add generated viewer node an update python script

launch.bash

@@ -1,4 +1,6 @@
 #!/bin/bash
-ros2 run ft_analytics can_viewer_node foxglove_bridge foxglove_bridge \
+ros2 run ft_analytics can_viewer_node
+
+ros2 run foxglove_bridge foxglove_bridge \
     --ros-args -p send_buffer_limit:=1000000000
 

ros2_ws/src/ft_can_viewer/generate_can_viewer_node.py

@@ -1,5 +1,11 @@
 import re
 
+def normalize_signal(name):
+    s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+    s2 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', s1)
+    s3 = s2.replace("__", "_")
+    return s3.lower()
+
 dbc_path = "/workspaces/ft_analytics/ros2_ws/src/ft_can_transceiver_lib/dbc/can/CANdbcFT25/CAN1MainFT25.dbc"
 
 with open(dbc_path, "r") as f:
@@ -13,14 +19,18 @@ current = None
 for line in dbc_text.splitlines():
     m = msg_pattern.match(line)
     if m:
-        msg_name = m.group(1)
+        msg_name = normalize_signal(m.group(1))
+        if msg_name == 'vector_independent_sig_msg' or msg_name == 'stw_param_set':
+            current = None
+            continue
         current = {"name": msg_name, "signals": []}
         messages.append(current)
     elif current:
         sg = sg_pattern.match(line)
         if sg:
+            sig_name = normalize_signal(sg.group(1))
             current["signals"].append({
-                "name": sg.group(1),
+                "name": sig_name,
                 "bit_length": int(sg.group(2))
             })
 
@@ -57,11 +67,11 @@ publisher_init = []
 for msg in messages:
     msg_lc = msg["name"].lower()
     for sig in msg["signals"]:
-        topic = get_topic(msg_lc, sig["name"])
+        topic = get_topic(msg_lc, sig["name"].lower())
         if sig["bit_length"] == 1:
-            publisher_init.append(f'        bool_publishers_["{sig["name"]}"] = this->create_publisher<std_msgs::msg::Bool>("{topic}", 10);')
+            publisher_init.append(f'        bool_publishers_["{sig["name"].lower()}"] = 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);')
+            publisher_init.append(f'        float_publishers_["{sig["name"].lower()}"] = this->create_publisher<std_msgs::msg::Float32>("{topic}", 10);')
 
 # --- CALLBACK BLOECKE ---
 callback_blocks = []
@@ -75,14 +85,14 @@ for msg in messages:
         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(f'            msg_{sig["name"].lower()}.data = frame_decoded.{sig["name"].lower()};')
     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_parts = [f'{sig["name"].lower()}=%{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(f'            RCLCPP_INFO(this->get_logger(), "{msg["name"].lower()}: {" ".join(log_parts)}", {log_vars});')
     block.append("        };")
     callback_blocks.append("\n".join(block))
 
@@ -120,7 +130,7 @@ int main(int argc, char * argv[]) {
 '''
 
 # --- AUSGABE ---
-with open("ros2_ws/src/ft_can_viewer/test/can_viewer_node.cpp", "w") as f:
+with open("ros2_ws/src/ft_can_viewer/src/can_viewer_node.cpp", "w") as f:
     f.write(header)
     f.write('\n'.join(publisher_init))
     f.write("\n\n")

ros2_ws/src/ft_can_viewer/test/can_gen.sh

@@ -1,9 +1,19 @@
 #!/usr/bin/env bash
-# 1 000 Frames, 10 ms Abstand
-for i in $(seq 0 999); do
-  # Zufallswert 0-255 → zweistelliges Hex
-  v=$(printf '%02X' $((RANDOM % 256)))
-  #                      Byte0 Byte1  Byte2=[$v]  rest = 0
-  cansend slcan0 720#0001${v}00000000
-  sleep 0.01
-done
+
+DBC="/workspaces/ft_analytics/ros2_ws/src/ft_can_transceiver_lib/dbc/can/CANdbcFT25/CAN1MainFT25.dbc"
+IFACE="slcan0"  # Dein CAN-Interface
+
+grep '^BO_' "$DBC" | \
+  sed -E 's/BO_ ([0-9]+) ([^:]+): ([0-9]+) .*/\1 \2 \3/' | \
+  while read id name dlc; do
+    (
+      echo "Simuliere $name (ID $id) mit $dlc Bytes"
+      while true; do
+        payload=$(for i in $(seq 1 $dlc); do printf '%02X' $((RANDOM%256)); done)
+        cansend $IFACE $(printf "%03X" $((id)))#${payload}
+        sleep 0.05
+      done
+    ) &
+  done
+trap "kill 0" SIGINT
+wait