✨ 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

AGENTS.md

@@ -8,7 +8,7 @@
 
 - 使用 `C# + .NET 8`
 - 提供跨平台独立服务端
-- 兼容现有 `50001/TCP+JSON` 上层接入语义
+- 以新的 ASP.NET Core HTTP API 作为唯一上层接口
 - 重写轨迹生成、触发时序、FANUC 控制链路和状态监控
 - Windows / Linux 都能运行完整服务端
 - 只支持当前现场这套组合
@@ -18,6 +18,7 @@
 - GUI 桌面程序
 - 多机器人同时控制
 - 面向多控制柜的通用平台化框架
+- 恢复旧 `50001/TCP+JSON` 网关
 
 ## 2. 代码与资料边界
 
@@ -91,6 +92,7 @@ flyshot-replacement/
 
 ### 4.2 实现约束
 
+- 旧 `ControllerClient` 资料只作为接口语义参考；运行时入口以新 HTTP API 为准，不恢复旧 `50001/TCP+JSON` 网关。
 - 旧协议兼容以“语义兼容”为主，不追求二进制逐字节一致。
 - 轨迹规划必须与底层 Socket / HTTP / Web UI 解耦。
 - 领域层不允许引用 ASP.NET Core、Socket、文件系统 API。
@@ -169,8 +171,9 @@ flyshot-replacement/
 - `Flyshot.Server.Host` 已提供最小 `/healthz`。
 - 最小集成测试已通过。
 - 解决方案构建已通过。
-- HTTP-only `ControllerClientCompat` 已覆盖旧 HTTP 控制器后端的主要兼容语义。
+- 新 HTTP API / HTTP-only `ControllerClientCompat` 已覆盖旧 HTTP 控制器后端的主要兼容语义。
-- `Flyshot.Core.Planning` 已落地 `icsp` 与 `self-adapt-icsp` 的最小规划链路。
+- `Flyshot.Core.Planning` 已落地 `icsp` 与 `self-adapt-icsp`，并已完成旧系统导出轨迹对齐。
 - `Flyshot.Core.Triggering` 已能从 `shot_flags / offset_values / addr` 生成触发时间轴。
-- `Flyshot.Runtime.Fanuc` 已提供状态型最小运行时骨架，供兼容服务执行规划结果。
+- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码，`10010` 状态帧以 `j519 协议.pcap` 真机抓包确认为 90B。
+- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端和 J519 周期发送链路，但速度倍率、TCP、IO、J519 闭环与现场联调仍需补齐。
 - `ExecuteTrajectory` / `ExecuteFlyShotTraj` 已接入 `Planning + Triggering + Runtime`，不再只是兼容层内存赋值。

README.md

@@ -4,7 +4,7 @@
 
 当前目标：
 
-- 兼容现有 `50001/TCP+JSON` 上层接入语义
+- 以新的 ASP.NET Core HTTP API 作为唯一上层接口
 - 重写轨迹生成、触发时序和 FANUC 实时控制链路
 - 提供 Web 状态监控页面
 - 在 Windows 和 Linux 上运行完整后台服务
@@ -13,9 +13,12 @@
 
 - 这是长期运行的无头后台服务，不是 GUI 桌面程序。
 - 第一版仅面向当前现场组合，后续再扩展机型与控制柜适配。
-- 当前仓库内已经移除宿主中的 `50001/TCP+JSON` 监听实现；现阶段只保留 ASP.NET Core HTTP 控制器层，以及其后端 `Flyshot.ControllerClientCompat` 兼容服务。
+- 当前仓库不再恢复旧 `50001/TCP+JSON` 监听入口；旧 `ControllerClient` 逆向资料只作为接口语义参考，不作为运行时目标。
-- `ExecuteTrajectory` 与 `ExecuteFlyShotTraj` 已经接入 `Planning + Triggering + Runtime` 最小链路；Web 状态页已通过 `/status` 和 `/api/status/snapshot` 暴露当前兼容层与运行时状态；`Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码，但运行时仍是状态型骨架，尚未完成真机 Socket 联调。
+- 宿主只保留 ASP.NET Core HTTP 控制器层，以及其后端 `Flyshot.ControllerClientCompat` 兼容服务。
-- `50001/TCP+JSON` 的真实兼容入口如果后续需要恢复，必须基于 `docs/controller-client-api-compatibility-requirements.md` 与 `docs/controller-client-api-reverse-engineering.md` 重新评估，而不是直接把旧的 TCP 网关方向接回宿主。
+- `ExecuteTrajectory` 与 `ExecuteFlyShotTraj` 已经接入 `Planning + Triggering + Runtime` 链路；Web 状态页已通过 `/status` 和 `/api/status/snapshot` 暴露当前兼容层与运行时状态。
+- `Flyshot.Core.Planning` 的 ICSP / self-adapt-icsp 轨迹已经完成旧系统导出轨迹对齐；`doubles` 仍未实现。
+- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码。`10010` 状态通道以 `j519 协议.pcap` 真机抓包确认为 90B 固定帧。
+- 真机 Socket 客户端已具备基础连接、程序启停和 J519 周期发送能力，但速度倍率、TCP、IO、J519 闭环和现场联调仍需补齐。
 
 开发约定：
 
@@ -23,15 +26,58 @@
 - 当前仓库内的 `@` 引用主要覆盖本仓库文件；引用父目录资料时，请直接写相对路径，如 `../analysis/ICSP_algorithm_reverse_analysis.md`。
 - 父目录中的 `analysis/`、`FlyingShot/`、`RobotController/`、`RPS/` 主要作为逆向参考资料和样本来源，新实现默认只落地在当前仓库。
 
