✨ feat(fanuc): 添加直角坐标点动功能与相关接口

* 新增 `MovePose` 方法，支持以直角坐标执行点到点移动。
* 引入 `LegacyCartesianPoseRequest` 类，处理直角位姿请求体的解析与验证。
* 更新 `LegacyHttpApiController`，实现 `/move_pose/` 路由以支持新功能。
* 增强状态快照元数据，提供机器人初始化状态与已上传轨迹信息。
* 更新前端状态页面，增加直角坐标点动控制面板与步长设置选项。
* 相关文档与测试用例同步更新，确保新功能的完整性与稳定性。

analysis/read_fanuc_allowable_limits.py

@@ -0,0 +1,200 @@
+#!/usr/bin/env python3
+"""读取 FANUC J519 允许速度/加速度/jerk 上限表。
+
+本脚本只做 UDP packet type=3 查询，不启动运行时服务，也不写入机器人参数。
+响应中的 limit 值保留为控制器原始单位：速度 deg/s、加速度 deg/s^2、jerk deg/s^3。
+"""
+
+from __future__ import annotations
+
+import argparse
+import csv
+import socket
+import struct
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+
+
+LIMIT_TYPES = {
+    0: ("velocity", "deg/s"),
+    1: ("acceleration", "deg/s^2"),
+    2: ("jerk", "deg/s^3"),
+}
+
+
+@dataclass(frozen=True)
+class LimitTable:
+    """保存单个轴、单种限制类型的 20 档 no-payload / max-payload 上限表。"""
+
+    axis: int
+    limit_type: int
+    vmax_mm_s: int
+    intermediate_check_s: int
+    no_payload: tuple[float, ...]
+    max_payload: tuple[float, ...]
+
+
+def pack_request(axis: int, limit_type: int) -> bytes:
+    """按手册 Table 5 封装允许上限表查询请求。"""
+
+    return struct.pack(">IIII", 3, 1, axis, limit_type)
+
+
+def parse_response(packet: bytes, expected_axis: int, expected_type: int) -> LimitTable:
+    """按手册 Table 6 解析允许上限表响应。"""
+
+    if len(packet) != 184:
+        raise ValueError(f"响应长度应为 184 字节，实际为 {len(packet)} 字节。")
+
+    packet_type, version, axis, limit_type, vmax, check_time = struct.unpack_from(">IIIIII", packet, 0)
+    if packet_type != 3 or version != 1:
+        raise ValueError(f"响应头不正确：packet_type={packet_type}, version={version}。")
+    if axis != expected_axis or limit_type != expected_type:
+        raise ValueError(
+            f"响应与请求不匹配：期望 axis={expected_axis}, type={expected_type}，"
+            f"实际 axis={axis}, type={limit_type}。"
+        )
+
+    values = struct.unpack_from(">40f", packet, 24)
+    return LimitTable(
+        axis=axis,
+        limit_type=limit_type,
+        vmax_mm_s=vmax,
+        intermediate_check_s=check_time,
+        no_payload=tuple(values[:20]),
+        max_payload=tuple(values[20:]),
+    )
+
+
+def query_table(sock: socket.socket, robot_ip: str, port: int, axis: int, limit_type: int) -> LimitTable:
+    """发送单个查询请求并等待对应响应。"""
+
+    sock.sendto(pack_request(axis, limit_type), (robot_ip, port))
+    packet, address = sock.recvfrom(2048)
+    if address[0] != robot_ip:
+        raise ValueError(f"收到非目标机器人响应：{address[0]}:{address[1]}。")
+    return parse_response(packet, axis, limit_type)
+
+
+def iter_requested_tables(
+    robot_ip: str,
+    port: int,
+    timeout_s: float,
+    axes: range,
+    limit_types: tuple[int, ...],
+) -> list[LimitTable]:
+    """按轴和限制类型顺序读取所有上限表。"""
+
+    tables: list[LimitTable] = []
+    with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
+        sock.settimeout(timeout_s)
+        for axis in axes:
+            for limit_type in limit_types:
+                tables.append(query_table(sock, robot_ip, port, axis, limit_type))
+    return tables
+
+
+def write_csv(path: Path, tables: list[LimitTable]) -> None:
+    """把 20 档速度区间和两套 payload 表写成扁平 CSV。"""
+
+    with path.open("w", newline="", encoding="utf-8") as file:
+        writer = csv.writer(file)
+        writer.writerow(
+            [
+                "axis",
+                "limit_type",
+                "unit",
+                "vmax_mm_s",
+                "intermediate_check_s",
+                "speed_bin_index",
+                "speed_bin_upper_mm_s",
+                "no_payload_limit",
+                "max_payload_limit",
+            ]
+        )
+        for table in tables:
+            limit_name, unit = LIMIT_TYPES[table.limit_type]
+            for index, (no_payload, max_payload) in enumerate(zip(table.no_payload, table.max_payload), start=1):
+                writer.writerow(
+                    [
+                        table.axis,
+                        limit_name,
+                        unit,
+                        table.vmax_mm_s,
+                        table.intermediate_check_s,
+                        index,
+                        table.vmax_mm_s * index / 20.0,
+                        f"{no_payload:.9g}",
+                        f"{max_payload:.9g}",
+                    ]
+                )
+
+
+def print_summary(tables: list[LimitTable]) -> None:
+    """打印每张表的首末档，便于现场快速确认返回值是否正常。"""
+
+    for table in tables:
+        limit_name, unit = LIMIT_TYPES[table.limit_type]
+        print(
+            f"axis={table.axis} type={limit_name:<12} unit={unit:<8} "
+            f"vmax={table.vmax_mm_s}mm/s check={table.intermediate_check_s}s "
+            f"no_payload[1]={table.no_payload[0]:.6g} no_payload[20]={table.no_payload[-1]:.6g} "
+            f"max_payload[1]={table.max_payload[0]:.6g} max_payload[20]={table.max_payload[-1]:.6g}"
+        )
+
+
+def parse_args() -> argparse.Namespace:
+    """解析命令行参数。"""
+
+    parser = argparse.ArgumentParser(
+        description="Read FANUC J519 packet type=3 allowable upper limit tables.",
+    )
+    parser.add_argument("robot_ip", help="机器人控制柜 IP，例如 192.168.10.11。")
+    parser.add_argument("--port", type=int, default=60015, help="J519 UDP 端口，默认 60015。")
+    parser.add_argument("--timeout", type=float, default=2.0, help="单次响应超时秒数，默认 2.0。")
+    parser.add_argument("--axis-start", type=int, default=1, help="起始轴号，默认 1。")
+    parser.add_argument("--axis-end", type=int, default=9, help="结束轴号，默认 9。")
+    parser.add_argument(
+        "--types",
+        default="0,1,2",
+        help="限制类型列表：0=velocity, 1=acceleration, 2=jerk；默认 0,1,2。",
+    )
+    parser.add_argument(
+        "--csv",
+        type=Path,
+        default=Path("analysis/fanuc_allowable_limit_tables.csv"),
+        help="CSV 输出路径。",
+    )
+    return parser.parse_args()
+
+
+def main() -> int:
+    """脚本入口。"""
+
+    args = parse_args()
+    limit_types = tuple(int(item.strip()) for item in args.types.split(",") if item.strip())
+    unknown_types = [item for item in limit_types if item not in LIMIT_TYPES]
+    if unknown_types:
+        print(f"未知限制类型：{unknown_types}", file=sys.stderr)
+        return 2
+    if not 1 <= args.axis_start <= args.axis_end <= 9:
+        print("轴范围必须满足 1 <= axis-start <= axis-end <= 9。", file=sys.stderr)
+        return 2
+
+    tables = iter_requested_tables(
+        args.robot_ip,
+        args.port,
+        args.timeout,
+        range(args.axis_start, args.axis_end + 1),
+        limit_types,
+    )
+    args.csv.parent.mkdir(parents=True, exist_ok=True)
+    write_csv(args.csv, tables)
+    print_summary(tables)
+    print(f"\nCSV 已写入：{args.csv}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -12,6 +12,7 @@ namespace Flyshot.ControllerClientCompat;
 public sealed class ControllerClientCompatService : IControllerClientCompatService
 {
     private readonly object _stateLock = new();
+    private readonly object _motionLock = new();
     private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _uploadedTrajectories = new(StringComparer.Ordinal);
     private readonly ControllerClientCompatOptions _options;
     private readonly ControllerClientCompatRobotCatalog _robotCatalog;
@@ -197,8 +198,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.SetActiveController(sim);
         }
+
+        _runtime.SetActiveController(sim);
     }
 
     /// <inheritdoc />
@@ -214,9 +216,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.Connect(robotIp);
         }
 
+        _runtime.Connect(robotIp);
+
         _logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
     }
 
@@ -226,8 +229,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.Disconnect();
         }
+
+        _runtime.Disconnect();
     }
 
     /// <inheritdoc />
@@ -237,8 +241,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.EnableRobot(bufferSize);
         }
+        _runtime.EnableRobot(bufferSize);
         _logger?.LogInformation("EnableRobot 完成");
     }
 
@@ -249,8 +253,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.DisableRobot();
         }
+
+        // DisableRobot 是中断/控制命令，不能被长时间运动串行锁挡住。
+        _runtime.DisableRobot();
         _logger?.LogInformation("DisableRobot 完成");
     }
 
@@ -261,8 +267,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.StopMove();
         }
+
+        // StopMove 必须能在运动执行期间直接进入 runtime 取消发送任务。
+        _runtime.StopMove();
         _logger?.LogInformation("StopMove 完成");
     }
 
@@ -272,14 +280,31 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         return _runtime.GetSnapshot();
     }
 
+    /// <inheritdoc />
+    public ControllerClientStatusSnapshotMetadata GetStatusSnapshotMetadata()
+    {
+        lock (_stateLock)
+        {
+            var isSetup = _activeRobotProfile is not null;
+            return new ControllerClientStatusSnapshotMetadata(
+                isSetup,
+                isSetup ? _configuredRobotName : null,
+                isSetup ? _activeRobotProfile!.DegreesOfFreedom : 0,
+                isSetup ? _uploadedTrajectories.Keys.ToArray() : Array.Empty<string>(),
+                GetServerVersion(),
+                GetClientVersion());
+        }
+    }
+
     /// <inheritdoc />
     public double GetSpeedRatio()
     {
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            return _runtime.GetSpeedRatio();
         }
+
+        return _runtime.GetSpeedRatio();
     }
 
     /// <inheritdoc />
@@ -288,8 +313,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.SetSpeedRatio(ratio);
         }
+
+        _runtime.SetSpeedRatio(ratio);
     }
 
     /// <inheritdoc />
@@ -298,8 +324,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.SetIo(port, value, ioType);
         }
+
+        _runtime.SetIo(port, value, ioType);
     }
 
     /// <inheritdoc />
@@ -308,8 +335,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            return _runtime.GetIo(port, ioType);
         }
+
+        return _runtime.GetIo(port, ioType);
     }
 
     /// <inheritdoc />
@@ -341,8 +369,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            _runtime.SetTcp(x, y, z);
         }
+
+        _runtime.SetTcp(x, y, z);
     }
 
     /// <inheritdoc />
@@ -351,8 +380,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            return _runtime.GetTcp();
         }
+
+        return _runtime.GetTcp();
     }
 
     /// <inheritdoc />
@@ -361,8 +391,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            return _runtime.GetJointPositions();
         }
+
+        return _runtime.GetJointPositions();
     }
 
     /// <inheritdoc />
@@ -373,16 +404,44 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         _logger?.LogInformation("MoveJoint 开始: 目标关节数={JointCount}", jointPositions.Count);
         _logger?.LogDebug("MoveJoint 目标关节: {Joints}", string.Join(", ", jointPositions.Select(j => j.ToString("F4"))));
 
+        RobotProfile robot;
         lock (_stateLock)
         {
-            var robot = RequireActiveRobot();
+            robot = RequireActiveRobot();
             EnsureRuntimeEnabled();
-            ExecuteMoveJointAndWaitLocked(robot, jointPositions, "MoveJoint");
+        }
+
+        lock (_motionLock)
+        {
+            ExecuteMoveJointAndWait(robot, jointPositions, "MoveJoint");
         }
 
