From 76634ef316004ef082c07ffef433cc26fc1759b7 Mon Sep 17 00:00:00 2001
From: Elias Rosendahl <elias.osendahl@fruuts.com>
Date: Wed, 30 Jul 2025 10:58:13 +0200
Subject: [PATCH] add python script for generate can_viwer_node

---
 .../ft_can_viewer/generate_can_viewer_node.py | 132 ++++++++++++++++++
 1 file changed, 132 insertions(+)
 create mode 100644 ros2_ws/src/ft_can_viewer/generate_can_viewer_node.py

diff --git a/ros2_ws/src/ft_can_viewer/generate_can_viewer_node.py b/ros2_ws/src/ft_can_viewer/generate_can_viewer_node.py
new file mode 100644
index 0000000..9535ccf
--- /dev/null
+++ b/ros2_ws/src/ft_can_viewer/generate_can_viewer_node.py
@@ -0,0 +1,132 @@
+import re
+
+dbc_path = "/workspaces/ft_analytics/ros2_ws/src/ft_can_transceiver_lib/dbc/can/CANdbcFT25/CAN1MainFT25.dbc"
+
+with open(dbc_path, "r") as f:
+    dbc_text = f.read()
+
+msg_pattern = re.compile(r'^BO_ \d+ (\w+):')
+sg_pattern = re.compile(r'^\s*SG_ (\w+)\s*:\s*\d+\|(\d+)')
+messages = []
+current = None
+
+for line in dbc_text.splitlines():
+    m = msg_pattern.match(line)
+    if m:
+        msg_name = m.group(1)
+        current = {"name": msg_name, "signals": []}
+        messages.append(current)
+    elif current:
+        sg = sg_pattern.match(line)
+        if sg:
+            current["signals"].append({
+                "name": sg.group(1),
+                "bit_length": int(sg.group(2))
+            })
+
+def get_topic(msg, sig):
+    return f"can/{msg}/{sig}"
+
+def publisher_map_type(bitlen):
+    return "bool_publishers_" if bitlen == 1 else "float_publishers_"
+
+def ros_msg_type(bitlen):
+    return "std_msgs::msg::Bool" if bitlen == 1 else "std_msgs::msg::Float32"
+
+def pub_map(bitlen):
+    return "bool_publishers_" if bitlen == 1 else "float_publishers_"
+
+def ros_data_type(bitlen):
+    return "d" if bitlen == 1 else "f"
+
+# --- HEADER ---
+header = '''#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float32.hpp>
+#include <std_msgs/msg/bool.hpp>
+#include </workspaces/ft_analytics/ros2_ws/src/ft_can_transceiver_lib/include/ft_can_transceiver_lib/transceiver.h>
+#include </workspaces/ft_analytics/ros2_ws/src/ft_can_transceiver_lib/include/ft_can_transceiver_lib/can1.h>
+
+class CanViewerNode : public rclcpp::Node {
+public:
+    CanViewerNode() : Node("can_viewer_node"), transceiver_("slcan0", {{}}) {
+'''
+
+# --- PUBLISHER INITIALISIERUNG ---
+publisher_init = []
+for msg in messages:
+    msg_lc = msg["name"].lower()
+    for sig in msg["signals"]:
+        topic = get_topic(msg_lc, sig["name"])
+        if sig["bit_length"] == 1:
+            publisher_init.append(f'        bool_publishers_["{sig["name"]}"] = this->create_publisher<std_msgs::msg::Bool>("{topic}", 10);')
+        else:
+            publisher_init.append(f'        float_publishers_["{sig["name"]}"] = this->create_publisher<std_msgs::msg::Float32>("{topic}", 10);')
+
+# --- CALLBACK BLOECKE ---
+callback_blocks = []
+for msg in messages:
+    msg_lc = msg["name"].lower()
+    struct_decoded = f"canlib::frame::decoded::can1::{msg_lc}_t"
+    struct_raw = f"can1_{msg_lc}_t"
+    block = []
+    block.append(f'        canlib::callback::can1::{msg_lc} = [this]({struct_raw} /*frame_raw*/, {struct_decoded} frame_decoded) {{')
+    for sig in msg["signals"]:
+        block.append(f'            {ros_msg_type(sig["bit_length"])} msg_{sig["name"].lower()};')
+    block.append("")
+    for sig in msg["signals"]:
+        block.append(f'            msg_{sig["name"].lower()}.data = frame_decoded.{sig["name"]};')
+    block.append("")
+    for sig in msg["signals"]:
+        block.append(f'            {pub_map(sig["bit_length"])}["{sig["name"]}"]->publish(msg_{sig["name"].lower()});')
+    block.append("")
+    log_parts = [f'{sig["name"]}=%{ros_data_type(sig["bit_length"])}' for sig in msg["signals"]]
+    log_vars = ', '.join([f'msg_{sig["name"].lower()}.data' for sig in msg["signals"]])
+    block.append(f'            RCLCPP_INFO(this->get_logger(), "{msg["name"]}: {" ".join(log_parts)}", {log_vars});')
+    block.append("        };")
+    callback_blocks.append("\n".join(block))
+
+# --- THREAD BLOCK ---
+thread_block = '''
+        // Empfangsthread starten
+        receiver_thread_ = std::thread([this]() {
+            while (rclcpp::ok()) {
+                transceiver_.receive();
+            }
+        });
+        receiver_thread_.detach();
+    }
+'''
+
+# --- PRIVATE ---
+private_block = '''
+private:
+    canlib::Transceiver transceiver_;
+    std::thread receiver_thread_;
+    std::map<std::string, rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr> bool_publishers_;
+    std::map<std::string, rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr> float_publishers_;
+};
+'''
+
+# --- MAIN ---
+main_block = '''
+int main(int argc, char * argv[]) {
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<CanViewerNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}
+'''
+
+# --- AUSGABE ---
+with open("ros2_ws/src/ft_can_viewer/test/can_viewer_node.cpp", "w") as f:
+    f.write(header)
+    f.write('\n'.join(publisher_init))
+    f.write("\n\n")
+    f.write('\n\n'.join(callback_blocks))
+    f.write(thread_block)
+    f.write(private_block)
+    f.write(main_block)
+
+print("COMPLETE! -> can_viewer_node.cpp")