fname_land_detect = sprintf('%slog%s_vehicle_land_detected_0.csv',folderName, fnum);
fname_v_status = sprintf('%slog%s_vehicle_status_0.csv',folderName, fnum);
%% Check files
data_att_avail = true; data_att_sp_avail = true; data_lp_avail = true; data_lp_sp_avail = true; data_dbg_vect_avail = true; data_flow_avail = true;
data_sensor_avail = true; data_distance_avail = true; data_input_rc_avail = true;
data_air_data_avail = true; data_land_detect_avail = true; data_v_status_avail = true;
data_pwr_sys_avail = true; data_batt_sts_avail = true;
if(~checkFile(fname_att)) data_att_avail = false; end;
if(~checkFile(fname_att_sp)) data_att_sp_avail = false; end;
if(~checkFile(fname_lp)) data_lp_avail = false; end;
if(~checkFile(fname_lp_sp)) data_lp_sp_avail = false; end;
if(~checkFile(fname_flow)) data_flow_avail = false; end;
if(~checkFile(fname_sens)) data_sensor_avail = false; end;
if(~checkFile(fname_debug_vect)) data_dbg_vect_avail = false; end;
if(~checkFile(fname_dist)) data_distance_avail = false; end;
if(~checkFile(fname_input_rc)) data_input_rc_avail = false; end;
if(~checkFile(fname_power_sys)) data_pwr_sys_avail = false; end;
if(~checkFile(fname_batt_sts)) data_batt_sts_avail = false; end;
if(~checkFile(fname_air_data)) data_air_data_avail = false; end;
if(~checkFile(fname_land_detect)) data_land_detect_avail = false; end;
if(~checkFile(fname_v_status)) data_v_status_avail = false; end;
%% If file is available, read data from the file. otherwise set data as zero
if(data_att_avail)
data_att = dlmread(fname_att,',',1,0);
time_att = data_att(:,1)/1000000;
att_rpy = [ data_att(:,2) data_att(:,3) data_att(:,4) ];
att_q = [data_att(:,5) data_att(:,6) data_att(:,7) data_att(:,8) ];
else time_att = 0; att_rpy = [0 0 0]; att_q = [0 0 0 0];
end
if(data_att_sp_avail)
data_att_sp = dlmread(fname_att_sp,',',1,0);
time_att_sp = data_att_sp(:,1)/1000000;
att_rpy_sp = [ data_att_sp(:,2) data_att_sp(:,3) data_att_sp(:,4) ];
att_sp_thrust = data_att_sp(:,10);
else time_att_sp = 0; att_rpy_sp = [0 0 0]; att_sp_thrust = 0;
end
if(data_lp_avail)
data_lp = dlmread(fname_lp,',',1,0);
time_lp = data_lp(:,1)/1000000;
lp_xyz = [ data_lp(:,5) data_lp(:,6) data_lp(:,7) ];
lp_Vxyz = [ data_lp(:,11) data_lp(:,12) data_lp(:,13)];
lp_yaw = data_lp(:,21); dist_z = data_lp(:,23); dist_vz = data_lp(:,24);
else
time_lp = 0; lp_xyz = [0 0 0]; lp_Vxyz = [0 0 0]; lp_yaw = 0; dist_vz = 0; dist_z = 0;
end;
if(data_lp_sp_avail)
data_lp_sp = dlmread(fname_lp_sp,',',1,0);
time_lp_sp = data_lp_sp(:,1)/1000000;
lp_sp_xyz = [ data_lp_sp(:,2) data_lp_sp(:,3) data_lp_sp(:,4) ];
lp_sp_Vxyz = [ data_lp_sp(:,7) data_lp_sp(:,8) data_lp_sp(:,9) ];
else time_lp_sp = 0; lp_sp_xyz = [ 0 0 0 ]; lp_sp_Vxyz = [ 0 0 0 ];
end;
data_sens = dlmread(fname_sens,',',1,0);
if(data_dbg_vect_avail)
data_dbg_vect = dlmread(fname_debug_vect,',',1,0);
time_dbg_vect = data_dbg_vect(:,1)/1000000;
dbg_vect_xyz = [ data_dbg_vect(:,3) data_dbg_vect(:,4) data_dbg_vect(:,5) ];
else time_dbg_vect = 0; dbg_vect_xyz=[0 0 0];
end;
if(data_flow_avail)
data_flow = dlmread(fname_flow,',',1,0);
