✨ 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/FlyshotTrajectoryArtifactWriter.cs

@@ -101,41 +101,55 @@ public sealed class FlyshotTrajectoryArtifactWriter
     {
         ArgumentNullException.ThrowIfNull(robot);
 
-        if (result.DenseJointTrajectory is null)
+        var preparedExecution = result.PreparedFlyshotExecution;
+        if (result.DenseJointTrajectory is null && preparedExecution is null)
         {
             return;
         }
 
-        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        if (preparedExecution is null && (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio)))
         {
             throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
         }
-
-        var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
-            result.DenseJointTrajectory,
-            result.Duration.TotalSeconds,
-            ActualSendServoPeriodSeconds,
-            speedRatio);
-     
-
-        try
-        {
-            TrajectoryLimitValidator.ValidateJ519SendSamples(
-                robot,
+        var samples = preparedExecution is null
+            ? J519SendTrajectorySampler.SampleDenseJointTrajectory(
+                result.DenseJointTrajectory!,
+                result.Duration.TotalSeconds,
+                ActualSendServoPeriodSeconds,
+                speedRatio)
+            : preparedExecution.Samples.Select(static sample => new J519SendSample(
+                sample.SampleIndex,
+                sample.SendTime,
+                sample.TrajectoryTime,
+                sample.SpeedRatio,
+                sample.JointsDegrees)).ToArray();
+        var triggerBindings = preparedExecution is null
+            ? TriggerSampleBinder.Bind(
+                result.TriggerTimeline,
                 samples,
-                trajectoryName: result.ProgramName);
-        }
-        catch (Exception e)
-        {
-           _logger?.LogError(e, "ValidateJ519SendSamples 失败，program={ProgramName}", result.ProgramName);
-        }
-        var jointRows = new List<IReadOnlyList<double>>(samples.Count);
-        var timingRows = new List<IReadOnlyList<double>>(samples.Count);
-        var jerkRows = new List<IReadOnlyList<double>>();
-        var triggerBindings = TriggerSampleBinder.Bind(
-            result.TriggerTimeline,
+                result.TriggerSampleIndexOffsetCycles)
+            : preparedExecution.TriggerBindings.Select(static binding =>
+                new TriggerSampleBinding(
+                    binding.Trigger,
+                    new J519SendSample(
+                        binding.Sample.SampleIndex,
+                        binding.Sample.SendTime,
+                        binding.Sample.TrajectoryTime,
+                        binding.Sample.SpeedRatio,
+                        binding.Sample.JointsDegrees),
+                    binding.SampleIndex,
+                    binding.FoundInWindow)).ToArray();
+        TrajectoryLimitValidator.ValidateJ519SendSamples(
+            robot,
             samples,
-            result.TriggerSampleIndexOffsetCycles);
+            trajectoryName: result.ProgramName);
+        var jointRows = new List<IReadOnlyList<double>>(samples.Count);
+        List<IReadOnlyList<double>> timingRows = preparedExecution is null
+            ? new List<IReadOnlyList<double>>(samples.Count)
+            : preparedExecution.TimingRows.Select(static row => (IReadOnlyList<double>)row.ToArray()).ToList();
+        List<IReadOnlyList<double>> jerkRows = preparedExecution is null
+            ? []
+            : preparedExecution.JerkRows.Select(static row => (IReadOnlyList<double>)row.ToArray()).ToList();
         double? previousSendTime = null;
         double[]? previousJoints = null;
         double[]? previousVelocity = null;
@@ -144,17 +158,20 @@ public sealed class FlyshotTrajectoryArtifactWriter
         foreach (var sample in samples)
         {
             jointRows.Add(BuildActualSendJointRow(sample.SendTime, sample.JointsDegrees));
-            timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
-
-            if (previousSendTime is not null && previousJoints is not null)
+            if (preparedExecution is null)
             {
-                jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
-                    previousSendTime.Value,
-                    sample.SendTime,
-                    previousJoints,
-                    sample.JointsDegrees,
-                    ref previousVelocity,
-                    ref previousAcceleration));
+                timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
+
+                if (previousSendTime is not null && previousJoints is not null)
+                {
+                    jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
+                        previousSendTime.Value,
+                        sample.SendTime,
+                        previousJoints,
+                        sample.JointsDegrees,
+                        ref previousVelocity,
+                        ref previousAcceleration));
+                }
             }
 
             previousSendTime = sample.SendTime;