         _logger?.LogInformation("MoveJoint 完成");
     }
 
+    /// <inheritdoc />
+    public void MovePose(IReadOnlyList<double> pose)
+    {
+        ArgumentNullException.ThrowIfNull(pose);
+
+        _logger?.LogInformation("MovePose 开始: 目标位姿维度={PoseCount}", pose.Count);
+        _logger?.LogDebug("MovePose 目标位姿: {Pose}", string.Join(", ", pose.Select(v => v.ToString("F4"))));
+
+        RobotProfile robot;
+        lock (_stateLock)
+        {
+            robot = RequireActiveRobot();
+            EnsureRuntimeEnabled();
+        }
+
+        lock (_motionLock)
+        {
+            ExecuteMovePoseAndWait(robot, pose, "MovePose");
+        }
+
+        _logger?.LogInformation("MovePose 完成");
+    }
+
     /// <inheritdoc />
     public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null)
     {
@@ -398,13 +457,19 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         _logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
             string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
 
+        RobotProfile robot;
+        CompatibilityRobotSettings settings;
         lock (_stateLock)
         {
-            var robot = RequireActiveRobot();
+            robot = RequireActiveRobot();
             EnsureRuntimeEnabled();
+            settings = RequireRobotSettings();
+        }
 
+        lock (_motionLock)
+        {
             // 普通轨迹必须按调用方指定 method 规划，再把规划结果交给运行时执行。
-            var planningSpeedScale = RequireRobotSettings().PlanningSpeedScale;
+            var planningSpeedScale = settings.PlanningSpeedScale;
             var speedRatio = _runtime.GetSnapshot().SpeedRatio;
             var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale, speedRatio);
             _logger?.LogInformation(
@@ -428,8 +493,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         lock (_stateLock)
         {
             EnsureRobotSetup();
-            return _runtime.GetPose();
         }
+
+        return _runtime.GetPose();
     }
 
     /// <inheritdoc />
@@ -443,16 +509,20 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             trajectory.Waypoints.Count,
             trajectory.ShotFlags.Count(static f => f));
 
+        string robotName;
+        CompatibilityRobotSettings settings;
         lock (_stateLock)
         {
             EnsureRuntimeEnabled();
             _uploadedTrajectories[trajectory.Name] = trajectory;
 
-            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
-            var settings = _robotSettings ?? CreateDefaultRobotSettings();
-            _trajectoryStore.Save(robotName, settings, trajectory);
+            robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            settings = _robotSettings ?? CreateDefaultRobotSettings();
         }
 
+        // RobotConfig.json 持久化是文件 I/O，放在状态锁外，避免状态页轮询被磁盘写入拖住。
+        _trajectoryStore.Save(robotName, settings, trajectory);
+
         _logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
     }
 
@@ -478,25 +548,34 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             "ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}, wait={Wait}",
             name, options.Method, options.MoveToStart, options.UseCache, options.Wait);
 
+        RobotProfile robot;
+        CompatibilityRobotSettings settings;
+        ControllerClientCompatUploadedTrajectory trajectory;
         lock (_stateLock)
         {
-            var robot = RequireActiveRobot();
+            robot = RequireActiveRobot();
             EnsureRuntimeEnabled();
 
-            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
             {
                 _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
                 throw new InvalidOperationException("FlyShot trajectory does not exist.");
             }
 
+            // 飞拍执行只拿上传轨迹的瞬时副本，后续规划/导出都不再依赖字典锁。
+            trajectory = CloneUploadedTrajectory(uploadedTrajectory);
             if (trajectory.Waypoints.Count == 0)
             {
                 _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
                 throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
             }
 
+            settings = RequireRobotSettings();
+        }
+
+        lock (_motionLock)
+        {
             // 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
-            var settings = RequireRobotSettings();
             var speedRatio = _runtime.GetSnapshot().SpeedRatio;
             var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale, speedRatio);
             bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
@@ -523,7 +602,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             if (options.MoveToStart)
             {
                 _logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
-                ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
+                ExecuteMoveJointAndWait(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
                 EnsureFeedbackNearFlyshotStart(bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, name);
             }
             else
@@ -555,7 +634,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     /// <param name="robot">当前机器人模型。</param>
     /// <param name="targetJointPositions">目标关节位置，单位为弧度。</param>
     /// <param name="operationName">用于日志和超时异常的操作名。</param>
-    private void ExecuteMoveJointAndWaitLocked(RobotProfile robot, IReadOnlyList<double> targetJointPositions, string operationName)
+    private void ExecuteMoveJointAndWait(RobotProfile robot, IReadOnlyList<double> targetJointPositions, string operationName)
     {
         var currentJointPositions = _runtime.GetJointPositions();
         EnsureJointVector(currentJointPositions, robot.DegreesOfFreedom, nameof(currentJointPositions));
@@ -574,6 +653,30 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
     }
 
+    /// <summary>
+    /// 从当前 TCP 位姿生成临时直角 PTP 稠密轨迹并阻塞等待运行时完成。
+    /// </summary>
+    /// <param name="robot">当前机器人模型，用于取得 J519 伺服周期。</param>
+    /// <param name="targetPose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
+    /// <param name="operationName">用于日志和超时异常的操作名。</param>
+    private void ExecuteMovePoseAndWait(RobotProfile robot, IReadOnlyList<double> targetPose, string operationName)
+    {
+        var currentPose = NormalizeRuntimePose(_runtime.GetPose());
+        EnsurePoseVector(targetPose, nameof(targetPose));
+
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        var moveResult = MovePoseTrajectoryGenerator.CreateResult(currentPose, targetPose, robot.ServoPeriod, speedRatio, _logger);
+        _logger?.LogInformation(
+            "{OperationName} 直角PTP规划完成: 当前速度倍率={SpeedRatio}, 规划时长={Duration}s, 采样点数={SampleCount}",
+            operationName,
+            speedRatio,
+            moveResult.Duration.TotalSeconds,
+            moveResult.DenseCartesianTrajectory?.Count ?? 0);
+
+        _runtime.ExecuteCartesianTrajectory(moveResult, targetPose);
+        WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
+    }
+
     /// <summary>
     /// 校验当前反馈是否接近飞拍起点；不接近时直接抛出兼容错误。
     /// </summary>
@@ -649,43 +752,45 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
 
         _logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
 
+        RobotProfile robot;
+        CompatibilityRobotSettings planningSettings;
+        ControllerClientCompatUploadedTrajectory trajectory;
         lock (_stateLock)
         {
-            var robot = RequireActiveRobot();
-            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            robot = RequireActiveRobot();
+            if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
             {
                 _logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
                 throw new InvalidOperationException("FlyShot trajectory does not exist.");
             }
 
             // 先通过规划校验避免静默接受非法参数，同时把轨迹信息强制刷写到本地 JSON。
-            var planningSettings = RequireRobotSettings();
-            var speedRatio = _runtime.GetSnapshot().SpeedRatio;
-            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
-                robot,
-                trajectory,
-                new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
-                planningSettings,
-                planningSettings.PlanningSpeedScale,
-                speedRatio);
-            bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
-            _logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
-            ExportFlyshotArtifactsIfRequested(
-                name,
-                saveTrajectory: true,
-                robot,
-                trajectory,
-                new FlyshotExecutionOptions(useCache: false, saveTrajectory: true, method: method),
-                planningSettings,
-                bundle,
-                planningSettings.PlanningSpeedScale,
-                speedRatio);
-
-            // var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
-            // var settings = _robotSettings ?? CreateDefaultRobotSettings();
-            // _trajectoryStore.Save(robotName, settings, trajectory);
+            // 保存轨迹信息会执行规划和文件导出，先复制上传数据再释放状态锁。
+            trajectory = CloneUploadedTrajectory(uploadedTrajectory);
+            planningSettings = RequireRobotSettings();
         }
 
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
+            robot,
+            trajectory,
+            new FlyshotExecutionOptions(useCache: false, saveTrajectory: true, method: method),
+            planningSettings,
+            planningSettings.PlanningSpeedScale,
+            speedRatio);
+        bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
+        _logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
+        ExportFlyshotArtifactsIfRequested(
+            name,
+            saveTrajectory: true,
+            robot,
+            trajectory,
+            new FlyshotExecutionOptions(useCache: false, saveTrajectory: true, method: method),
+            planningSettings,
+            bundle,
+            planningSettings.PlanningSpeedScale,
+            speedRatio);
+
         _logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
     }
 
@@ -699,42 +804,48 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
 
         _logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
 
+        RobotProfile robot;
+        CompatibilityRobotSettings planningSettings;
+        ControllerClientCompatUploadedTrajectory trajectory;
         lock (_stateLock)
         {
-            var robot = RequireActiveRobot();
-            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            robot = RequireActiveRobot();
+            if (!_uploadedTrajectories.TryGetValue(name, out var uploadedTrajectory))
             {
                 _logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
                 throw new InvalidOperationException("FlyShot trajectory does not exist.");
             }
 
-            var planningSettings = RequireRobotSettings();
-            var speedRatio = _runtime.GetSnapshot().SpeedRatio;
-            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
-                robot,
-                trajectory,
-                new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
-                planningSettings,
-                planningSettings.PlanningSpeedScale,
-                speedRatio);
-            bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
-            ExportFlyshotArtifactsIfRequested(
-                name,
-                saveTrajectory,
-                robot,
-                trajectory,
-                new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
-                planningSettings,
-                bundle,
-                planningSettings.PlanningSpeedScale,
-                speedRatio);
-
-            duration = bundle.Result.Duration;
-            _logger?.LogInformation(
-                "IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s",
-                name, bundle.Result.IsValid, duration.TotalSeconds);
-            return bundle.Result.IsValid;
+            // 有效性检查只消费当前快照，不要求和后续上传/删除形成长事务。
+            trajectory = CloneUploadedTrajectory(uploadedTrajectory);
+            planningSettings = RequireRobotSettings();
         }
+
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
+            robot,
+            trajectory,
+            new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
+            planningSettings,
+            planningSettings.PlanningSpeedScale,
+            speedRatio);
+        bundle = PrepareFlyshotExecutionBundle(robot, bundle, speedRatio);
+        ExportFlyshotArtifactsIfRequested(
+            name,
+            saveTrajectory,
+            robot,
+            trajectory,
+            new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
+            planningSettings,
+            bundle,
+            planningSettings.PlanningSpeedScale,
+            speedRatio);
+
+        duration = bundle.Result.Duration;
+        _logger?.LogInformation(
+            "IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s",
+            name, bundle.Result.IsValid, duration.TotalSeconds);
+        return bundle.Result.IsValid;
     }
 
     /// <inheritdoc />
@@ -747,6 +858,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
 
         _logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
 
+        string robotName;
         lock (_stateLock)
         {
             if (!_uploadedTrajectories.Remove(name))
@@ -755,10 +867,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 throw new InvalidOperationException("DeleteFlyShotTraj failed");
             }
 
-            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
-            _trajectoryStore.Delete(robotName, name);
+            robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
         }
 
+        // 删除持久化文件不占用状态锁，状态页只需要看到内存字典的即时快照。
+        _trajectoryStore.Delete(robotName, name);
+
         _logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
     }
 
@@ -798,6 +912,21 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         return _robotSettings ?? CreateDefaultRobotSettings();
     }
 
+    /// <summary>
+    /// 复制一份上传轨迹快照，避免锁外规划期间观察到可变集合引用。
+    /// </summary>
+    /// <param name="trajectory">待复制的上传轨迹。</param>
+    /// <returns>上传轨迹副本。</returns>
+    private static ControllerClientCompatUploadedTrajectory CloneUploadedTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        return new ControllerClientCompatUploadedTrajectory(
+            trajectory.Name,
+            trajectory.Waypoints,
+            trajectory.ShotFlags,
+            trajectory.OffsetValues,
+            trajectory.AddressGroups);
+    }
+
     /// <summary>
     /// 校验机器人已经完成初始化。
     /// </summary>
@@ -841,6 +970,45 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         }
     }
 
