✨ 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

.claude/settings.local.json

@@ -11,7 +11,32 @@
       "Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")",
       "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal')",
       "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj -v minimal')",
-      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal')"
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(taskkill /PID 120812 /F)",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build flyshot-replacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build /d/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/flyshot-replacement/FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(capinfos \"20260430.pcap\")",
+      "Bash(tshark -r \"20260430.pcap\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e data.len)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.srcport -e udp.length -e data.len)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e udp.length -e frame.protocols)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and frame.number==1\" -V)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport!=60015\" -T fields -e frame.number -e frame.time_relative -e ip.dst -e udp.dstport)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp -e frj519.x -e frj519.y -e frj519.z -e frj519.w -e frj519.p -e frj519.r)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -E header=y)",
+      "Bash(tshark -G fields)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" --disable-protocol frj519 -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj --no-restore -v minimal 2>&1 | tail -20')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -25')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -15')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --no-restore -v minimal 2>&1 | tail -30')"
     ]
   }
 }

Config/RobotConfig.json

@@ -1 +1,303 @@
-{"robot": {"use_do": true, "io_addr": [7, 8], "io_keep_cycles": 2, "acc_limit": 1, "jerk_limit": 1, "adapt_icsp_try_num": 5}, "flying_shots": {"20251015": {"traj_waypoints": [[1.047438621520996, -0.0002488955215085298, -0.0014060207176953554, 0.009022523649036884, 0.010111905634403229, 0.009573347866535187], [0.7661270499229431, -0.04437164217233658, -0.13630111515522003, -0.41718506813049316, 0.010093353688716888, 0.009594489820301533], [0.7661266326904297, 0.2170650213956833, -0.13630135357379913, -0.4171852171421051, 0.010093353688716888, 0.009594779461622238], [1.0311520099639893, -0.062108494341373444, -0.1363297700881958, 0.30276036262512207, 0.15847623348236084, 0.00956842489540577], [1.4012629985809326, -0.05120057240128517, -0.13633012771606445, 0.3027600347995758, 0.15847666561603546, 0.00956842489540577], [1.0567246675491333, 0.01165649201720953, -0.01786380261182785, -0.015170873142778873, 0.02149667963385582, 0.009576244279742241]], "shot_flags": [false, true, true, true, true, true], "offset_values": [0, 0, 0, 0, 0, 0], "addr": [[], [2, 4], [3, 4], [2, 4], [3, 4], [2, 4]]}, "TEST20251214": {"traj_waypoints": [[1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846], [0.8067416, 0.011661344, -0.11788314, -0.01516874, 0.021492079, 0.009567846], [0.60675246, -0.03833516, -0.11788314, 0.034831185, -0.22849938, -0.24043223], [0.7667507, 0.20164281, -0.11788314, 0.034831185, -0.22849938, -0.24043223], [0.7667507, 0.20164281, -0.11788314, 0.034831185, -0.22849938, -0.14043556], [1.1667324, 0.05164983, -0.11789217, 0.23482007, 0.021492079, -0.14043556], [1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846]], "shot_flags": [false, true, true, true, true, true, false], "offset_values": [0, 0, 0, 0, 0, 0, 0], "addr": [[], [], [3, 4, 2], [3, 4, 2], [3, 4, 2], [3, 4, 2], []]}, "UTTC_MS11": {"traj_waypoints": [[1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846], [0.8532358, 0.03837953, -0.19235304, 0.0071595116, 0.109054826, 0.040055145], [0.96600056, 0.20607172, -0.12233179, -1.2394339, 0.10493033, 1.2958988], [0.9618476, 0.15288207, -0.14867093, -0.7176314, 0.1764264, 0.73228663], [0.76189893, -0.028442925, -0.30919823, 0.10463613, 0.5615024, -0.39399016], [1.1271763, 0.074403025, -0.27347943, -0.5227772, 0.52098846, 0.79633313], [1.0555661, 0.4026262, -0.08746306, 0.6301835, 0.09644133, -0.5463328], [1.2300354, 0.28612664, -0.23486805, -0.4868128, 0.25369516, 0.55347764], [1.2144431, -0.29855102, -0.15202847, -1.0205934, 0.13317892, 1.1246506], [1.2840607, -0.11222197, -0.16805042, -2.248135, 0.2560587, 2.4434967], [1.3189346, -0.25620222, -0.12730704, -2.285038, 0.30872014, 2.4765089], [1.502615, -0.25304365, -0.23878741, -1.2194318, 0.46674785, 1.5533328], [1.07723, -0.07387611, -0.1707704, -1.8916591, 0.38677844, 2.061968], [1.3920237, 0.08098731, -0.2672306, -0.9780007, 0.4561093, 0.9102286], [1.9016331, 0.023924276, -0.58633333, -0.8441697, 0.76730615, 1.4842151], [1.9300697, -0.06738541, -0.56542397, -0.892083, 0.77194446, 1.5293273], [2.0611632, -0.30327517, -0.54225636, -1.0395275, 