✨ feat(planning): 添加离线飞拍规划能力

* 固化离线飞拍轨迹加载、保存和规划结果。

* 真机初始化失败时保留模型加载后的离线规划能力。

* 更新状态接口、调试页和回归测试覆盖。

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -900,47 +900,6 @@ public sealed class FanucControllerRuntimeDenseTests
         Assert.Equal(0, commands[^1].WriteIoValue);
     }
 
-    /// <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>
     /// 验证稠密执行前若 J519 首次未就绪，会先尝试一次 EnableRobot，再在 500ms 后复查状态。
     /// </summary>
@@ -997,24 +956,6 @@ public sealed class FanucControllerRuntimeDenseTests
         Assert.Contains("seq=22", exception.Message, StringComparison.Ordinal);
     }
 
-    /// <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 地址组中的地址号按 writeIoIndex=1 的手册语义映射为 writeIoValue 位掩码。
     /// </summary>
@@ -1171,7 +1112,6 @@ public sealed class FanucControllerRuntimeDenseTests
 
     private static void ForceRealModeEnabled(FanucControllerRuntime runtime, double speedRatio)
     {
-        SetPrivateField(runtime, "_activeControllerIsSimulation", false);
         SetPrivateField(runtime, "_connectedRobotIp", "127.0.0.1");
         SetPrivateField(runtime, "_isEnabled", true);
         SetPrivateField(runtime, "_bufferSize", 2);