+    /// <summary>
+    /// 校验直角位姿为 [x,y,z,w,p,r] 六维有限数。
+    /// </summary>
+    /// <param name="pose">待校验位姿，单位为 mm/deg。</param>
+    /// <param name="paramName">调用方参数名。</param>
+    private static void EnsurePoseVector(IReadOnlyList<double> pose, string paramName)
+    {
+        if (pose.Count != 6)
+        {
+            throw new ArgumentException("位姿必须为 [x,y,z,w,p,r] 六维数组。", paramName);
+        }
+
+        for (var index = 0; index < pose.Count; index++)
+        {
+            var value = pose[index];
+            if (double.IsNaN(value) || double.IsInfinity(value))
+            {
+                throw new ArgumentOutOfRangeException(paramName, $"第 {index} 个位姿值必须是有限数值。");
+            }
+        }
+    }
+
+    /// <summary>
+    /// 将运行时位姿快照归一化为 J519 直角命令需要的 [x,y,z,w,p,r] 六维。
+    /// </summary>
+    /// <param name="pose">运行时返回的位姿数组。</param>
+    /// <returns>六维直角位姿。</returns>
+    private static IReadOnlyList<double> NormalizeRuntimePose(IReadOnlyList<double> pose)
+    {
+        if (pose.Count < 6)
+        {
+            throw new InvalidOperationException("Runtime pose must contain at least [x,y,z,w,p,r].");
+        }
+
+        var normalized = pose.Take(6).ToArray();
+        EnsurePoseVector(normalized, nameof(pose));
+        return normalized;
+    }
+
     /// <summary>
     /// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
     /// </summary>

src/Flyshot.ControllerClientCompat/ControllerClientStatusSnapshotMetadata.cs

@@ -0,0 +1,62 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 保存状态页需要的 ControllerClient 兼容层元数据快照，避免状态页连续读取多个受保护字段。
+/// </summary>
+public sealed record ControllerClientStatusSnapshotMetadata
+{
+    /// <summary>
+    /// 初始化一份兼容层状态元数据快照。
+    /// </summary>
+    /// <param name="isSetup">当前是否已经完成机器人初始化。</param>
+    /// <param name="robotName">当前机器人名称；未初始化时为空。</param>
+    /// <param name="degreesOfFreedom">当前机器人自由度；未初始化时为 0。</param>
+    /// <param name="uploadedTrajectories">当前已上传轨迹名称快照。</param>
+    /// <param name="serverVersion">兼容服务端版本。</param>
+    /// <param name="clientVersion">兼容客户端版本。</param>
+    public ControllerClientStatusSnapshotMetadata(
+        bool isSetup,
+        string? robotName,
+        int degreesOfFreedom,
+        IReadOnlyList<string> uploadedTrajectories,
+        string serverVersion,
+        string clientVersion)
+    {
+        IsSetup = isSetup;
+        RobotName = robotName;
+        DegreesOfFreedom = degreesOfFreedom;
+        UploadedTrajectories = uploadedTrajectories.ToArray();
+        ServerVersion = serverVersion;
+        ClientVersion = clientVersion;
+    }
+
+    /// <summary>
+    /// 获取当前是否已经完成机器人初始化。
+    /// </summary>
+    public bool IsSetup { get; }
+
+    /// <summary>
+    /// 获取当前机器人名称；未初始化时为空。
+    /// </summary>
+    public string? RobotName { get; }
+
+    /// <summary>
+    /// 获取当前机器人自由度；未初始化时为 0。
+    /// </summary>
+    public int DegreesOfFreedom { get; }
+
+    /// <summary>
+    /// 获取已上传轨迹名称数组快照。
+    /// </summary>
+    public IReadOnlyList<string> UploadedTrajectories { get; }
+
+    /// <summary>
+    /// 获取兼容服务端版本。
+    /// </summary>
+    public string ServerVersion { get; }
+
+    /// <summary>
+    /// 获取兼容客户端版本。
+    /// </summary>
+    public string ClientVersion { get; }
+}

src/Flyshot.ControllerClientCompat/IControllerClientCompatService.cs

@@ -95,6 +95,12 @@ public interface IControllerClientCompatService
     /// <returns>控制器运行时状态快照。</returns>
     ControllerStateSnapshot GetControllerSnapshot();
 
+    /// <summary>
+    /// 读取状态页所需的兼容层元数据快照。
+    /// </summary>
+    /// <returns>兼容层元数据快照。</returns>
+    ControllerClientStatusSnapshotMetadata GetStatusSnapshotMetadata();
+
     /// <summary>
     /// 获取当前速度倍率。
     /// </summary>
@@ -157,6 +163,12 @@ public interface IControllerClientCompatService
     /// <param name="jointPositions">目标关节位置。</param>
     void MoveJoint(IReadOnlyList<double> jointPositions);
 
+    /// <summary>
+    /// 按直角坐标移动到目标 TCP 位姿。
+    /// </summary>
+    /// <param name="pose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
+    void MovePose(IReadOnlyList<double> pose);
+
     /// <summary>
     /// 执行普通轨迹。
     /// </summary>

src/Flyshot.ControllerClientCompat/MovePoseTrajectoryGenerator.cs

@@ -0,0 +1,353 @@
+using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// MovePose 直角坐标轨迹生成器。
+/// 将起始 TCP 位姿到目标 TCP 位姿的单段运动，按保守直角速度、加速度和 jerk 限制生成 8ms 稠密点。
+/// </summary>
+internal static class MovePoseTrajectoryGenerator
+{
+    /// <summary>
+    /// 直角位置轴最大速度，单位为 mm/s。
+    /// </summary>
+    private const double LinearVelocityLimit = 50.0;
+
+    /// <summary>
+    /// 直角位置轴最大加速度，单位为 mm/s^2。
+    /// </summary>
+    private const double LinearAccelerationLimit = 250.0;
+
+    /// <summary>
+    /// 直角位置轴最大 jerk，单位为 mm/s^3。
+    /// </summary>
+    private const double LinearJerkLimit = 1250.0;
+
+    /// <summary>
+    /// 姿态轴最大速度，单位为 deg/s。
+    /// </summary>
+    private const double AngularVelocityLimit = 10.0;
+
+    /// <summary>
+    /// 姿态轴最大加速度，单位为 deg/s^2。
+    /// </summary>
+    private const double AngularAccelerationLimit = 50.0;
+
+    /// <summary>
+    /// 姿态轴最大 jerk，单位为 deg/s^3。
+    /// </summary>
+    private const double AngularJerkLimit = 250.0;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的一阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpVelocityShapeCoefficient = 2.1875;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的二阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpAccelerationShapeCoefficient = 7.513188404399293;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的三阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpJerkShapeCoefficient = 52.5;
+
+    /// <summary>
+    /// 单次 MovePose 最大采样点数上限，避免极低速度倍率生成过大的队列。
+    /// </summary>
+    private const int MaxMovePoseSampleCount = 1_000_000;
+
+    /// <summary>
+    /// 离散限位校验允许的浮点容差。
+    /// </summary>
+    private const double DiscreteLimitTolerance = 1.000001;
+
+    /// <summary>
+    /// 离散限位校验失败时最多拉长的采样周期次数。
+    /// </summary>
+    private const int MaxDiscreteLimitStretchIterations = 10_000;
+
+    /// <summary>
+    /// 计算 MovePose 轨迹的完整结果。
+    /// </summary>
+    /// <param name="startPose">起始位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
+    /// <param name="targetPose">目标位姿 [x,y,z,w,p,r]，单位为 mm/deg。</param>
+    /// <param name="servoPeriod">J519 伺服发送周期。</param>
+    /// <param name="speedRatio">速度倍率，必须大于 0。</param>
+    /// <param name="logger">可选诊断日志。</param>
+    /// <returns>包含稠密直角轨迹的规划结果。</returns>
+    public static TrajectoryResult CreateResult(
+        IReadOnlyList<double> startPose,
+        IReadOnlyList<double> targetPose,
+        TimeSpan servoPeriod,
+        double speedRatio,
+        ILogger? logger = null)
+    {
+        ArgumentNullException.ThrowIfNull(startPose);
+        ArgumentNullException.ThrowIfNull(targetPose);
+        EnsurePoseVector(startPose, nameof(startPose));
+        EnsurePoseVector(targetPose, nameof(targetPose));
+
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new InvalidOperationException("Speed ratio must be greater than zero for MovePose execution.");
+        }
+
+        var samplePeriodSeconds = servoPeriod.TotalSeconds;
+        if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
+        {
+            throw new InvalidOperationException("MovePose servo period must be a finite positive duration.");
+        }
+
+        var requestedDurationSeconds = ResolveDurationSeconds(startPose, targetPose, speedRatio);
+        var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
+        var denseCartesianTrajectory = GenerateDenseTrajectory(startPose, targetPose, durationSeconds, samplePeriodSeconds);
+
+        var stretchCount = 0;
+        while (!SatisfiesDefaultCartesianLimits(denseCartesianTrajectory, speedRatio))
+        {
+            stretchCount++;
+            if (stretchCount > MaxDiscreteLimitStretchIterations)
+            {
+                throw new InvalidOperationException("MovePose duration cannot be stretched enough to satisfy Cartesian limits.");
+            }
+
+            // 离散差分以真实下发点为准；不满足时逐周期拉长后重采样。
+            durationSeconds = AlignDurationToServoStep(durationSeconds + samplePeriodSeconds, samplePeriodSeconds);
+            denseCartesianTrajectory = GenerateDenseTrajectory(startPose, targetPose, durationSeconds, samplePeriodSeconds);
+        }
+
+        logger?.LogDebug(
+            "MovePoseTrajectoryGenerator: requestedDuration={RequestedDuration:F4}s, duration={Duration:F4}s, speedRatio={SpeedRatio}, samplePeriod={SamplePeriod:F6}s, sampleCount={SampleCount}, stretchCount={StretchCount}",
+            requestedDurationSeconds,
+            durationSeconds,
+            speedRatio,
+            samplePeriodSeconds,
+            denseCartesianTrajectory.Count,
+            stretchCount);
+
+        return new TrajectoryResult(
+            programName: "move-pose",
+            method: PlanningMethod.Doubles,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(durationSeconds),
+            shotEvents: Array.Empty<ShotEvent>(),
+            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: false,
+            originalWaypointCount: 2,
+            plannedWaypointCount: denseCartesianTrajectory.Count,
+            denseCartesianTrajectory: denseCartesianTrajectory);
+    }
+
+    /// <summary>
+    /// 检查稠密直角轨迹是否满足默认六维速度、加速度和 jerk 限制。
+    /// </summary>
+    /// <param name="rows">稠密轨迹行，每行为 [time,x,y,z,w,p,r]。</param>
+    /// <param name="speedRatio">生成该轨迹时使用的速度倍率。</param>
+    /// <returns>满足限制时返回 true，否则返回 false。</returns>
+    public static bool SatisfiesDefaultCartesianLimits(IReadOnlyList<IReadOnlyList<double>> rows, double speedRatio)
+    {
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new InvalidOperationException("Speed ratio must be greater than zero for MovePose limit validation.");
+        }
+
+        double? previousTime = null;
+        double[]? previousPositions = null;
+        double[]? previousVelocities = null;
+        double[]? previousAccelerations = null;
+
+        foreach (var row in rows)
+        {
+            if (row.Count != 7)
+            {
+                throw new InvalidOperationException("MovePose dense trajectory rows must contain time plus six pose values.");
+            }
+
+            var currentTime = row[0];
+            var currentPositions = row.Skip(1).Take(6).ToArray();
+
+            if (previousTime is not null && previousPositions is not null)
+            {
+                var dt = currentTime - previousTime.Value;
+                if (dt <= 0.0)
+                {
+                    throw new InvalidOperationException("MovePose dense trajectory timestamps must be strictly increasing.");
+                }
+
+                var velocities = new double[6];
+                var accelerations = new double[6];
+                for (var index = 0; index < 6; index++)
+                {
+                    var limits = GetAxisLimits(index, speedRatio);
+                    velocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
+                    if (Math.Abs(velocities[index]) > limits.Velocity * DiscreteLimitTolerance)
+                    {
+                        return false;
+                    }
+
+                    accelerations[index] = previousVelocities is null
+                        ? 0.0
+                        : (velocities[index] - previousVelocities[index]) / dt;
+                    if (Math.Abs(accelerations[index]) > limits.Acceleration * DiscreteLimitTolerance)
+                    {
+                        return false;
+                    }
+
+                    if (previousAccelerations is not null)
+                    {
+                        var jerk = (accelerations[index] - previousAccelerations[index]) / dt;
+                        if (Math.Abs(jerk) > limits.Jerk * DiscreteLimitTolerance)
+                        {
+                            return false;
+                        }
+                    }
+                }
+
+                previousVelocities = velocities;
+                previousAccelerations = accelerations;
+            }
+
+            previousTime = currentTime;
+            previousPositions = currentPositions;
+        }
+
+        return true;
+    }
+
+    /// <summary>
+    /// 根据 7 阶平滑点到点时间律和直角六维限制计算理论最短时长。
+    /// </summary>
+    private static double ResolveDurationSeconds(IReadOnlyList<double> startPose, IReadOnlyList<double> targetPose, double speedRatio)
+    {
+        var duration = 0.0;
+        for (var index = 0; index < 6; index++)
+        {
+            var distance = Math.Abs(targetPose[index] - startPose[index]);
+            if (distance <= 0.0)
+            {
+                continue;
+            }
+
+            var limits = GetAxisLimits(index, speedRatio);
+            var velocityDuration = distance * SmoothPtpVelocityShapeCoefficient / limits.Velocity;
+            var accelerationDuration = Math.Sqrt(distance * SmoothPtpAccelerationShapeCoefficient / limits.Acceleration);
+            var jerkDuration = Math.Cbrt(distance * SmoothPtpJerkShapeCoefficient / limits.Jerk);
+            duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
+        }
+
+        return duration;
+    }
+
+    /// <summary>
+    /// 生成从起始位姿到目标位姿的稠密等时间隔直角轨迹点序列。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> GenerateDenseTrajectory(
+        IReadOnlyList<double> startPose,
+        IReadOnlyList<double> targetPose,
+        double durationSeconds,
+        double samplePeriodSeconds)
+    {
+        var sampleCount = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds) + 1;
+        var rows = new List<IReadOnlyList<double>>(checked((int)sampleCount));
+
+        for (var index = 0L; index < sampleCount; index++)
+        {
+            var time = Math.Min(index * samplePeriodSeconds, durationSeconds);
+            rows.Add(CreateRow(time, durationSeconds, startPose, targetPose));
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 将请求时长向上对齐到整数个伺服周期。
+    /// </summary>
+    private static double AlignDurationToServoStep(double durationSeconds, double samplePeriodSeconds)
+    {
+        return ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds) * samplePeriodSeconds;
+    }
+
+    /// <summary>
+    /// 计算时长对应的采样间隔数，轨迹至少包含起点和终点两帧。
+    /// </summary>
+    private static long ResolveSampleIntervalCount(double durationSeconds, double samplePeriodSeconds)
+    {
+        var rawIntervals = durationSeconds / samplePeriodSeconds;
+        if (double.IsNaN(rawIntervals) || double.IsInfinity(rawIntervals))
+        {
+            throw new InvalidOperationException("MovePose sample count is not representable.");
+        }
+
+        var intervals = (long)Math.Ceiling(Math.Max(0.0, rawIntervals) - 1e-9);
+        intervals = Math.Max(1, intervals);
+        if (intervals + 1 > MaxMovePoseSampleCount)
+        {
+            throw new InvalidOperationException($"MovePose sample count must be between 2 and {MaxMovePoseSampleCount}.");
+        }
+
+        return intervals;
+    }
+
+    /// <summary>
+    /// 构造单个轨迹行：[time_seconds,x,y,z,w,p,r]。
+    /// </summary>
+    private static IReadOnlyList<double> CreateRow(
+        double timeSeconds,
+        double durationSeconds,
+        IReadOnlyList<double> startPose,
+        IReadOnlyList<double> targetPose)
+    {
+        var u = durationSeconds <= 0.0 ? 1.0 : Math.Clamp(timeSeconds / durationSeconds, 0.0, 1.0);
+        var scale = MoveJointTrajectoryGenerator.EvaluateSmoothPtpPositionScale(u);
+        var row = new double[7];
+        row[0] = Math.Round(timeSeconds, 9);
+
+        for (var index = 0; index < 6; index++)
+        {
+            row[index + 1] = startPose[index] + ((targetPose[index] - startPose[index]) * scale);
+        }
+
+        return row;
+    }
+
+    /// <summary>
+    /// 获取指定直角轴在当前速度倍率下的有效限制。
+    /// </summary>
+    private static CartesianAxisLimit GetAxisLimits(int index, double speedRatio)
+    {
+        var linearAxis = index < 3;
+        var velocity = linearAxis ? LinearVelocityLimit : AngularVelocityLimit;
+        var acceleration = linearAxis ? LinearAccelerationLimit : AngularAccelerationLimit;
+        var jerk = linearAxis ? LinearJerkLimit : AngularJerkLimit;
+        return new CartesianAxisLimit(
+            velocity * speedRatio,
+            acceleration * speedRatio * speedRatio,
+            jerk * speedRatio * speedRatio * speedRatio);
+    }
+
+    /// <summary>
+    /// 校验位姿向量必须为六维有限数。
+    /// </summary>
+    private static void EnsurePoseVector(IReadOnlyList<double> pose, string parameterName)
+    {
+        if (pose.Count != 6)
+        {
+            throw new ArgumentException("MovePose expects pose [x,y,z,w,p,r].", parameterName);
+        }
+
+        if (pose.Any(static value => double.IsNaN(value) || double.IsInfinity(value)))
+        {
+            throw new ArgumentException("MovePose pose values must be finite.", parameterName);
+        }
+    }
+
+    /// <summary>
+    /// 表示单个直角轴的有效速度、加速度和 jerk 限制。
+    /// </summary>
+    private readonly record struct CartesianAxisLimit(double Velocity, double Acceleration, double Jerk);
+}

