✨ feat(flyshot): 引入飞拍执行侧最终发送队列构建与校验机制

* 新增 FlyshotExecutionSendSequenceBuilder，负责在运行时前构建最终 8ms 发送队列，并进行离散限幅校验。
* 引入 FlyshotPreparedExecution 类，封装最终发送结果及相关诊断信息。
* 调整 ControllerClientCompatService 和 FanucControllerRuntime，确保运行时直接使用预生成的发送队列，避免临场重采样。
* 更新 TrajectoryResult 和 PlannedExecutionBundle，支持准备好的执行队列。
* 增加单元测试，验证非 1 倍 speedRatio 下的执行行为与预生成队列的使用。

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -1,5 +1,6 @@
 using Flyshot.Core.Config;
 using Flyshot.Core.Domain;
+using Flyshot.Core.Planning.Sampling;
 using Flyshot.Runtime.Common;
 using Microsoft.Extensions.Logging;
 
@@ -492,6 +493,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             // 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
             var settings = RequireRobotSettings();
             var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale);
+            bundle = PrepareFlyshotExecutionBundle(robot, bundle, _runtime.GetSnapshot().SpeedRatio);
             ExportFlyshotArtifactsIfRequested(name, options.SaveTrajectory, robot, bundle);
             _logger?.LogInformation(
                 "ExecuteTrajectoryByName 规划完成: name={Name}, method={Method}, 时长={Duration}s, 触发事件数={TriggerCount}, 使用缓存={UsedCache}, planningSpeedScale={PlanningSpeedScale}",
@@ -621,6 +623,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
                 planningSettings,
                 planningSettings.PlanningSpeedScale);
+            bundle = PrepareFlyshotExecutionBundle(robot, bundle, _runtime.GetSnapshot().SpeedRatio);
             _logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
             ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
 
@@ -658,6 +661,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
                 planningSettings,
                 planningSettings.PlanningSpeedScale);
+            bundle = PrepareFlyshotExecutionBundle(robot, bundle, _runtime.GetSnapshot().SpeedRatio);
             ExportFlyshotArtifactsIfRequested(name, saveTrajectory, robot, bundle);
 
             duration = bundle.Result.Duration;
@@ -794,6 +798,37 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         _artifactWriter.WriteUploadedFlyshot(name, robot, bundle, speedRatio);
     }
 
+    /// <summary>
+    /// 为飞拍链路预先构建最终发送队列，确保运行时只消费已经离散校验通过的 8ms 点列。
+    /// </summary>
+    private static PlannedExecutionBundle PrepareFlyshotExecutionBundle(
+        RobotProfile robot,
+        PlannedExecutionBundle bundle,
+        double speedRatio)
+    {
+        var preparedExecution = FlyshotExecutionSendSequenceBuilder.Build(
+            robot,
+            bundle.Result,
+            robot.ServoPeriod.TotalSeconds,
+            speedRatio);
+        var preparedResult = new TrajectoryResult(
+            programName: bundle.Result.ProgramName,
+            method: bundle.Result.Method,
+            isValid: bundle.Result.IsValid,
+            duration: bundle.Result.Duration,
+            shotEvents: bundle.Result.ShotEvents,
+            triggerTimeline: bundle.Result.TriggerTimeline,
+            artifacts: bundle.Result.Artifacts,
+            failureReason: bundle.Result.FailureReason,
+            usedCache: bundle.Result.UsedCache,
+            originalWaypointCount: bundle.Result.OriginalWaypointCount,
+            plannedWaypointCount: bundle.Result.PlannedWaypointCount,
+            triggerSampleIndexOffsetCycles: bundle.Result.TriggerSampleIndexOffsetCycles,
+            denseJointTrajectory: bundle.Result.DenseJointTrajectory,
+            preparedFlyshotExecution: preparedExecution);
+        return new PlannedExecutionBundle(bundle.PlannedTrajectory, bundle.ShotTimeline, preparedResult, preparedExecution);
+    }
+
     /// <summary>
     /// 尝试从配置根目录加载 RobotConfig.json 获取机器人配置；失败时返回 null。
     /// </summary>