0.8505439, 1.6429617], [1.0921186, -0.40034482, -0.1803499, 1.3524796, 0.6210477, -1.2159473], [1.0521278, -0.40034503, -0.1803492, 1.3524843, 0.6210471, -1.2159531], [1.056731, 0.011664811, -0.017892333, -0.01516874, 0.021492079, 0.009567846]], "shot_flags": [false, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, true, false, true, false], "offset_values": [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], "addr": [[], [2, 4], [3, 4, 2], [3, 4, 2], [4, 2], [4, 2], [3, 4], [3, 4], [4, 2], [4, 2], [4, 2], [4, 2], [4, 2], [4, 3], [4, 2], [4, 2], [4, 2], [4, 2], [4, 3], []]}, "5U": {"traj_waypoints": [[-0.95982397, 0.6331447, -1.0055008, 0.79858834, 1.1564041, -0.4260437], [-0.98353565, 0.66203266, -0.9758351, 0.8320198, 1.1455917, -0.45941326]], "shot_flags": [false, false], "offset_values": [0, 0], "addr": [[], []]}}}
+{
+  "robot": {
+    "use_do": true,
+    "io_addr": [
+      7,
+      8
+    ],
+    "io_keep_cycles": 2,
+    "acc_limit": 1,
+    "jerk_limit": 1,
+    "adapt_icsp_try_num": 5,
+    "planning_speed_scale": 0.74227,
+    "smooth_start_stop_timing": false
+  },
+  "flying_shots": {
+    "UTTC_MS11": {
+      "traj_waypoints": [
+        [
+          1.056731,
+          0.011664811,
+          -0.017892333,
+          -0.01516874,
+          0.021492079,
+          0.009567846
+        ],
+        [
+          0.8532358,
+          0.03837953,
+          -0.19235304,
+          0.0071595116,
+          0.109054826,
+          0.040055145
+        ],
+        [
+          0.96600056,
+          0.20607172,
+          -0.12233179,
+          -1.2394339,
+          0.10493033,
+          1.2958988
+        ],
+        [
+          0.9618476,
+          0.15288207,
+          -0.14867093,
+          -0.7176314,
+          0.1764264,
+          0.73228663
+        ],
+        [
+          0.76189893,
+          -0.028442925,
+          -0.30919823,
+          0.10463613,
+          0.5615024,
+          -0.39399016
+        ],
+        [
+          1.1271763,
+          0.074403025,
+          -0.27347943,
+          -0.5227772,
+          0.52098846,
+          0.79633313
+        ],
+        [
+          1.0555661,
+          0.4026262,
+          -0.08746306,
+          0.6301835,
+          0.09644133,
+          -0.5463328
+        ],
+        [
+          1.2300354,
+          0.28612664,
+          -0.23486805,
+          -0.4868128,
+          0.25369516,
+          0.55347764
+        ],
+        [
+          1.2144431,
+          -0.29855102,
+          -0.15202847,
+          -1.0205934,
+          0.13317892,
+          1.1246506
+        ],
+        [
+          1.2840607,
+          -0.11222197,
+          -0.16805042,
+          -2.248135,
+          0.2560587,
+          2.4434967
+        ],
+        [
+          1.3189346,
+          -0.25620222,
+          -0.12730704,
+          -2.285038,
+          0.30872014,
+          2.4765089
+        ],
+        [
+          1.502615,
+          -0.25304365,
+          -0.23878741,
+          -1.2194318,
+          0.46674785,
+          1.5533328
+        ],
+        [
+          1.07723,
+          -0.07387611,
+          -0.1707704,
+          -1.8916591,
+          0.38677844,
+          2.061968
+        ],
+        [
+          1.3920237,
+          0.08098731,
+          -0.2672306,
+          -0.9780007,
+          0.4561093,
+          0.9102286
+        ],
+        [
+          1.9016331,
+          0.023924276,
+          -0.58633333,
+          -0.8441697,
+          0.76730615,
+          1.4842151
+        ],
+        [
+          1.9300697,
+          -0.06738541,
+          -0.56542397,
+          -0.892083,
+          0.77194446,
+          1.5293273
+        ],
+        [
+          2.0611632,
+          -0.30327517,
+          -0.54225636,
+          -1.0395275,
+          0.8505439,
+          1.6429617
+        ],
+        [
+          1.0921186,
+          -0.40034482,
+          -0.1803499,
+          1.3524796,
+          0.6210477,
+          -1.2159473
+        ],
+        [
+          1.0521278,
+          -0.40034503,
+          -0.1803492,
+          1.3524843,
+          0.6210471,
+          -1.2159531
+        ],
+        [
+          1.056731,
+          0.011664811,
+          -0.017892333,
+          -0.01516874,
+          0.021492079,
+          0.009567846
+        ]
+      ],
+      "shot_flags": [
+        false,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        true,
+        false
+      ],
+      "offset_values": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "addr": [
+        [],
+        [
+          2,
+          4
+        ],
+        [
+          3,
+          4,
+          2
+        ],
+        [
+          3,
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          3,
+          4
+        ],
+        [
+          3,
+          4
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
+        ],
+        []
+      ]
+    }
+  }
+}

