✨ 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/RuntimeOrchestrationTests.cs

@@ -3,6 +3,7 @@ using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
 using Flyshot.Runtime.Common;
 using Flyshot.Runtime.Fanuc;
+using Flyshot.Runtime.Fanuc.Protocol;
 
 namespace Flyshot.Core.Tests;
 
@@ -45,6 +46,58 @@ public sealed class RuntimeOrchestrationTests
         Assert.Equal([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], snapshot.JointPositions);
     }
 
+    /// <summary>
+    /// 验证真机运行时会把 TCP 10010 状态通道健康度映射为可诊断连接状态。
+    /// </summary>
+    [Theory]
+    [InlineData(FanucStateConnectionState.Connected, false, "Connected")]
+    [InlineData(FanucStateConnectionState.Connected, true, "StateTimeout")]
+    [InlineData(FanucStateConnectionState.TimedOut, true, "StateTimeout")]
+    [InlineData(FanucStateConnectionState.Reconnecting, true, "Reconnecting")]
+    [InlineData(FanucStateConnectionState.Disconnected, false, "Disconnected")]
+    public void FanucControllerRuntime_ResolveRealConnectionState_ReflectsStateChannelHealth(
+        FanucStateConnectionState state,
+        bool isFrameStale,
+        string expected)
+    {
+        var status = new FanucStateClientStatus(
+            state,
+            isFrameStale,
+            lastFrameAt: null,
+            reconnectAttemptCount: 0,
+            lastErrorMessage: null);
+
+        var actual = FanucControllerRuntime.ResolveRealConnectionState(status);
+
+        Assert.Equal(expected, actual);
+    }
+
+    /// <summary>
+    /// 验证只有已连接且未陈旧的 TCP 10010 帧会被 runtime 当作当前机器人状态使用。
+    /// </summary>
+    [Theory]
+    [InlineData(FanucStateConnectionState.Connected, false, true)]
+    [InlineData(FanucStateConnectionState.Connected, true, false)]
+    [InlineData(FanucStateConnectionState.Reconnecting, false, false)]
+    [InlineData(FanucStateConnectionState.TimedOut, false, false)]
+    [InlineData(FanucStateConnectionState.Disconnected, false, false)]
+    public void FanucControllerRuntime_ShouldUseStateFrame_RequiresConnectedFreshState(
+        FanucStateConnectionState state,
+        bool isFrameStale,
+        bool expected)
+    {
+        var status = new FanucStateClientStatus(
+            state,
+            isFrameStale,
+            lastFrameAt: null,
+            reconnectAttemptCount: 0,
+            lastErrorMessage: null);
+
+        var actual = FanucControllerRuntime.ShouldUseStateFrame(status);
+
+        Assert.Equal(expected, actual);
+    }
+
     /// <summary>
     /// 验证普通轨迹会先进入 ICSP 规划，并沿用 ICSP 对示教点数量的约束。
     /// </summary>