✨ 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/FlyshotTrajectoryArtifactWriter.cs

@@ -0,0 +1,136 @@
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+using Flyshot.Core.Planning.Export;
+using Flyshot.Core.Planning.Kinematics;
+using Flyshot.Core.Planning.Sampling;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 负责把 saveTrajectory 生成的规划结果点位写入运行目录 Config/Data。
+/// </summary>
+public sealed class FlyshotTrajectoryArtifactWriter
+{
+    /// <summary>
+    /// 旧 Data 明细点位文件使用的默认采样周期，单位为秒。
+    /// </summary>
+    private const double LegacyDetailSamplePeriodSeconds = 0.016;
+
+    private readonly ControllerClientCompatOptions _options;
+    private readonly RobotModelLoader _robotModelLoader;
+    private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
+
+    /// <summary>
+    /// 初始化规划结果点位导出器。
+    /// </summary>
+    /// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
+    /// <param name="robotModelLoader">机器人模型加载器，用于生成笛卡尔点位。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public FlyshotTrajectoryArtifactWriter(
+        ControllerClientCompatOptions options,
+        RobotModelLoader robotModelLoader,
+        ILogger<FlyshotTrajectoryArtifactWriter>? logger = null)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _robotModelLoader = robotModelLoader ?? throw new ArgumentNullException(nameof(robotModelLoader));
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 将飞拍规划结果导出到 Config/Data/name。
+    /// </summary>
+    /// <param name="trajectoryName">飞拍轨迹名称。</param>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="bundle">规划结果包。</param>
+    public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle)
+    {
+        if (string.IsNullOrWhiteSpace(trajectoryName))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
+        }
+
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(bundle);
+
+        var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
+        Directory.CreateDirectory(outputDir);
+
+        // 明细文件对齐旧 Data 目录的 16ms 采样；运行时 J519 仍可使用自己的 8ms 伺服采样。
+        var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
+        var jointTrajectory = BuildJointRows(bundle.PlannedTrajectory);
+        var jointDetailTrajectory = TrajectorySampler.SampleJointTrajectory(
+            bundle.PlannedTrajectory,
+            samplePeriod: LegacyDetailSamplePeriodSeconds);
+        var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
+        var cartDetailTrajectory = TrajectorySampler.SampleCartesianTrajectory(
+            bundle.PlannedTrajectory,
+            kinematicsModel,
+            samplePeriod: LegacyDetailSamplePeriodSeconds);
+
+        TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
+        TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
+        TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
+        TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
+        TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents);
+
+        _logger?.LogInformation(
+            "saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}",
+            trajectoryName,
+            outputDir,
+            jointTrajectory.Count,
+            jointDetailTrajectory.Count);
+    }
+
+    /// <summary>
+    /// 构造 JointTraj.txt 行数据，格式为 time + 关节弧度。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildJointRows(PlannedTrajectory trajectory)
+    {
+        var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
+        for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
+        {
+            var row = new List<double>(trajectory.PlannedWaypoints[index].Positions.Count + 1)
+            {
+                Math.Round(trajectory.WaypointTimes[index], 6)
+            };
+            row.AddRange(trajectory.PlannedWaypoints[index].Positions.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 构造 CartTraj.txt 行数据，格式为 time + x/y/z/qx/qy/qz/qw。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRows(
+        PlannedTrajectory trajectory,
+        RobotKinematicsModel kinematicsModel)
+    {
+        var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
+        for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
+        {
+            var pose = RobotKinematics.ForwardKinematics(kinematicsModel, trajectory.PlannedWaypoints[index].Positions.ToArray());
+            var row = new List<double>(pose.Length + 1)
+            {
+                Math.Round(trajectory.WaypointTimes[index], 6)
+            };
+            row.AddRange(pose.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 将轨迹名转换为可用目录名，避免 HTTP 输入中的路径字符污染输出目录。
+    /// </summary>
+    private static string SanitizeDirectoryName(string name)
+    {
+        var invalidChars = Path.GetInvalidFileNameChars();
+        var chars = name.Select(ch => invalidChars.Contains(ch) ? '_' : ch).ToArray();
+        return new string(chars);
+    }
+}