✨ 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

tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs

@@ -163,6 +163,29 @@ public sealed class FanucJ519ClientTests : IDisposable
         await client.StopMotionAsync(_cts.Token);
     }
 
+    /// <summary>
+    /// 验证配置 J519 buffer size 后，实际回发命令序号会在状态包序号基础上增加该缓冲深度。
+    /// </summary>
+    [Fact]
+    public async Task StartMotion_AddsConfiguredBufferSizeToStatusSequence()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var initResult = await _server.ReceiveAsync(_cts.Token);
+
+        client.SetSequenceBufferSize(8);
+        client.UpdateCommand(new FanucJ519Command(sequence: 1, targetJoints: [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]));
+        client.StartMotion();
+
+        await SendStatusPacketAsync(initResult.RemoteEndPoint, sequence: 100);
+
+        var result = await _server.ReceiveAsync(_cts.Token);
+        Assert.Equal(FanucJ519Protocol.CommandPacketLength, result.Buffer.Length);
+        Assert.Equal(108u, BinaryPrimitives.ReadUInt32BigEndian(result.Buffer.AsSpan(0x08, 4)));
+
+        await client.StopMotionAsync(_cts.Token);
+    }
+
     /// <summary>
     /// 验证连续状态包会逐包驱动命令发送，并使用各自的状态包序号。
     /// </summary>
@@ -274,6 +297,61 @@ public sealed class FanucJ519ClientTests : IDisposable
         await client.StopMotionAsync(_cts.Token);
     }
 
+    /// <summary>
+    /// 验证没有显式目标时，会使用最近一帧状态反馈里的关节角持续构造 hold 命令。
+    /// </summary>
+    [Fact]
+    public async Task StartMotion_WithoutExplicitCommand_HoldsLatestResponseJointDegrees()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var initResult = await _server.ReceiveAsync(_cts.Token);
+
+        client.StartMotion();
+
+        await SendStatusPacketAsync(
+            initResult.RemoteEndPoint,
+            sequence: 401,
+            jointDegrees: [10.0, 20.0, 30.0, 40.0, 50.0, 60.0]);
+        var holdPacket = await _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
+
+        Assert.Equal(FanucJ519Protocol.CommandPacketLength, holdPacket.Buffer.Length);
+        Assert.Equal(401u, BinaryPrimitives.ReadUInt32BigEndian(holdPacket.Buffer.AsSpan(0x08, 4)));
+        Assert.Equal(10.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x1c, 4)), precision: 6);
+        Assert.Equal(20.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x20, 4)), precision: 6);
+        Assert.Equal(60.0f, BinaryPrimitives.ReadSingleBigEndian(holdPacket.Buffer.AsSpan(0x30, 4)), precision: 6);
+
+        await client.StopMotionAsync(_cts.Token);
+    }
+
+    /// <summary>
+    /// 验证存在显式目标时，状态反馈生成的 hold 命令不会覆盖当前待发送目标。
+    /// </summary>
+    [Fact]
+    public async Task StartMotion_WithExplicitCommand_PrefersExplicitTargetOverHoldCommand()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var initResult = await _server.ReceiveAsync(_cts.Token);
+
+        client.UpdateCommand(new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]));
+        client.StartMotion();
+
+        await SendStatusPacketAsync(
+            initResult.RemoteEndPoint,
+            sequence: 402,
+            jointDegrees: [10.0, 20.0, 30.0, 40.0, 50.0, 60.0]);
+        var commandPacket = await _server.ReceiveAsync(_cts.Token).AsTask().WaitAsync(TimeSpan.FromSeconds(1), _cts.Token);
+
+        Assert.Equal(FanucJ519Protocol.CommandPacketLength, commandPacket.Buffer.Length);
+        Assert.Equal(402u, BinaryPrimitives.ReadUInt32BigEndian(commandPacket.Buffer.AsSpan(0x08, 4)));
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x1c, 4)), precision: 6);
+        Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x20, 4)), precision: 6);
+        Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(commandPacket.Buffer.AsSpan(0x30, 4)), precision: 6);
+
+        await client.StopMotionAsync(_cts.Token);
+    }
+
     /// <summary>
     /// 验证在连接前调用 StartMotion 会抛出 InvalidOperationException。
     /// </summary>
@@ -356,13 +434,27 @@ public sealed class FanucJ519ClientTests : IDisposable
     /// <summary>
     /// 向被测 J519 客户端发送一帧最小状态包，用机器人侧 status sequence 驱动下一帧命令。
     /// </summary>
-    private async Task SendStatusPacketAsync(IPEndPoint clientEndpoint, uint sequence)
+    private async Task SendStatusPacketAsync(
+        IPEndPoint clientEndpoint,
+        uint sequence,
+        IReadOnlyList<double>? jointDegrees = null)
     {
         var responsePacket = new byte[FanucJ519Protocol.ResponsePacketLength];
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x00, 4), 0);
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x04, 4), 1);
         BinaryPrimitives.WriteUInt32BigEndian(responsePacket.AsSpan(0x08, 4), sequence);
         responsePacket[0x0c] = 15;
+
+        if (jointDegrees is not null)
+        {
+            for (var index = 0; index < Math.Min(6, jointDegrees.Count); index++)
+            {
+                BinaryPrimitives.WriteSingleBigEndian(
+                    responsePacket.AsSpan(0x3c + index * sizeof(float), sizeof(float)),
+                    (float)jointDegrees[index]);
+            }
+        }
+
         await _server.SendAsync(responsePacket, clientEndpoint, _cts.Token);
     }