增加重量更新显示，hopper_controller 提供了料斗模块的数据接口

controller/main_controller.py

@@ -5,78 +5,17 @@ from hardware import transmitter
 from view.main_window import MainWindow
 from .camera_controller import CameraController
 from .bottom_control_controller import BottomControlController
-from hardware.transmitter import TransmitterController
-from hardware.relay import RelayController
-
-# 定义信号类（用于后台线程向 UI主线程传递数据）
-class Signals(QObject):
-    weight_updated = Signal(int)  # 传递上料斗重量
+from .hopper_controller import HopperController
 
 class MainController:
     def __init__(self):
         # 主界面
         self.main_window = MainWindow()
         
-        # 1. 用于更新下料斗夹爪角度的QTimer
-        self.timer_angle = QTimer()
-        self.timer_angle.setInterval(1000)  # 1秒触发一次
-        self.timer_angle.timeout.connect(self._onTimer2)  # 连接到角度更新函数
-        self.timer_angle.start()
-        
-        # 下料斗夹具角度相关参数
-        self.angle = 10
-        self.max_angle = 60
-        self.min_angle = 10
-        self.is_add = True
-        
-        # 2. 用于更新重量的 QTimer
-        self.timer_weight = QTimer()
-        self.timer_weight.setInterval(2000)  # 2秒触发一次
-        self.timer_weight.timeout.connect(self._read_weight_in_background) 
-        self.timer_weight.start()
-        
-        # 信号实例（用于后台线程传递数据到主线程）
-        self.signals = Signals()
-        self.signals.weight_updated.connect(self._update_upper_weight)  # 主线程更新UI
-        
         # 初始化子界面和控制器
         self._initSubViews()
         self._initSubControllers()
 
-    def _read_weight_in_background(self):
-        """在后台线程中读取重量"""
-        def weight_task():
-            loc_tra = TransmitterController(RelayController())
-            # 上料斗重量 (目前只有上料斗安装变送器， 可以读取到重量)
-            upper_weight = loc_tra.read_data(1)  
-            # 发送信号到主线程更新UI
-            if upper_weight is not None:
-                self.signals.weight_updated.emit(upper_weight)
-        
-        # 启动后台线程执行重量读取操作
-        threading.Thread(target=weight_task, daemon=True).start()
-
-    def _update_upper_weight(self, weight):
-        """主线程中 更新界面上料斗重量数据"""
-        self.main_window.hopper_widget.setUpperHopperWeight(weight)
-
-    def _onTimer2(self):
-        """QTimer触发的 料斗夹爪角度更新"""
-        if self.is_add:
-            self.angle += 1
-        else:
-            self.angle -= 1
-        
-        if self.angle > self.max_angle:
-            self.is_add = False
-            self.angle = self.max_angle
-        if self.angle <= self.min_angle:
-            self.is_add = True
-            self.angle = 10
-        
-        # 直接更新UI
-        self.main_window.hopper_widget.setLowerHopperOpeningAngle(self.angle)
-
     def showMainWindow(self):
         self.main_window.showFullScreen()
         self.main_window.dispatch_task_widget.set_task_time("task1","15:44 PM")
@@ -85,13 +24,23 @@ class MainController:
         self.main_window.segment_task_widget.set_task_time("task2","17:24 PM")
 
     def _initSubControllers(self):
+        # 右侧视频显示控制模块
         self.camera_controller = CameraController(
             video_view=self.main_window.vibration_video
         )
+
+        # 底部按钮控制模块
         self.bottom_control_controller = BottomControlController(
             bottom_control_widget=self.main_window.bottom_control_widget,
             main_window=self.main_window
         )
 
+        # 料斗控制模块（包括 夹爪开合、拱等按钮）
+        self.hopper_controller = HopperController(
+            hopper_view = self.main_window.hopper_widget,
+            conveyor_view = self.main_window.conveyor_system_widget
+        )
+
+
     def _initSubViews(self):
         pass