-当前 Todo：
+当前已完成：
 
 - [x] 初始化独立仓库
 - [x] 创建 `dotnet 8` 解决方案骨架
 - [x] 打通最小宿主与 `/healthz`
 - [x] 建立领域模型与模块边界
 - [x] 落地配置兼容与机器人模型解析
-- [x] 落地轨迹规划与飞拍触发时间轴
+- [x] 落地 ICSP / self-adapt-icsp 轨迹规划与飞拍触发时间轴
-- [x] 将 `ExecuteTrajectory` / `ExecuteFlyShotTraj` 接入最小 FANUC 运行时骨架
+- [x] 完成 ICSP 轨迹导出结果与旧系统对齐
+- [x] 将 `ExecuteTrajectory` / `ExecuteFlyShotTraj` 接入 FANUC 运行时链路
 - [x] 落地 Web 状态页
-- [x] 固化 `10010 / 10012 / 60015` FANUC 基础协议帧编解码
+- [x] 固化 `10010 / 10012 / 60015` FANUC 基础协议帧编解码，确认 `10010` 状态帧为 90B
-- [ ] 落地真实 `10010 / 10012 / 60015` FANUC Socket 通讯与现场联调
+- [x] 使用本地 TCP/UDP 模拟器覆盖命令通道、状态通道和 J519 基础收发
+- [x] 保留新 HTTP 接口路线，明确不再实现旧 `50001/TCP+JSON` 网关
+
+剩余 Todo：
+
+1. 配置与测试基线
+   - [x] 修正 `ConfigCompatibilityTests` 当前样本路径漂移：`Rvbust/EOL10_EAU_0/RobotConfig.json` 不再包含 `001`，应改用稳定样本或更新断言。
+   - [x] 将 `RobotConfig.json` 中的 `use_do`、`io_keep_cycles`、`acc_limit`、`jerk_limit`、`adapt_icsp_try_num` 全部贯通到规划和执行链路。
+   - [ ] 为新 HTTP API 补一份当前现场调用顺序文档，替代旧 `ControllerClient` 工作流。
+
+2. 轨迹规划
+   - [ ] 补齐 ICSP 最终 `global_scale > 1.0` 失败判定，避免未收敛轨迹被当作有效结果执行。
+   - [x] 将 self-adapt-icsp 的补点次数改为使用配置中的 `adapt_icsp_try_num`。
+   - [ ] 如果现场仍需要 `method="doubles"`，实现 `TrajectoryDoubleS` 等价规划；否则在 HTTP 文档中明确标为不支持。
+   - [ ] 把已完成对齐的旧系统轨迹样本固化为 golden tests，防止后续重构破坏轨迹一致性。
+
+3. FANUC TCP 10012 命令通道
+   - [ ] 补齐 `GetSpeedRatio` / `SetSpeedRatio` 真机命令体与响应解析。
+   - [ ] 补齐 `GetTCP` / `SetTCP` 真机命令体与响应解析。
+   - [ ] 补齐 `GetIO` / `SetIO` 真机命令体与响应解析。
+   - [x] 所有命令响应必须检查 `result_code`，失败时返回可诊断错误，而不是只更新本地缓存。
+
+4. FANUC TCP 10010 状态通道
+   - [ ] 用 `j519 协议.pcap` 中的 90B 真机状态帧扩充状态解析测试样本。
+   - [ ] 明确 `pose[6]`、`joint_or_ext[9]`、尾部状态字的字段语义，并映射到 `ControllerStateSnapshot`。
+   - [ ] 补充断线、异常帧、超时和重连策略。
+
+5. FANUC UDP 60015 J519 运动链路
+   - [ ] 重新确认 J519 发送循环与 `FanucControllerRuntime` 稠密轨迹循环的职责边界，避免双重节拍或命令覆盖。
+   - [ ] 补齐 `accept_cmd`、`received_cmd`、`sysrdy`、`rbt_inmotion` 状态位闭环检查。
+   - [ ] 校验序号递增、响应滞后、丢包、停止包和最后一帧语义。
+   - [ ] 将飞拍 IO 触发的 `write_io_type/index/mask/value` 与现场控制柜实际 IO 地址逐项对齐。
+
+6. 真机联调与运行安全
+   - [ ] 在真实 R30iB + `RVBUSTSM` 程序上验证 `Connect -> EnableRobot -> ExecuteFlyShotTraj -> StopMove -> DisableRobot -> Disconnect` 全流程。
+   - [ ] 增加急停、伺服未就绪、程序未启动、网络断开、控制柜拒收命令等故障路径处理。
+   - [ ] 给 HTTP 执行接口增加运行互斥、执行中拒绝重复轨迹、取消和超时控制。
+   - [ ] 增加运行日志、协议摘要日志和状态快照导出，便于现场排查。
+
+7. 发布与部署
+   - [ ] 固化 Windows / Linux 启动脚本和 systemd 服务配置。
+   - [ ] 补充生产配置模板、端口说明和现场部署检查表。
+   - [ ] 给 Web 状态页增加真机连接、程序状态、J519 状态位和最近报警显示。

TrajectoryStore/FANUC_LR_Mate_200iD_trajectories.json

@@ -0,0 +1,11 @@
+{
+  "robot": {
+    "use_do": false,
+    "io_addr": [],
+    "io_keep_cycles": 2,
+    "acc_limit": 1,
+    "jerk_limit": 1,
+    "adapt_icsp_try_num": 5
+  },
+  "flying_shots": {}
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatRobotCatalog.cs

@@ -37,8 +37,10 @@ public sealed class ControllerClientCompatRobotCatalog
     /// 根据旧客户端的机器人名称加载对应模型。
     /// </summary>
     /// <param name="robotName">旧客户端传入的机器人名称。</param>
+    /// <param name="accLimitScale">RobotConfig.json 中的加速度倍率。</param>
+    /// <param name="jerkLimitScale">RobotConfig.json 中的 jerk 倍率。</param>
     /// <returns>兼容层加载出的机器人模型。</returns>
-    public RobotProfile LoadProfile(string robotName)
+    public RobotProfile LoadProfile(string robotName, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
     {
         if (string.IsNullOrWhiteSpace(robotName))
         {
@@ -52,7 +54,7 @@ public sealed class ControllerClientCompatRobotCatalog
 
         var workspaceRoot = ResolveWorkspaceRoot();
         var modelPath = Path.Combine(workspaceRoot, modelRelativePath);
-        return _robotModelLoader.LoadProfile(modelPath);
+        return _robotModelLoader.LoadProfile(modelPath, accLimitScale, jerkLimitScale);
     }
 
     /// <summary>

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -1,3 +1,4 @@
+using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
 using Flyshot.Runtime.Common;
 
@@ -14,8 +15,11 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     private readonly ControllerClientCompatRobotCatalog _robotCatalog;
     private readonly IControllerRuntime _runtime;
     private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
+    private readonly RobotConfigLoader _configLoader;
+    private readonly IFlyshotTrajectoryStore _trajectoryStore;
     private RobotProfile? _activeRobotProfile;
     private string? _configuredRobotName;
+    private CompatibilityRobotSettings? _robotSettings;
     private string? _connectedServerIp;
     private int _connectedServerPort;
     private bool _showTcp = true;
@@ -29,16 +33,22 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     /// <param name="robotCatalog">机器人模型目录。</param>
     /// <param name="runtime">控制器运行时。</param>
     /// <param name="trajectoryOrchestrator">轨迹规划与触发编排器。</param>
+    /// <param name="configLoader">旧版 RobotConfig.json 加载器。</param>
+    /// <param name="trajectoryStore">已上传轨迹持久化存储。</param>
     public ControllerClientCompatService(
         ControllerClientCompatOptions options,
         ControllerClientCompatRobotCatalog robotCatalog,
         IControllerRuntime runtime,
-        ControllerClientTrajectoryOrchestrator trajectoryOrchestrator)
+        ControllerClientTrajectoryOrchestrator trajectoryOrchestrator,
+        RobotConfigLoader configLoader,
+        IFlyshotTrajectoryStore trajectoryStore)
     {
         _options = options ?? throw new ArgumentNullException(nameof(options));
         _robotCatalog = robotCatalog ?? throw new ArgumentNullException(nameof(robotCatalog));
         _runtime = runtime ?? throw new ArgumentNullException(nameof(runtime));
         _trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
+        _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
+        _trajectoryStore = trajectoryStore ?? throw new ArgumentNullException(nameof(trajectoryStore));
     }
 
