✨ feat(*): 完善 FANUC J519 闭环、MoveJoint 与现场抓包验证

* 划分 J519 发送循环与稠密轨迹循环职责边界，
  FanucJ519Client 负责 UDP 周期发送，
  FanucControllerRuntime 按轨迹时间更新下一帧命令
* 执行时将规划输出 rad 转为 J519 deg 目标，
  并按 speed_ratio 调整 8ms 发送时间尺度
* 补齐 accept_cmd/received_cmd/sysrdy/rbt_inmotion
  状态位解析与启动前闭环检查
* MoveJoint 改为关节空间直线 + smoothstep 进度
  的临时 PTP 稠密轨迹，按 status=15 运动窗口复现
* 新增 UTTC 2026-04-28 三份抓包 golden tests，
  覆盖 0.5/0.7/1.0 speed_ratio 下的 J519 命令、
  IO 脉冲与响应滞后
* 状态通道补充超时重连策略与退避逻辑
* TCP 10012 命令响应统一检查 result_code
* 状态页扩展 J519 状态位与快照诊断信息
* 新增 docs/fanuc-field-runtime-workflow.md 现场工作流
* 补充 LR Mate 200iD 模型、RobotConfig.json 与 workpiece

NLog.config

@@ -0,0 +1,43 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
+      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+      xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
+      autoReload="true"
+      throwExceptions="false"
+      internalLogLevel="Off" >
+
+  <!-- optional, add some variables
+  https://github.com/nlog/NLog/wiki/Configuration-file#variables
+  -->
+  <variable name="myvar" value="myvalue"/>
+  <!-- 环境变量配置：如果 ASPNETCORE_ENVIRONMENT 为空，则默认为 Development -->
+  <variable name="env" value="${environment:ASPNETCORE_ENVIRONMENT:whenEmpty=Production}"/>
+
+  <!--
+  See https://github.com/nlog/nlog/wiki/Configuration-file
+  for information on customizing logging rules and outputs.
+   -->
+
+  <target name="logfile" xsi:type="File"
+      fileName="${basedir}/logs/${shortdate}.log"
+      layout="${longdate}|${level:uppercase=true}|${message}"
+      archiveFileName="${basedir}/logs/${shortdate}.{#}.log"
+      archiveAboveSize="4048576"
+      archiveNumbering="Sequence"
+      maxArchiveFiles="50"
+      concurrentWrites="true"
+      keepFileOpen="false"
+      encoding="utf-8" />
+    <!--<target name="logfile" xsi:type="File"  fileName="${basedir}/logs/${shortdate}.log" layout="${longdate}|${level:uppercase=true}|${logger}|${message}" />-->
+    <target name="logconsole" xsi:type="Console"  layout="${longdate}|${level:uppercase=true}|${message}" />
+   
+  </targets>
+
+  <rules>
+    <!-- 开发环境：显示控制台 + 详细文件，最低 Debug -->
+    <logger name="*" minLevel="Debug" writeTo="logconsole,logfile" condition="equals('${var:env}','Development')" />
+
+    <!-- 生产环境：仅文件+UI，最低 Info -->
+    <logger name="*" minLevel="Info" writeTo="logfile" condition="not_equals('${var:env}','Development')" />
+  </rules>
+</nlog>