✨ feat(runtime): 添加轨迹持久化与密集执行链路

* 新增飞拍轨迹文件存储，支持上传、加载与删除
* 接通 ControllerClientCompat 到运行时的轨迹编排
* 完善 FANUC 命令与 J519 客户端发送链路
* 补充密集轨迹执行、运行时编排和协议客户端测试
* 更新 README 与 AGENTS 中的当前实现状态

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -1,5 +1,7 @@
+using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
 using Flyshot.Core.Planning;
+using Flyshot.Core.Planning.Sampling;
 using Flyshot.Core.Triggering;
 
 namespace Flyshot.ControllerClientCompat;
@@ -59,11 +61,13 @@ public sealed class ControllerClientTrajectoryOrchestrator
     public PlannedExecutionBundle PlanUploadedFlyshot(
         RobotProfile robot,
         ControllerClientCompatUploadedTrajectory uploaded,
-        FlyshotExecutionOptions? options = null)
+        FlyshotExecutionOptions? options = null,
+        CompatibilityRobotSettings? settings = null)
     {
         ArgumentNullException.ThrowIfNull(robot);
         ArgumentNullException.ThrowIfNull(uploaded);
         options ??= new FlyshotExecutionOptions();
+        settings ??= CreateDefaultRobotSettings();
 
         var program = CreateProgram(
             name: uploaded.Name,
@@ -73,7 +77,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
             addressGroups: uploaded.AddressGroups);
 
         var method = ParseFlyshotMethod(options.Method);
-        var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options);
+        var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options, settings);
         if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
         {
             // 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
@@ -91,11 +95,12 @@ public sealed class ControllerClientTrajectoryOrchestrator
             saveTrajectoryArtifacts: options.SaveTrajectory,
             useCache: options.UseCache);
 
-        var plannedTrajectory = PlanByMethod(request, method);
+        var plannedTrajectory = PlanByMethod(request, method, settings);
         var shotTimeline = _shotTimelineBuilder.Build(
             plannedTrajectory,
-            holdCycles: 0,
-            samplePeriod: robot.ServoPeriod);
+            holdCycles: settings.IoKeepCycles,
+            samplePeriod: robot.ServoPeriod,
+            useDo: settings.UseDo);
         var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
         var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
 
@@ -146,12 +151,12 @@ public sealed class ControllerClientTrajectoryOrchestrator
     /// <param name="request">规划请求。</param>
     /// <param name="method">规划方法。</param>
     /// <returns>规划轨迹。</returns>
-    private PlannedTrajectory PlanByMethod(TrajectoryRequest request, PlanningMethod method)
+    private PlannedTrajectory PlanByMethod(TrajectoryRequest request, PlanningMethod method, CompatibilityRobotSettings? settings = null)
     {
         return method switch
         {
             PlanningMethod.Icsp => _icspPlanner.Plan(request),
-            PlanningMethod.SelfAdaptIcsp => _selfAdaptIcspPlanner.Plan(request),
+            PlanningMethod.SelfAdaptIcsp => _selfAdaptIcspPlanner.Plan(request, settings?.AdaptIcspTryNum ?? 5),
             PlanningMethod.Doubles => throw new NotSupportedException("doubles 轨迹规划尚未落地。"),
             _ => throw new ArgumentOutOfRangeException(nameof(method), method, "未知轨迹规划方法。")
         };
@@ -182,7 +187,8 @@ public sealed class ControllerClientTrajectoryOrchestrator
     private static string CreateFlyshotCacheKey(
         RobotProfile robot,
         ControllerClientCompatUploadedTrajectory uploaded,
-        FlyshotExecutionOptions options)
+        FlyshotExecutionOptions options,
+        CompatibilityRobotSettings settings)
     {
         var hash = new HashCode();
         hash.Add(robot.Name, StringComparer.Ordinal);
@@ -190,6 +196,9 @@ public sealed class ControllerClientTrajectoryOrchestrator
         hash.Add(NormalizeMethod(options.Method), StringComparer.Ordinal);
         hash.Add(options.MoveToStart);
         hash.Add(options.SaveTrajectory);
+        hash.Add(settings.UseDo);
+        hash.Add(settings.IoKeepCycles);
+        hash.Add(settings.AdaptIcspTryNum);
 
         foreach (var waypoint in uploaded.Waypoints)
         {
@@ -220,6 +229,21 @@ public sealed class ControllerClientTrajectoryOrchestrator
         return hash.ToHashCode().ToString("X8");
     }
 
+    /// <summary>
+    /// 构造编排器直接调用时的默认兼容配置，保持既有单元测试中的 DO 生成行为。
+    /// </summary>
+    /// <returns>默认机器人兼容配置。</returns>
+    private static CompatibilityRobotSettings CreateDefaultRobotSettings()
+    {
+        return new CompatibilityRobotSettings(
+            useDo: true,
+            ioAddresses: Array.Empty<int>(),
+            ioKeepCycles: 0,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+    }
+
     /// <summary>
     /// 把兼容层输入数组转换成领域层 FlyshotProgram。
     /// </summary>
@@ -252,6 +276,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
     /// <returns>运行时执行结果描述。</returns>
     private static TrajectoryResult CreateResult(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, bool usedCache)
     {
+        var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
+            plannedTrajectory,
+            samplePeriod: plannedTrajectory.Robot.ServoPeriod.TotalSeconds);
+
         return new TrajectoryResult(
             programName: plannedTrajectory.OriginalProgram.Name,
             method: plannedTrajectory.Method,
@@ -263,6 +291,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
             failureReason: null,
             usedCache: usedCache,
             originalWaypointCount: plannedTrajectory.OriginalWaypointCount,
-            plannedWaypointCount: plannedTrajectory.PlannedWaypointCount);
+            plannedWaypointCount: plannedTrajectory.PlannedWaypointCount,
+            denseJointTrajectory: denseJointTrajectory);
     }
 }