     /// <inheritdoc />
@@ -97,7 +107,11 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     /// <inheritdoc />
     public void SetUpRobot(string robotName)
     {
-        var robotProfile = _robotCatalog.LoadProfile(robotName);
+        var robotSettings = TryLoadRobotSettings() ?? CreateDefaultRobotSettings();
+        var robotProfile = _robotCatalog.LoadProfile(
+            robotName,
+            robotSettings.AccLimitScale,
+            robotSettings.JerkLimitScale);
 
         lock (_stateLock)
         {
@@ -106,6 +120,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             _activeRobotProfile = robotProfile;
             _uploadedTrajectories.Clear();
             _runtime.ResetRobot(robotProfile, robotName);
+            _robotSettings = robotSettings;
+
+            // 从持久化存储恢复该机器人名下之前已上传的轨迹。
+            var savedTrajectories = _trajectoryStore.LoadAll(robotName, out _);
+            foreach (var saved in savedTrajectories)
+            {
+                _uploadedTrajectories[saved.Key] = saved.Value;
+            }
         }
     }
 
@@ -361,6 +383,10 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         {
             EnsureRuntimeEnabled();
             _uploadedTrajectories[trajectory.Name] = trajectory;
+
+            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            var settings = _robotSettings ?? CreateDefaultRobotSettings();
+            _trajectoryStore.Save(robotName, settings, trajectory);
         }
     }
 
@@ -398,7 +424,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             }
 
             // 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
-            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options);
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, RequireRobotSettings());
             if (options.MoveToStart)
             {
                 _runtime.ExecuteTrajectory(CreateImmediateMoveResult(), bundle.PlannedTrajectory.PlannedWaypoints[0].Positions);
@@ -425,11 +451,16 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 throw new InvalidOperationException("FlyShot trajectory does not exist.");
             }
 
-            // 当前阶段没有落地文件导出，先通过 saveTrajectory=true 走规划校验，避免静默接受非法参数。
+            // 先通过规划校验避免静默接受非法参数，同时把轨迹信息强制刷写到本地 JSON。
             _ = _trajectoryOrchestrator.PlanUploadedFlyshot(
                 robot,
                 trajectory,
-                new FlyshotExecutionOptions(saveTrajectory: true, method: method));
+                new FlyshotExecutionOptions(saveTrajectory: true, method: method),
+                RequireRobotSettings());
+
+            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            var settings = _robotSettings ?? CreateDefaultRobotSettings();
+            _trajectoryStore.Save(robotName, settings, trajectory);
         }
     }
 
@@ -452,7 +483,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
                 robot,
                 trajectory,
-                new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory));
+                new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
+                RequireRobotSettings());
 
             duration = bundle.Result.Duration;
             return bundle.Result.IsValid;
@@ -473,6 +505,9 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             {
                 throw new InvalidOperationException("DeleteFlyShotTraj failed");
             }
+
+            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            _trajectoryStore.Delete(robotName, name);
         }
     }
 
@@ -503,6 +538,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         return _activeRobotProfile ?? throw new InvalidOperationException("Robot has not been setup.");
     }
 
+    /// <summary>
+    /// 获取当前机器人兼容配置；未加载旧配置时回退到现场默认值。
+    /// </summary>
+    /// <returns>当前机器人配置。</returns>
+    private CompatibilityRobotSettings RequireRobotSettings()
+    {
+        return _robotSettings ?? CreateDefaultRobotSettings();
+    }
+
     /// <summary>
     /// 校验机器人已经完成初始化。
     /// </summary>
@@ -542,4 +586,61 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             originalWaypointCount: 1,
             plannedWaypointCount: 1);
     }
+
+    /// <summary>
+    /// 尝试从工作区加载旧版 RobotConfig.json 获取机器人配置；失败时返回 null。
+    /// </summary>
+    /// <returns>加载到的机器人配置，或 null。</returns>
+    private CompatibilityRobotSettings? TryLoadRobotSettings()
+    {
+        try
+        {
+            var workspaceRoot = !string.IsNullOrWhiteSpace(_options.WorkspaceRoot)
+                ? Path.GetFullPath(_options.WorkspaceRoot)
+                : ResolveWorkspaceRootFromBaseDirectory();
+
+            var configPath = PathCompatibility.ResolveConfigPath("RobotConfig.json", workspaceRoot);
+            var loaded = _configLoader.Load(configPath, workspaceRoot);
+            return loaded.Robot;
+        }
+        catch
+        {
+            return null;
+        }
+    }
+
+    /// <summary>
+    /// 构造与旧现场默认行为一致的机器人兼容配置。
+    /// </summary>
+    /// <returns>默认机器人配置。</returns>
+    private static CompatibilityRobotSettings CreateDefaultRobotSettings()
+    {
+        return new CompatibilityRobotSettings(
+            useDo: false,
+            ioAddresses: Array.Empty<int>(),
+            ioKeepCycles: 2,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+    }
+
+    /// <summary>
+    /// 从当前程序基目录向上搜索 FlyshotReplacement.sln 以推断工作区根目录。
+    /// </summary>
+    /// <returns>父工作区根目录。</returns>
+    private static string ResolveWorkspaceRootFromBaseDirectory()
+    {
+        var current = new DirectoryInfo(AppContext.BaseDirectory);
+        while (current is not null)
+        {
+            if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
+            {
+                return Path.GetFullPath(Path.Combine(current.FullName, ".."));
+            }
+
+            current = current.Parent;
+        }
+
+        throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
+    }
 }

src/Flyshot.ControllerClientCompat/ControllerClientCompatServiceCollectionExtensions.cs

@@ -29,8 +29,10 @@ public static class ControllerClientCompatServiceCollectionExtensions
 
         services.AddSingleton(static serviceProvider => serviceProvider.GetRequiredService<IOptions<ControllerClientCompatOptions>>().Value);
         services.AddSingleton<RobotModelLoader>();
+        services.AddSingleton<RobotConfigLoader>();
         services.AddSingleton<ControllerClientCompatRobotCatalog>();
         services.AddSingleton<ControllerClientTrajectoryOrchestrator>();
+        services.AddSingleton<IFlyshotTrajectoryStore, JsonFlyshotTrajectoryStore>();
         services.AddSingleton<IControllerRuntime, FanucControllerRuntime>();
         services.AddSingleton<IControllerClientCompatService, ControllerClientCompatService>();
 

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,
+            holdCycles: settings.IoKeepCycles,
-            samplePeriod: robot.ServoPeriod);
+            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);
     }
 }

