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readTopicMsgs

Read topic messages

Description

example

msgTable = readTopicMsgs(ulogOBJ) reads the data of all topic messages from the specified ulogreader object and returns a table that contains topic names, instance ID, start timestamp, last timestamp, topic messages, and message format for all available topics.

msgTable = readTopicMsgs(ulogOBJ,Name,Value) reads the data pertaining to the specified name-value pairs.

Example: readTopicMsgs(ulog,'TopicNames',{'vehicle_attitude'},'InstanceID',{0},'Time',[d1 d2])

Examples

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Load the ULOG file. Specify the relative path of the file.

ulog = ulogreader('flight.ulg');

Read all topic messages.

msg = readTopicMsgs(ulog);

Specify the time interval between which to select messages.

d1 = ulog.StartTime;
d2 = d1 + duration([0 0 55],'Format','hh:mm:ss.SSSSSS');

Read messages from the topic 'vehicle_attitude' with an instance ID of 0 in the time interval [d1 d2].

data = readTopicMsgs(ulog,'TopicNames',{'vehicle_attitude'}, ... 
'InstanceID',{0},'Time',[d1 d2]);

Extract topic messages for the topic.

vehicle_attitude = data.TopicMessages{1,1};

Read all system information.

systeminfo = readSystemInformation(ulog);

Read all initial parameter values.

params = readParameters(ulog);

Read all logged output messages.

loggedoutput = readLoggedOutput(ulog);

Read logged output messages in the time interval.

log = readLoggedOutput(ulog,'Time',[d1 d2]);

Input Arguments

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ULOG file reader, specified as a ulogreader object.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'Time',[d1 d2]

Topic names of the desired messages, specified as a cell array of character vectors or a string array.

Example: 'TopicNames',{'sensor_combined','actuator_outputs'} or 'TopicNames',["actuator_outputs","ekf2_timestamps"]

Instance ID of the topic of the desired messages, specified as a cell array of positive integer scalars or vectors. Specify this name-value pair along with its corresponding 'TopicNames' name-value pair.

Example: 'TopicNames',{'vehicle_attitude','actuator_outputs'},'InstanceID',{0,[0 1]}

Time interval between which to select messages, specified as a two-element vector of duration, or a double array. The duration array is specified in the 'hh:mm:ss.SSSSSS' format. The double array is specified in microseconds.

Example: 'Time',[d1 d2]

Output Arguments

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Topic messages information, returned as a table with the columns:

  • TopicNames

  • InstanceID

  • StartTimestamp

  • LastTimestamp

  • TopicMessages

  • MsgFormat

Introduced in R2020b