✨ 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/PlanningCompatibilityTests.cs

@@ -1,6 +1,7 @@
 using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
 using Flyshot.Core.Planning;
+using Flyshot.Core.Planning.Sampling;
 using Flyshot.Core.Triggering;
 
 namespace Flyshot.Core.Tests;
@@ -171,6 +172,28 @@ public sealed class PlanningCompatibilityTests
         Assert.Equal(2, doEvent.HoldCycles);
     }
 
+    /// <summary>
+    /// 验证稠密轨迹生成后会复核离散加速度，避免采样结果绕过 ICSP 段 scale 校验。
+    /// </summary>
+    [Fact]
+    public void TrajectoryLimitValidator_Throws_WhenDenseTrajectoryAccelerationExceedsLimit()
+    {
+        var robot = CreateRobotProfile([100.0], [10.0], [1000.0]);
+
+        var exception = Assert.Throws<InvalidOperationException>(() =>
+            TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+                robot,
+                [
+                    [0.0, 0.0],
+                    [0.008, 0.0],
+                    [0.016, 0.01]
+                ],
+                trajectoryName: "dense-acceleration-check"));
+
+        Assert.Contains("加速度", exception.Message);
+        Assert.Contains("dense-acceleration-check", exception.Message);
+    }
+
     /// <summary>
     /// 构造一个最小 RobotProfile，便于规划层单元测试聚焦在时间轴逻辑上。
     /// </summary>