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs

@@ -0,0 +1,231 @@
+using System.Text.Json;
+using System.Text.Json.Nodes;
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 定义已上传飞拍轨迹的持久化存储契约。
+/// </summary>
+public interface IFlyshotTrajectoryStore
+{
+    /// <summary>
+    /// 将单条轨迹持久化到本地 JSON，同时更新所属机器人配置段。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称。</param>
+    /// <param name="settings">当前机器人级兼容配置。</param>
+    /// <param name="trajectory">要保存的已上传轨迹。</param>
+    void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory);
+
+    /// <summary>
+    /// 从本地 JSON 删除指定名称的轨迹。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称。</param>
+    /// <param name="trajectoryName">要删除的轨迹名称。</param>
+    void Delete(string robotName, string trajectoryName);
+
+    /// <summary>
+    /// 加载指定机器人名下所有已持久化的轨迹，并回传保存时的机器人配置。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称。</param>
+    /// <param name="settings">输出保存时的机器人配置；若文件不存在或解析失败则为 null。</param>
+    /// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
+    IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings);
+}
+
+/// <summary>
+/// 使用与旧版 RobotConfig.json 一致的 JSON 格式持久化飞拍轨迹和机器人配置。
+/// </summary>
+public sealed class JsonFlyshotTrajectoryStore : IFlyshotTrajectoryStore
+{
+    private readonly ControllerClientCompatOptions _options;
+    private readonly RobotConfigLoader _configLoader;
+
+    /// <summary>
+    /// 初始化基于 JSON 文件的轨迹存储。
+    /// </summary>
+    /// <param name="options">兼容层基础配置，用于定位工作区根目录。</param>
+    /// <param name="configLoader">旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。</param>
+    public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
+    }
+
+    /// <inheritdoc />
+    public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        ArgumentNullException.ThrowIfNull(settings);
+        ArgumentNullException.ThrowIfNull(trajectory);
+
+        var path = ResolveStorePath(robotName);
+        var directory = Path.GetDirectoryName(path)!;
+        Directory.CreateDirectory(directory);
+
+        JsonObject root;
+        if (File.Exists(path))
+        {
+            var existingJson = File.ReadAllText(path);
+            root = JsonNode.Parse(existingJson)?.AsObject() ?? new JsonObject();
+        }
+        else
+        {
+            root = new JsonObject();
+        }
+
+        // 更新 robot 配置段，保持与旧版 RobotConfig.json 字段名一致。
+        root["robot"] = SerializeRobotSettings(settings);
+
+        // 确保 flying_shots 节点存在。
+        if (!root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) || flyingShotsNode is not JsonObject flyingShotsObj)
+        {
+            flyingShotsObj = new JsonObject();
+            root["flying_shots"] = flyingShotsObj;
+        }
+
+        flyingShotsObj[trajectory.Name] = SerializeTrajectory(trajectory);
+
+        var writeOptions = new JsonSerializerOptions
+        {
+            WriteIndented = true,
+            PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
+        };
+        File.WriteAllText(path, root.ToJsonString(writeOptions));
+    }
+
+    /// <inheritdoc />
+    public void Delete(string robotName, string trajectoryName)
+    {
+        if (string.IsNullOrWhiteSpace(trajectoryName))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
+        }
+
+        var path = ResolveStorePath(robotName);
+        if (!File.Exists(path))
+        {
+            return;
+        }
+
+        var existingJson = File.ReadAllText(path);
+        var root = JsonNode.Parse(existingJson)?.AsObject();
+        if (root is null)
+        {
+            return;
+        }
+
+        if (root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) && flyingShotsNode is JsonObject flyingShotsObj)
+        {
+            flyingShotsObj.Remove(trajectoryName);
+
+            var writeOptions = new JsonSerializerOptions
+            {
+                WriteIndented = true,
+                PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
+            };
+            File.WriteAllText(path, root.ToJsonString(writeOptions));
+        }
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
+    {
+        var path = ResolveStorePath(robotName);
+        if (!File.Exists(path))
+        {
+            settings = null;
+            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+        }
+
+        try
+        {
+            var workspaceRoot = ResolveWorkspaceRoot();
+            var loaded = _configLoader.Load(path, workspaceRoot);
+            settings = loaded.Robot;
+
+            var dict = new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+            foreach (var program in loaded.Programs)
+            {
+                var traj = new ControllerClientCompatUploadedTrajectory(
+                    name: program.Value.Name,
+                    waypoints: program.Value.Waypoints.Select(static wp => wp.Positions),
+                    shotFlags: program.Value.ShotFlags,
+                    offsetValues: program.Value.OffsetValues,
+                    addressGroups: program.Value.AddressGroups.Select(static g => g.Addresses));
+                dict[program.Key] = traj;
+            }
+
+            return dict;
+        }
+        catch
+        {
+            settings = null;
+            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+        }
+    }
+
+    /// <summary>
+    /// 把机器人兼容配置序列化为 JSON 对象，字段名与旧版 RobotConfig.json 一致。
+    /// </summary>
+    private static JsonObject SerializeRobotSettings(CompatibilityRobotSettings settings)
+    {
+        return new JsonObject
+        {
+            ["use_do"] = JsonValue.Create(settings.UseDo),
+            ["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
+            ["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
+            ["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
+            ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
+            ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum)
+        };
+    }
+
+    /// <summary>
+    /// 把已上传轨迹序列化为 JSON 对象，字段名与旧版 RobotConfig.json 的 flying_shots 节点一致。
+    /// </summary>
+    private static JsonObject SerializeTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        return new JsonObject
+        {
+            ["traj_waypoints"] = JsonSerializer.SerializeToNode(trajectory.Waypoints),
+            ["shot_flags"] = JsonSerializer.SerializeToNode(trajectory.ShotFlags),
+            ["offset_values"] = JsonSerializer.SerializeToNode(trajectory.OffsetValues),
+            ["addr"] = JsonSerializer.SerializeToNode(trajectory.AddressGroups)
+        };
+    }
+
+    /// <summary>
+    /// 解析当前机器人对应的持久化文件路径。
+    /// </summary>
+    private string ResolveStorePath(string robotName)
+    {
+        var workspaceRoot = ResolveWorkspaceRoot();
+        var storeDir = Path.Combine(workspaceRoot, "flyshot-replacement", "TrajectoryStore");
+        return Path.Combine(storeDir, $"{robotName}_trajectories.json");
+    }
+
+    /// <summary>
+    /// 解析父工作区根目录，优先使用显式配置。
+    /// </summary>
+    private string ResolveWorkspaceRoot()
+    {
+        if (!string.IsNullOrWhiteSpace(_options.WorkspaceRoot))
+        {
+            return Path.GetFullPath(_options.WorkspaceRoot);
+        }
+
+        var current = new DirectoryInfo(AppContext.BaseDirectory);
+        while (current is not null)
+        {
+            if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
+            {
+                return Path.GetFullPath(Path.Combine(current.FullName, ".."));
+            }
+
+            current = current.Parent;
+        }
+
+        throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
+    }
+}

src/Flyshot.Core.Domain/TrajectoryResult.cs

@@ -21,7 +21,8 @@ public sealed class TrajectoryResult
         string? failureReason,
         bool usedCache,
         int originalWaypointCount,
-        int plannedWaypointCount)
+        int plannedWaypointCount,
+        IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null)
     {
         if (string.IsNullOrWhiteSpace(programName))
         {
@@ -51,6 +52,7 @@ public sealed class TrajectoryResult
         var copiedShotEvents = shotEvents.ToArray();
         var copiedTriggerTimeline = triggerTimeline.ToArray();
         var copiedArtifacts = artifacts.ToArray();
+        var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
 
         ProgramName = programName;
         Method = method;
@@ -63,6 +65,7 @@ public sealed class TrajectoryResult
         UsedCache = usedCache;
         OriginalWaypointCount = originalWaypointCount;
         PlannedWaypointCount = plannedWaypointCount;
+        DenseJointTrajectory = copiedDenseJointTrajectory;
     }
 
     /// <summary>
@@ -130,6 +133,13 @@ public sealed class TrajectoryResult
     /// </summary>
     [JsonPropertyName("plannedWaypointCount")]
     public int PlannedWaypointCount { get; }
+
+    /// <summary>
+    /// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...].
+    /// Null when dense sampling was not performed (e.g. simulation fallback).
+    /// </summary>
+    [JsonPropertyName("denseJointTrajectory")]
+    public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
 }
 