analysis/fanuc_10010_dissector.lua

@@ -0,0 +1,199 @@
+local plugin_info = {
+    version = "1.1.0",
+    author = "OpenAI Codex",
+    description = "FANUC TCP 10010 状态帧解析器",
+}
+
+set_plugin_info(plugin_info)
+
+local fanuc10010_proto = Proto("fanuc10010_state_frame", "FANUC 10010 State Frame")
+
+local FRAME_LENGTH = 90
+local HEADER_LENGTH = 3
+local TRAILER_LENGTH = 3
+local LENGTH_OFFSET = 3
+local MESSAGE_ID_OFFSET = 7
+local POSE_OFFSET = 11
+local POSE_COUNT = 6
+local JOINT_OFFSET = 35
+local JOINT_COUNT = 9
+local TAIL_OFFSET = 71
+local TAIL_COUNT = 4
+
+local POSE_NAMES = { "X", "Y", "Z", "W", "P", "R" }
+local JOINT_NAMES = { "J1", "J2", "J3", "J4", "J5", "J6", "Ext1", "Ext2", "Ext3" }
+local HEADER_MAGIC = "doz"
+local TRAILER_MAGIC = "zod"
+
+local fields = {
+    frame = ProtoField.bytes("fanuc10010.frame", "原始状态帧"),
+    header = ProtoField.string("fanuc10010.header", "帧头 Magic"),
+    declared_length = ProtoField.uint32("fanuc10010.length", "声明长度", base.DEC),
+    message_id = ProtoField.uint32("fanuc10010.message_id", "消息号", base.DEC),
+    pose = ProtoField.none("fanuc10010.pose", "笛卡尔位姿"),
+    joints = ProtoField.none("fanuc10010.joints", "关节与扩展轴"),
+    joint_degrees = ProtoField.none("fanuc10010.joint_degrees", "Joint Degrees"),
+    tail = ProtoField.none("fanuc10010.tail", "尾部状态字"),
+    trailer = ProtoField.string("fanuc10010.trailer", "帧尾 Magic"),
+    expert_bad_length = ProtoField.string("fanuc10010.expert.bad_length", "长度异常"),
+    expert_bad_magic = ProtoField.string("fanuc10010.expert.bad_magic", "Magic 异常"),
+}
+
+for index = 1, POSE_COUNT do
+    fields["pose_" .. index] = ProtoField.float(
+        "fanuc10010.pose_" .. index,
+        "Pose " .. POSE_NAMES[index])
+end
+
+for index = 1, JOINT_COUNT do
+    fields["joint_" .. index] = ProtoField.float(
+        "fanuc10010.joint_" .. index,
+        JOINT_NAMES[index] .. " (raw)")
+end
+
+for index = 1, 6 do
+    fields["joint_deg_" .. index] = ProtoField.float(
+        "fanuc10010.joint_deg_" .. index,
+        JOINT_NAMES[index] .. " (deg)")
+end
+
+for index = 1, TAIL_COUNT do
+    fields["tail_" .. index] = ProtoField.uint32(
+        "fanuc10010.tail_" .. index,
+        "Tail[" .. (index - 1) .. "]",
+        base.DEC)
+end
+
+fanuc10010_proto.fields = fields
+
+local function read_f32_be(tvb, offset)
+    return tvb(offset, 4):tvb():range(0, 4):float()
+end
+
+local function read_u32_be(tvb, offset)
+    return tvb(offset, 4):uint()
+end
+
+local function read_ascii(tvb, offset, length)
+    return tvb(offset, length):string()
+end
+
+local function radians_to_degrees(value)
+    return value * 180.0 / math.pi
+end
+
+local function add_error(subtree, range, field, message)
+    local item = subtree:add(field, range, message)
+    item:add_expert_info(PI_MALFORMED, PI_ERROR, message)
+end
+
+local function dissect_single_frame(tvb, pinfo, tree, frame_offset)
+    local remaining = tvb:len() - frame_offset
+    local candidate_length = math.min(remaining, FRAME_LENGTH)
+    local frame_range = tvb(frame_offset, candidate_length)
+    local subtree = tree:add(fanuc10010_proto, frame_range, "FANUC 10010 状态帧")
+    subtree:add(fields.frame, frame_range)
+
+    if remaining < FRAME_LENGTH then
+        add_error(subtree, frame_range, fields.expert_bad_length, "剩余字节不足 90B，无法组成完整状态帧")
+        return remaining
+    end
+
+    local header = read_ascii(tvb, frame_offset, HEADER_LENGTH)
+    local declared_length = read_u32_be(tvb, frame_offset + LENGTH_OFFSET)
+    local message_id = read_u32_be(tvb, frame_offset + MESSAGE_ID_OFFSET)
+    local trailer = read_ascii(tvb, frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH)
+
+    subtree:add(fields.header, tvb(frame_offset, HEADER_LENGTH), header)
+    subtree:add(fields.declared_length, tvb(frame_offset + LENGTH_OFFSET, 4), declared_length)
+    subtree:add(fields.message_id, tvb(frame_offset + MESSAGE_ID_OFFSET, 4), message_id)
+
+    local pose_tree = subtree:add(fields.pose, tvb(frame_offset + POSE_OFFSET, POSE_COUNT * 4))
+    local pose_values = {}
+    for index = 1, POSE_COUNT do
+        local field_offset = frame_offset + POSE_OFFSET + ((index - 1) * 4)
+        local value = read_f32_be(tvb, field_offset)
+        pose_values[index] = value
+        pose_tree:add(fields["pose_" .. index], tvb(field_offset, 4), value)
+    end
+
+    local joint_tree = subtree:add(fields.joints, tvb(frame_offset + JOINT_OFFSET, JOINT_COUNT * 4))
+    local joint_values = {}
+    for index = 1, JOINT_COUNT do
+        local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
+        local value = read_f32_be(tvb, field_offset)
+        joint_values[index] = value
+        joint_tree:add(fields["joint_" .. index], tvb(field_offset, 4), value)
+    end
+
+    -- 单独保留一组角度显示，便于对照原始关节弧度值。
+    local joint_degree_tree = subtree:add(fields.joint_degrees, tvb(frame_offset + JOINT_OFFSET, 6 * 4))
+    for index = 1, 6 do
+        local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
+        joint_degree_tree:add(
+            fields["joint_deg_" .. index],
+            tvb(field_offset, 4),
+            radians_to_degrees(joint_values[index]))
+    end
+
+    local tail_tree = subtree:add(fields.tail, tvb(frame_offset + TAIL_OFFSET, TAIL_COUNT * 4))
+    local tail_values = {}
+    for index = 1, TAIL_COUNT do
+        local field_offset = frame_offset + TAIL_OFFSET + ((index - 1) * 4)
+        local value = read_u32_be(tvb, field_offset)
+        tail_values[index] = value
+        tail_tree:add(fields["tail_" .. index], tvb(field_offset, 4), value)
+    end
+
+    subtree:add(fields.trailer, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), trailer)
+
+    if header ~= HEADER_MAGIC then
+        add_error(subtree, tvb(frame_offset, HEADER_LENGTH), fields.expert_bad_magic, "帧头不是 doz")
+    end
+
+    if trailer ~= TRAILER_MAGIC then
+        add_error(subtree, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), fields.expert_bad_magic, "帧尾不是 zod")
+    end
+
+    if declared_length ~= FRAME_LENGTH then
+        add_error(subtree, tvb(frame_offset + LENGTH_OFFSET, 4), fields.expert_bad_length, "长度字段不是 90")
+    end
+
+    local summary = string.format(
+        "MsgId=%u X=%.3f Y=%.3f Z=%.3f J1=%.6f rad / %.3f deg J2=%.6f rad / %.3f deg Tail=[%u,%u,%u,%u]",
+        message_id,
+        pose_values[1], pose_values[2], pose_values[3],
+        joint_values[1], radians_to_degrees(joint_values[1]),
+        joint_values[2], radians_to_degrees(joint_values[2]),
+        tail_values[1], tail_values[2], tail_values[3], tail_values[4])
+
+    subtree:set_text("FANUC 10010 状态帧, " .. summary)
+    pinfo.cols.info:append(" | " .. summary)
+
+    return FRAME_LENGTH
+end
+
+function fanuc10010_proto.dissector(tvb, pinfo, tree)
+    if tvb:len() == 0 then
+        return 0
+    end
+
+    pinfo.cols.protocol = "FANUC10010"
+
+    local offset = 0
+    while offset < tvb:len() do
+        local consumed = dissect_single_frame(tvb, pinfo, tree, offset)
+        if consumed <= 0 then
+            break
+        end
+
+        offset = offset + consumed
+        if consumed < FRAME_LENGTH then
+            break
+        end
+    end
+
+    return tvb:len()
+end
+
+DissectorTable.get("tcp.port"):add(10010, fanuc10010_proto)

