✨ feat(fanuc): 优化 J519 实时下发与飞拍起停整形

- 改为高优先级 J519 接收线程与复用缓冲区发送链路
- 增加稠密执行前的 J519 就绪重试与状态诊断
- 修正程序状态响应字段顺序与 EnableRobot 默认参数
- 为飞拍轨迹补充平滑起停时间轴与首尾整形验证
- 补充真实运行配置、报警窗口与边界对比测试
- 同步更新限值文档、分析脚本与 .NET 8 SDK 固定配置

analysis/calc_jointdetail_acceleration.py

@@ -112,6 +112,23 @@ def read_joint_rows(path: Path) -> list[list[float]]:
     return rows
 
 
+def trim_rows_to_limit_count(rows: list[list[float]], limit_count: int) -> tuple[list[list[float]], str | None]:
+    joint_count = len(rows[0]) - 1
+    if joint_count == limit_count:
+        return rows, None
+
+    if joint_count < limit_count:
+        raise ValueError(f"Joint column count ({joint_count}) is smaller than robot limit count ({limit_count}).")
+
+    trimmed_rows = [row[: limit_count + 1] for row in rows]
+    ignored_joint_count = joint_count - limit_count
+    trim_note = (
+        f"ignored_joint_columns={ignored_joint_count} "
+        f"(using first {limit_count} joints out of {joint_count}; trailing columns treated as external axes/placeholders)"
+    )
+    return trimmed_rows, trim_note
+
+
 def infer_unit(rows: Iterable[list[float]], requested_unit: str) -> str:
     if requested_unit != "auto":
         return requested_unit
@@ -367,6 +384,7 @@ def build_report_text(
     unit: str,
     max_abs_joint: float,
     limit_source_text: str,
+    trim_note: str | None,
     velocity_peaks: list[PeakMetric],
     acceleration_peaks: list[PeakMetric],
     jerk_peaks: list[PeakMetric],
@@ -378,14 +396,20 @@ def build_report_text(
         f"joint_count={len(rows[0]) - 1}",
         f"inferred_unit={unit}",
         f"max_abs_joint_value={max_abs_joint:.6f}",
-        "",
-        build_metric_section("Velocity Peaks", velocity_peaks, unit, "s", "s", "VelLimit(rad/s)"),
-        "",
-        build_metric_section("Acceleration Peaks", acceleration_peaks, unit, "s^2", "s^2", "AccLimit(rad/s^2)"),
-        "",
-        build_metric_section("Jerk Peaks", jerk_peaks, unit, "s^3", "s^3", "JerkLimit(rad/s^3)"),
-        "",
     ]
+    if trim_note is not None:
+        lines.append(trim_note)
+    lines.extend(
+        [
+            "",
+            build_metric_section("Velocity Peaks", velocity_peaks, unit, "s", "s", "VelLimit(rad/s)"),
+            "",
+            build_metric_section("Acceleration Peaks", acceleration_peaks, unit, "s^2", "s^2", "AccLimit(rad/s^2)"),
+            "",
+            build_metric_section("Jerk Peaks", jerk_peaks, unit, "s^3", "s^3", "JerkLimit(rad/s^3)"),
+            "",
+        ]
+    )
     return "\n".join(lines)
 
 
@@ -393,8 +417,9 @@ def main() -> int:
     args = parse_args()
     joint_detail_path = resolve_path(args.joint_detail)
     rows = read_joint_rows(joint_detail_path)
-    unit = infer_unit(rows, args.unit)
     limits_info = load_effective_limits(args.limit_csv)
+    rows, trim_note = trim_rows_to_limit_count(rows, len(limits_info.joints))
+    unit = infer_unit(rows, args.unit)
 
     velocity_peaks = calculate_velocity_peaks(rows, unit, limits_info.joints)
     acceleration_peaks = calculate_acceleration_peaks(rows, unit, limits_info.joints)
@@ -413,6 +438,7 @@ def main() -> int:
         unit=unit,
         max_abs_joint=max_abs_joint,
         limit_source_text=limit_source_text,
+        trim_note=trim_note,
         velocity_peaks=velocity_peaks,
         acceleration_peaks=acceleration_peaks,
         jerk_peaks=jerk_peaks,