✨ feat: 实现 ControllerClient HTTP 兼容层及 FANUC 运行时

- 新增 Flyshot.ControllerClientCompat 兼容层模块
  - 新增 Flyshot.Runtime.Fanuc 运行时模块
  - 新增 LegacyHttpApiController 暴露 HTTP 兼容 API
  - 补充 RuntimeOrchestrationTests 等测试覆盖
  - 补充 docs/ 兼容性需求与逆向工程文档
  - 更新 Host 注册、配置及解决方案引用

  变更概览：
  - Flyshot.ControllerClientCompat — 旧 ControllerClient 语义的 HTTP 适配
  - Flyshot.Runtime.Fanuc — IControllerRuntime 的 FANUC 真机实现
  - LegacyHttpApiController — HTTP API 兼容旧 SDK
  - docs/ — 兼容性需求与逆向工程分析文档
  - 测试：RuntimeOrchestrationTests、LegacyHttpApiCompatibilityTests

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -0,0 +1,126 @@
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+using Flyshot.Core.Triggering;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 负责把 ControllerClient 兼容层的轨迹输入转换为规划结果和触发时间轴。
+/// </summary>
+public sealed class ControllerClientTrajectoryOrchestrator
+{
+    private readonly ICspPlanner _icspPlanner = new();
+    private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner = new();
+    private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
+
+    /// <summary>
+    /// 对普通轨迹执行 ICSP 规划。
+    /// </summary>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="waypoints">普通轨迹关节路点。</param>
+    /// <returns>包含规划轨迹、空触发时间轴和执行结果的结果包。</returns>
+    public PlannedExecutionBundle PlanOrdinaryTrajectory(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> waypoints)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(waypoints);
+
+        var program = CreateProgram(
+            name: "ordinary-trajectory",
+            waypoints: waypoints,
+            shotFlags: Enumerable.Repeat(false, waypoints.Count),
+            offsetValues: Enumerable.Repeat(0, waypoints.Count),
+            addressGroups: Enumerable.Range(0, waypoints.Count).Select(static _ => Array.Empty<int>()));
+
+        var request = new TrajectoryRequest(
+            robot: robot,
+            program: program,
+            method: PlanningMethod.Icsp);
+
+        var plannedTrajectory = _icspPlanner.Plan(request);
+        var shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
+        var result = CreateResult(plannedTrajectory, shotTimeline);
+
+        return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
+    }
+
+    /// <summary>
+    /// 对已经上传的飞拍轨迹执行自适应 ICSP 规划并生成触发时间轴。
+    /// </summary>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="uploaded">兼容层保存的上传轨迹。</param>
+    /// <returns>包含规划轨迹、触发时间轴和执行结果的结果包。</returns>
+    public PlannedExecutionBundle PlanUploadedFlyshot(RobotProfile robot, ControllerClientCompatUploadedTrajectory uploaded)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(uploaded);
+
+        var program = CreateProgram(
+            name: uploaded.Name,
+            waypoints: uploaded.Waypoints,
+            shotFlags: uploaded.ShotFlags,
+            offsetValues: uploaded.OffsetValues,
+            addressGroups: uploaded.AddressGroups);
+
+        var request = new TrajectoryRequest(
+            robot: robot,
+            program: program,
+            method: PlanningMethod.SelfAdaptIcsp);
+
+        var plannedTrajectory = _selfAdaptIcspPlanner.Plan(request);
+        var shotTimeline = _shotTimelineBuilder.Build(
+            plannedTrajectory,
+            holdCycles: 0,
+            samplePeriod: robot.ServoPeriod);
+        var result = CreateResult(plannedTrajectory, shotTimeline);
+
+        return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
+    }
+
+    /// <summary>
+    /// 把兼容层输入数组转换成领域层 FlyshotProgram。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="waypoints">关节路点。</param>
+    /// <param name="shotFlags">拍照标志。</param>
+    /// <param name="offsetValues">偏移周期。</param>
+    /// <param name="addressGroups">IO 地址组。</param>
+    /// <returns>领域层飞拍程序。</returns>
+    private static FlyshotProgram CreateProgram(
+        string name,
+        IEnumerable<IReadOnlyList<double>> waypoints,
+        IEnumerable<bool> shotFlags,
+        IEnumerable<int> offsetValues,
+        IEnumerable<IReadOnlyList<int>> addressGroups)
+    {
+        return new FlyshotProgram(
+            name: name,
+            waypoints: waypoints.Select(static waypoint => new JointWaypoint(waypoint)).ToArray(),
+            shotFlags: shotFlags.ToArray(),
+            offsetValues: offsetValues.ToArray(),
+            addressGroups: addressGroups.Select(static group => new IoAddressGroup(group)).ToArray());
+    }
+
+    /// <summary>
+    /// 从规划轨迹和触发时间轴构造运行时可消费的稳定结果对象。
+    /// </summary>
+    /// <param name="plannedTrajectory">规划后的轨迹。</param>
+    /// <param name="shotTimeline">触发时间轴。</param>
+    /// <returns>运行时执行结果描述。</returns>
+    private static TrajectoryResult CreateResult(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline)
+    {
+        return new TrajectoryResult(
+            programName: plannedTrajectory.OriginalProgram.Name,
+            method: plannedTrajectory.Method,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(plannedTrajectory.WaypointTimes[^1]),
+            shotEvents: shotTimeline.ShotEvents,
+            triggerTimeline: shotTimeline.TriggerTimeline,
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: false,
+            originalWaypointCount: plannedTrajectory.OriginalWaypointCount,
+            plannedWaypointCount: plannedTrajectory.PlannedWaypointCount);
+    }
+}