Add PyInstaller configuration and enhance resource path handling

- Introduced PyInstaller configuration files for packaging: `TomatoPick.spec`, `build_windows_exe.bat`, and `build_linux.sh`.
- Updated resource paths in `control.py` and `control_core.py` to ensure compatibility with packaged applications.
- Enhanced `main.py` to manage runtime resource directories and added a startup animation.
- Improved UI elements and color themes for better user experience.

acAubo-main/acaubo/control_core.py

@@ -6,6 +6,7 @@ import os
 import sys
 import threading
 import time
+from pathlib import Path
 
 import cv2
 import numpy as np
@@ -105,6 +106,61 @@ ui_callback: Callable[[np.ndarray], None] = lambda frame: None
 robot_rpc_client = pyaubo_sdk.RpcClient()
 
 
+def get_runtime_resource_dir() -> Path:
+    """返回运行时资源目录，兼容 PyInstaller 解包目录。"""
+    if hasattr(sys, "_MEIPASS"):
+        return Path(sys._MEIPASS).resolve()
+    return Path(__file__).resolve().parent
+
+
+def get_runtime_app_dir() -> Path:
+    """返回应用目录，打包后优先使用可执行文件所在目录。"""
+    if getattr(sys, "frozen", False):
+        return Path(sys.executable).resolve().parent
+    return Path(__file__).resolve().parent
+
+
+def get_resource_candidates(filename: str) -> List[Path]:
+    """返回模型/图片等资源的候选路径。"""
+    resource_dir = get_runtime_resource_dir()
+    app_dir = get_runtime_app_dir()
+    return [
+        resource_dir / filename,
+        resource_dir / "models" / filename,
+        resource_dir / "tools" / filename,
+        app_dir / filename,
+        app_dir / "models" / filename,
+        app_dir / "tools" / filename,
+        Path.cwd() / filename,
+        Path.cwd() / "models" / filename,
+        Path.cwd() / "tools" / filename,
+    ]
+
+
+def resolve_resource_path(path_value: Optional[str], fallback_name: Optional[str] = None) -> Optional[Path]:
+    """解析运行时资源路径，兼容源码运行与打包运行。"""
+    if path_value:
+        candidate = Path(path_value).expanduser()
+        if candidate.is_absolute():
+            candidate = candidate.resolve()
+            if candidate.exists():
+                return candidate
+        else:
+            for relative_candidate in (
+                get_runtime_app_dir() / candidate,
+                get_runtime_resource_dir() / candidate,
+                Path.cwd() / candidate,
+            ):
+                resolved = relative_candidate.resolve()
+                if resolved.exists():
+                    return resolved
+    if fallback_name:
+        for candidate in get_resource_candidates(fallback_name):
+            if candidate.exists():
+                return candidate.resolve()
+    return None
+
+
 def configure(config: Dict[str, Any]) -> None:
     """接收 control.py 同步过来的可调参数。"""
     _runtime_config.update(config)
@@ -798,7 +854,9 @@ def init_camera() -> Tuple[Any, Any, Any]:
 
 def init_tomato_detector(model_path: Optional[str] = None) -> Any:
     """初始化 YOLO 模型。"""
-    use_path = model_path or _cfg("YOLO_MODEL_PATH") or "best.pt"
+    configured_path = model_path or _cfg("YOLO_MODEL_PATH") or "models/best.pt"
+    resolved_path = resolve_resource_path(configured_path, fallback_name="best.pt")
+    use_path = str(resolved_path) if resolved_path is not None else configured_path
     print(f"加载 YOLO 模型 | 路径: {use_path}")
 
     if not os.path.exists(use_path):