✨ feat(fanuc): 打通飞拍轨迹完整执行链路

* 增加 J519 稠密发送采样校验与保姿回发逻辑
* 调整 saveTrajectory 导出与 sequence buffer 行为
* 补充 10010 解析脚本、ICSP 说明和回归测试

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs

@@ -63,25 +63,28 @@ public sealed class FlyshotTrajectoryArtifactWriter
 
         var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
         Directory.CreateDirectory(outputDir);
+        if (bundle.Result.DenseJointTrajectory is null)
+        {
+            throw new InvalidOperationException("导出飞拍轨迹工件前必须先生成执行侧稠密轨迹。");
+        }
 
-        // 明细文件对齐旧 Data 目录的 16ms 采样；运行时 J519 仍可使用自己的 8ms 伺服采样。
+        // 明细文件现在定义为“执行侧 8ms 稠密轨迹的 16ms 低频视图”，避免再次从 PlannedTrajectory 生成另一条轨迹。
         var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
         var jointTrajectory = BuildJointRows(bundle.PlannedTrajectory);
-        var jointDetailTrajectory = TrajectorySampler.SampleJointTrajectory(
-            bundle.PlannedTrajectory,
-            samplePeriod: LegacyDetailSamplePeriodSeconds);
+        _logger?.LogInformation("规划之后的轨迹点位数量为:{}", jointTrajectory.Count);
+        var executionDenseTrajectory = bundle.Result.DenseJointTrajectory;
+        var jointDetailTrajectory = DownsampleDenseRows(
+            executionDenseTrajectory,
+            samplePeriodSeconds: LegacyDetailSamplePeriodSeconds);
         var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
-        var cartDetailTrajectory = TrajectorySampler.SampleCartesianTrajectory(
-            bundle.PlannedTrajectory,
-            kinematicsModel,
-            samplePeriod: LegacyDetailSamplePeriodSeconds);
+        var cartDetailTrajectory = BuildCartesianRowsFromJointDense(jointDetailTrajectory, kinematicsModel);
 
         TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
         TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
         TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
         TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
         TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents);
-        WriteActualSendArtifacts(outputDir, bundle.Result, speedRatio);
+        WriteActualSendArtifacts(outputDir, robot, bundle.Result, speedRatio);
 
         _logger?.LogInformation(
             "saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}, speedRatio={SpeedRatio}",
@@ -95,8 +98,10 @@ public sealed class FlyshotTrajectoryArtifactWriter
     /// <summary>
     /// 生成按 J519 8ms 实际发送周期重采样的轨迹点，供 saveTrajectory 离线对比真实下发序列。
     /// </summary>
-    private static void WriteActualSendArtifacts(string outputDir, TrajectoryResult result, double speedRatio)
+    private void WriteActualSendArtifacts(string outputDir, RobotProfile robot, TrajectoryResult result, double speedRatio)
     {
+        ArgumentNullException.ThrowIfNull(robot);
+
         if (result.DenseJointTrajectory is null)
         {
             return;
@@ -112,6 +117,19 @@ public sealed class FlyshotTrajectoryArtifactWriter
             result.Duration.TotalSeconds,
             ActualSendServoPeriodSeconds,
             speedRatio);
+     
+
+        try
+        {
+            TrajectoryLimitValidator.ValidateJ519SendSamples(
+                robot,
+                samples,
+                trajectoryName: result.ProgramName);
+        }
+        catch (Exception e)
+        {
+           _logger?.LogError(e, "ValidateJ519SendSamples 失败，program={ProgramName}", result.ProgramName);
+        }
         var jointRows = new List<IReadOnlyList<double>>(samples.Count);
         var timingRows = new List<IReadOnlyList<double>>(samples.Count);
         var jerkRows = new List<IReadOnlyList<double>>();
@@ -217,6 +235,63 @@ public sealed class FlyshotTrajectoryArtifactWriter
         return rows;
     }
 
+    /// <summary>
+    /// 基于执行侧稠密关节轨迹生成笛卡尔导出行，保持与 JointDetialTraj.txt 同一来源。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRowsFromJointDense(
+        IReadOnlyList<IReadOnlyList<double>> jointDenseRows,
+        RobotKinematicsModel kinematicsModel)
+    {
+        var rows = new List<IReadOnlyList<double>>(jointDenseRows.Count);
+        foreach (var jointRow in jointDenseRows)
+        {
+            var jointPositions = jointRow.Skip(1).ToArray();
+            var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPositions);
+            var row = new List<double>(pose.Length + 1)
+            {
+                Math.Round(jointRow[0], 6)
+            };
+            row.AddRange(pose.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 将 8ms 执行稠密轨迹按指定周期抽稀为低频兼容视图，并始终保留终点。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> DownsampleDenseRows(
+        IReadOnlyList<IReadOnlyList<double>> denseRows,
+        double samplePeriodSeconds)
+    {
+        var result = new List<IReadOnlyList<double>>();
+        var epsilon = 1e-6;
+        var nextSampleTime = 0.0;
+
+        foreach (var row in denseRows)
+        {
+            var sampleTime = row[0];
+            if (sampleTime + epsilon < nextSampleTime)
+            {
+                continue;
+            }
+
+            if (Math.Abs(sampleTime - nextSampleTime) <= epsilon || sampleTime.Equals(0.0))
+            {
+                result.Add(row);
+                nextSampleTime += samplePeriodSeconds;
+            }
+        }
+
+        if (result.Count == 0 || !ReferenceEquals(result[^1], denseRows[^1]))
+        {
+            result.Add(denseRows[^1]);
+        }
+
+        return result;
+    }
+
     /// <summary>
     /// 将轨迹名转换为可用目录名，避免 HTTP 输入中的路径字符污染输出目录。
     /// </summary>