✨ 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/RobotModelLoader.cs

@@ -1,6 +1,7 @@
 using System.Text;
 using System.Text.Json;
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Config;
 
@@ -10,6 +11,16 @@ namespace Flyshot.Core.Config;
 public sealed class RobotModelLoader
 {
     private const uint JsonChunkType = 0x4E4F534A;
+    private readonly ILogger<RobotModelLoader>? _logger;
+
+    /// <summary>
+    /// 初始化 RobotModelLoader。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public RobotModelLoader(ILogger<RobotModelLoader>? logger = null)
+    {
+        _logger = logger;
+    }
 
     /// <summary>
     /// 加载 .robot 文件并生成规划侧可直接消费的 RobotProfile。
@@ -35,6 +46,8 @@ public sealed class RobotModelLoader
             throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
         }
 
+        _logger?.LogInformation("RobotModel 开始加载: modelPath={ModelPath}, accLimitScale={AccLimitScale}, jerkLimitScale={JerkLimitScale}", modelPath, accLimitScale, jerkLimitScale);
+
         var resolvedModelPath = Path.GetFullPath(modelPath);
         var jsonText = ReadJsonChunk(resolvedModelPath);
         using var document = JsonDocument.Parse(jsonText);
@@ -76,6 +89,10 @@ public sealed class RobotModelLoader
             }
         }
 
+        _logger?.LogInformation(
+            "RobotModel 加载完成: profileName={ProfileName}, dof={Dof}, 关节限制数={JointLimitCount}, couple数={CouplingCount}, resolvedPath={ResolvedPath}",
+            profileName, jointLimits.Count, jointLimits.Count, jointCouplings.Count, resolvedModelPath);
+
         return new RobotProfile(
             name: profileName,
             modelPath: resolvedModelPath,
@@ -156,6 +173,8 @@ public sealed class RobotModelLoader
             throw new ArgumentException(".robot 路径不能为空。", nameof(modelPath));
         }
 
+        _logger?.LogInformation("RobotKinematicsModel 开始加载: modelPath={ModelPath}", modelPath);
+
         var resolvedModelPath = Path.GetFullPath(modelPath);
         var jsonText = ReadJsonChunk(resolvedModelPath);
         using var document = JsonDocument.Parse(jsonText);
@@ -203,6 +222,8 @@ public sealed class RobotModelLoader
                 coupleOffset: coupleOffset));
         }
 
+        _logger?.LogInformation("RobotKinematicsModel 加载完成: profileName={ProfileName}, 关节数={JointCount}", profileName, joints.Count);
+
         return new RobotKinematicsModel(name: profileName, joints: joints);
     }