✨ 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

tests/Flyshot.Core.Tests/FanucCommandClientTests.cs

@@ -130,6 +130,27 @@ public sealed class FanucCommandClientTests : IDisposable
         await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
     }
 
+    /// <summary>
+    /// 验证命令响应 result_code 非零时，客户端会抛出可诊断异常而不是让上层误判成功。
+    /// </summary>
+    [Fact]
+    public async Task StopProgramAsync_NonZeroResultCode_ThrowsDiagnosticException()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.StopProgram, "RVBUSTSM"),
+            Convert.FromHexString("646f7a00000012000021030000002a7a6f64"),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var exception = await Assert.ThrowsAsync<InvalidOperationException>(
+            () => client.StopProgramAsync("RVBUSTSM", _cts.Token));
+
+        Assert.Contains("0x2103", exception.Message);
+        Assert.Contains("42", exception.Message);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
     /// <summary>
     /// 验证在连接前调用命令会抛出 InvalidOperationException。
     /// </summary>