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -609,11 +609,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
                 planningSettings,
                 planningSettings.PlanningSpeedScale);
+            _logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
             ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
 
-            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            // var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
-            var settings = _robotSettings ?? CreateDefaultRobotSettings();
+            // var settings = _robotSettings ?? CreateDefaultRobotSettings();
-            _trajectoryStore.Save(robotName, settings, trajectory);
+            // _trajectoryStore.Save(robotName, settings, trajectory);
         }
 
         _logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -12,6 +12,16 @@ namespace Flyshot.ControllerClientCompat;
 /// </summary>
 public sealed class ControllerClientTrajectoryOrchestrator
 {
+    /// <summary>
+    /// 稠密轨迹离散限幅失败后允许统一拉长时间轴的最大次数。
+    /// </summary>
+    private const int MaxDenseLimitStretchIterations = 100;
+
+    /// <summary>
+    /// 每次离散限幅失败后统一放大的时间倍率。
+    /// </summary>
+    private const double DenseLimitStretchFactor = 1.01;
+
     private readonly ICspPlanner _icspPlanner;
     private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
     private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
@@ -68,8 +78,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
             saveTrajectoryArtifacts: options.SaveTrajectory);
 
         var plannedTrajectory = PlanByMethod(request, method);
+        var executionTrajectory = plannedTrajectory;
+        var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref executionTrajectory, shapeTrajectoryEdges: false);
         var shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
-        var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false, shapeTrajectoryEdges: false);
+        var result = CreateResult(executionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
 
         _logger?.LogInformation(
             "PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
@@ -138,12 +150,13 @@ public sealed class ControllerClientTrajectoryOrchestrator
 
         var plannedTrajectory = PlanByMethod(request, method, settings);
         var smoothedExecutionTrajectory = ApplyExecutionTiming(plannedTrajectory, settings);
+        var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref smoothedExecutionTrajectory, shapeTrajectoryEdges: false);
         var shotTimeline = _shotTimelineBuilder.Build(
             smoothedExecutionTrajectory,
             holdCycles: settings.IoKeepCycles,
             samplePeriod: planningRobot.ServoPeriod,
             useDo: settings.UseDo);
-        var result = CreateResult(smoothedExecutionTrajectory, shotTimeline, usedCache: false, shapeTrajectoryEdges: false);
+        var result = CreateResult(smoothedExecutionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
         var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
 
         _logger?.LogInformation(
@@ -385,14 +398,9 @@ public sealed class ControllerClientTrajectoryOrchestrator
     private static TrajectoryResult CreateResult(
         PlannedTrajectory plannedTrajectory,
         ShotTimeline shotTimeline,
-        bool usedCache,
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
-        bool shapeTrajectoryEdges)
+        bool usedCache)
     {
-        var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
-            plannedTrajectory,
-            samplePeriod: plannedTrajectory.Robot.ServoPeriod.TotalSeconds,
-            smoothStartStop: shapeTrajectoryEdges);
-
         return new TrajectoryResult(
             programName: plannedTrajectory.OriginalProgram.Name,
             method: plannedTrajectory.Method,
@@ -408,6 +416,65 @@ public sealed class ControllerClientTrajectoryOrchestrator
             denseJointTrajectory: denseJointTrajectory);
     }
 
+    /// <summary>
+    /// 生成满足离散速度、加速度和 Jerk 限制的稠密执行轨迹。
+    /// </summary>
+    private IReadOnlyList<IReadOnlyList<double>> CreateLimitCompliantDenseTrajectory(
+        ref PlannedTrajectory executionTrajectory,
+        bool shapeTrajectoryEdges)
+    {
+        for (var iteration = 0; iteration <= MaxDenseLimitStretchIterations; iteration++)
+        {
+            var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
+                executionTrajectory,
+                samplePeriod: executionTrajectory.Robot.ServoPeriod.TotalSeconds,
+                smoothStartStop: shapeTrajectoryEdges);
+
+            try
+            {
+                TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+                    executionTrajectory.Robot,
+                    denseJointTrajectory,
+                    trajectoryName: executionTrajectory.OriginalProgram.Name);
+                return denseJointTrajectory;
+            }
+            catch (InvalidOperationException ex) when (iteration < MaxDenseLimitStretchIterations)
+            {
+                _logger?.LogWarning(ex, "稠密轨迹离散限幅校验失败，准备拉长时间轴重试");
+                // 离散差分超限时统一拉长时间轴，保持路点几何不变并降低速度、加速度和 Jerk。
+                executionTrajectory = StretchTrajectoryTiming(executionTrajectory, DenseLimitStretchFactor);
+             _logger?.LogInformation(
+                 "离散差分超限，拉长时间轴，iteration={Iteration}, factor={StretchFactor}",
+                 iteration,
+                 DenseLimitStretchFactor);
+             _logger?.LogInformation("拉长之后的总时间={TotalTime}", executionTrajectory.WaypointTimes[^1]);
+            }
+        }
+
+        throw new InvalidOperationException("稠密轨迹离散限幅校验未能产生有效结果。");
+    }
+
+    /// <summary>
+    /// 按统一倍率拉长轨迹时间轴，保留原始路点和触发元数据。
+    /// </summary>
+    private  PlannedTrajectory StretchTrajectoryTiming(PlannedTrajectory trajectory, double stretchFactor)
+    {
+        var waypointTimes = trajectory.WaypointTimes.Select(time => time * stretchFactor).ToArray();
+        var segmentDurations = trajectory.SegmentDurations.Select(duration => duration * stretchFactor).ToArray();
+        var segmentScales = trajectory.SegmentScales.Select(scale => scale / stretchFactor).ToArray();
+
+        return new PlannedTrajectory(
+            robot: trajectory.Robot,
+            originalProgram: trajectory.OriginalProgram,
+            plannedWaypoints: trajectory.PlannedWaypoints,
+            waypointTimes: waypointTimes,
+            segmentDurations: segmentDurations,
+            segmentScales: segmentScales,
+            method: trajectory.Method,
+            iterations: trajectory.Iterations,
+            threshold: trajectory.Threshold);
+    }
+
     /// <summary>
     /// 为飞拍执行生成一条平滑起停的时间轴。
     /// 保持路点位置不变，只重映射路点时刻，让起点和终点附近的速度自然收敛。

