✨ feat: 初始化飞拍替换方案仓库骨架

* 建立 .NET 8 解决方案及分层项目结构
* 添加 Flyshot.Core.Domain 领域模型（机器人、轨迹、运动学）
* 添加 Flyshot.Core.Planning 规划层（ICSP、CubicSpline、采样器）
* 添加 Flyshot.Core.Triggering 触发时序与 IO 时间轴
* 添加 Flyshot.Core.Config 配置兼容与 .robot 解析
* 添加 Flyshot.Server.Host 最小宿主及 /healthz 端点
* 补充单元测试与集成测试项目
* 添加 CLAUDE.md、AGENTS.md、README.md 项目规范

src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs

@@ -0,0 +1,82 @@
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+
+namespace Flyshot.Core.Triggering;
+
+/// <summary>
+/// 根据规划轨迹和飞拍配置生成触发时间轴，把示教点上的 shot_flags / offset_values / addr
+/// 映射成带理论时间和离散化时间的 ShotEvent，以及可直接注入伺服流的 TrajectoryDoEvent。
+/// </summary>
+public sealed class ShotTimelineBuilder
+{
+    private readonly WaypointTimestampResolver _resolver;
+
+    /// <summary>
+    /// 初始化 ShotTimelineBuilder，依赖一个时间戳解析器来对齐补中点后的轨迹与原始示教点。
+    /// </summary>
+    public ShotTimelineBuilder(WaypointTimestampResolver resolver)
+    {
+        _resolver = resolver ?? throw new ArgumentNullException(nameof(resolver));
+    }
+
+    /// <summary>
+    /// 为给定轨迹构建完整的触发时间轴。
+    /// </summary>
+    /// <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>
+    /// <returns>包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。</returns>
+    public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod)
+    {
+        ArgumentNullException.ThrowIfNull(trajectory);
+
+        if (holdCycles < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(holdCycles), "IO 保持周期数不能为负数。");
+        }
+
+        if (samplePeriod <= TimeSpan.Zero)
+        {
+            throw new ArgumentOutOfRangeException(nameof(samplePeriod), "采样周期必须大于零。");
+        }
+
+        var timestamps = _resolver.Resolve(trajectory);
+        var program = trajectory.OriginalProgram;
+        var robot = trajectory.Robot;
+        double triggerPeriodSeconds = robot.TriggerPeriod.TotalSeconds;
+        double samplePeriodSeconds = samplePeriod.TotalSeconds;
+
+        var shotEvents = new List<ShotEvent>();
+        var triggerTimeline = new List<TrajectoryDoEvent>();
+
+        for (int i = 0; i < program.Waypoints.Count; i++)
+        {
+            if (!program.ShotFlags[i])
+            {
+                continue;
+            }
+
+            double triggerTime = timestamps[i] + program.OffsetValues[i] * triggerPeriodSeconds;
+            int sampleIndex = (int)Math.Round(triggerTime / samplePeriodSeconds);
+            double sampleTime = sampleIndex * samplePeriodSeconds;
+
+            var addressGroup = program.AddressGroups[i];
+
+            shotEvents.Add(new ShotEvent(
+                waypointIndex: i,
+                triggerTime: triggerTime,
+                sampleIndex: sampleIndex,
+                sampleTime: sampleTime,
+                addressGroup: addressGroup));
+
+            triggerTimeline.Add(new TrajectoryDoEvent(
+                waypointIndex: i,
+                triggerTime: triggerTime,
+                offsetCycles: program.OffsetValues[i],
+                holdCycles: holdCycles,
+                addressGroup: addressGroup));
+        }
+
+        return new ShotTimeline(shotEvents, triggerTimeline);
+    }
+}