 /// <summary>

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(
+            if (useDo)
-                waypointIndex: i,
+            {
-                triggerTime: triggerTime,
+                // use_do=false 时保留 ShotEvent 诊断信息，但不向运行时下发 IO 脉冲。
-                offsetCycles: program.OffsetValues[i],
+                triggerTimeline.Add(new TrajectoryDoEvent(
-                holdCycles: holdCycles,
+                    waypointIndex: i,
-                addressGroup: addressGroup));
+                    triggerTime: triggerTime,
+                    offsetCycles: program.OffsetValues[i],
+                    holdCycles: holdCycles,
+                    addressGroup: addressGroup));
+            }
         }
 
         return new ShotTimeline(shotEvents, triggerTimeline);

src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs

@@ -1,3 +1,4 @@
+using System.Diagnostics;
 using Flyshot.Core.Domain;
 using Flyshot.Runtime.Common;
 using Flyshot.Runtime.Fanuc.Protocol;
@@ -12,9 +13,9 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
 {
     private readonly object _stateLock = new();
     private readonly Dictionary<(string IoType, int Port), bool> _ioValues = new();
-    private readonly FanucCommandClient _commandClient = new();
+    private readonly FanucCommandClient _commandClient;
-    private readonly FanucStateClient _stateClient = new();
+    private readonly FanucStateClient _stateClient;
-    private readonly FanucJ519Client _j519Client = new();
+    private readonly FanucJ519Client _j519Client;
 
     private RobotProfile? _robot;
     private string? _robotName;
@@ -28,6 +29,28 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
     private double[] _jointPositions = Array.Empty<double>();
     private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
     private bool _disposed;
+    private CancellationTokenSource? _sendCts;
+    private Task? _sendTask;
+
+    /// <summary>
+    /// 初始化 FANUC 控制器运行时。
+    /// </summary>
+    public FanucControllerRuntime()
+    {
+        _commandClient = new FanucCommandClient();
+        _stateClient = new FanucStateClient();
+        _j519Client = new FanucJ519Client();
+    }
+
+    /// <summary>
+    /// 供测试注入 mock 客户端的内部构造函数。
+    /// </summary>
+    internal FanucControllerRuntime(FanucCommandClient commandClient, FanucStateClient stateClient, FanucJ519Client j519Client)
+    {
+        _commandClient = commandClient;
+        _stateClient = stateClient;
+        _j519Client = j519Client;
+    }
 
     /// <inheritdoc />
     public void ResetRobot(RobotProfile robot, string robotName)
@@ -106,6 +129,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         lock (_stateLock)
         {
             EnsureRobotSetup();
+            CancelSendTaskLocked();
             DisconnectClients();
             _connectedRobotIp = null;
             _isEnabled = false;
@@ -149,6 +173,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         lock (_stateLock)
         {
             EnsureRobotSetup();
+            CancelSendTaskLocked();
             if (!IsSimulationMode)
             {
                 _j519Client.StopMotionAsync().GetAwaiter().GetResult();
@@ -166,6 +191,7 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         lock (_stateLock)
         {
             EnsureRobotSetup();
+            CancelSendTaskLocked();
             if (!IsSimulationMode)
             {
                 _j519Client.StopMotionAsync().GetAwaiter().GetResult();
@@ -347,11 +373,21 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
             EnsureEnabled();
             EnsureValidTrajectory(result);
             EnsureJointCount(finalJointPositions.Count);
+            CancelSendTaskLocked();
+
+            if (!IsSimulationMode && result.DenseJointTrajectory is not null)
+            {
+                // 真机模式且存在稠密路点：启动后台高精度发送任务。
+                _isInMotion = true;
+                _sendCts = new CancellationTokenSource();
+                var ct = _sendCts.Token;
+                _sendTask = Task.Run(() => SendDenseTrajectory(result, finalJointPositions, ct), ct);
+                return;
+            }
 
             if (!IsSimulationMode)
             {
-                // 真机模式：通过 J519 发送最终关节目标。
+                // 真机模式无稠密路点：回退到单点收敛。
-                // TODO: 后续接入稠密路点流，当前先发送单点收敛。
                 var command = new FanucJ519Command(
                     sequence: 0,
                     targetJoints: finalJointPositions.Select(j => (double)j).ToArray());
@@ -375,12 +411,138 @@ public sealed class FanucControllerRuntime : IControllerRuntime, IDisposable
         }
 
         _disposed = true;
+        CancelSendTaskLocked();
         DisconnectClients();
         _commandClient.Dispose();
         _stateClient.Dispose();
         _j519Client.Dispose();
     }
 
+    /// <summary>
+    /// 后台高精度发送任务：按伺服周期遍历稠密路点并注入 IO 触发。
+    /// </summary>
+    private void SendDenseTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions, CancellationToken cancellationToken)
+    {
+        var denseTrajectory = result.DenseJointTrajectory!;
+        var triggers = result.TriggerTimeline;
+        var servoPeriodSeconds = _robot!.ServoPeriod.TotalSeconds;
+        var halfServoPeriod = servoPeriodSeconds / 2.0;
+        var periodTicks = (long)(servoPeriodSeconds * Stopwatch.Frequency);
+
+        var stopwatch = Stopwatch.StartNew();
+        long nextTick = stopwatch.ElapsedTicks;
+        uint sequence = 0;
+        ushort ioValue = 0;
+        int holdRemaining = -1;
+
+        try
+        {
+            foreach (var row in denseTrajectory)
+            {
+                cancellationToken.ThrowIfCancellationRequested();
+                nextTick += periodTicks;
+
+                double t = row[0];
+                var joints = row.Skip(1).Select(static v => (double)v).ToArray();
+
+                // 递减 IO 保持计数器；若已到期则清零。
+                if (holdRemaining > 0)
+                {
+                    holdRemaining--;
+                }
+                else if (holdRemaining == 0)
+                {
+                    ioValue = 0;
+                    holdRemaining = -1;
+                }
+
+                // 检查当前周期是否有新的触发事件。
+                if (holdRemaining < 0)
+                {
+                    foreach (var trigger in triggers)
+                    {
+                        if (Math.Abs(t - trigger.TriggerTime) < halfServoPeriod)
+                        {
+                            ioValue = ComputeIoValue(trigger.AddressGroup);
+                            holdRemaining = trigger.HoldCycles;
+                            break;
+                        }
+                    }
+                }
+
+                var command = new FanucJ519Command(
+                    sequence: sequence++,
+                    targetJoints: joints,
+                    writeIoType: 2,
+                    writeIoIndex: 1,
+                    writeIoMask: 255,
+                    writeIoValue: ioValue);
+
+                _j519Client.UpdateCommand(command);
+
+                // 高精度忙等待直到下一伺服周期。
+                while (stopwatch.ElapsedTicks < nextTick)
+                {
+                    Thread.SpinWait(1);
+                }
+            }
+        }
+        catch (OperationCanceledException)
+        {
+            // 正常取消，轨迹被中断。
+        }
+        finally
+        {
+            lock (_stateLock)
+            {
+                _isInMotion = false;
+                _jointPositions = finalJointPositions.ToArray();
+            }
+        }
+    }
+
+    /// <summary>
+    /// 取消并等待当前后台发送任务，避免旧任务与新轨迹并发。
+    /// </summary>
+    private void CancelSendTaskLocked()
+    {
+        _sendCts?.Cancel();
+
+        if (_sendTask is not null)
+        {
+            try
+            {
+                _sendTask.Wait(TimeSpan.FromSeconds(2));
+            }
+            catch (AggregateException)
+            {
+                // 忽略取消异常。
+            }
+
+            _sendTask = null;
+        }
+
+        _sendCts?.Dispose();
+        _sendCts = null;
+    }
+
+    /// <summary>
+    /// 把 IO 地址组中的地址号映射为 writeIoValue 的位掩码。
+    /// </summary>
+    internal static ushort ComputeIoValue(IoAddressGroup group)
+    {
+        ushort value = 0;
+        foreach (var addr in group.Addresses)
+        {
+            if (addr is >= 0 and < 16)
+            {
+                value |= (ushort)(1 << addr);
+            }
+        }
+
+        return value;
+    }
+
     /// <summary>
     /// 判断当前是否处于仿真模式；若尚未选择控制器则抛出异常。
     /// </summary>

