✨ 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.Core.Config/RobotConfigLoader.cs

@@ -1,5 +1,6 @@
 using System.Text.Json;
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Config;
 
@@ -17,7 +18,8 @@ public sealed class CompatibilityRobotSettings
         int ioKeepCycles,
         double accLimitScale,
         double jerkLimitScale,
-        int adaptIcspTryNum)
+        int adaptIcspTryNum,
+        double planningSpeedScale = 1.0)
     {
         ArgumentNullException.ThrowIfNull(ioAddresses);
 
@@ -36,6 +38,11 @@ public sealed class CompatibilityRobotSettings
             throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
         }
 
+        if (planningSpeedScale <= 0.0 || double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale))
+        {
+            throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
+        }
+
         if (adaptIcspTryNum < 0)
         {
             throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
@@ -54,6 +61,7 @@ public sealed class CompatibilityRobotSettings
         AccLimitScale = accLimitScale;
         JerkLimitScale = jerkLimitScale;
         AdaptIcspTryNum = adaptIcspTryNum;
+        PlanningSpeedScale = planningSpeedScale;
     }
 
     /// <summary>
@@ -81,6 +89,11 @@ public sealed class CompatibilityRobotSettings
     /// </summary>
     public double JerkLimitScale { get; }
 
+    /// <summary>
+    /// 获取规划阶段的全局速度倍率，只影响 JointTraj 基准时间，不等同于运行时 J519 下发速度倍率。
+    /// </summary>
+    public double PlanningSpeedScale { get; }
+
     /// <summary>
     /// 获取自适应补点最大尝试次数。
     /// </summary>
@@ -131,6 +144,17 @@ public sealed class LoadedRobotConfig
 /// </summary>
 public sealed class RobotConfigLoader
 {
+    private readonly ILogger<RobotConfigLoader>? _logger;
+
+    /// <summary>
+    /// 初始化 RobotConfigLoader。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public RobotConfigLoader(ILogger<RobotConfigLoader>? logger = null)
+    {
+        _logger = logger;
+    }
+
     /// <summary>
     /// 加载一份旧版 RobotConfig.json。
     /// </summary>
@@ -139,6 +163,8 @@ public sealed class RobotConfigLoader
     /// <returns>规范化后的配置文档。</returns>
     public LoadedRobotConfig Load(string configPath, string? repoRoot = null)
     {
+        _logger?.LogInformation("RobotConfig 开始加载: configPath={ConfigPath}, repoRoot={RepoRoot}", configPath, repoRoot);
+
         var resolvedRepoRoot = ResolveRepoRoot(repoRoot);
         var resolvedConfigPath = PathCompatibility.ResolveConfigPath(configPath, resolvedRepoRoot);
 
@@ -153,7 +179,8 @@ public sealed class RobotConfigLoader
             ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
             accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
             jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0),
-            adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0));
+            adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0),
+            planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0));
 
         var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
         foreach (var programElement in flyingShotsElement.EnumerateObject())
@@ -163,6 +190,10 @@ public sealed class RobotConfigLoader
             programs.Add(programName, program);
         }
 
+        _logger?.LogInformation(
+            "RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
+            resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.AdaptIcspTryNum, programs.Count);
+
         return new LoadedRobotConfig(
             sourcePath: resolvedConfigPath,
             robot: robot,