src/Flyshot.Core.Domain/TrajectoryResult.cs

@@ -24,7 +24,8 @@ public sealed class TrajectoryResult
         int plannedWaypointCount,
         int triggerSampleIndexOffsetCycles = 0,
         IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null,
-        FlyshotPreparedExecution? preparedFlyshotExecution = null)
+        FlyshotPreparedExecution? preparedFlyshotExecution = null,
+        IEnumerable<IReadOnlyList<double>>? denseCartesianTrajectory = null)
     {
         if (string.IsNullOrWhiteSpace(programName))
         {
@@ -60,6 +61,7 @@ public sealed class TrajectoryResult
         var copiedTriggerTimeline = triggerTimeline.ToArray();
         var copiedArtifacts = artifacts.ToArray();
         var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
+        var copiedDenseCartesianTrajectory = denseCartesianTrajectory?.Select(static row => row.ToArray()).ToArray();
 
         ProgramName = programName;
         Method = method;
@@ -74,6 +76,7 @@ public sealed class TrajectoryResult
         PlannedWaypointCount = plannedWaypointCount;
         TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles;
         DenseJointTrajectory = copiedDenseJointTrajectory;
+        DenseCartesianTrajectory = copiedDenseCartesianTrajectory;
         PreparedFlyshotExecution = preparedFlyshotExecution;
     }
 
@@ -156,6 +159,13 @@ public sealed class TrajectoryResult
     [JsonPropertyName("denseJointTrajectory")]
     public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
 
+    /// <summary>
+    /// 获取稠密直角坐标轨迹采样点，每行格式为 [time, x, y, z, w, p, r]。
+    /// Null 表示本结果不是直角流式运动。
+    /// </summary>
+    [JsonPropertyName("denseCartesianTrajectory")]
+    public IReadOnlyList<IReadOnlyList<double>>? DenseCartesianTrajectory { get; }
+
     /// <summary>
     /// Gets the prepared flyshot execution queue when the flyshot chain has already built the final 8ms send sequence.
     /// </summary>

src/Flyshot.Runtime.Common/IControllerRuntime.cs

@@ -113,4 +113,11 @@ public interface IControllerRuntime
     /// <param name="result">规划结果。</param>
     /// <param name="finalJointPositions">轨迹执行结束后的关节位置。</param>
     void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
+
+    /// <summary>
+    /// 执行一条已经完成规划的直角坐标轨迹，并更新最终 TCP 位姿。
+    /// </summary>
+    /// <param name="result">规划结果，必须包含稠密直角坐标轨迹。</param>
+    /// <param name="finalPose">轨迹执行结束后的 [x,y,z,w,p,r] 位姿。</param>
+    void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose);
 }

src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs

@@ -538,6 +538,78 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         }
     }
 
+    /// <inheritdoc />
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+        ArgumentNullException.ThrowIfNull(result);
+        ArgumentNullException.ThrowIfNull(finalPose);
+        CancellationToken denseSendCancellationToken = default;
+        CancellationTokenSource? denseSendCancellationSource = null;
+        var shouldRunDenseTrajectory = false;
+
+        _logger?.LogInformation(
+            "ExecuteCartesianTrajectory 开始: program={ProgramName}, 时长={Duration}s, 稠密采样={HasDense}, speedRatio={SpeedRatio}",
+            result.ProgramName, result.Duration.TotalSeconds, result.DenseCartesianTrajectory is not null, _speedRatio);
+
+        lock (_stateLock)
+        {
+            EnsureEnabled();
+            EnsureValidTrajectory(result);
+            EnsurePoseCount(finalPose.Count);
+            CancelSendTaskLocked();
+
+            if (!IsSimulationMode && result.DenseCartesianTrajectory is not null)
+            {
+                EnsureJ519ReadyForDenseExecution();
+
+                // 真机直角模式同样预装完整队列，由机器人状态包节拍驱动出队。
+                _isInMotion = true;
+                _sendCts = new CancellationTokenSource();
+                denseSendCancellationSource = _sendCts;
+                denseSendCancellationToken = _sendCts.Token;
+                shouldRunDenseTrajectory = true;
+
+                _logger?.LogInformation("ExecuteCartesianTrajectory 开始同步直角稠密发送任务");
+            }
+            else
+            {
+                if (!IsSimulationMode)
+                {
+                    var command = new FanucJ519Command(
+                        sequence: 0,
+                        targetValues: BuildCartesianTargetValues(finalPose),
+                        dataStyle: 0);
+                    _j519Client.UpdateCommand(command);
+                }
+
+                _isInMotion = true;
+                _pose = MergeFinalCartesianPose(finalPose);
+                _isInMotion = false;
+                _logger?.LogInformation("ExecuteCartesianTrajectory 完成(单点模式)");
+            }
+        }
+
+        if (shouldRunDenseTrajectory)
+        {
+            try
+            {
+                SendDenseCartesianTrajectory(result, finalPose, denseSendCancellationToken);
+                _logger?.LogInformation("ExecuteCartesianTrajectory 完成(稠密模式)");
+            }
+            finally
+            {
+                lock (_stateLock)
+                {
+                    if (ReferenceEquals(_sendCts, denseSendCancellationSource))
+                    {
+                        denseSendCancellationSource?.Dispose();
+                        _sendCts = null;
+                    }
+                }
+            }
+        }
+    }
+
     /// <summary>
     /// 释放运行时持有的所有 Socket 客户端。
     /// </summary>
@@ -759,6 +831,71 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         }
     }
 
+    /// <summary>
+    /// 直角稠密轨迹发送任务：预生成 Data format=0 的 J519 命令队列，并等待状态包驱动执行完成。
+    /// </summary>
+    private void SendDenseCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose, CancellationToken cancellationToken)
+    {
+        var rows = result.DenseCartesianTrajectory ?? throw new InvalidOperationException("Cartesian trajectory requires dense Cartesian samples.");
+        var commands = new List<FanucJ519Command>(rows.Count);
+        var sentPoseRows = new List<IReadOnlyList<double>>(rows.Count);
+        var outputDir = CreateDenseSendOutputDirectory(result.ProgramName);
+        var stopwatch = Stopwatch.StartNew();
+
+        try
+        {
+            foreach (var row in rows)
+            {
+                cancellationToken.ThrowIfCancellationRequested();
+                if (row.Count != 7)
+                {
+                    throw new InvalidOperationException("Cartesian dense trajectory rows must contain time plus six pose values.");
+                }
+
+                var pose = row.Skip(1).Take(6).ToArray();
+                var command = new FanucJ519Command(
+                    sequence: 0,
+                    targetValues: BuildCartesianTargetValues(pose),
+                    dataStyle: 0,
+                    writeIoType: 2,
+                    writeIoIndex: 1,
+                    writeIoMask: 0,
+                    writeIoValue: 0);
+
+                commands.Add(command);
+                sentPoseRows.Add(BuildDenseSendPoseRow(row[0], pose));
+            }
+
+            TryWriteDenseCartesianSendArtifacts(outputDir, sentPoseRows);
+
+            _j519Client.LoadCommandQueue(commands);
+            if (_j519Client.IsConnected)
+            {
+                _j519Client.WaitForCommandQueueDrainedAsync(cancellationToken).GetAwaiter().GetResult();
+            }
+
+            _logger?.LogInformation(
+                "SendDenseCartesianTrajectory 正常完成: 采样数={SampleCount}, 队列装载耗时={ElapsedMs}ms",
+                commands.Count,
+                stopwatch.ElapsedMilliseconds);
+        }
+        catch (OperationCanceledException)
+        {
+            _logger?.LogWarning(
+                "SendDenseCartesianTrajectory 被取消: 已生成 {Current}/{Total} 条命令",
+                commands.Count,
+                rows.Count);
+        }
+        finally
+        {
+            lock (_stateLock)
+            {
+                _isInMotion = false;
+                _pose = MergeFinalCartesianPose(finalPose);
+            }
+        }
+    }
+
     /// <summary>
     /// 若已有 J519 响应，则在启动稠密轨迹前检查伺服侧是否接受命令并处于系统就绪状态。
     /// </summary>
@@ -879,6 +1016,41 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         return row;
     }
 
