✨ 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

src/Flyshot.Core.Planning/ICspPlanner.cs

@@ -24,6 +24,50 @@ public sealed class ICspPlanner
     /// </summary>
     public const int DefaultMaxIterations = 1000;
 
+    /// <summary>
+    /// 默认最终 scale 容差。当前 C# spline 与旧系统对齐样本存在约 1% 内的数值余量。
+    /// </summary>
+    public const double DefaultFinalScaleTolerance = 1e-2;
+
+    private readonly double _threshold;
+    private readonly int _maxIterations;
+    private readonly bool _enforceFinalScale;
+    private readonly double _finalScaleTolerance;
+
+    /// <summary>
+    /// 初始化 ICSP 规划器。
+    /// </summary>
+    /// <param name="threshold">收敛阈值。</param>
+    /// <param name="maxIterations">最大迭代轮数。</param>
+    /// <param name="enforceFinalScale">是否在最终最优 scale 仍大于 1.0 时抛出失败。</param>
+    /// <param name="finalScaleTolerance">最终 scale 判定容差。</param>
+    public ICspPlanner(
+        double threshold = DefaultThreshold,
+        int maxIterations = DefaultMaxIterations,
+        bool enforceFinalScale = true,
+        double finalScaleTolerance = DefaultFinalScaleTolerance)
+    {
+        if (threshold <= 0.0 || double.IsNaN(threshold) || double.IsInfinity(threshold))
+        {
+            throw new ArgumentOutOfRangeException(nameof(threshold), "收敛阈值必须为有限正数。");
+        }
+
+        if (maxIterations < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(maxIterations), "最大迭代轮数不能为负数。");
+        }
+
+        if (finalScaleTolerance < 0.0 || double.IsNaN(finalScaleTolerance) || double.IsInfinity(finalScaleTolerance))
+        {
+            throw new ArgumentOutOfRangeException(nameof(finalScaleTolerance), "最终 scale 容差必须为有限非负数。");
+        }
+
+        _threshold = threshold;
+        _maxIterations = maxIterations;
+        _enforceFinalScale = enforceFinalScale;
+        _finalScaleTolerance = finalScaleTolerance;
+    }
+
     /// <summary>
     /// 执行 ICSP 规划，返回包含完整时间轴和收敛信息的轨迹。
     /// </summary>
@@ -52,7 +96,7 @@ public sealed class ICspPlanner
         int bestIterations = 0;
         double[]? bestWaypointTimes = null;
 
-        for (int iteration = 0; iteration <= DefaultMaxIterations; iteration++)
+        for (int iteration = 0; iteration <= _maxIterations; iteration++)
         {
             var waypointTimes = CumulativeTimes(segmentDurations);
             var spline = new CubicSplineInterpolator(waypointTimes, qs);
@@ -89,7 +133,7 @@ public sealed class ICspPlanner
                 bestWaypointTimes = (double[])waypointTimes.Clone();
             }
 
-            if (currentThreshold < DefaultThreshold)
+            if (currentThreshold < _threshold)
             {
                 break;
             }
@@ -105,6 +149,13 @@ public sealed class ICspPlanner
             throw new InvalidOperationException("ICSP 规划未能产生有效结果。");
         }
 
+        var globalScale = bestScales.Max();
+        if (_enforceFinalScale && globalScale > 1.0 + _finalScaleTolerance)
+        {
+            throw new InvalidOperationException(
+                $"ICSP 规划未收敛，global_scale={globalScale:F6} > {1.0 + _finalScaleTolerance:F6}，轨迹不可执行。");
+        }
+
         return new PlannedTrajectory(
             robot: request.Robot,
             originalProgram: request.Program,