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(
+        _logger?.LogInformation("规划之后的轨迹点位数量为:{}", jointTrajectory.Count);
-            bundle.PlannedTrajectory,
+        var executionDenseTrajectory = bundle.Result.DenseJointTrajectory;
-            samplePeriod: LegacyDetailSamplePeriodSeconds);
+        var jointDetailTrajectory = DownsampleDenseRows(
+            executionDenseTrajectory,
+            samplePeriodSeconds: LegacyDetailSamplePeriodSeconds);
         var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
-        var cartDetailTrajectory = TrajectorySampler.SampleCartesianTrajectory(
+        var cartDetailTrajectory = BuildCartesianRowsFromJointDense(jointDetailTrajectory, kinematicsModel);
-            bundle.PlannedTrajectory,
-            kinematicsModel,
-            samplePeriod: LegacyDetailSamplePeriodSeconds);
 
         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>

src/Flyshot.Core.Planning/ICSP-算法说明.md

@@ -0,0 +1,194 @@
+# ICSP 算法说明（`ICspPlanner`）
+
+本文档用于解释 `Flyshot.Core.Planning.ICspPlanner` 当前实现的 **ICSP 规划算法**在本仓库中的真实含义与计算逻辑，便于与逆向结论对照、以及指导后续改造（例如“按约束生成中间点位”）。
+
+> 适用范围：本文描述的是当前 C# 实现的 **“CubicSpline + 逐段时间缩放迭代（retiming）”** 版本。  
+> 重要澄清：`ICspPlanner` 的主要输出是 **时间轴**（每个示教点的时间戳），而不是直接输出固定周期的稠密点序列；稠密点在后续采样层生成。
+
+---
+
+## 1. 名词与数据形态
+
+### 1.1 输入
+
+- **示教点（路点）**：`request.Program.Waypoints`  
+  每个路点是关节空间向量 \(q_i \in \mathbb{R}^{dof}\)。
+- **关节约束**：`request.Robot.JointLimits[d]` 提供每轴上限：
+  - 速度上限 \(v_{lim}[d]\)
+  - 加速度上限 \(a_{lim}[d]\)
+  - 跃度（jerk）上限 \(j_{lim}[d]\)
+
+### 1.2 输出（`PlannedTrajectory`）
+
+`ICspPlanner` 的输出 **不是稠密轨迹点序列**，而是：
+
+- `PlannedWaypoints`：规划后路点（对于普通 `icsp`，与输入示教点相同；补点发生在 `SelfAdaptIcspPlanner`）
+- `WaypointTimes`：每个路点的绝对时间 \(t_i\)（秒）
+- `SegmentDurations`：每段时长 \(T_i = t_{i+1}-t_i\)（秒）
+- `SegmentScales`：每段缩放因子 `scale_i`
+- `Iterations` / `Threshold`：收敛信息
+
+后续模块会基于 `PlannedWaypoints + WaypointTimes` 重建样条并采样，生成稠密点：
+
+- 规划层稠密采样：`TrajectorySampler.SampleJointTrajectory(...)`
+- 运行时 J519 重采样（速度倍率映射 + rad->deg）：`J519SendTrajectorySampler.SampleDenseJointTrajectory(...)`
+
+---
+
+## 2. 算法总体目标（retiming）
+
+给定一组关节示教点 \(\{q_i\}_{i=0}^{N-1}\)，在不改变路点位置的前提下，为每段分配时长 \(\{T_i\}_{i=0}^{N-2}\)，使得用 **clamped-zero 三次样条**连接后的轨迹在每段上满足：
+
+- \(\max|\dot q_d(t)| \le v_{lim}[d]\)
+- \(\max|\ddot q_d(t)| \le a_{lim}[d]\)
+- \(\max|\dddot q_d(t)| \le j_{lim}[d]\)
+
+实现策略是“逐段缩放时长”的迭代法：每轮用当前 \(\{T_i\}\) 构造样条并解析求导峰值，再根据超限程度把相应段时长乘以缩放因子，使峰值回落。
+
+---
+
+## 3. 计算步骤（与代码一致）
+
+### 3.1 前置条件
+
+- 路点数 \(N \ge 4\)（否则抛异常）
+
+### 3.2 初始段时长
+
+段数 \(nseg = N-1\)。
+
+初始段时长取相邻路点关节空间欧氏距离：
+
+\[
+T_i^{(0)} = \|q_{i+1}-q_i\|_2
+\]
+
+### 3.3 由段时长构造绝对时间轴
+
+\[
+t_0 = 0,\quad t_{i+1} = t_i + T_i
+\]
+
+### 3.4 用 clamped-zero 边界构造三次样条
+
+以 \((t_i, q_i)\) 为节点构造分段三次多项式：
+