+    /// <summary>
+    /// 构造实际发送直角位姿文本行，格式为 send_time + X/Y/Z/W/P/R。
+    /// </summary>
+    private static IReadOnlyList<double> BuildDenseSendPoseRow(double sendTime, IReadOnlyList<double> pose)
+    {
+        var row = new double[pose.Count + 1];
+        row[0] = Math.Round(sendTime, 6);
+        for (var index = 0; index < pose.Count; index++)
+        {
+            row[index + 1] = Math.Round(pose[index], 6);
+        }
+
+        return row;
+    }
+
+    /// <summary>
+    /// 构造 J519 直角命令的 9 个目标槽位，当前现场无扩展轴时 E1/E2/E3 补零。
+    /// </summary>
+    private static double[] BuildCartesianTargetValues(IReadOnlyList<double> pose)
+    {
+        EnsurePoseCount(pose.Count);
+        return [pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], 0.0, 0.0, 0.0];
+    }
+
+    /// <summary>
+    /// 将六维 WPR 直角目标合并回运行时缓存，保留旧 GetPose 仿真路径的 7 维外形。
+    /// </summary>
+    private double[] MergeFinalCartesianPose(IReadOnlyList<double> pose)
+    {
+        EnsurePoseCount(pose.Count);
+        return _pose.Length >= 7
+            ? [pose[0], pose[1], pose[2], pose[3], pose[4], pose[5], _pose[6]]
+            : pose.ToArray();
+    }
+
     /// <summary>
     /// 尝试把实际发送点位、时间映射和跃度统计写入纯文本文件；若落盘失败，只记录日志，不影响运动主流程。
     /// </summary>
@@ -910,6 +1082,25 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         }
     }
 
+    /// <summary>
+    /// 尝试把直角实际发送点位写入文本文件；若落盘失败，只记录日志，不影响运动主流程。
+    /// </summary>
+    private void TryWriteDenseCartesianSendArtifacts(string outputDir, IReadOnlyList<IReadOnlyList<double>> sentPoseRows)
+    {
+        try
+        {
+            WriteDenseRows(Path.Combine(outputDir, "ActualSendPoseTraj.txt"), sentPoseRows);
+            _logger?.LogInformation(
+                "SendDenseCartesianTrajectory 已写出实际发送记录: outputDir={OutputDir}, poseRows={PoseRows}",
+                outputDir,
+                sentPoseRows.Count);
+        }
+        catch (Exception exception)
+        {
+            _logger?.LogWarning(exception, "SendDenseCartesianTrajectory 写出实际发送记录失败: outputDir={OutputDir}", outputDir);
+        }
+    }
+
     /// <summary>
     /// 以旧轨迹文本兼容的空格分隔格式写出数值行。
     /// </summary>
@@ -1089,6 +1280,17 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         }
     }
 
+    /// <summary>
+    /// 校验直角位姿固定为 [x,y,z,w,p,r] 六维。
+    /// </summary>
+    private static void EnsurePoseCount(int poseCount)
+    {
+        if (poseCount != 6)
+        {
+            throw new InvalidOperationException($"Expected 6 Cartesian pose values but received {poseCount}.");
+        }
+    }
+
     /// <summary>
     /// 校验机器人已经完成初始化。
     /// </summary>

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Protocol.cs

@@ -7,7 +7,7 @@ namespace Flyshot.Runtime.Fanuc.Protocol;
 /// </summary>
 public sealed class FanucJ519Command
 {
-    private readonly double[] _targetJoints;
+    private readonly double[] _targetValues;
 
     /// <summary>
     /// 初始化 J519 命令数据。
@@ -35,11 +35,53 @@ public sealed class FanucJ519Command
         ushort writeIoIndex = 1,
         ushort writeIoMask = 0,
         ushort writeIoValue = 0)
+        : this(
+            sequence,
+            targetValues: targetJoints,
+            lastData,
+            readIoType,
+            readIoIndex,
+            readIoMask,
+            dataStyle,
+            writeIoType,
+            writeIoIndex,
+            writeIoMask,
+            writeIoValue)
     {
-        ArgumentNullException.ThrowIfNull(targetJoints);
-        if (targetJoints.Count is <= 0 or > 9)
+    }
+
+    /// <summary>
+    /// 初始化 J519 命令数据。
+    /// </summary>
+    /// <param name="sequence">命令序号。</param>
+    /// <param name="targetValues">J519 目标槽位，直角模式为 X/Y/Z/W/P/R/E1/E2/E3，关节模式为 J1..J9。</param>
+    /// <param name="lastData">是否为最后一帧数据。</param>
+    /// <param name="readIoType">读取 IO 类型。</param>
+    /// <param name="readIoIndex">读取 IO 起始索引。</param>
+    /// <param name="readIoMask">读取 IO 掩码。</param>
+    /// <param name="dataStyle">目标数据类型，0 为直角坐标，1 为关节坐标。</param>
+    /// <param name="writeIoType">写入 IO 类型。</param>
+    /// <param name="writeIoIndex">写入 IO 起始索引。</param>
+    /// <param name="writeIoMask">写入 IO 掩码。</param>
+    /// <param name="writeIoValue">写入 IO 数值。</param>
+    public FanucJ519Command(
+        uint sequence,
+        IEnumerable<double> targetValues,
+        byte lastData = 0,
+        byte readIoType = 2,
+        ushort readIoIndex = 1,
+        ushort readIoMask = 255,
+        byte dataStyle = 1,
+        byte writeIoType = 2,
+        ushort writeIoIndex = 1,
+        ushort writeIoMask = 0,
+        ushort writeIoValue = 0)
+    {
+        ArgumentNullException.ThrowIfNull(targetValues);
+        var copiedTargetValues = targetValues.ToArray();
+        if (copiedTargetValues.Length is <= 0 or > 9)
         {
-            throw new ArgumentOutOfRangeException(nameof(targetJoints), "J519 目标数据必须包含 1 到 9 个槽位。");
+            throw new ArgumentOutOfRangeException(nameof(targetValues), "J519 目标数据必须包含 1 到 9 个槽位。");
         }
 
         Sequence = sequence;
@@ -52,7 +94,7 @@ public sealed class FanucJ519Command
         WriteIoIndex = writeIoIndex;
         WriteIoMask = writeIoMask;
         WriteIoValue = writeIoValue;
-        _targetJoints = targetJoints.ToArray();
+        _targetValues = copiedTargetValues;
     }
 
     /// <summary>
@@ -108,7 +150,12 @@ public sealed class FanucJ519Command
     /// <summary>
     /// 获取目标关节或扩展轴数据。
     /// </summary>
-    public IReadOnlyList<double> TargetJoints => _targetJoints;
+    public IReadOnlyList<double> TargetJoints => _targetValues;
+
+    /// <summary>
+    /// 获取 J519 目标槽位，直角模式为 X/Y/Z/W/P/R/E1/E2/E3，关节模式为 J1..J9。
+    /// </summary>
+    public IReadOnlyList<double> TargetValues => _targetValues;
 }
 
 /// <summary>

src/Flyshot.Server.Host/Controllers/LegacyHttpApiController.cs

@@ -431,6 +431,32 @@ public sealed class LegacyHttpApiController : ControllerBase
         }
     }
 
+    /// <summary>
+    /// 以直角坐标 `[x,y,z,w,p,r]` 执行点到点移动。
+    /// </summary>
+    /// <param name="pose_data">直角位姿请求体。</param>
+    /// <returns>旧 FastAPI 层风格的状态响应。</returns>
+    [HttpPost("/move_pose/")]
+    public IActionResult MovePose([FromBody] JsonElement pose_data)
+    {
+        try
+        {
+            var poseRequest = LegacyCartesianPoseRequest.FromJson(pose_data);
+            var pose = poseRequest.ToPoseArray();
+            _logger.LogInformation("MovePose 调用: x={X}, y={Y}, z={Z}, w={W}, p={P}, r={R}",
+                poseRequest.x, poseRequest.y, poseRequest.z, poseRequest.w, poseRequest.p, poseRequest.r);
+
+            _compatService.MovePose(pose);
+            _logger.LogInformation("MovePose 成功");
+            return Ok(new { status = "robot moved" });
+        }
+        catch (Exception exception)
+        {
+            _logger.LogError(exception, "MovePose 失败");
+            return LegacyBadRequest("MovePose failed");
+        }
+    }
+
     /// <summary>
     /// 兼容旧 `GetNearestIK(pose, seed, ik)` 参数形状。
     /// </summary>
@@ -874,6 +900,136 @@ public sealed class LegacyJointPositionRequest
     public List<double> joints { get; init; } = [];
 }
 
+/// <summary>
+/// 表示 `/move_pose/` 路由使用的直角位姿请求体。
+/// </summary>
+public sealed class LegacyCartesianPoseRequest
+{
+    /// <summary>
+    /// MovePose 第一版入口硬限制：TCP X/Y 最大绝对值，单位 mm。
+    /// </summary>
+    private const double MaxHorizontalMillimeters = 1000.0;
+
+    /// <summary>
+    /// MovePose 第一版入口硬限制：TCP Z 最小值，单位 mm。
+    /// </summary>
+    private const double MinZMillimeters = 0.0;
+
+    /// <summary>
+    /// MovePose 第一版入口硬限制：TCP Z 最大值，单位 mm。
+    /// </summary>
+    private const double MaxZMillimeters = 1200.0;
+
+    /// <summary>
+    /// MovePose 第一版入口硬限制：W/R 姿态角最大绝对值，单位 deg。
+    /// </summary>
+    private const double MaxRollYawDegrees = 180.0;
+
+    /// <summary>
+    /// MovePose 第一版入口硬限制：P 姿态角最大绝对值，单位 deg。
+    /// </summary>
+    private const double MaxPitchDegrees = 90.0;
+
+    /// <summary>
+    /// 获取或设置 TCP X，单位为 mm。
+    /// </summary>
+    public double x { get; init; }
+
+    /// <summary>
+    /// 获取或设置 TCP Y，单位为 mm。
+    /// </summary>
+    public double y { get; init; }
+
+    /// <summary>
+    /// 获取或设置 TCP Z，单位为 mm。
+    /// </summary>
+    public double z { get; init; }
+
+    /// <summary>
+    /// 获取或设置姿态 W，单位为 deg。
+    /// </summary>
+    public double w { get; init; }
+
+    /// <summary>
+    /// 获取或设置姿态 P，单位为 deg。
+    /// </summary>
+    public double p { get; init; }
+
+    /// <summary>
+    /// 获取或设置姿态 R，单位为 deg。
+    /// </summary>
+    public double r { get; init; }
+
+    /// <summary>
+    /// 从原始 JSON 请求体解析直角位姿，并显式拒绝缺字段、null 和非有限数。
+    /// </summary>
+    /// <param name="json">原始 JSON 请求体。</param>
+    /// <returns>解析后的直角位姿请求。</returns>
+    public static LegacyCartesianPoseRequest FromJson(JsonElement json)
+    {
+        if (json.ValueKind != JsonValueKind.Object)
+        {
+            throw new ArgumentException("MovePose request body must be an object.");
+        }
+
+        // 旧接口要求请求体必须完整提供 x/y/z/w/p/r，不能让模型绑定把缺字段静默补 0。
+        return new LegacyCartesianPoseRequest
+        {
+            x = ReadRequiredFiniteDouble(json, "x", -MaxHorizontalMillimeters, MaxHorizontalMillimeters),
+            y = ReadRequiredFiniteDouble(json, "y", -MaxHorizontalMillimeters, MaxHorizontalMillimeters),
+            z = ReadRequiredFiniteDouble(json, "z", MinZMillimeters, MaxZMillimeters),
+            w = ReadRequiredFiniteDouble(json, "w", -MaxRollYawDegrees, MaxRollYawDegrees),
+            p = ReadRequiredFiniteDouble(json, "p", -MaxPitchDegrees, MaxPitchDegrees),
+            r = ReadRequiredFiniteDouble(json, "r", -MaxRollYawDegrees, MaxRollYawDegrees)
+        };
+    }
+
+    /// <summary>
+    /// 转换为兼容层使用的六维位姿数组。
+    /// </summary>
+    /// <returns>[x,y,z,w,p,r] 数组。</returns>
+    public IReadOnlyList<double> ToPoseArray()
+    {
+        return [x, y, z, w, p, r];
+    }
+
+    /// <summary>
+    /// 读取必填有限数值字段。
+    /// </summary>
+    /// <param name="json">请求体 JSON 对象。</param>
+    /// <param name="propertyName">字段名。</param>
+    /// <param name="minInclusive">允许的最小值。</param>
+    /// <param name="maxInclusive">允许的最大值。</param>
+    /// <returns>字段对应的有限 double 数值。</returns>
+    private static double ReadRequiredFiniteDouble(
+        JsonElement json,
+        string propertyName,
+        double minInclusive,
+        double maxInclusive)
+    {
+        if (!json.TryGetProperty(propertyName, out var property) || property.ValueKind != JsonValueKind.Number)
+        {
+            throw new ArgumentException($"MovePose request field '{propertyName}' is required and must be a number.");
+        }
+
+        var value = property.GetDouble();
+        if (double.IsNaN(value) || double.IsInfinity(value))
+        {
+            throw new ArgumentOutOfRangeException(propertyName, "MovePose request values must be finite.");
+        }
+
+        if (value < minInclusive || value > maxInclusive)
+        {
+            throw new ArgumentOutOfRangeException(
+                propertyName,
+                value,
+                $"MovePose request field '{propertyName}' must be between {minInclusive} and {maxInclusive}.");
+        }
+
+        return value;
+    }
+}
+
 /// <summary>
 /// 表示旧 `/upload_flyshot/` 路由使用的飞拍上传请求体。
 /// </summary>

