✨ 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.Core.Triggering/ShotTimelineBuilder.cs

@@ -25,8 +25,9 @@ public sealed class ShotTimelineBuilder
     /// <param name="trajectory">规划后的轨迹（含补中点信息和机器人配置）。</param>
     /// <param name="holdCycles">IO 保持周期数（对应原系统的 io_keep_cycles）。</param>
     /// <param name="samplePeriod">稠密采样周期，用于离散化 sample_index 和 sample_time。</param>
+    /// <param name="useDo">是否生成可注入伺服流的 DO 事件。</param>
     /// <returns>包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。</returns>
-    public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod)
+    public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod, bool useDo = true)
     {
         ArgumentNullException.ThrowIfNull(trajectory);
 
@@ -69,12 +70,16 @@ public sealed class ShotTimelineBuilder
                 sampleTime: sampleTime,
                 addressGroup: addressGroup));
 
-            triggerTimeline.Add(new TrajectoryDoEvent(
-                waypointIndex: i,
-                triggerTime: triggerTime,
-                offsetCycles: program.OffsetValues[i],
-                holdCycles: holdCycles,
-                addressGroup: addressGroup));
+            if (useDo)
+            {
+                // use_do=false 时保留 ShotEvent 诊断信息，但不向运行时下发 IO 脉冲。
+                triggerTimeline.Add(new TrajectoryDoEvent(
+                    waypointIndex: i,
+                    triggerTime: triggerTime,
+                    offsetCycles: program.OffsetValues[i],
+                    holdCycles: holdCycles,
+                    addressGroup: addressGroup));
+            }
         }
 
         return new ShotTimeline(shotEvents, triggerTimeline);