✨ 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。

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -826,6 +826,48 @@ public sealed class RuntimeOrchestrationTests
         }
     }
 
+    /// <summary>
+    /// 验证飞拍链路在进入运行时前就会准备最终发送队列，而不是把 speedRatio 重采样留给运行时临场处理。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_ExecuteTrajectoryByName_PreparesFinalSendQueueBeforeRuntime()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            WriteRobotConfigWithDemoTrajectory(configRoot);
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var runtime = new RecordingControllerRuntime();
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+            service.SetActiveController(sim: false);
+            service.Connect("192.168.10.101");
+            service.EnableRobot(2);
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+            runtime.SetSpeedRatio(0.5);
+
+            service.ExecuteTrajectoryByName(
+                "demo-flyshot",
+                new FlyshotExecutionOptions(moveToStart: false, method: "icsp", saveTrajectory: false, useCache: false));
+
+            var result = Assert.IsType<TrajectoryResult>(runtime.LastExecutedResult);
+            var preparedExecution = Assert.IsType<FlyshotPreparedExecution>(result.PreparedFlyshotExecution);
+            Assert.NotEmpty(preparedExecution.Samples);
+            Assert.Equal(preparedExecution.Samples.Count, preparedExecution.TimingRows.Count);
+            Assert.Equal(result.TriggerTimeline.Count, preparedExecution.TriggerBindings.Count);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证兼容服务初始化机器人时会把 RobotConfig.json 中的 acc_limit / jerk_limit 传给模型加载器。
     /// </summary>
@@ -953,14 +995,14 @@ public sealed class RuntimeOrchestrationTests
             var executionDuration = double.Parse(
                 File.ReadLines(Path.Combine(outputDir, "JointDetialTraj.txt")).Last().Split(' ')[0],
                 CultureInfo.InvariantCulture);
-            var expectedRows = (int)Math.Ceiling(Math.Max(0.0, (executionDuration / (0.008 * 0.5)) - 1e-9)) + 1;
+            var minimumExpectedRows = (int)Math.Ceiling(Math.Max(0.0, (executionDuration / (0.008 * 0.5)) - 1e-9)) + 1;
 
-            Assert.Equal(expectedRows, pointRows.Length);
-            Assert.Equal(expectedRows, timingRows.Length);
+            Assert.Equal(pointRows.Length, timingRows.Length);
+            Assert.True(pointRows.Length >= minimumExpectedRows, $"最终发送点数应不少于请求倍率的首轮候选值，actual={pointRows.Length}, min={minimumExpectedRows}");
             Assert.Equal(0.0, pointRows[0][0], precision: 6);
             Assert.Equal(0.008, pointRows[1][0], precision: 6);
-            Assert.Equal(0.004, timingRows[1][2], precision: 6);
-            Assert.Equal(0.5, timingRows[1][3], precision: 6);
+            Assert.True(timingRows[1][2] <= 0.004 + 1e-6, $"自动拉长后 trajectory_time 推进不应快于请求倍率，actual={timingRows[1][2]:F6}");
+            Assert.True(timingRows[1][3] <= 0.5 + 1e-6, $"最终采用倍率不应快于请求倍率，actual={timingRows[1][3]:F6}");
             Assert.Contains("\"trigger_window_seconds\": 0.1", shotEventsJson);
             Assert.Contains("\"selected_sample_index\"", shotEventsJson);
         }
@@ -1607,6 +1649,11 @@ internal sealed class RecordingControllerRuntime : IControllerRuntime
     /// </summary>
     public RobotProfile? LastRobotProfile { get; private set; }
 
+    /// <summary>
+    /// 获取最近一次 ExecuteTrajectory 收到的结果对象。
+    /// </summary>
+    public TrajectoryResult? LastExecutedResult { get; private set; }
+
     /// <inheritdoc />
     public void ResetRobot(RobotProfile robot, string robotName)
     {
@@ -1691,6 +1738,7 @@ internal sealed class RecordingControllerRuntime : IControllerRuntime
     /// <inheritdoc />
     public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
     {
+        LastExecutedResult = result;
     }
 }