src/Flyshot.Server.Host/Controllers/StatusController.cs

@@ -49,23 +49,18 @@ public sealed class StatusController : ControllerBase
     public IActionResult GetSnapshot()
     {
         var snapshot = _compatService.GetControllerSnapshot();
-        var isSetup = _compatService.IsSetUp;
-
-        // 状态页需要在机器人未初始化时仍能打开，因此只有初始化后才读取机器人元数据。
-        var robotName = isSetup ? _compatService.GetRobotName() : null;
-        var degreesOfFreedom = isSetup ? _compatService.GetDegreesOfFreedom() : 0;
-        var uploadedTrajectories = isSetup ? _compatService.ListTrajectoryNames() : Array.Empty<string>();
+        var metadata = _compatService.GetStatusSnapshotMetadata();
 
         return Ok(new
         {
             Status = "ok",
             Service = "flyshot-server-host",
-            ServerVersion = _compatService.GetServerVersion(),
-            ClientVersion = _compatService.GetClientVersion(),
-            IsSetup = isSetup,
-            RobotName = robotName,
-            DegreesOfFreedom = degreesOfFreedom,
-            UploadedTrajectories = uploadedTrajectories,
+            ServerVersion = metadata.ServerVersion,
+            ClientVersion = metadata.ClientVersion,
+            IsSetup = metadata.IsSetup,
+            RobotName = metadata.RobotName,
+            DegreesOfFreedom = metadata.DegreesOfFreedom,
+            UploadedTrajectories = metadata.UploadedTrajectories,
             Snapshot = snapshot
         });
     }

src/Flyshot.Server.Host/wwwroot/assets/debug.js

@@ -16,6 +16,17 @@ const state = {
   history: []
 };
 
+const requestBodySamples = {
+  "POST /move_pose/": {
+    x: 100.0,
+    y: 200.0,
+    z: 300.0,
+    w: 0.0,
+    p: 45.0,
+    r: 0.0
+  }
+};
+
 /** 简单的 escape：把任意字符串安全嵌入 textContent 之外的位置时使用。 */
 function escapeHtml(value) {
   return String(value).replace(/[&<>"']/g, function (ch) {
@@ -137,6 +148,11 @@ function storageKey(op) {
   return STORAGE_PREFIX + op.method + ":" + op.path;
 }
 
+/** 返回指定端点的手工调试样例，处理 JsonElement 等 OpenAPI 无法自动推断字段的接口。 */
+function getRequestBodySample(op) {
+  return requestBodySamples[op.method + " " + op.path] || null;
+}
+
 /** 读取本端点最近一次输入；解析失败则当作空。 */
 function loadInputs(op) {
   try {
@@ -281,7 +297,7 @@ function renderBodyEditor(container, op, savedBody) {
   if (savedBody !== undefined && savedBody !== null) {
     initialText = typeof savedBody === "string" ? savedBody : JSON.stringify(savedBody, null, 2);
   } else {
-    const sample = buildSampleFromSchema(op.bodySchema, 0);
+    const sample = getRequestBodySample(op) || buildSampleFromSchema(op.bodySchema, 0);
     initialText = sample === null ? "" : JSON.stringify(sample, null, 2);
   }
   textarea.value = initialText;

src/Flyshot.Server.Host/wwwroot/assets/status.css

@@ -188,6 +188,68 @@ dd {
   font-family: inherit;
 }
 
+.jog-panel {
+  grid-column: 1 / -1;
+}
+
+.jog-content {
+  padding: 16px;
+}
+
+.jog-settings {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(180px, 1fr));
+  gap: 12px;
+  margin-bottom: 14px;
+}
+
+.jog-settings label {
+  display: grid;
+  gap: 6px;
+  color: var(--muted);
+  font-size: 13px;
+}
+
+.jog-settings input {
+  min-height: 36px;
+  width: 100%;
+  padding: 0 10px;
+  border: 1px solid var(--line);
+  border-radius: 6px;
+  background: #ffffff;
+  color: var(--text);
+  font: inherit;
+}
+
+.jog-grid {
+  display: grid;
+  grid-template-columns: repeat(6, minmax(64px, 1fr));
+  gap: 8px;
+}
+
+.jog-button {
+  min-height: 44px;
+  padding: 0 8px;
+  font-weight: 650;
+  touch-action: none;
+  user-select: none;
+}
+
+.jog-button.active {
+  filter: brightness(0.88);
+}
+
+.jog-status {
+  min-height: 24px;
+  margin-top: 12px;
+  color: var(--muted);
+  font-family: Consolas, "Cascadia Mono", monospace;
+}
+
+.jog-status.error {
+  color: var(--bad);
+}
+
 @media (max-width: 820px) {
   .topbar {
     align-items: flex-start;
@@ -199,6 +261,11 @@ dd {
     grid-template-columns: 1fr;
   }
 
+  .jog-settings,
+  .jog-grid {
+    grid-template-columns: repeat(2, minmax(0, 1fr));
+  }
+
   dl {
     grid-template-columns: 1fr;
   }

src/Flyshot.Server.Host/wwwroot/assets/status.js

@@ -15,7 +15,28 @@ const fields = {
   joints: document.getElementById("joints"),
   pose: document.getElementById("pose"),
   trajectories: document.getElementById("trajectories"),
-  refresh: document.getElementById("refresh")
+  refresh: document.getElementById("refresh"),
+  linearStep: document.getElementById("linear-step"),
+  angularStep: document.getElementById("angular-step"),
+  jogStatus: document.getElementById("jog-status"),
+  jogButtons: Array.from(document.querySelectorAll(".jog-button"))
+};
+
+const axisIndexes = {
+  x: 0,
+  y: 1,
+  z: 2,
+  w: 3,
+  p: 4,
+  r: 5
+};
+
+// 点动状态集中保存，确保按住按钮时不会并发发送多条 MovePose 请求。
+const jogState = {
+  timer: null,
+  activeButton: null,
+  inFlight: false,
+  lastSnapshot: null
 };
 
 function formatArray(values) {
@@ -56,12 +77,136 @@ function setDot(connectionState) {
   }
 }
 
+function clampStep(input, min, max) {
+  const value = Number(input.value);
+  if (!Number.isFinite(value)) {
+    input.value = String(min);
+    return min;
+  }
+
+  const clamped = Math.min(Math.max(value, min), max);
+  input.value = String(clamped);
+  return clamped;
+}
+
+function getStepForAxis(axis) {
+  // 平移和姿态使用不同单位，但共享 0.1 到 10 的现场可调范围。
+  return axis === "x" || axis === "y" || axis === "z"
+    ? clampStep(fields.linearStep, 0.1, 10)
+    : clampStep(fields.angularStep, 0.1, 10);
+}
+
+function setJogStatus(message, isError) {
+  fields.jogStatus.textContent = message;
+  fields.jogStatus.classList.toggle("error", Boolean(isError));
+}
+
+async function loadSnapshotForJog() {
+  const response = await fetch("/api/status/snapshot", { cache: "no-store" });
+  if (!response.ok) {
+    throw new Error(`状态快照读取失败: HTTP ${response.status}`);
+  }
+
+  const payload = await response.json();
+  jogState.lastSnapshot = payload.snapshot;
+  return payload.snapshot;
+}
+
+function buildJogPose(snapshot, axis, direction) {
+  // 每次点动都从最新 TCP 位姿出发，只修改一个轴，避免连续按压时累积本地误差。
+  const sourcePose = Array.isArray(snapshot.cartesianPose) ? snapshot.cartesianPose : [];
+  if (sourcePose.length < 6) {
+    throw new Error("当前 TCP 位姿不足 6 维，无法点动。");
+  }
+
+  const pose = sourcePose.slice(0, 6).map(Number);
+  if (pose.some(value => !Number.isFinite(value))) {
+    throw new Error("当前 TCP 位姿包含非数值，无法点动。");
+  }
+
+  const axisIndex = axisIndexes[axis];
+  pose[axisIndex] = Number((pose[axisIndex] + direction * getStepForAxis(axis)).toFixed(6));
+  return {
+    x: pose[0],
+    y: pose[1],
+    z: pose[2],
+    w: pose[3],
+    p: pose[4],
+    r: pose[5]
+  };
+}
+
+async function sendJog(button) {
+  // MovePose 底层会生成完整直角轨迹；前端这里只负责构造增量目标位姿。
+  if (jogState.inFlight) {
+    return;
+  }
+
+  const axis = button.dataset.axis;
+  const direction = Number(button.dataset.direction);
+  if (!Object.prototype.hasOwnProperty.call(axisIndexes, axis) || !Number.isFinite(direction)) {
+    return;
+  }
+
+  jogState.inFlight = true;
+  try {
+    const snapshot = await loadSnapshotForJog();
+    const pose = buildJogPose(snapshot, axis, direction);
+    const response = await fetch("/move_pose/", {
+      method: "POST",
+      headers: { "Content-Type": "application/json" },
+      body: JSON.stringify(pose)
+    });
+
+    if (!response.ok) {
+      throw new Error(`MovePose 调用失败: HTTP ${response.status}`);
+    }
+
+    setJogStatus(`${axis.toUpperCase()}${direction > 0 ? "+" : "-"} 已发送`, false);
+    await refreshStatus();
+  } catch (error) {
+    setJogStatus(error instanceof Error ? error.message : "点动失败", true);
+    stopJog();
+  } finally {
+    jogState.inFlight = false;
+  }
+}
+
+function startJog(event) {
+  const button = event.currentTarget;
+  if (!button || button.disabled) {
+    return;
+  }
+
+  event.preventDefault();
+  stopJog();
+  jogState.activeButton = button;
+  button.classList.add("active");
+  sendJog(button);
+  jogState.timer = window.setInterval(function () {
+    sendJog(button);
+  }, 250);
+}
+
+function stopJog() {
+  if (jogState.timer !== null) {
+    window.clearInterval(jogState.timer);
+    jogState.timer = null;
+  }
+
+  if (jogState.activeButton) {
+    jogState.activeButton.classList.remove("active");
+    jogState.activeButton = null;
+  }
+}
+
 async function refreshStatus() {
   fields.refresh.disabled = true;
   try {
     const response = await fetch("/api/status/snapshot", { cache: "no-store" });
     const payload = await response.json();
     const snapshot = payload.snapshot;
+    jogState.lastSnapshot = snapshot;
 
