✨ feat(*): 添加轨迹产物导出与规划速度倍率隔离

* 新增 FlyshotTrajectoryArtifactWriter，支持 saveTrajectory
  将规划结果导出到 Config/Data/name（JointTraj、CartTraj、
  ShotEvents 等）
* RobotConfig 新增 PlanningSpeedScale，区分规划阶段限速倍率
  与运行时 J519 下发倍率
* 轨迹缓存键纳入 planningSpeedScale，避免降速规划误用缓存
* 完善 FanucCommandClient 命令参数日志与状态通道重连
* 补充 RuntimeOrchestrationTests 覆盖产物导出与倍率隔离
* 更新 README 进度文档

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -17,7 +17,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     private readonly IControllerRuntime _runtime;
     private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
     private readonly RobotConfigLoader _configLoader;
-    private readonly IFlyshotTrajectoryStore _trajectoryStore;
+    private readonly FlyshotTrajectoryArtifactWriter _artifactWriter;
+    private readonly JsonFlyshotTrajectoryStore _trajectoryStore;
     private readonly ILogger<ControllerClientCompatService>? _logger;
     private RobotProfile? _activeRobotProfile;
     private string? _configuredRobotName;
@@ -36,7 +37,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
     /// <param name="runtime">控制器运行时。</param>
     /// <param name="trajectoryOrchestrator">轨迹规划与触发编排器。</param>
     /// <param name="configLoader">旧版 RobotConfig.json 加载器。</param>
-    /// <param name="trajectoryStore">已上传轨迹持久化存储。</param>
+    /// <param name="artifactWriter">saveTrajectory 规划结果点位导出器。</param>
+    /// <param name="trajectoryStore">统一 RobotConfig.json 持久化存储；为空时按配置根目录创建默认实例。</param>
     /// <param name="logger">日志记录器；允许测试直接构造时传入 null。</param>
     public ControllerClientCompatService(
         ControllerClientCompatOptions options,
@@ -44,7 +46,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         IControllerRuntime runtime,
         ControllerClientTrajectoryOrchestrator trajectoryOrchestrator,
         RobotConfigLoader configLoader,
-        IFlyshotTrajectoryStore trajectoryStore,
+        FlyshotTrajectoryArtifactWriter? artifactWriter = null,
+        JsonFlyshotTrajectoryStore? trajectoryStore = null,
         ILogger<ControllerClientCompatService>? logger = null)
     {
         _options = options ?? throw new ArgumentNullException(nameof(options));
@@ -52,7 +55,8 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
         _runtime = runtime ?? throw new ArgumentNullException(nameof(runtime));
         _trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
         _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
-        _trajectoryStore = trajectoryStore ?? throw new ArgumentNullException(nameof(trajectoryStore));
+        _artifactWriter = artifactWriter ?? new FlyshotTrajectoryArtifactWriter(_options, new RobotModelLoader());
+        _trajectoryStore = trajectoryStore ?? new JsonFlyshotTrajectoryStore(_options, _configLoader);
         _logger = logger;
     }
 
@@ -374,7 +378,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             EnsureJointVector(jointPositions, robot.DegreesOfFreedom, nameof(jointPositions));
 
             var speedRatio = _runtime.GetSnapshot().SpeedRatio;
-            var moveResult = MoveJointTrajectoryGenerator.CreateResult(robot, currentJointPositions, jointPositions, speedRatio);
+            var moveResult = MoveJointTrajectoryGenerator.CreateResult(robot, currentJointPositions, jointPositions, speedRatio, _logger);
             _logger?.LogInformation(
                 "MoveJoint 规划完成: 当前速度倍率={SpeedRatio}, 规划时长={Duration}s, 采样点数={SampleCount}",
                 speedRatio,
@@ -407,13 +411,15 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             EnsureRuntimeEnabled();
 
             // 普通轨迹必须按调用方指定 method 规划，再把规划结果交给运行时执行。
-            var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options);
+            var planningSpeedScale = RequireRobotSettings().PlanningSpeedScale;
+            var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale);
             _logger?.LogInformation(
-                "ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}",
+                "ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}, planningSpeedScale={PlanningSpeedScale}",
                 bundle.Result.Method,
                 bundle.Result.Duration.TotalSeconds,
                 bundle.Result.IsValid,
-                bundle.Result.DenseJointTrajectory?.Count ?? 0);
+                bundle.Result.DenseJointTrajectory?.Count ?? 0,
+                planningSpeedScale);
             var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
             _runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
         }
@@ -495,14 +501,17 @@ 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 bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, RequireRobotSettings());
+            var settings = RequireRobotSettings();
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale);
+            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}",
+                "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}",
                 name,
                 bundle.Result.Method,
                 bundle.Result.Duration.TotalSeconds,
                 bundle.Result.TriggerTimeline.Count,
-                bundle.Result.UsedCache);
+                bundle.Result.UsedCache,
+                settings.PlanningSpeedScale);
 
             if (options.MoveToStart)
             {
@@ -537,11 +546,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             }
 
             // 先通过规划校验避免静默接受非法参数，同时把轨迹信息强制刷写到本地 JSON。
-            _ = _trajectoryOrchestrator.PlanUploadedFlyshot(
+            var planningSettings = RequireRobotSettings();
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
                 robot,
                 trajectory,
                 new FlyshotExecutionOptions(saveTrajectory: true, method: method),
-                RequireRobotSettings());
+                planningSettings,
+                planningSettings.PlanningSpeedScale);
+            ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
 
             var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
             var settings = _robotSettings ?? CreateDefaultRobotSettings();
@@ -570,11 +582,14 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 throw new InvalidOperationException("FlyShot trajectory does not exist.");
             }
 
+            var planningSettings = RequireRobotSettings();
             var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
                 robot,
                 trajectory,
                 new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
-                RequireRobotSettings());
+                planningSettings,
+                planningSettings.PlanningSpeedScale);
+            ExportFlyshotArtifactsIfRequested(name, saveTrajectory, robot, bundle);
 
             duration = bundle.Result.Duration;
             _logger?.LogInformation(
@@ -708,6 +723,27 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             plannedWaypointCount: 1);
     }
 
+    /// <summary>
+    /// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
+    /// </summary>
+    /// <param name="name">飞拍轨迹名称。</param>
+    /// <param name="saveTrajectory">是否导出规划结果点位。</param>
+    /// <param name="robot">当前机器人模型。</param>
+    /// <param name="bundle">规划结果包。</param>
+    private void ExportFlyshotArtifactsIfRequested(
+        string name,
+        bool saveTrajectory,
+        RobotProfile robot,
+        PlannedExecutionBundle bundle)
+    {
+        if (!saveTrajectory)
+        {
+            return;
+        }
+
+        _artifactWriter.WriteUploadedFlyshot(name, robot, bundle);
+    }
+
     /// <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>