+\[
+S_i(t) = a_i t^3 + b_i t^2 + c_i t + d_i,\quad t \in [t_i, t_{i+1}]
+\]
+
+边界条件为 **clamped-zero**（起点/终点一阶导为 0），用于与逆向锁定的参考行为对齐。
+
+### 3.5 解析计算每段导数峰值
+
+对每段、每轴，解析求最大绝对值：
+
+- 一阶导（速度）是二次函数：端点与顶点候选取最大
+- 二阶导（加速度）是一次函数：端点取最大
+- 三阶导（跃度）是常数：直接取绝对值
+
+得到三张矩阵：
+
+- `maxDq[seg,d] = max_t |dq/dt|`
+- `maxDdq[seg,d] = max_t |d²q/dt²|`
+- `maxDddq[seg,d] = max_t |d³q/dt³|`
+
+### 3.6 计算每段缩放因子（核心公式）
+
+对段 `seg`，对每个关节 `d` 计算三类“超限比”：
+
+\[
+s_v = \left|\frac{maxDq[seg,d]}{v_{lim}[d]}\right|
+\]
+
+\[
+s_a = \sqrt{\left|\frac{maxDdq[seg,d]}{a_{lim}[d]}\right|}
+\]
+
+\[
+s_j = \sqrt[3]{\left|\frac{maxDddq[seg,d]}{j_{lim}[d]}\right|}
+\]
+
+段缩放因子取所有轴、三类约束的最大值：
+
+\[
+scale_{seg}=\max_d \max(s_v, s_a, s_j)
+\]
+
+> 指数来源：时间拉长 \(k\) 倍时，速度按 \(1/k\) 缩小、加速度按 \(1/k^2\) 缩小、跃度按 \(1/k^3\) 缩小，因此超限比需要分别取一次方/平方根/立方根来求“应当拉长多少倍”。
+
+### 3.7 收敛指标与最优解保存
+
+每轮用如下指标衡量“离约束满足还差多少”：
+
+\[
+threshold = \sum_{seg} |scale_{seg} - 1|
+\]
+
+若本轮 `threshold` 小于历史最佳，则保存当前解作为 `best`（包含 `bestDurations / bestScales / bestWaypointTimes` 等）。
+
+### 3.8 收敛判定与段时长更新
+
+- 若 `threshold < _threshold`（默认 `1e-3`），认为收敛并提前结束迭代
+- 否则更新每段时长：
+
+\[
+T_{seg} \leftarrow T_{seg} \cdot scale_{seg}
+\]
+
+并进入下一轮。
+
+---
+
+## 4. 最终判定（global_scale）
+
+迭代结束后取历史最优缩放因子的最大值：
+
+\[
+globalScale=\max_{seg}(scale_{seg})
+\]
+
+若启用强制判定（`enforceFinalScale=true`）且：
+
+\[
+globalScale > 1 + \text{finalScaleTolerance}
+\]
+
+则判定“未收敛/不可执行”并抛异常。默认容差 `finalScaleTolerance=1e-2`，用于容忍 C# spline 与参考实现间的小量数值差异。
+
+---
+
+## 5. 与“补点/中间点位”的关系（常见误解澄清）
+
+### 5.1 `ICspPlanner` 不负责生成固定周期的中间点位
+
+`ICspPlanner` 的核心工作是 **时间轴规划（retiming）**：在不改变示教点位置的情况下，通过缩放每段时长让样条导数峰值满足约束。
+
+固定周期（例如 8ms/16ms）的“中间点位序列”属于 **采样层**：
+
+- `TrajectorySampler`：按 `samplePeriod` 在样条上取样，得到 `[time, j1..jN]`（关节单位仍为 rad）
+- `J519SendTrajectorySampler`：按 `servoPeriod` 生成真实发送序列，用 `speedRatio` 把 `sendTime` 映射到 `trajectoryTime` 并线性插值，再做 `rad -> deg`
+
+### 5.2 `SelfAdaptIcspPlanner` 才包含“补点”逻辑，但它很粗
+
+`self-adapt-icsp` 的补点策略在 `SelfAdaptIcspPlanner` 中：当某些段 `scale > 1 + tolerance` 时，对这些段插入关节空间**中点**再重规划。该策略的目的主要是“救收敛”，不是生成最终稠密序列。
+
+---
+
+## 6. 后续改造建议（定位落点）
+
+如果需求是“根据示教点 + v/a/j 限制，直接生成可下发的稠密点位序列”，通常有两条路径：
+
+1. **保留 ICSP retiming**：继续用 `ICspPlanner` 求时间轴，再在采样层按固定周期生成中间点位（当前架构就是这条路）。此时需要讨论的是采样周期、速度倍率映射、以及是否要对采样序列再做约束校验或二次整形。
+2. **做真正的自适应插点/细分**：把“插点策略”升级为基于约束的细分（而不只是插中点），这更自然的落点是 `SelfAdaptIcspPlanner` 或新增一个“约束驱动细分器”，而不是把稠密点生成塞进 `ICspPlanner`。
+
+---
+
+## 7. 关联实现位置（便于跳转）
+
+- 算法入口：`src/Flyshot.Core.Planning/ICspPlanner.cs`
+- 自适应补点：`src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs`
+- 三次样条实现（clamped-zero + 解析导峰值）：`src/Flyshot.Core.Planning/CubicSplineInterpolator.cs`
+- 规划层稠密采样：`src/Flyshot.Core.Planning/Sampling/TrajectorySampler.cs`
+- J519 实发重采样：`src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs`
+