src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj

@@ -6,6 +6,12 @@
     <Nullable>enable</Nullable>
   </PropertyGroup>
 
+  <ItemGroup>
+    <AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
+      <_Parameter1>Flyshot.Core.Tests</_Parameter1>
+    </AssemblyAttribute>
+  </ItemGroup>
+
   <ItemGroup>
     <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
     <ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />

src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs

@@ -96,7 +96,7 @@ public sealed class FanucCommandClient : IDisposable
     {
         var frame = FanucCommandProtocol.PackProgramCommand(messageId, programName);
         var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
-        return FanucCommandProtocol.ParseResultResponse(response);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
     }
 
     /// <summary>
@@ -119,7 +119,7 @@ public sealed class FanucCommandClient : IDisposable
     {
         var frame = FanucCommandProtocol.PackEmptyCommand(FanucCommandMessageIds.ResetRobot);
         var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
-        return FanucCommandProtocol.ParseResultResponse(response);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
     }
 
     /// <summary>
@@ -132,7 +132,7 @@ public sealed class FanucCommandClient : IDisposable
     {
         var frame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, programName);
         var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
-        return FanucCommandProtocol.ParseProgramStatusResponse(response);
+        return EnsureSuccess(FanucCommandProtocol.ParseProgramStatusResponse(response));
     }
 
     /// <summary>
@@ -186,6 +186,41 @@ public sealed class FanucCommandClient : IDisposable
         }
     }
 
+    /// <summary>
+    /// 校验普通命令响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private static FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 校验程序状态响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private static FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 构造包含 FANUC 命令上下文的失败异常。
+    /// </summary>
+    private static InvalidOperationException CreateCommandFailureException(uint messageId, uint resultCode)
+    {
+        return new InvalidOperationException(
+            $"FANUC command 0x{messageId:X4} failed with result_code {resultCode}.");
+    }
+
     /// <summary>
     /// 从流中读取一条完整的 doz/zod 响应帧。
     /// </summary>

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs

@@ -1,3 +1,4 @@
+using System.Diagnostics;
 using System.Net.Sockets;
 
 namespace Flyshot.Runtime.Fanuc.Protocol;
@@ -123,6 +124,20 @@ public sealed class FanucJ519Client : IDisposable
         }
     }
 
+    /// <summary>
+    /// 获取最近一次通过 UpdateCommand 设置的 J519 命令；供测试断言使用。
+    /// </summary>
+    /// <returns>当前 J519 命令或 null。</returns>
+    internal FanucJ519Command? GetCurrentCommand()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            return _currentCommand;
+        }
+    }
+
     /// <summary>
     /// 获取最近一次解析的 J519 响应；若尚未收到任何响应则返回 null。
     /// </summary>
@@ -225,7 +240,7 @@ public sealed class FanucJ519Client : IDisposable
     }
 
     /// <summary>
-    /// 后台发送循环：约 8ms 周期发送当前命令。
+    /// 后台发送循环：以 Stopwatch + SpinWait 实现高精度 8ms 周期发送当前命令。
     /// </summary>
     private async Task SendLoopAsync(CancellationToken cancellationToken)
     {
@@ -234,13 +249,17 @@ public sealed class FanucJ519Client : IDisposable
             return;
         }
 
-        // 使用 8ms 周期近似 125Hz 伺服频率。
+        // 8ms 伺服周期，对应 125Hz。
-        using var timer = new PeriodicTimer(TimeSpan.FromMilliseconds(8));
+        var periodTicks = (long)(0.008 * Stopwatch.Frequency);
+        var stopwatch = Stopwatch.StartNew();
+        long nextTick = stopwatch.ElapsedTicks;
 
         try
         {
-            while (await timer.WaitForNextTickAsync(cancellationToken).ConfigureAwait(false))
+            while (!cancellationToken.IsCancellationRequested)
             {
+                nextTick += periodTicks;
+
                 FanucJ519Command? command;
                 lock (_commandLock)
                 {
@@ -252,6 +271,12 @@ public sealed class FanucJ519Client : IDisposable
                     var packet = FanucJ519Protocol.PackCommandPacket(command);
                     await _udpClient.SendAsync(packet, cancellationToken).ConfigureAwait(false);
                 }
+
+                // 高精度忙等待直到下一周期，避免 PeriodicTimer 的 ±15ms 抖动。
+                while (stopwatch.ElapsedTicks < nextTick)
+                {
+                    Thread.SpinWait(1);
+                }
             }
         }
         catch (OperationCanceledException)

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -26,12 +26,12 @@ public sealed class ConfigCompatibilityTests
         Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
         Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
 
-        var program = Assert.Contains("001", loaded.Programs);
+        var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
-        Assert.Equal("001", program.Name);
+        Assert.Equal("EOL10_EAU_0", program.Name);
-        Assert.Equal(5, program.Waypoints.Count);
+        Assert.Equal(45, program.Waypoints.Count);
-        Assert.Equal(3, program.ShotWaypointCount);
+        Assert.Equal(42, program.ShotWaypointCount);
         Assert.Empty(program.AddressGroups[0].Addresses);
-        Assert.Equal([8, 7], program.AddressGroups[1].Addresses);
+        Assert.Equal([4, 3], program.AddressGroups[1].Addresses);
     }
 