     fields.connectionState.textContent = snapshot.connectionState;
     fields.robotName.textContent = payload.robotName || "--";
@@ -88,5 +233,23 @@ async function refreshStatus() {
 }
 
 fields.refresh.addEventListener("click", refreshStatus);
+fields.linearStep.addEventListener("change", function () {
+  clampStep(fields.linearStep, 0.1, 10);
+});
+fields.angularStep.addEventListener("change", function () {
+  clampStep(fields.angularStep, 0.1, 10);
+});
+fields.jogButtons.forEach(function (button) {
+  button.addEventListener("pointerdown", startJog);
+  button.addEventListener("pointerup", stopJog);
+  button.addEventListener("pointercancel", stopJog);
+  button.addEventListener("pointerleave", stopJog);
+});
+window.addEventListener("blur", stopJog);
+window.addEventListener("keyup", function (event) {
+  if (event.key === "Escape") {
+    stopJog();
+  }
+});
 refreshStatus();
 window.setInterval(refreshStatus, 2000);

src/Flyshot.Server.Host/wwwroot/status.html

@@ -57,6 +57,36 @@
           <dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
         </dl>
       </section>
+      <section class="jog-panel">
+        <h2>直角坐标点动</h2>
+        <div class="jog-content">
+          <div class="jog-settings">
+            <label for="linear-step">
+              <span>平移步长 mm</span>
+              <input id="linear-step" type="number" min="0.1" max="10" step="0.1" value="1">
+            </label>
+            <label for="angular-step">
+              <span>姿态步长 deg</span>
+              <input id="angular-step" type="number" min="0.1" max="10" step="0.1" value="1">
+            </label>
+          </div>
+          <div class="jog-grid" aria-label="直角坐标点动按钮">
+            <button class="jog-button" type="button" data-axis="x" data-direction="-1">X-</button>
+            <button class="jog-button" type="button" data-axis="x" data-direction="1">X+</button>
+            <button class="jog-button" type="button" data-axis="y" data-direction="-1">Y-</button>
+            <button class="jog-button" type="button" data-axis="y" data-direction="1">Y+</button>
+            <button class="jog-button" type="button" data-axis="z" data-direction="-1">Z-</button>
+            <button class="jog-button" type="button" data-axis="z" data-direction="1">Z+</button>
+            <button class="jog-button" type="button" data-axis="w" data-direction="-1">W-</button>
+            <button class="jog-button" type="button" data-axis="w" data-direction="1">W+</button>
+            <button class="jog-button" type="button" data-axis="p" data-direction="-1">P-</button>
+            <button class="jog-button" type="button" data-axis="p" data-direction="1">P+</button>
+            <button class="jog-button" type="button" data-axis="r" data-direction="-1">R-</button>
+            <button class="jog-button" type="button" data-axis="r" data-direction="1">R+</button>
+          </div>
+          <div id="jog-status" class="jog-status">--</div>
+        </div>
+      </section>
     </div>
   </main>
   <script src="/assets/status.js" defer></script>

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -555,6 +555,30 @@ public sealed class FanucControllerRuntimeDenseTests
         Assert.True(speed05.Duration.TotalSeconds >= ExpectedSmoothPtpDuration(robot, startJoints, targetJoints, speedRatio: 0.5));
     }
 
+    /// <summary>
+    /// 验证 MovePose 低速倍率仍保持固定伺服周期，并通过拉长时长降低直角运动速度。
+    /// </summary>
+    [Fact]
+    public void MovePoseTrajectoryGenerator_LowerSpeedUsesFixedServoPeriodAndLongerPlannedDuration()
+    {
+        var servoPeriod = TimeSpan.FromMilliseconds(8);
+        var startPose = new[] { 100.0, 200.0, 300.0, 1.0, 2.0, 3.0 };
+        var targetPose = new[] { 140.0, 260.0, 330.0, 8.0, 10.0, 12.0 };
+
+        var fullSpeed = MovePoseTrajectoryGenerator.CreateResult(startPose, targetPose, servoPeriod, speedRatio: 1.0);
+        var speed07 = MovePoseTrajectoryGenerator.CreateResult(startPose, targetPose, servoPeriod, speedRatio: 0.7);
+        var speed05 = MovePoseTrajectoryGenerator.CreateResult(startPose, targetPose, servoPeriod, speedRatio: 0.5);
+
+        Assert.True(speed07.DenseCartesianTrajectory!.Count > fullSpeed.DenseCartesianTrajectory!.Count);
+        Assert.True(speed05.DenseCartesianTrajectory!.Count > speed07.DenseCartesianTrajectory!.Count);
+        AssertDenseRowsUseServoPeriod(fullSpeed.DenseCartesianTrajectory, servoPeriod.TotalSeconds);
+        AssertDenseRowsUseServoPeriod(speed07.DenseCartesianTrajectory, servoPeriod.TotalSeconds);
+        AssertDenseRowsUseServoPeriod(speed05.DenseCartesianTrajectory, servoPeriod.TotalSeconds);
+        AssertPoseEqual(startPose, fullSpeed.DenseCartesianTrajectory[0].Skip(1).ToArray());
+        AssertPoseEqual(targetPose, fullSpeed.DenseCartesianTrajectory[^1].Skip(1).ToArray());
+        Assert.True(MovePoseTrajectoryGenerator.SatisfiesDefaultCartesianLimits(speed05.DenseCartesianTrajectory, speedRatio: 0.5));
+    }
+
     [Fact]
     public void MoveJoint_RealMode_LeavesFinalTargetForHoldStreaming()
     {
@@ -578,6 +602,41 @@ public sealed class FanucControllerRuntimeDenseTests
         AssertJointDegreesEqual(targetJoints, currentCommand.TargetJoints);
     }
 
+    /// <summary>
+    /// 验证 MovePose 会生成直角坐标 J519 队列，并使用 Data format=0 下发 X/Y/Z/W/P/R。
+    /// </summary>
+    [Fact]
+    public void MovePose_RealMode_GeneratesCartesianJ519Queue()
+    {
+        using var commandClient = new FanucCommandClient();
+        using var stateClient = new FanucStateClient();
+        using var j519Client = new FanucJ519Client();
+        using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
+        var service = CreateCompatService(runtime);
+        var startPose = new[] { 100.0, 200.0, 300.0, 1.0, 2.0, 3.0 };
+        var targetPose = new[] { 110.0, 220.0, 315.0, 4.0, 5.0, 6.0 };
+
+        service.SetUpRobot("FANUC_LR_Mate_200iD");
+        j519Client.EnableCommandHistoryForTests();
+        ForceRealModeEnabled(runtime, speedRatio: 1.0);
+        SetPrivateField(runtime, "_pose", startPose);
+
+        service.MovePose(targetPose);
+        WaitUntilIdle(runtime);
+
+        var commands = j519Client.GetCommandHistoryForTests();
+        Assert.NotEmpty(commands);
+        Assert.All(commands, static command => Assert.Equal(0, command.DataStyle));
+        AssertPoseEqual(startPose, commands[0].TargetValues.Take(6).ToArray());
+        AssertPoseEqual(targetPose, commands[^1].TargetValues.Take(6).ToArray());
+        Assert.All(commands, static command =>
+        {
+            Assert.Equal(0.0, command.TargetValues[6], precision: 6);
+            Assert.Equal(0.0, command.TargetValues[7], precision: 6);
+            Assert.Equal(0.0, command.TargetValues[8], precision: 6);
+        });
+    }
+
     /// <summary>
     /// 验证运行时稠密发送不再依赖当前 speed_ratio；倍率合法性应在上游规划/生成阶段处理。
     /// </summary>
@@ -1103,6 +1162,15 @@ public sealed class FanucControllerRuntimeDenseTests
         }
     }
 
+    private static void AssertPoseEqual(IReadOnlyList<double> expected, IReadOnlyList<double> actual)
+    {
+        Assert.Equal(expected.Count, actual.Count);
+        for (var index = 0; index < expected.Count; index++)
+        {
+            Assert.Equal(expected[index], actual[index], precision: 6);
+        }
+    }
+
     /// <summary>
     /// 创建用于就绪状态测试的最小 J519 响应。
     /// </summary>

tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs

@@ -163,6 +163,28 @@ public sealed class FanucJ519ClientTests : IDisposable
         await client.StopMotionAsync(_cts.Token);
     }
 
+    /// <summary>
+    /// 验证直角坐标命令会把 Data format 写为 0，并按通用目标槽位写入 X/Y/Z/W/P/R。
+    /// </summary>
+    [Fact]
+    public void PackCommandPacket_WritesCartesianDataFormatAndTargetValues()
+    {
+        var command = new FanucJ519Command(
+            sequence: 7,
+            targetValues: [100.0, 200.0, 300.0, 1.0, 2.0, 3.0, 0.0, 0.0, 0.0],
+            dataStyle: 0);
+
+        var packet = FanucJ519Protocol.PackCommandPacket(command);
+
+        Assert.Equal(0, packet[0x12]);
+        Assert.Equal(100.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
+        Assert.Equal(200.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x20, 4)));
+        Assert.Equal(300.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x24, 4)));
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x28, 4)));
+        Assert.Equal(2.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x2c, 4)));
+        Assert.Equal(3.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
+    }
+
     /// <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>

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -956,6 +956,111 @@ public sealed class RuntimeOrchestrationTests
         }
     }
 
+    /// <summary>
+    /// 验证飞拍执行阻塞在运行时时，状态页元数据快照仍能通过短锁快速返回。
+    /// </summary>
+    [Fact]
+    public async Task ControllerClientCompatService_GetStatusSnapshotMetadata_DoesNotWaitForRunningFlyshot()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            WriteRobotConfigWithDemoTrajectory(configRoot);
+            var options = new ControllerClientCompatOptions
+            {
+                ConfigRoot = configRoot
+            };
+            var runtime = new BlockingExecutionControllerRuntime([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+            service.SetActiveController(sim: false);
+            service.Connect("192.168.10.101");
+            service.EnableRobot(2);
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+
+            var executing = Task.Run(() => service.ExecuteTrajectoryByName(
+                "demo-flyshot",
+                new FlyshotExecutionOptions(moveToStart: false, method: "icsp", saveTrajectory: false, useCache: false, wait: true)));
+            Assert.True(runtime.WaitForExecutionStarted(TimeSpan.FromSeconds(2)));
+
+            var metadataTask = Task.Run(() => service.GetStatusSnapshotMetadata());
+            var completed = await Task.WhenAny(metadataTask, Task.Delay(TimeSpan.FromMilliseconds(150)));
+
+            runtime.ReleaseExecution();
+            await executing;
+
+            Assert.Same(metadataTask, completed);
+            var metadata = await metadataTask;
+            Assert.True(metadata.IsSetup);
+            Assert.Equal("FANUC_LR_Mate_200iD", metadata.RobotName);
+            Assert.Equal(["demo-flyshot"], metadata.UploadedTrajectories);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证两个飞拍执行命令必须串行进入 runtime，避免 J519 队列被并发执行覆盖。
+    /// </summary>
+    [Fact]
+    public async Task ControllerClientCompatService_ExecuteTrajectoryByName_SerializesConcurrentExecutionCommands()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            WriteRobotConfigWithDemoTrajectory(configRoot);
+            var options = new ControllerClientCompatOptions
+            {
+                ConfigRoot = configRoot
+            };
+            var runtime = new BlockingExecutionControllerRuntime([0.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+            service.SetActiveController(sim: false);
+            service.Connect("192.168.10.101");
+            service.EnableRobot(2);
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+
+            var first = Task.Run(() => service.ExecuteTrajectoryByName(
+                "demo-flyshot",
+                new FlyshotExecutionOptions(moveToStart: false, method: "icsp", saveTrajectory: false, useCache: false, wait: true)));
+            Assert.True(runtime.WaitForExecutionStarted(TimeSpan.FromSeconds(2)));
+
+            var second = Task.Run(() => service.ExecuteTrajectoryByName(
+                "demo-flyshot",
+                new FlyshotExecutionOptions(moveToStart: false, method: "icsp", saveTrajectory: false, useCache: false, wait: true)));
+            await Task.Delay(TimeSpan.FromMilliseconds(100));
+
+            Assert.Equal(1, runtime.ExecuteCallCount);
+
+            runtime.ReleaseExecution();
+            await first;
+            Assert.True(runtime.WaitForExecutionStarted(TimeSpan.FromSeconds(2), expectedCallCount: 2));
+            runtime.ReleaseExecution();
+            await second;
+
+            Assert.Equal(2, runtime.ExecuteCallCount);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证飞拍链路在进入运行时前就会准备最终发送队列，而不是把 speedRatio 重采样留给运行时临场处理。
     /// </summary>
@@ -2005,6 +2110,12 @@ internal sealed class RecordingControllerRuntime : IControllerRuntime
     {
         LastExecutedResult = result;
     }
+
+    /// <inheritdoc />
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+        LastExecutedResult = result;
+    }
 }
 
