Merge commit '0952958af7685646cdbf2a4907c6e2ae59d4d352'

tests/Flyshot.Core.Tests/DomainModelTests.cs

@@ -1,5 +1,6 @@
 using System.Text.Json;
 using Flyshot.Core.Domain;
+using Flyshot.Core.Planning.Sampling;
 
 namespace Flyshot.Core.Tests;
 
@@ -114,6 +115,27 @@ public sealed class DomainModelTests
         Assert.Empty(snapshot.JointPositions);
         Assert.Empty(snapshot.CartesianPose);
         Assert.Empty(snapshot.ActiveAlarms);
+        Assert.Empty(snapshot.StateTailWords);
+    }
+
+    /// <summary>
+    /// 验证控制器快照会保留 TCP 10010 尾部状态字作为诊断字段。
+    /// </summary>
+    [Fact]
+    public void ControllerStateSnapshot_CopiesStateTailWordsForDiagnostics()
+    {
+        var snapshot = new ControllerStateSnapshot(
+            capturedAt: DateTimeOffset.Parse("2026-04-23T10:00:00+08:00"),
+            connectionState: "Connected",
+            isEnabled: true,
+            isInMotion: false,
+            speedRatio: 1.0,
+            stateTailWords: [2u, 0u, 0u, 1u]);
+
+        var json = JsonSerializer.Serialize(snapshot);
+
+        Assert.Equal([2u, 0u, 0u, 1u], snapshot.StateTailWords);
+        Assert.Contains("\"stateTailWords\":[2,0,0,1]", json);
     }
 
     /// <summary>
@@ -143,7 +165,8 @@ public sealed class DomainModelTests
                     triggerTime: 0.5,
                     offsetCycles: 0,
                     holdCycles: 1,
-                    addressGroup: new IoAddressGroup(new[] { 100 }))
+                    addressGroup: new IoAddressGroup(new[] { 100 }),
+                    referenceJointsDegrees: new[] { 12.5, -3.0 })
             },
             artifacts: new[]
             {
@@ -155,7 +178,8 @@ public sealed class DomainModelTests
             failureReason: null,
             usedCache: true,
             originalWaypointCount: 4,
-            plannedWaypointCount: 5);
+            plannedWaypointCount: 5,
+            triggerSampleIndexOffsetCycles: 7);
 
         var json = JsonSerializer.Serialize(result);
 
@@ -163,6 +187,36 @@ public sealed class DomainModelTests
         Assert.Contains("\"method\":\"SelfAdaptIcsp\"", json);
         Assert.Contains("\"kind\":\"JointDenseTrajectory\"", json);
         Assert.Contains("\"usedCache\":true", json);
+        Assert.Contains("\"triggerSampleIndexOffsetCycles\":7", json);
+        Assert.Contains("\"referenceJointsDegrees\":[12.5,-3]", json);
+    }
+
+    /// <summary>
+    /// 验证触发绑定允许在最佳 sample 基础上继续向后偏移固定命令周期。
+    /// </summary>
+    [Fact]
+    public void TriggerSampleBinder_Bind_AppliesConfiguredSampleIndexOffset()
+    {
+        var trigger = new TrajectoryDoEvent(
+            waypointIndex: 1,
+            triggerTime: 0.008,
+            offsetCycles: 0,
+            holdCycles: 2,
+            addressGroup: new IoAddressGroup([2, 4]),
+            referenceJointsDegrees: [10.0, 20.0]);
+        var samples = new[]
+        {
+            new J519SendSample(sampleIndex: 0, sendTime: 0.0, trajectoryTime: 0.0, speedRatio: 1.0, jointsDegrees: [0.0, 0.0]),
+            new J519SendSample(sampleIndex: 1, sendTime: 0.008, trajectoryTime: 0.008, speedRatio: 1.0, jointsDegrees: [10.0, 20.0]),
+            new J519SendSample(sampleIndex: 2, sendTime: 0.016, trajectoryTime: 0.016, speedRatio: 1.0, jointsDegrees: [11.0, 21.0]),
+            new J519SendSample(sampleIndex: 3, sendTime: 0.024, trajectoryTime: 0.024, speedRatio: 1.0, jointsDegrees: [12.0, 22.0])
+        };
+
+        var binding = Assert.Single(Flyshot.Core.Planning.Sampling.TriggerSampleBinder.Bind([trigger], samples, sampleIndexOffsetCycles: 2));
+
+        Assert.True(binding.FoundInWindow);
+        Assert.Equal(3, binding.SampleIndex);
+        Assert.Equal(0.024, binding.Sample.SendTime, precision: 6);
     }
 
     /// <summary>