✨ 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.Server.IntegrationTests/HealthEndpointTests.cs

@@ -1,10 +1,147 @@
 using System.Net;
 using System.Text.Json;
+using Flyshot.Core.Domain;
+using Flyshot.Runtime.Common;
 using Microsoft.AspNetCore.Mvc.Testing;
+using Microsoft.AspNetCore.Hosting;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.DependencyInjection.Extensions;
 
 namespace Flyshot.Server.IntegrationTests;
 
-public sealed class FlyshotServerFactory : WebApplicationFactory<Program>;
+/// <summary>
+/// 使用可控 fake runtime 启动测试宿主，避免集成测试访问真实 FANUC 控制器。
+/// </summary>
+public sealed class FlyshotServerFactory : WebApplicationFactory<Program>
+{
+    /// <inheritdoc />
+    protected override void ConfigureWebHost(IWebHostBuilder builder)
+    {
+        builder.ConfigureServices(services =>
+        {
+            services.RemoveAll<IControllerRuntime>();
+            services.AddSingleton<IControllerRuntime, IntegrationFakeControllerRuntime>();
+        });
+    }
+}
+
+/// <summary>
+/// 为 HTTP 集成测试提供不访问硬件的控制器运行时。
+/// </summary>
+internal sealed class IntegrationFakeControllerRuntime : IControllerRuntime
+{
+    private RobotProfile? _robot;
+    private bool _connected;
+    private bool _enabled;
+    private double _speedRatio = 1.0;
+    private double[] _tcp = [0.0, 0.0, 0.0];
+    private double[] _joints = Array.Empty<double>();
+    private double[] _pose = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0];
+
+    /// <inheritdoc />
+    public void ResetRobot(RobotProfile robot, string robotName)
+    {
+        _robot = robot;
+        _connected = false;
+        _enabled = false;
+        _joints = new double[robot.DegreesOfFreedom];
+    }
+
+    /// <inheritdoc />
+    public void Connect(string robotIp)
+    {
+        _ = _robot ?? throw new InvalidOperationException("Robot has not been setup.");
+        _connected = true;
+    }
+
+    /// <inheritdoc />
+    public void Disconnect()
+    {
+        _connected = false;
+        _enabled = false;
+    }
+
+    /// <inheritdoc />
+    public void EnableRobot(int bufferSize)
+    {
+        if (!_connected)
+        {
+            throw new InvalidOperationException("Controller has not been connected.");
+        }
+
+        _enabled = true;
+    }
+
+    /// <inheritdoc />
+    public void DisableRobot() => _enabled = false;
+
+    /// <inheritdoc />
+    public void StopMove()
+    {
+    }
+
+    /// <inheritdoc />
+    public double GetSpeedRatio() => _speedRatio;
+
+    /// <inheritdoc />
+    public void SetSpeedRatio(double ratio) => _speedRatio = ratio;
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetTcp() => _tcp.ToArray();
+
+    /// <inheritdoc />
+    public void SetTcp(double x, double y, double z) => _tcp = [x, y, 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() => _joints.ToArray();
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetPose() => _pose.ToArray();
+
+    /// <inheritdoc />
+    public ControllerStateSnapshot GetSnapshot()
+    {
+        return new ControllerStateSnapshot(
+            DateTimeOffset.UtcNow,
+            _connected ? "Connected" : "Disconnected",
+            _enabled,
+            false,
+            _speedRatio,
+            _joints,
+            _pose,
+            Array.Empty<RuntimeAlarm>());
+    }
+
+    /// <inheritdoc />
+    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
+    {
+        if (!_enabled)
+        {
+            throw new InvalidOperationException("Robot has not been enabled.");
+        }
+
+        _joints = finalJointPositions.ToArray();
+    }
+
+    /// <inheritdoc />
+    public void ExecuteCartesianTrajectory(TrajectoryResult result, IReadOnlyList<double> finalPose)
+    {
+        if (!_enabled)
+        {
+            throw new InvalidOperationException("Robot has not been enabled.");
+        }
+
+        _pose = [.. finalPose, 1.0];
+    }
+}
 
 public sealed class HealthEndpointTests(FlyshotServerFactory factory) : IClassFixture<FlyshotServerFactory>
 {