src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs

@@ -0,0 +1,206 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 对最终生成的关节轨迹点做速度、加速度和 Jerk 离散复核。
+/// </summary>
+public static class TrajectoryLimitValidator
+{
+    /// <summary>
+    /// 离散差分校验允许的默认浮点容差倍率。
+    /// </summary>
+    public const double DefaultLimitTolerance = 1.000001;
+
+    /// <summary>
+    /// 校验弧度制稠密关节轨迹是否满足机器人关节限制。
+    /// </summary>
+    /// <param name="robot">机器人约束配置。</param>
+    /// <param name="rows">稠密轨迹行，格式为 time + 关节弧度。</param>
+    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
+    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    public static void ValidateDenseJointTrajectory(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> rows,
+        double toleranceMultiplier = DefaultLimitTolerance,
+        string? trajectoryName = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(rows);
+        ValidateTolerance(toleranceMultiplier);
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory");
+    }
+
+    /// <summary>
+    /// 校验 J519 实际发送采样点是否满足机器人关节限制。
+    /// </summary>
+    /// <param name="robot">机器人约束配置。</param>
+    /// <param name="samples">J519 发送采样点，关节单位为角度。</param>
+    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
+    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    public static void ValidateJ519SendSamples(
+        RobotProfile robot,
+        IReadOnlyList<J519SendSample> samples,
+        double toleranceMultiplier = DefaultLimitTolerance,
+        string? trajectoryName = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(samples);
+        ValidateTolerance(toleranceMultiplier);
+
+        var rows = new List<IReadOnlyList<double>>(samples.Count);
+        foreach (var sample in samples)
+        {
+            var row = new double[robot.DegreesOfFreedom + 1];
+            row[0] = sample.SendTime;
+            for (var index = 0; index < robot.DegreesOfFreedom; index++)
+            {
+                row[index + 1] = DegreesToRadians(sample.JointsDegrees[index]);
+            }
+
+            rows.Add(row);
+        }
+
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "j519-send-trajectory");
+    }
+
+    /// <summary>
+    /// 校验容差倍率必须为有限正数。
+    /// </summary>
+    private static void ValidateTolerance(double toleranceMultiplier)
+    {
+        if (toleranceMultiplier <= 0.0 || double.IsNaN(toleranceMultiplier) || double.IsInfinity(toleranceMultiplier))
+        {
+            throw new ArgumentOutOfRangeException(nameof(toleranceMultiplier), "限值容差倍率必须是有限正数。");
+        }
+    }
+
+    /// <summary>
+    /// 对弧度制轨迹行执行统一的离散差分限幅校验。
+    /// </summary>
+    private static void ValidateRows(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> rows,
+        double toleranceMultiplier,
+        string trajectoryName)
+    {
+        double? previousTime = null;
+        double[]? previousPositions = null;
+        double[]? previousVelocities = null;
+        double[]? previousAccelerations = null;
+
+        for (var rowIndex = 0; rowIndex < rows.Count; rowIndex++)
+        {
+            var row = rows[rowIndex];
+            if (row.Count < robot.DegreesOfFreedom + 1)
+            {
+                throw new InvalidOperationException(
+                    $"轨迹 {trajectoryName} 第 {rowIndex + 1} 行关节列数量不足，期望至少 {robot.DegreesOfFreedom + 1} 列，实际 {row.Count} 列。");
+            }
+
+            var currentTime = row[0];
+            var currentPositions = new double[robot.DegreesOfFreedom];
+            for (var index = 0; index < robot.DegreesOfFreedom; index++)
+            {
+                currentPositions[index] = row[index + 1];
+            }
+
+            if (previousTime is not null && previousPositions is not null)
+            {
+                var dt = currentTime - previousTime.Value;
+                if (dt <= 0.0)
+                {
+                    throw new InvalidOperationException(
+                        $"轨迹 {trajectoryName} 时间戳必须严格递增，第 {rowIndex + 1} 行 dt={dt:F9}s。");
+                }
+
+                var currentVelocities = new double[robot.DegreesOfFreedom];
+                var currentAccelerations = new double[robot.DegreesOfFreedom];
+                for (var index = 0; index < robot.DegreesOfFreedom; index++)
+                {
+                    var jointLimit = robot.JointLimits[index];
+                    currentVelocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
+                    ThrowIfExceeded(
+                        trajectoryName,
+                        rowIndex,
+                        previousTime.Value,
+                        currentTime,
+                        jointLimit.JointName,
+                        "速度",
+                        currentVelocities[index],
+                        jointLimit.VelocityLimit,
+                        toleranceMultiplier);
+
+                    currentAccelerations[index] = previousVelocities is null
+                        ? 0.0
+                        : (currentVelocities[index] - previousVelocities[index]) / dt;
+                    ThrowIfExceeded(
+                        trajectoryName,
+                        rowIndex,
+                        previousTime.Value,
+                        currentTime,
+                        jointLimit.JointName,
+                        "加速度",
+                        currentAccelerations[index],
+                        jointLimit.AccelerationLimit,
+                        toleranceMultiplier);
+
+                    if (previousAccelerations is not null)
+                    {
+                        var jerk = (currentAccelerations[index] - previousAccelerations[index]) / dt;
+                        ThrowIfExceeded(
+                            trajectoryName,
+                            rowIndex,
+                            previousTime.Value,
+                            currentTime,
+                            jointLimit.JointName,
+                            "Jerk",
+                            jerk,
+                            jointLimit.JerkLimit,
+                            toleranceMultiplier*4);
+                    }
+                }
+
+                previousVelocities = currentVelocities;
+                previousAccelerations = currentAccelerations;
+            }
+
+            previousTime = currentTime;
+            previousPositions = currentPositions;
+        }
+    }
+
+    /// <summary>
+    /// 当某个差分指标超过限制时抛出包含关节和时间窗的诊断异常。
+    /// </summary>
+    private static void ThrowIfExceeded(
+        string trajectoryName,
+        int rowIndex,
+        double previousTime,
+        double currentTime,
+        string jointName,
+        string metricName,
+        double actual,
+        double limit,
+        double toleranceMultiplier)
+    {
+        var absActual = Math.Abs(actual);
+        var effectiveLimit = limit * toleranceMultiplier;
+        if (absActual <= effectiveLimit)
+        {
+            return;
+        }
+
+        throw new InvalidOperationException(
+            $"轨迹 {trajectoryName} 第 {rowIndex + 1} 行 {jointName} {metricName}超限: " +
+            $"time={previousTime:F6}->{currentTime:F6}s, actual={actual:F6}, limit={limit:F6}, ratio={absActual / limit:F4}。");
+    }
+
+    /// <summary>
+    /// 角度单位转换：deg -> rad。
+    /// </summary>
+    private static double DegreesToRadians(double degrees)
+    {
+        return degrees * Math.PI / 180.0;
+    }
+}

src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs

@@ -180,6 +180,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         {
             EnsureConnected();
             _bufferSize = bufferSize;
+            _j519Client.SetSequenceBufferSize(bufferSize);
 
             if (IsSimulationMode)
             {
@@ -189,9 +190,9 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
             }
 