     /// <summary>

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>

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -0,0 +1,96 @@
+using Flyshot.Core.Domain;
+using Flyshot.Runtime.Fanuc;
+
+namespace Flyshot.Core.Tests;
+
+/// <summary>
+/// 验证 FANUC 控制器运行在稠密轨迹流式执行与 IO 触发上的行为。
+/// </summary>
+public sealed class FanucControllerRuntimeDenseTests
+{
+    /// <summary>
+    /// 验证仿真模式下即使传入稠密路点，也会回退到单点同步更新。
+    /// </summary>
+    [Fact]
+    public void ExecuteTrajectory_WithDenseWaypoints_SimulationMode_FallsBackToSinglePoint()
+    {
+        var runtime = new FanucControllerRuntime();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
+        runtime.SetActiveController(sim: true);
+        runtime.Connect("192.168.10.101");
+        runtime.EnableRobot(bufferSize: 2);
+
+        var denseTrajectory = new[]
+        {
+            new[] { 0.0, 0.1, 0.2, 0.3, 0.4, 0.5, 0.6 },
+            new[] { 0.008, 0.11, 0.21, 0.31, 0.41, 0.51, 0.61 },
+            new[] { 0.016, 0.12, 0.22, 0.32, 0.42, 0.52, 0.62 }
+        };
+
+        var result = new TrajectoryResult(
+            programName: "demo",
+            method: PlanningMethod.Icsp,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(0.016),
+            shotEvents: Array.Empty<ShotEvent>(),
+            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: false,
+            originalWaypointCount: 4,
+            plannedWaypointCount: 4,
+            denseJointTrajectory: denseTrajectory);
+
+        runtime.ExecuteTrajectory(result, [0.12, 0.22, 0.32, 0.42, 0.52, 0.62]);
+
+        var snapshot = runtime.GetSnapshot();
+        Assert.False(snapshot.IsInMotion);
+        Assert.Equal([0.12, 0.22, 0.32, 0.42, 0.52, 0.62], snapshot.JointPositions);
+    }
+
+    /// <summary>
+    /// 验证 StopMove 在没有任何后台发送任务运行时不会抛出异常。
+    /// </summary>
+    [Fact]
+    public void StopMove_DoesNotThrowWhenNoSendTaskRunning()
+    {
+        var runtime = new FanucControllerRuntime();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
+        runtime.SetActiveController(sim: true);
+        runtime.Connect("192.168.10.101");
+        runtime.EnableRobot(bufferSize: 2);
+
+        var exception = Record.Exception(() => runtime.StopMove());
+        Assert.Null(exception);
+        Assert.False(runtime.GetSnapshot().IsInMotion);
+    }
+
+    /// <summary>
+    /// 验证 IO 地址组中的地址号被正确映射为 writeIoValue 的位掩码。
+    /// </summary>
+    [Theory]
+    [InlineData(new[] { 0 }, (ushort)1)]
+    [InlineData(new[] { 7 }, (ushort)128)]
+    [InlineData(new[] { 7, 8 }, (ushort)384)] // 128 + 256
+    [InlineData(new[] { 15 }, (ushort)32768)]
+    [InlineData(new int[] { }, (ushort)0)]
+    public void ComputeIoValue_MapsAddressesToBitMask(int[] addresses, ushort expected)
+    {
+        var group = new IoAddressGroup(addresses);
+        var actual = FanucControllerRuntime.ComputeIoValue(group);
+        Assert.Equal(expected, actual);
+    }
+
+    /// <summary>
+    /// 验证超过 15 的地址号会被安全忽略，不会溢出位掩码。
+    /// </summary>
+    [Fact]
+    public void ComputeIoValue_IgnoresOutOfRangeAddresses()
+    {
+        var group = new IoAddressGroup([0, 16, 7]);
+        var actual = FanucControllerRuntime.ComputeIoValue(group);
+        Assert.Equal((ushort)(1 | 128), actual);
+    }
+}

tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs

@@ -177,4 +177,43 @@ public sealed class FanucJ519ClientTests : IDisposable
         using var client = new FanucJ519Client();
         Assert.Throws<InvalidOperationException>(() => client.StartMotion());
     }
+
+    /// <summary>
+    /// 验证 Stopwatch + SpinWait 发送循环能保持约 8ms 周期抖动在亚毫秒级。
+    /// </summary>
+    [Fact]
+    public async Task StartMotion_MaintainsSubMillisecondPeriod()
+    {
+        using var client = new FanucJ519Client();
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        await _server.ReceiveAsync(_cts.Token); // init
+
+        var command = new FanucJ519Command(sequence: 1, targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+        client.UpdateCommand(command);
+        client.StartMotion();
+
+        // 收集 5 个命令包到达时间戳。
+        var timestamps = new List<DateTimeOffset>();
+        for (var i = 0; i < 5; i++)
+        {
+            var result = await _server.ReceiveAsync(_cts.Token);
+            timestamps.Add(DateTimeOffset.UtcNow);
+        }
+
+        await client.StopMotionAsync(_cts.Token);
+
+        // 计算相邻包间隔并断言最大抖动。
+        var intervals = new List<TimeSpan>();
+        for (var i = 1; i < timestamps.Count; i++)
+        {
+            intervals.Add(timestamps[i] - timestamps[i - 1]);
+        }
+
+        // 允许 ±2ms 的测量误差（含 UDP 传输和调度延迟）。
+        Assert.All(intervals, interval =>
+        {
+            Assert.True(interval >= TimeSpan.FromMilliseconds(6), $"间隔 {interval.TotalMilliseconds:F2}ms 过短。");
+            Assert.True(interval <= TimeSpan.FromMilliseconds(10), $"间隔 {interval.TotalMilliseconds:F2}ms 过长。");
+        });
+    }
 }

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -1,6 +1,7 @@
 using Flyshot.ControllerClientCompat;
 using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
+using Flyshot.Runtime.Common;
 using Flyshot.Runtime.Fanuc;
 
 namespace Flyshot.Core.Tests;
@@ -82,6 +83,104 @@ public sealed class RuntimeOrchestrationTests
         Assert.Single(bundle.Result.TriggerTimeline);
     }
 
+    /// <summary>
+    /// 验证飞拍编排会使用 RobotConfig.json 中的 IO 保持周期。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_UsesRobotSettingsForHoldCycles()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+        var settings = new CompatibilityRobotSettings(
+            useDo: true,
+            ioAddresses: [7, 8],
+            ioKeepCycles: 4,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+
+        var bundle = orchestrator.PlanUploadedFlyshot(robot, uploaded, settings: settings);
+
+        var doEvent = Assert.Single(bundle.Result.TriggerTimeline);
+        Assert.Equal(4, doEvent.HoldCycles);
+    }
+
+    /// <summary>
+    /// 验证 RobotConfig.json 关闭 use_do 时仍保留 ShotEvent 诊断信息，但不生成伺服 DO 事件。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_SuppressesDoTimeline_WhenUseDoIsFalse()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+        var settings = new CompatibilityRobotSettings(
+            useDo: false,
+            ioAddresses: [7, 8],
+            ioKeepCycles: 4,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+
+        var bundle = orchestrator.PlanUploadedFlyshot(robot, uploaded, settings: settings);
+
+        Assert.Single(bundle.Result.ShotEvents);
+        Assert.Empty(bundle.Result.TriggerTimeline);
+    }
+
+    /// <summary>
+    /// 验证普通轨迹规划后会生成稠密关节采样序列。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_ReturnsDenseJointTrajectory()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+
+        var bundle = orchestrator.PlanOrdinaryTrajectory(
+            robot,
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.1, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.2, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.3, 0.0, 0.0, 0.0, 0.0, 0.0]
+            ]);
+
+        Assert.NotNull(bundle.Result.DenseJointTrajectory);
+        Assert.NotEmpty(bundle.Result.DenseJointTrajectory);
+
+        // 验证时间单调递增。
+        var times = bundle.Result.DenseJointTrajectory.Select(static row => row[0]).ToArray();
+        for (var i = 1; i < times.Length; i++)
+        {
+            Assert.True(times[i] > times[i - 1], $"采样时间点应在索引 {i} 处单调递增。");
+        }
+
+        // 验证每行包含时间 + 6 个关节值。
+        Assert.All(bundle.Result.DenseJointTrajectory, row => Assert.Equal(7, row.Count));
+    }
+
+    /// <summary>
+    /// 验证飞拍轨迹规划后的稠密采样时间轴与伺服周期一致。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_DenseTrajectoryUsesServoPeriod()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+
+        var bundle = orchestrator.PlanUploadedFlyshot(robot, uploaded);
+
+        Assert.NotNull(bundle.Result.DenseJointTrajectory);
+        Assert.True(bundle.Result.DenseJointTrajectory.Count > 1);
+
+        // 采样周期应为 8ms（伺服周期）。
+        var firstDt = bundle.Result.DenseJointTrajectory[1][0] - bundle.Result.DenseJointTrajectory[0][0];
+        Assert.Equal(0.008, firstDt, precision: 3);
+    }
+
     /// <summary>
     /// 验证兼容服务执行普通轨迹时会进入规划链路，而不是直接把最后一个路点写入状态。
     /// </summary>
@@ -104,6 +203,73 @@ public sealed class RuntimeOrchestrationTests
 
