✨ 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

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -24,6 +24,7 @@ public sealed class ConfigCompatibilityTests
         Assert.Equal(2, loaded.Robot.IoKeepCycles);
         Assert.Equal(1.0, loaded.Robot.AccLimitScale);
         Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
+        Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
         Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
 
         var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
@@ -71,6 +72,7 @@ public sealed class ConfigCompatibilityTests
             Assert.Equal(3, loaded.Robot.IoKeepCycles);
             Assert.Equal(0.5, loaded.Robot.AccLimitScale);
             Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
+            Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
             Assert.Equal([0, 0, 0], program.OffsetValues);
             Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
         }
@@ -80,6 +82,46 @@ public sealed class ConfigCompatibilityTests
         }
     }
 
+    /// <summary>
+    /// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsPlanningSpeedScale()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "planning_speed_scale": 0.742277
+                  },
+                  "flying_shots": {
+                    "demo": {
+                      "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
+                      "shot_flags": [false, false, false, false]
+                    }
+                  }
+                }
+                """);
+
+            var loaded = new RobotConfigLoader().Load(configPath);
+
+            Assert.Equal(0.742277, loaded.Robot.PlanningSpeedScale, precision: 6);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证 .robot 解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
     /// </summary>