✨ 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

src/Flyshot.Server.Host/Controllers/StatusController.cs

@@ -274,6 +274,8 @@ public sealed class StatusController : ControllerBase
           <dt>客户端版本</dt><dd id="client-version">--</dd>
           <dt>已初始化</dt><dd id="setup-state">--</dd>
           <dt>已使能</dt><dd id="enabled-state">--</dd>
+          <dt>J519 状态</dt><dd id="j519-status">--</dd>
+          <dt>J519 序号</dt><dd id="j519-sequence">--</dd>
           <dt>采样时间</dt><dd id="captured-at">--</dd>
         </dl>
       </section>
@@ -299,6 +301,8 @@ public sealed class StatusController : ControllerBase
       clientVersion: document.getElementById("client-version"),
       setupState: document.getElementById("setup-state"),
       enabledState: document.getElementById("enabled-state"),
+      j519Status: document.getElementById("j519-status"),
+      j519Sequence: document.getElementById("j519-sequence"),
       capturedAt: document.getElementById("captured-at"),
       dof: document.getElementById("dof"),
       joints: document.getElementById("joints"),
@@ -315,6 +319,27 @@ public sealed class StatusController : ControllerBase
       return values.map(value => Number(value).toFixed(4)).join(", ");
     }
 
+    function formatNullableBool(value) {
+      if (value === true) {
+        return "是";
+      }
+
+      if (value === false) {
+        return "否";
+      }
+
+      return "--";
+    }
+
+    function formatJ519Status(snapshot) {
+      if (snapshot.j519Status === null || snapshot.j519Status === undefined) {
+        return "--";
+      }
+
+      const status = Number(snapshot.j519Status).toString(16).padStart(2, "0").toUpperCase();
+      return `0x${status} accept=${formatNullableBool(snapshot.j519AcceptsCommand)} received=${formatNullableBool(snapshot.j519ReceivedCommand)} sysrdy=${formatNullableBool(snapshot.j519SystemReady)} motion=${formatNullableBool(snapshot.j519RobotInMotion)}`;
+    }
+
     function setDot(connectionState) {
       fields.stateDot.className = "dot";
       if (connectionState === "Connected") {
@@ -339,6 +364,8 @@ public sealed class StatusController : ControllerBase
         fields.clientVersion.textContent = payload.clientVersion;
         fields.setupState.textContent = payload.isSetup ? "是" : "否";
         fields.enabledState.textContent = snapshot.isEnabled ? "是" : "否";
+        fields.j519Status.textContent = formatJ519Status(snapshot);
+        fields.j519Sequence.textContent = snapshot.j519Sequence ?? "--";
         fields.capturedAt.textContent = new Date(snapshot.capturedAt).toLocaleString();
         fields.dof.textContent = payload.degreesOfFreedom;
         fields.joints.textContent = formatArray(snapshot.jointPositions);