time_flow = data_flow(:,1)/1000000; flow_int_xy = [ data_flow(:,2) data_flow(:,3) ];
else time_flow = 0; flow_int_xy = [ 0 0 ];
end;
if(data_sensor_avail)
time_sensor = data_sens(:,1)/1000000;
gyro_xyz =[ data_sens(:,2) data_sens(:,3) data_sens(:,4) ];
acc_xyz = [ data_sens(:,7) data_sens(:,8) data_sens(:,9) ];
else time_sensor = 0; gyro_xyz = [ 0 0 0 ]; acc_xyz = [ 0 0 0 ];
end
if(data_distance_avail)
data_distance = dlmread(fname_dist,',',1,0);
time_dist = data_distance(:,1)/1000000;
current_distance = data_distance(:,4);
else time_dist = 0; current_distance = 0;
end;
if(data_input_rc_avail)
data_input_rc = dlmread(fname_input_rc,',',1,0);
time_input_rc = data_input_rc(:,1)/1000000;
input_rc = [ data_input_rc(:,8) data_input_rc(:,9) data_input_rc(:,10) data_input_rc(:,11) data_input_rc(:,12) ];
else time_input_rc = 0; input_rc = [0 0 0 0 0];
end;
if(data_pwr_sys_avail)
data_pwr_sys = dlmread(fname_power_sys,',',1,0);
time_pwr_sys = data_pwr_sys(:,1)/1000000;
pwr_sys_5v = data_pwr_sys(:,2);
else time_pwr_sys = 0; pwr_sys_5v = 0;
end;
if(data_batt_sts_avail)
data_batt = dlmread(fname_batt_sts, ',',1,0);
time_batt = data_batt(:,1)/1000000;
batt_V = data_batt(:,2);
batt_curr = data_batt(:,4);
batt_disch_mah = data_batt(:,7);
else
time_batt = 0; batt_V = 0; batt_curr = 0; batt_disch_mah = 0;
end
if(data_air_data_avail)
data_air = dlmread(fname_air_data, ',',1,0);
time_air_data = data_air(:,1)/1000000; air_alt_meter = data_air(:,2); air_temp = data_air(:,3);
else
time_air_data = 0; air_alt_meter = 0; air_temp = 0;
end
if(data_land_detect_avail)
data_land_detect = dlmread(fname_land_detect, ',',1,0);
time_land_detect = data_land_detect(:,1)/1000000; land_detect = [ data_land_detect(:,3) data_land_detect(:,4) data_land_detect(:,5) data_land_detect(:,6) ];
else
time_land_detect = 0; land_detect = [0 0 0 0];
end
if(data_v_status_avail)
data_v_status = dlmread(fname_v_status, ',',1,0);
time_v_status = data_v_status(:,1)/1000000; v_status = [ data_v_status(:,5) data_v_status(:,6) data_v_status(:,7) data_v_status(:,8) ];
else
time_v_status = 0; v_status = [0 0 0 0];
end
%% Plot attitude control
plotAttitudeControl(time_att, att_rpy, att_q, ...
time_att_sp, att_rpy_sp, ...
time_input_rc, input_rc, ...
folderName);
%% Plot raw sensor data
plotSensorData(time_sensor, gyro_xyz, acc_xyz, folderName);
%% Plot for Z axis data
plotAltitudeControl(time_lp, lp_xyz(:,3), lp_Vxyz(:,3), dist_z, dist_vz, ...
time_lp_sp, lp_sp_xyz(:,3), lp_sp_Vxyz(:,3), ...
time_dist, current_distance, ...
time_input_rc, input_rc, ...
time_air_data, air_alt_meter, ...
time_land_detect, land_detect, ...
time_v_status, v_status, ...
folderName);
%% Plot for x, y, z axis data
plotPositionControl(time_lp, lp_xyz, lp_Vxyz, ...
time_lp_sp, lp_sp_xyz, lp_sp_Vxyz, ...
time_flow, flow_int_xy, ...
time_input_rc, input_rc, ...
time_v_status, v_status, ...
folderName);
%% Plot power source
%plotPower(time_pwr_sys, pwr_sys_5v, ...
% time_batt, batt_V, batt_curr, batt_disch_mah, ...
% folderName);
%endfunction
%------------- END OF CODE --------------