✨ 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

tests/Flyshot.Core.Tests/FanucProtocolTests.cs

@@ -39,6 +39,64 @@ public sealed class FanucProtocolTests
         Assert.Equal(1u, statusResponse.ProgramStatus);
     }
 
+    /// <summary>
+    /// 验证 TCP 10012 的速度倍率、TCP 和 IO 请求体字段顺序与逆向文档一致。
+    /// </summary>
+    [Fact]
+    public void CommandProtocol_PacksParameterCommandBodies()
+    {
+        var setTcpFrame = FanucCommandProtocol.PackSetTcpCommand(1, [1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0]);
+
+        Assert.Equal(
+            Convert.FromHexString("646f7a0000000e000022067a6f64"),
+            FanucCommandProtocol.PackGetSpeedRatioCommand());
+        Assert.Equal(
+            Convert.FromHexString("646f7a0000001200002207000000507a6f64"),
+            FanucCommandProtocol.PackSetSpeedRatioCommand(0.8));
+        Assert.Equal(
+            Convert.FromHexString("646f7a0000001200002200000000017a6f64"),
+            FanucCommandProtocol.PackGetTcpCommand(1));
+        Assert.Equal(
+            Convert.FromHexString("646f7a000000160000220800000002000000077a6f64"),
+            FanucCommandProtocol.PackGetIoCommand(FanucIoTypes.DigitalOutput, 7));
+        Assert.Equal(
+            Convert.FromHexString("646f7a0000001a0000220900000002000000073f8000007a6f64"),
+            FanucCommandProtocol.PackSetIoCommand(FanucIoTypes.DigitalOutput, 7, true));
+        Assert.Equal(FanucCommandMessageIds.SetTcp, BinaryPrimitives.ReadUInt32BigEndian(setTcpFrame.AsSpan(7, 4)));
+        Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(setTcpFrame.AsSpan(11, 4)));
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(setTcpFrame.AsSpan(15, 4)));
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(setTcpFrame.AsSpan(39, 4)));
+    }
+
+    /// <summary>
+    /// 验证 TCP 10012 参数响应解析使用各自不同的字段顺序。
+    /// </summary>
+    [Fact]
+    public void CommandProtocol_ParsesParameterResponses()
+    {
+        var speedRatioResponse = FanucCommandProtocol.ParseSpeedRatioResponse(
+            FanucCommandProtocol.PackFrame(
+                FanucCommandMessageIds.GetSpeedRatio,
+                Convert.FromHexString("0000005000000000")));
+        var tcpResponse = FanucCommandProtocol.ParseTcpResponse(
+            FanucCommandProtocol.PackFrame(
+                FanucCommandMessageIds.GetTcp,
+                Convert.FromHexString("00000000000000013f80000040000000404000000000000000000000000000003f800000")));
+        var ioResponse = FanucCommandProtocol.ParseIoResponse(
+            FanucCommandProtocol.PackFrame(
+                FanucCommandMessageIds.GetIo,
+                Convert.FromHexString("000000003f800000")));
+
+        Assert.True(speedRatioResponse.IsSuccess);
+        Assert.Equal(0.8, speedRatioResponse.Ratio, precision: 6);
+        Assert.True(tcpResponse.IsSuccess);
+        Assert.Equal(1u, tcpResponse.TcpId);
+        Assert.Equal([1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0], tcpResponse.Pose);
+        Assert.True(ioResponse.IsSuccess);
+        Assert.True(ioResponse.Value);
+        Assert.Equal(1.0, ioResponse.NumericValue, precision: 6);
+    }
+
     /// <summary>
     /// 验证 TCP 10010 状态帧可以从抓包样本解析出尾部状态槽位。
     /// </summary>
@@ -52,6 +110,52 @@ public sealed class FanucProtocolTests
         Assert.Equal(6, frame.Pose.Count);
         Assert.Equal(9, frame.JointOrExtensionValues.Count);
         Assert.Equal([2u, 0u, 0u, 1u], frame.TailWords);
+        Assert.Equal(frame.Pose, frame.CartesianPose);
+        Assert.Equal(frame.JointOrExtensionValues.Take(6), frame.JointDegrees);
+        Assert.Equal(frame.JointOrExtensionValues.Skip(6), frame.ExternalAxes);
+        Assert.Equal(frame.TailWords, frame.RawTailWords);
+        Assert.Equal(2u, frame.StatusWord0);
+        Assert.Equal(0u, frame.StatusWord1);
+        Assert.Equal(0u, frame.StatusWord2);
+        Assert.Equal(1u, frame.StatusWord3);
+    }
+
+    /// <summary>
+    /// 验证 pcap 中多条唯一 TCP 10010 状态帧都符合固定 90B 布局。
+    /// </summary>
+    [Theory]
+    [InlineData("646f7a0000005a0000000040eac85a43b2ef4043aba8e9421ed9c1c2828105c2ed981f3fbdbda0bed4764ebe92aacc3efd9f0a3f317ce9be5d4580000000000000000000000000000000020000000000000000000000017a6f64")]
+    [InlineData("646f7a0000005a00000000415aab64440a5302439adef542b39739c293c441431d50423fcdb7003d862fe3beca5730bf60eab23f148e403f89269d000000000000000000000000000000020000000000000000000000017a6f64")]
+    [InlineData("646f7a0000005a000000004221b6f9440b9ce043a129ac42b292bac29cba78431bddcb3fc743213d90268dbeba5351bf64bc1b3f0cbdf73f826864000000000000000000000000000000020000000000000000000000017a6f64")]
+    public void StateProtocol_ParsesMultipleCapturedPcapFrames(string frameHex)
+    {
+        var frameBytes = Convert.FromHexString(frameHex);
+
+        var frame = FanucStateProtocol.ParseFrame(frameBytes);
+
+        Assert.Equal(FanucStateProtocol.StateFrameLength, frameBytes.Length);
+        Assert.Equal(6, frame.CartesianPose.Count);
+        Assert.Equal(6, frame.JointDegrees.Count);
+        Assert.Equal(3, frame.ExternalAxes.Count);
+        Assert.Equal([2u, 0u, 0u, 1u], frame.RawTailWords);
+    }
+
+    /// <summary>
+    /// 验证 TCP 10010 状态帧会拒绝损坏的长度和 magic，避免后台循环缓存坏帧。
+    /// </summary>
+    [Fact]
+    public void StateProtocol_RejectsMalformedStateFrames()
+    {
+        var validFrame = Convert.FromHexString(
+            "646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64");
+        var wrongMagic = validFrame.ToArray();
+        wrongMagic[0] = 0;
+        var wrongLength = validFrame.ToArray();
+        wrongLength[6] = 0x59;
+
+        Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(validFrame.AsSpan(0, validFrame.Length - 1)));
+        Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(wrongMagic));
+        Assert.Throws<InvalidDataException>(() => FanucStateProtocol.ParseFrame(wrongLength));
     }
 
     /// <summary>