 /// <summary>
@@ -2166,6 +2277,182 @@ internal sealed class DelayedCompletionControllerRuntime : IControllerRuntime
             _jointPositions = finalJointPositions.ToArray();
         }
     }
+
+    /// <inheritdoc />
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+    }
+}
+
+/// <summary>
+/// 模拟 runtime 执行入口长期占用的测试运行时，用于验证兼容层锁边界。
+/// </summary>
+internal sealed class BlockingExecutionControllerRuntime : IControllerRuntime
+{
+    private readonly object _lock = new();
+    private readonly ManualResetEventSlim _executionStarted = new(false);
+    private readonly ManualResetEventSlim _releaseExecution = new(false);
+    private readonly double[] _jointPositions;
+    private bool _isEnabled;
+    private bool _isInMotion;
+    private int _executeCallCount;
+
+    /// <summary>
+    /// 初始化一份会阻塞 ExecuteTrajectory 的测试运行时。
+    /// </summary>
+    /// <param name="initialJointPositions">初始关节反馈。</param>
+    public BlockingExecutionControllerRuntime(IReadOnlyList<double> initialJointPositions)
+    {
+        _jointPositions = initialJointPositions.ToArray();
+    }
+
+    /// <summary>
+    /// 获取 runtime 执行入口被调用的次数。
+    /// </summary>
+    public int ExecuteCallCount
+    {
+        get
+        {
+            lock (_lock)
+            {
+                return _executeCallCount;
+            }
+        }
+    }
+
+    /// <summary>
+    /// 等待指定序号的执行调用进入 runtime。
+    /// </summary>
+    /// <param name="timeout">最长等待时间。</param>
+    /// <param name="expectedCallCount">期望已经进入的执行次数。</param>
+    /// <returns>是否在超时前等到。</returns>
+    public bool WaitForExecutionStarted(TimeSpan timeout, int expectedCallCount = 1)
+    {
+        var deadline = DateTimeOffset.UtcNow.Add(timeout);
+        while (DateTimeOffset.UtcNow < deadline)
+        {
+            lock (_lock)
+            {
+                if (_executeCallCount >= expectedCallCount)
+                {
+                    return true;
+                }
+            }
+
+            _executionStarted.Wait(TimeSpan.FromMilliseconds(10));
+        }
+
+        return false;
+    }
+
+    /// <summary>
+    /// 释放当前阻塞的执行调用。
+    /// </summary>
+    public void ReleaseExecution()
+    {
+        _releaseExecution.Set();
+    }
+
+    public void ResetRobot(RobotProfile robot, string robotName)
+    {
+    }
+
+    public void SetActiveController(bool sim)
+    {
+    }
+
+    public void Connect(string robotIp)
+    {
+    }
+
+    public void Disconnect()
+    {
+    }
+
+    public void EnableRobot(int bufferSize)
+    {
+        _isEnabled = true;
+    }
+
+    public void DisableRobot()
+    {
+        _isEnabled = false;
+    }
+
+    public void StopMove()
+    {
+        lock (_lock)
+        {
+            _isInMotion = false;
+        }
+
+        ReleaseExecution();
+    }
+
+    public double GetSpeedRatio() => 1.0;
+
+    public void SetSpeedRatio(double ratio)
+    {
+    }
+
+    public IReadOnlyList<double> GetTcp() => [0.0, 0.0, 0.0];
+
+    public void SetTcp(double x, double y, double z)
+    {
+    }
+
+    public bool GetIo(int port, string ioType) => false;
+
+    public void SetIo(int port, bool value, string ioType)
+    {
+    }
+
+    public IReadOnlyList<double> GetJointPositions()
+    {
+        return _jointPositions.ToArray();
+    }
+
+    public IReadOnlyList<double> GetPose() => [0.0, 0.0, 0.0, 0.0, 0.0, 0.0];
+
+    public ControllerStateSnapshot GetSnapshot()
+    {
+        lock (_lock)
+        {
+            return new ControllerStateSnapshot(
+                capturedAt: DateTimeOffset.UtcNow,
+                connectionState: "Connected",
+                isEnabled: _isEnabled,
+                isInMotion: _isInMotion,
+                speedRatio: 1.0,
+                jointPositions: _jointPositions.ToArray(),
+                cartesianPose: Array.Empty<double>(),
+                activeAlarms: Array.Empty<RuntimeAlarm>());
+        }
+    }
+
+    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
+    {
+        lock (_lock)
+        {
+            _executeCallCount++;
+            _isInMotion = true;
+            _executionStarted.Set();
+            _releaseExecution.Reset();
+        }
+
+        _releaseExecution.Wait();
+
+        lock (_lock)
+        {
+            _isInMotion = false;
+            _executionStarted.Reset();
+        }
+    }
+
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+        ExecuteTrajectory(result, _jointPositions);
+    }
 }
 
 /// <summary>
@@ -2292,4 +2579,8 @@ internal sealed class StickyFeedbackControllerRuntime : IControllerRuntime
             _jointPositions = finalJointPositions.ToArray();
         }
     }
+
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+    }
 }

tests/Flyshot.Server.IntegrationTests/DebugConsoleEndpointTests.cs

@@ -44,6 +44,28 @@ public sealed class DebugConsoleEndpointTests(FlyshotServerFactory factory) : IC
         Assert.Contains("/api/debug/config", script, StringComparison.Ordinal);
     }
 
+    /// <summary>
+    /// 调试页应当为 MovePose 提供可直接发送的六字段请求体模板。
+    /// </summary>
+    [Fact]
+    public async Task GetDebugScript_ContainsMovePoseRequestSample()
+    {
+        using var configuredFactory = CreateFactoryWithSwaggerEnabled(true);
+        using var client = configuredFactory.CreateClient();
+
+        using var scriptResponse = await client.GetAsync("/assets/debug.js");
+        Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
+
+        var script = await scriptResponse.Content.ReadAsStringAsync();
+        Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
+        Assert.Contains("x: 100.0", script, StringComparison.Ordinal);
+        Assert.Contains("y: 200.0", script, StringComparison.Ordinal);
+        Assert.Contains("z: 300.0", script, StringComparison.Ordinal);
+        Assert.Contains("w: 0.0", script, StringComparison.Ordinal);
+        Assert.Contains("p: 45.0", script, StringComparison.Ordinal);
+        Assert.Contains("r: 0.0", script, StringComparison.Ordinal);
+    }
+
     /// <summary>
     /// 当 Swagger 启用时，调试配置 API 应当返回实际 Swagger JSON 地址。
     /// </summary>

tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs

@@ -1,5 +1,6 @@
 using System.Net;
 using System.Net.Http.Json;
+using System.Text;
 using System.Text.Json;
 
 namespace Flyshot.Server.IntegrationTests;
@@ -131,6 +132,13 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
             Assert.Equal("robot moved", moveJointJson.RootElement.GetProperty("status").GetString());
         }
 
+        using (var movePoseResponse = await client.PostAsJsonAsync("/move_pose/", new { x = 100.0, y = 200.0, z = 300.0, w = 1.0, p = 2.0, r = 3.0 }))
+        {
+            Assert.Equal(HttpStatusCode.OK, movePoseResponse.StatusCode);
+            using var movePoseJson = await ReadJsonAsync(movePoseResponse);
+            Assert.Equal("robot moved", movePoseJson.RootElement.GetProperty("status").GetString());
+        }
+
         using (var getJointPositionResponse = await client.GetAsync("/get_joint_position/"))
         {
             Assert.Equal(HttpStatusCode.OK, getJointPositionResponse.StatusCode);
@@ -165,6 +173,32 @@ public sealed class LegacyHttpApiCompatibilityTests(FlyshotServerFactory factory
         }
     }
 
+    /// <summary>
+    /// 验证 MovePose 请求必须显式提供六个有限直角坐标字段，避免缺字段被模型绑定静默补 0。
+    /// </summary>
+    [Theory]
+    [InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0}""")]
+    [InlineData("null")]
+    [InlineData("""{"x":1e999,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
+    [InlineData("""{"x":1000.1,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
+    [InlineData("""{"x":100.0,"y":-1000.1,"z":300.0,"w":1.0,"p":2.0,"r":3.0}""")]
+    [InlineData("""{"x":100.0,"y":200.0,"z":-0.1,"w":1.0,"p":2.0,"r":3.0}""")]
+    [InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":-180.1,"p":2.0,"r":3.0}""")]
+    [InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":90.1,"r":3.0}""")]
+    [InlineData("""{"x":100.0,"y":200.0,"z":300.0,"w":1.0,"p":2.0,"r":180.1}""")]
+    public async Task MovePose_InvalidPayload_ReturnsLegacyBadRequest(string payload)
+    {
+        using var client = factory.CreateClient();
+        await InitializeRobotAsync(client);
+
+        using var content = new StringContent(payload, Encoding.UTF8, "application/json");
+        using var response = await client.PostAsync("/move_pose/", content);
+
+        Assert.Equal(HttpStatusCode.BadRequest, response.StatusCode);
+        using var json = await ReadJsonAsync(response);
+        Assert.Equal("MovePose failed", json.RootElement.GetProperty("detail").GetString());
+    }
+
     /// <summary>
     /// 验证飞拍 HTTP 接口可以按旧 API 层的路径和字段完成上传、列出、执行与删除。
     /// </summary>

tests/Flyshot.Server.IntegrationTests/StatusEndpointTests.cs

@@ -34,6 +34,39 @@ public sealed class StatusEndpointTests(FlyshotServerFactory factory) : IClassFi
         Assert.Contains("/api/status/snapshot", script, StringComparison.Ordinal);
     }
 
+    /// <summary>
+    /// 状态页应当提供直角坐标点动按钮，并复用现有 MovePose HTTP 接口。
+    /// </summary>
+    [Fact]
+    public async Task GetStatusPageAssets_ExposeCartesianJogControls()
+    {
+        using var client = factory.CreateClient();
+
+        using var htmlResponse = await client.GetAsync("/status.html");
+        Assert.Equal(HttpStatusCode.OK, htmlResponse.StatusCode);
+
+        var html = await htmlResponse.Content.ReadAsStringAsync();
+        Assert.Contains("直角坐标点动", html, StringComparison.Ordinal);
+        Assert.Contains("id=\"linear-step\"", html, StringComparison.Ordinal);
+        Assert.Contains("id=\"angular-step\"", html, StringComparison.Ordinal);
+
+        foreach (var axis in new[] { "x", "y", "z", "w", "p", "r" })
+        {
+            Assert.Contains($"data-axis=\"{axis}\"", html, StringComparison.Ordinal);
+            Assert.Contains($"data-axis=\"{axis}\" data-direction=\"1\"", html, StringComparison.Ordinal);
+            Assert.Contains($"data-axis=\"{axis}\" data-direction=\"-1\"", html, StringComparison.Ordinal);
+        }
+
+        using var scriptResponse = await client.GetAsync("/assets/status.js");
+        Assert.Equal(HttpStatusCode.OK, scriptResponse.StatusCode);
+
+        var script = await scriptResponse.Content.ReadAsStringAsync();
+        Assert.Contains("/move_pose/", script, StringComparison.Ordinal);
+        Assert.Contains("cartesianPose", script, StringComparison.Ordinal);
+        Assert.Contains("pointerdown", script, StringComparison.Ordinal);
+        Assert.Contains("pointerup", script, StringComparison.Ordinal);
+    }
+
     /// <summary>
     /// 验证状态快照 API 会返回运行时连接、使能、速度和机器人元数据。
     /// </summary>