✨ feat(native-planning): 添加 Rust ICSP 原生规划核心及 C# 互操作集成

* 新增 Rust 原生 ICSP 规划库 (Cargo 项目, CubicSpline 算法, FFI 接口)
* 新增 Flyshot.Native.Planning C# 互操作项目 (P/Invoke 封装)
* 更新 ControllerClientCompat 适配新的规划接口
* 添加构建脚本 (Copy-NativePlanningArtifacts.ps1)
* 新增互操作测试及一致性对比测试
* 更新解决方案文件和设计文档

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -3,6 +3,7 @@ using Flyshot.Core.Domain;
 using Flyshot.Core.Planning;
 using Flyshot.Core.Planning.Sampling;
 using Flyshot.Core.Triggering;
+using Flyshot.Native.Planning;
 using Microsoft.Extensions.Logging;
 
 namespace Flyshot.ControllerClientCompat;
@@ -29,6 +30,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
     private const double SmoothStartStopBlend = 0.60;
 
     private readonly ICspPlanner _icspPlanner;
+    private readonly RustIcspPlanner _rustIcspPlanner;
     private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
     private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
     private readonly Dictionary<string, PlannedExecutionBundle> _flyshotCache = new(StringComparer.Ordinal);
@@ -45,6 +47,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
     {
         _logger = logger;
         _icspPlanner = new(logger: loggerFactory?.CreateLogger<ICspPlanner>());
+        _rustIcspPlanner = new();
         _selfAdaptIcspPlanner = new(logger: loggerFactory?.CreateLogger<SelfAdaptIcspPlanner>());
     }
 
@@ -209,6 +212,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         return normalized switch
         {
             "icsp" => PlanningMethod.Icsp,
+            "icsp_rust" => PlanningMethod.IcspRust,
             "doubles" => PlanningMethod.Doubles,
             _ => throw new ArgumentException($"Unsupported ExecuteTrajectory method: {method}", nameof(method))
         };
@@ -225,6 +229,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         return normalized switch
         {
             "icsp" => PlanningMethod.Icsp,
+            "icsp_rust" => PlanningMethod.IcspRust,
             "self-adapt-icsp" => PlanningMethod.SelfAdaptIcsp,
             "doubles" => PlanningMethod.Doubles,
             _ => throw new ArgumentException($"Unsupported ExecuteFlyShotTraj method: {method}", nameof(method))
@@ -242,6 +247,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         return method switch
         {
             PlanningMethod.Icsp => _icspPlanner.Plan(request),
+            PlanningMethod.IcspRust => _rustIcspPlanner.Plan(request),
             PlanningMethod.SelfAdaptIcsp => _selfAdaptIcspPlanner.Plan(request, settings?.AdaptIcspTryNum ?? 5),
             PlanningMethod.Doubles => throw new NotSupportedException("doubles 轨迹规划尚未落地。"),
             _ => throw new ArgumentOutOfRangeException(nameof(method), method, "未知轨迹规划方法。")