✨ 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。

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>