✨ 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/ControllerClientTrajectoryOrchestrator.cs

@@ -38,15 +38,17 @@ public sealed class ControllerClientTrajectoryOrchestrator
     public PlannedExecutionBundle PlanOrdinaryTrajectory(
         RobotProfile robot,
         IReadOnlyList<IReadOnlyList<double>> waypoints,
-        TrajectoryExecutionOptions? options = null)
+        TrajectoryExecutionOptions? options = null,
+        double planningSpeedScale = 1.0)
     {
         ArgumentNullException.ThrowIfNull(robot);
         ArgumentNullException.ThrowIfNull(waypoints);
         options ??= new TrajectoryExecutionOptions();
+        var planningRobot = ApplyPlanningSpeedScale(robot, planningSpeedScale);
 
         _logger?.LogInformation(
-            "PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}",
-            waypoints.Count, options.Method);
+            "PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}, planningSpeedScale={PlanningSpeedScale}",
+            waypoints.Count, options.Method, planningSpeedScale);
 
         var program = CreateProgram(
             name: "ordinary-trajectory",
@@ -57,7 +59,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
 
         var method = ParseOrdinaryMethod(options.Method);
         var request = new TrajectoryRequest(
-            robot: robot,
+            robot: planningRobot,
             program: program,
             method: method,
             saveTrajectoryArtifacts: options.SaveTrajectory);
@@ -84,16 +86,19 @@ public sealed class ControllerClientTrajectoryOrchestrator
         RobotProfile robot,
         ControllerClientCompatUploadedTrajectory uploaded,
         FlyshotExecutionOptions? options = null,
-        CompatibilityRobotSettings? settings = null)
+        CompatibilityRobotSettings? settings = null,
+        double? planningSpeedScale = null)
     {
         ArgumentNullException.ThrowIfNull(robot);
         ArgumentNullException.ThrowIfNull(uploaded);
         options ??= new FlyshotExecutionOptions();
         settings ??= CreateDefaultRobotSettings();
+        var effectivePlanningSpeedScale = planningSpeedScale ?? settings.PlanningSpeedScale;
+        var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
 
         _logger?.LogInformation(
-            "PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}",
-            uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache);
+            "PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}",
+            uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale);
 
         var program = CreateProgram(
             name: uploaded.Name,
@@ -103,7 +108,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
             addressGroups: uploaded.AddressGroups);
 
         var method = ParseFlyshotMethod(options.Method);
-        var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options, settings);
+        var cacheKey = CreateFlyshotCacheKey(planningRobot, uploaded, options, settings, effectivePlanningSpeedScale);
         if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
         {
             _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
@@ -115,7 +120,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         }
 
         var request = new TrajectoryRequest(
-            robot: robot,
+            robot: planningRobot,
             program: program,
             method: method,
             moveToStart: options.MoveToStart,
@@ -126,7 +131,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         var shotTimeline = _shotTimelineBuilder.Build(
             plannedTrajectory,
             holdCycles: settings.IoKeepCycles,
-            samplePeriod: robot.ServoPeriod,
+            samplePeriod: planningRobot.ServoPeriod,
             useDo: settings.UseDo);
         var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
         var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
@@ -219,10 +224,12 @@ public sealed class ControllerClientTrajectoryOrchestrator
         RobotProfile robot,
         ControllerClientCompatUploadedTrajectory uploaded,
         FlyshotExecutionOptions options,
-        CompatibilityRobotSettings settings)
+        CompatibilityRobotSettings settings,
+        double planningSpeedScale)
     {
         var hash = new HashCode();
         hash.Add(robot.Name, StringComparer.Ordinal);
+        hash.Add(planningSpeedScale);
         hash.Add(uploaded.Name, StringComparer.Ordinal);
         hash.Add(NormalizeMethod(options.Method), StringComparer.Ordinal);
         hash.Add(options.MoveToStart);
@@ -231,6 +238,14 @@ public sealed class ControllerClientTrajectoryOrchestrator
         hash.Add(settings.IoKeepCycles);
         hash.Add(settings.AdaptIcspTryNum);
 
+        foreach (var limit in robot.JointLimits)
+        {
+            hash.Add(limit.JointName, StringComparer.Ordinal);
+            hash.Add(limit.VelocityLimit);
+            hash.Add(limit.AccelerationLimit);
+            hash.Add(limit.JerkLimit);
+        }
+
         foreach (var waypoint in uploaded.Waypoints)
         {
             foreach (var value in waypoint)
@@ -275,6 +290,43 @@ public sealed class ControllerClientTrajectoryOrchestrator
             adaptIcspTryNum: 5);
     }
 
+    /// <summary>
+    /// 按规划全局速度倍率生成规划专用机器人约束。
+    /// </summary>
+    /// <param name="robot">原始机器人约束。</param>
+    /// <param name="planningSpeedScale">规划阶段的全局速度倍率，1.0 表示不额外缩放。</param>
+    /// <returns>已按速度倍率缩放后的规划机器人约束。</returns>
+    private static RobotProfile ApplyPlanningSpeedScale(RobotProfile robot, double planningSpeedScale)
+    {
+        if (double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale) || planningSpeedScale <= 0.0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
+        }
+
+        if (Math.Abs(planningSpeedScale - 1.0) < 1e-12)
+        {
+            return robot;
+        }
+
+        // RVBUST 规划阶段会用独立限速倍率缩放有效限制；运行时 speedRatio 仍只负责 J519 下发重采样。
+        var scaledLimits = robot.JointLimits
+            .Select(limit => new JointLimit(
+                limit.JointName,
+                limit.VelocityLimit * planningSpeedScale,
+                limit.AccelerationLimit * planningSpeedScale * planningSpeedScale,
+                limit.JerkLimit * planningSpeedScale * planningSpeedScale * planningSpeedScale))
+            .ToArray();
+
+        return new RobotProfile(
+            name: robot.Name,
+            modelPath: robot.ModelPath,
+            degreesOfFreedom: robot.DegreesOfFreedom,
+            jointLimits: scaledLimits,
+            jointCouplings: robot.JointCouplings,
+            servoPeriod: robot.ServoPeriod,
+            triggerPeriod: robot.TriggerPeriod);
+    }
+
     /// <summary>
     /// 把兼容层输入数组转换成领域层 FlyshotProgram。
     /// </summary>