✨ feat(runtime): 完善 FANUC 命令参数与状态通道重连

* 在 FanucCommandProtocol/Client 中补齐速度倍率、TCP 位姿和
  IO 的封包/解析，并引入 FanucIoTypes 字符串到枚举映射
* FanucControllerRuntime 在非仿真模式下接入真机命令通道，本地
  缓存仅作为兜底，TCP 操作扩展为 7 维 Pose
* FanucStateClient 增加帧超时检测、退避自动重连和诊断状态接口,
  超时或重连期间不再把陈旧帧当作当前机器人状态
* FanucStateProtocol 锁定 90B 帧字段为 pose[6]、joint[6]、
  external_axes[3] 和 raw_tail_words[4],并保留状态字诊断槽位
* ICspPlanner 增加 global_scale > 1.0 失败判定,self-adapt-icsp
  内部禁用该判定以保留补点重试链路
* 同步更新 README/AGENTS/计划文档的 todo 状态和实现说明

docs/superpowers/plans/2026-04-24-minimal-runtime-orchestration.md

@@ -171,7 +171,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
 }
 ```
 
-- [ ] **Step 4: Run tests to verify they pass**
+- [x] **Step 4: Run tests to verify they pass**
 
 Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientTrajectoryOrchestrator -v minimal -m:1 -nodeReuse:false`
 Expected: PASS.
@@ -209,7 +209,7 @@ public void ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPoi
 }
 ```
 
-- [ ] **Step 2: Run test to verify it fails**
+- [x] **Step 2: Run test to verify it fails**
 
 Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced -v minimal -m:1 -nodeReuse:false`
 Expected: FAIL because current service still treats ordinary execution as "move to last waypoint".
@@ -239,12 +239,12 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
 }
 ```
 
-- [ ] **Step 4: Run focused tests to verify green**
+- [x] **Step 4: Run focused tests to verify green**
 
 Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter "ControllerClientCompatService|ControllerClientTrajectoryOrchestrator|FanucControllerRuntime" -v minimal -m:1 -nodeReuse:false`
 Expected: PASS.
 
-- [ ] **Step 5: Run integration verification**
+- [x] **Step 5: Run integration verification**
 
 Run: `dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal -m:1 -nodeReuse:false`
 Expected: PASS, with existing HTTP compatibility tests still green.