         Assert.Throws<ArgumentException>(Act);
     }
+
+    /// <summary>
+    /// 验证兼容服务初始化机器人时会把 RobotConfig.json 中的 acc_limit / jerk_limit 传给模型加载器。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_SetUpRobot_AppliesRobotConfigLimitScales()
+    {
+        var tempRoot = CreateTempWorkspaceRoot();
+        try
+        {
+            File.WriteAllText(
+                Path.Combine(tempRoot, "RobotConfig.json"),
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_addr": [7, 8],
+                    "io_keep_cycles": 4,
+                    "acc_limit": 0.5,
+                    "jerk_limit": 0.25,
+                    "adapt_icsp_try_num": 3
+                  },
+                  "flying_shots": {}
+                }
+                """);
+
+            var options = new ControllerClientCompatOptions { WorkspaceRoot = tempRoot };
+            var runtime = new RecordingControllerRuntime();
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader(),
+                new InMemoryFlyshotTrajectoryStore());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+
+            var profile = Assert.IsType<RobotProfile>(runtime.LastRobotProfile);
+            Assert.Equal(14.905, profile.JointLimits[2].AccelerationLimit, precision: 3);
+            Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 创建只包含当前支持机器人模型和 RobotConfig.json 的临时工作区。
+    /// </summary>
+    private static string CreateTempWorkspaceRoot()
+    {
+        var tempRoot = Path.Combine(Path.GetTempPath(), "flyshot-runtime-tests", Guid.NewGuid().ToString("N"));
+        var modelDir = Path.Combine(tempRoot, "FlyingShot", "FlyingShot", "Models");
+        Directory.CreateDirectory(modelDir);
+
+        var sourceModel = Path.Combine(
+            TestRobotFactory.GetWorkspaceRoot(),
+            "FlyingShot",
+            "FlyingShot",
+            "Models",
+            "LR_Mate_200iD_7L.robot");
+        File.Copy(sourceModel, Path.Combine(modelDir, "LR_Mate_200iD_7L.robot"));
+
+        return tempRoot;
+    }
 }
 
 /// <summary>
@@ -170,14 +336,16 @@ internal static class TestRobotFactory
             options,
             new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
             new FanucControllerRuntime(),
-            new ControllerClientTrajectoryOrchestrator());
+            new ControllerClientTrajectoryOrchestrator(),
+            new RobotConfigLoader(),
+            new InMemoryFlyshotTrajectoryStore());
     }
 
     /// <summary>
     /// 定位父工作区根目录，供兼容服务加载真实机器人模型。
     /// </summary>
     /// <returns>父工作区根目录。</returns>
-    private static string GetWorkspaceRoot()
+    public static string GetWorkspaceRoot()
     {
         var current = new DirectoryInfo(AppContext.BaseDirectory);
         while (current is not null)
@@ -193,3 +361,126 @@ internal static class TestRobotFactory
         throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
     }
 }
+
+/// <summary>
+/// 内存中的轨迹存储实现，用于避免单元测试污染真实文件系统。
+/// </summary>
+internal sealed class InMemoryFlyshotTrajectoryStore : IFlyshotTrajectoryStore
+{
+    private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _store = new(StringComparer.Ordinal);
+
+    /// <inheritdoc />
+    public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        _store[trajectory.Name] = trajectory;
+    }
+
+    /// <inheritdoc />
+    public void Delete(string robotName, string trajectoryName)
+    {
+        _store.Remove(trajectoryName);
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
+    {
+        settings = null;
+        return _store;
+    }
+}
+
+/// <summary>
+/// 记录 ResetRobot 入参的测试运行时，用于验证兼容服务传递的机器人配置。
+/// </summary>
+internal sealed class RecordingControllerRuntime : IControllerRuntime
+{
+    /// <summary>
+    /// 获取最近一次 ResetRobot 收到的机器人配置。
+    /// </summary>
+    public RobotProfile? LastRobotProfile { get; private set; }
+
+    /// <inheritdoc />
+    public void ResetRobot(RobotProfile robot, string robotName)
+    {
+        LastRobotProfile = robot;
+    }
+
+    /// <inheritdoc />
+    public void SetActiveController(bool sim)
+    {
+    }
+
+    /// <inheritdoc />
+    public void Connect(string robotIp)
+    {
+    }
+
+    /// <inheritdoc />
+    public void Disconnect()
+    {
+    }
+
+    /// <inheritdoc />
+    public void EnableRobot(int bufferSize)
+    {
+    }
+
+    /// <inheritdoc />
+    public void DisableRobot()
+    {
+    }
+
+    /// <inheritdoc />
+    public void StopMove()
+    {
+    }
+
+    /// <inheritdoc />
+    public double GetSpeedRatio() => 1.0;
+
+    /// <inheritdoc />
+    public void SetSpeedRatio(double ratio)
+    {
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetTcp() => [0.0, 0.0, 0.0];
+
+    /// <inheritdoc />
+    public void SetTcp(double x, double y, double z)
+    {
+    }
+
+    /// <inheritdoc />
+    public bool GetIo(int port, string ioType) => false;
+
+    /// <inheritdoc />
+    public void SetIo(int port, bool value, string ioType)
+    {
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetJointPositions() => Array.Empty<double>();
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetPose() => Array.Empty<double>();
+
+    /// <inheritdoc />
+    public ControllerStateSnapshot GetSnapshot()
+    {
+        return new ControllerStateSnapshot(
+            capturedAt: DateTimeOffset.UtcNow,
+            connectionState: "Connected",
+            isEnabled: true,
+            isInMotion: false,
+            speedRatio: 1.0,
+            jointPositions: Array.Empty<double>(),
+            cartesianPose: Array.Empty<double>(),
+            activeAlarms: Array.Empty<RuntimeAlarm>());
+    }
+
+    /// <inheritdoc />
+    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
+    {
+    }
+}