✨ 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/RuntimeOrchestrationTests.cs

@@ -914,7 +914,7 @@ public sealed class RuntimeOrchestrationTests
     }
 
     /// <summary>
-    /// 验证 SaveTrajectoryInfo 会同时导出按 J519 8ms 实发周期重采样的点位，并应用当前 speed_ratio。
+    /// 验证 SaveTrajectoryInfo 会同时导出按 J519 8ms 实发周期重采样的点位，并按执行侧稠密轨迹时长应用当前 speed_ratio。
     /// </summary>
     [Fact]
     public void ControllerClientCompatService_SaveTrajectoryInfo_ExportsActualSendRowsWithSpeedRatio()
@@ -945,8 +945,10 @@ public sealed class RuntimeOrchestrationTests
 
             var pointRows = File.ReadAllLines(pointsPath).Select(ParseSpaceSeparatedDoubles).ToArray();
             var timingRows = File.ReadAllLines(timingPath).Select(ParseSpaceSeparatedDoubles).ToArray();
-            var duration = double.Parse(File.ReadLines(Path.Combine(outputDir, "JointTraj.txt")).Last().Split(' ')[0], CultureInfo.InvariantCulture);
-            var expectedRows = (int)Math.Ceiling(Math.Max(0.0, (duration / (0.008 * 0.5)) - 1e-9)) + 1;
+            var executionDuration = double.Parse(
+                File.ReadLines(Path.Combine(outputDir, "JointDetialTraj.txt")).Last().Split(' ')[0],
+                CultureInfo.InvariantCulture);
+            var expectedRows = (int)Math.Ceiling(Math.Max(0.0, (executionDuration / (0.008 * 0.5)) - 1e-9)) + 1;
 
             Assert.Equal(expectedRows, pointRows.Length);
             Assert.Equal(expectedRows, timingRows.Length);
@@ -961,6 +963,54 @@ public sealed class RuntimeOrchestrationTests
         }
     }
 
+    /// <summary>
+    /// 验证 saveTrajectory 导出的 JointDetialTraj.txt 来自执行侧 8ms 稠密轨迹的 16ms 视图，
+    /// 而不是再次从 PlannedTrajectory 独立重采样。
+    /// </summary>
+    [Fact]
+    public void FlyshotTrajectoryArtifactWriter_WriteUploadedFlyshot_JointDetailUsesExecutionDenseDownsample()
+    {
+        var fixture = LoadUttcMs11RuntimeFixture();
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var writer = new FlyshotTrajectoryArtifactWriter(options, new RobotModelLoader());
+            var orchestrator = new ControllerClientTrajectoryOrchestrator();
+            var bundle = orchestrator.PlanUploadedFlyshot(
+                fixture.Robot,
+                fixture.Uploaded,
+                settings: EnableSmoothStartStopTiming(fixture.Settings),
+                planningSpeedScale: 1.0);
+
+            writer.WriteUploadedFlyshot("UTTC_MS11", fixture.Robot, bundle, speedRatio: 1.0);
+
+            var outputDir = Path.Combine(configRoot, "Data", "UTTC_MS11");
+            var exportedRows = File.ReadAllLines(Path.Combine(outputDir, "JointDetialTraj.txt"))
+                .Select(ParseSpaceSeparatedDoubles)
+                .ToArray();
+            var expectedRows = DownsampleDenseRows(
+                bundle.Result.DenseJointTrajectory!,
+                samplePeriodSeconds: 0.016)
+                .Select(static row => row.ToArray())
+                .ToArray();
+
+            Assert.Equal(expectedRows.Length, exportedRows.Length);
+            for (var rowIndex = 0; rowIndex < expectedRows.Length; rowIndex++)
+            {
+                Assert.Equal(expectedRows[rowIndex].Length, exportedRows[rowIndex].Length);
+                for (var columnIndex = 0; columnIndex < expectedRows[rowIndex].Length; columnIndex++)
+                {
+                    Assert.Equal(expectedRows[rowIndex][columnIndex], exportedRows[rowIndex][columnIndex], precision: 6);
+                }
+            }
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 创建只包含当前支持机器人 JSON 模型和 RobotConfig.json 的临时运行配置根。
     /// </summary>
@@ -1276,6 +1326,40 @@ public sealed class RuntimeOrchestrationTests
             .ToArray();
     }
 
+    /// <summary>
+    /// 将 8ms 执行稠密轨迹按目标周期抽稀为低频视图，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>
     /// 用真实可运行轨迹前 4 个采样点拟合局部三次曲线，返回相对首点时间的系数。
     /// 曲线形式为 p(t)=c3*t^3+c2*t^2+c1*t+c0，单位保持输入文件的角度制。