fix the bugs

Author: nomokazu

emulate_feedback_generator.py

@@ -1,5 +1,6 @@
 import can
-from python_can import msg
+# from python_can import msg
+import msg
 import time
 import threading
 

emulate_handle.py

@@ -1,7 +1,8 @@
 import tkinter as tk
 import os
 import sys
-from python_can import sender
+# from python_can import sender
+import sender
 import threading
 
 steering = 0
@@ -95,20 +96,28 @@ def slider_scroll(self, event=None):
         print(str(self.scal_steering_var.get()))
         print(str(self.scal_brake_var.get()))
         print(str(self.scal_throttle_var.get()))
+        global steering
+        global brake_var
+        global throttle_var
+        steering = self.scal_steering_var.get()
+        brake_var = self.scal_brake_var.get()
+        throttle_var = self.scal_throttle_var.get()
 
 
 def can_sender():
     global steering
     global brake_var
     global throttle_var
     # どういった操作を行うかのシナリオの定義
-    emulation_scenrio = {"axi0" : steering, "axi2" : brake_var, "axi3" : throttle_var}
 
     # ループ
     active = True
     handleControllerCommand = sender.HandleControllerCommand()
     while active:
+        emulation_scenrio = {"axi0" : steering, "axi2" : brake_var, "axi3" : throttle_var}
 
+        # print("hello")
+        print(emulation_scenrio)
         # print を入れると、CANの送信処理が正しく走らなくなるのでデバッグ時以外はprint を消す
         # print('十時キー:', joystick.get_axis(0), joystick.get_axis(1), joystick.get_axis(2), joystick.get_axis(3))
 

sender.py

@@ -1,14 +1,15 @@
 import can
 import msg
 import asyncio
+import time
 
 
 class HandleControllerCommand:
     def __init__(self):
-        # self.bus = can.interface.Bus('ws://localhost:54701/', bustype='remote', preserve_timestamps=True)
+        self.bus = can.interface.Bus('ws://localhost:54701/', bustype='remote', preserve_timestamps=True)
         # self.bus = can.interface.Bus('test', bustype='virtual', preserve_timestamps=True)
         # PIXKITへの送信用
-        self.bus = can.interface.Bus(bustype='socketcan', channel="slcan0", bitrate=500000, app_name='python-can')
+        # self.bus = can.interface.Bus(bustype='socketcan', channel="slcan0", bitrate=500000, app_name='python-can')
 
         # CANメッセージを送信するかしないかを判断するFlag
         self.sendFlag = False
@@ -58,6 +59,7 @@ def canSend(self):
                 self.bus.send(self.can_msg_Steering_Command)
                 self.bus.send(self.can_msg_Brake_Command)
                 self.bus.send(self.can_msg_Throttle_Command)
+                time.sleep(0.01)
 
     def startCanSend(self):
         self.sendFlag = True