             // 真机模式：按 all-reconnect.pcap 的重连序列启动 RVBUSTSM，暂不发送 StopProg。
-              _commandClient.StopProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
+             _commandClient.StopProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
             _commandClient.ResetRobotAsync().GetAwaiter().GetResult();
-            _commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
+            //_commandClient.GetProgramStatusAsync("RVBUSTSM").GetAwaiter().GetResult();
             _commandClient.StartProgramAsync("RVBUSTSM").GetAwaiter().GetResult();
 
             _j519Client.StartMotion();
@@ -575,6 +576,10 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
             durationSeconds,
             servoPeriodSeconds,
             speedRatio);
+        TrajectoryLimitValidator.ValidateJ519SendSamples(
+            _robot!,
+            samples,
+            trajectoryName: result.ProgramName);
         var sampleCount = samples.Count;
 
         _logger?.LogInformation(
@@ -764,7 +769,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
     internal static bool IsJ519ReadyForDenseExecution(FanucJ519Response response)
     {
         ArgumentNullException.ThrowIfNull(response);
-        return response.AcceptsCommand && response.SystemReady;
+        return response is { AcceptsCommand: true, SystemReady: true };
     }
 
     /// <summary>

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs

@@ -24,6 +24,7 @@ public sealed class FanucJ519Client : IDisposable
     private FanucJ519Response? _latestResponse;
     private long _slowSendCount;
     private long _maxReceiveToSendTicks;
+    private uint _sequenceBufferSize;
     // 标记 StartMotion 前是否刚装载过新目标，用于区分新命令和上次运动残留目标。
     private bool _hasPendingCommandForStart;
     private bool _motionStarted;
@@ -119,6 +120,25 @@ public sealed class FanucJ519Client : IDisposable
         _logger?.LogInformation("J519 StartMotion: 已启用状态包驱动发送");
     }
 
+    /// <summary>
+    /// 配置状态包驱动回发时附加到机器人 sequence 的前视缓冲深度。
+    /// </summary>
+    /// <param name="bufferSize">要附加到状态序号上的缓冲深度。</param>
+    public void SetSequenceBufferSize(int bufferSize)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (bufferSize < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(bufferSize), "J519 sequence buffer size 不能为负数。");
+        }
+
+        lock (_commandLock)
+        {
+            _sequenceBufferSize = (uint)bufferSize;
+        }
+    }
+
     /// <summary>
     /// 发送状态输出停止包并停止 J519 命令发送。
     /// </summary>
@@ -194,8 +214,8 @@ public sealed class FanucJ519Client : IDisposable
             _commandQueueDrainedCompletion = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
             _commandHistoryForTests?.AddRange(commands);
         }
-
         _logger?.LogInformation("J519 命令队列已装载: count={Count}", commands.Count);
+        _logger?.LogInformation("开始运动前向机器人发送的sequence={Sequence}",_lastSentCommand?.Sequence ?? 0);
     }
 
     /// <summary>
@@ -526,12 +546,23 @@ public sealed class FanucJ519Client : IDisposable
             }
         }
 
+        if (command is null)
+        {
+            command = TryBuildHoldCommandFromLatestResponse(response);
+        }
+
         if (command is null)
         {
             return;
         }
 
-        FanucJ519Protocol.PackCommandPacket(command, response.Sequence, commandBuffer);
+        uint sequenceToSend;
+        lock (_commandLock)
+        {
+            sequenceToSend = response.Sequence + _sequenceBufferSize;
+        }
+
+        FanucJ519Protocol.PackCommandPacket(command, sequenceToSend, commandBuffer);
         socket.Send(commandBuffer);
         TrackReceiveToSendLatency(receiveTicks);
         // _logger?.LogDebug("J519 已回发命令包，seq={Seq}", sequence);
@@ -550,6 +581,32 @@ public sealed class FanucJ519Client : IDisposable
         }
     }
 
+    /// <summary>
+    /// 当当前没有显式目标时，使用最近一帧状态反馈关节角构造保姿命令，维持机器人当前位置。
+    /// </summary>
+    /// <param name="response">当前收到的机器人状态包。</param>
+    /// <returns>可用于保姿的临时 J519 命令；若反馈关节不足则返回 null。</returns>
+    private static FanucJ519Command? TryBuildHoldCommandFromLatestResponse(FanucJ519Response response)
+    {
+        if (response.JointDegrees.Count < 6)
+        {
+            return null;
+        }
+
+        // 无运动目标时，持续回发机器人当前反馈关节，保持伺服流与机器人当前位置一致。
+        return new FanucJ519Command(
+            sequence: response.Sequence,
+            targetJoints:
+            [
+                response.JointDegrees[0],
+                response.JointDegrees[1],
+                response.JointDegrees[2],
+                response.JointDegrees[3],
+                response.JointDegrees[4],
+                response.JointDegrees[5]
+            ]);
+    }
+
     /// <summary>
     /// 记录状态包到命令包发出的最大耗时和慢发送次数，供低频诊断日志观察调度抖动。
     /// </summary>

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);
     }
 

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>

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 executionDuration = double.Parse(
-            var expectedRows = (int)Math.Ceiling(Math.Max(0.0, (duration / (0.008 * 0.5)) - 1e-9)) + 1;
+                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。