✨ 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

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -106,6 +106,113 @@ public sealed class RuntimeOrchestrationTests
         Assert.Single(bundle.Result.TriggerTimeline);
     }
 
+    /// <summary>
+    /// 验证普通轨迹使用准确字串 icsp_rust 时会真实调用 Rust DLL，并在结果中标记原生后端。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_UsesRustPlanner()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+
+        var bundle = orchestrator.PlanOrdinaryTrajectory(
+            robot,
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
+            ],
+            new TrajectoryExecutionOptions(method: "icsp_rust"));
+
+        Assert.Equal(PlanningMethod.IcspRust, bundle.PlannedTrajectory.Method);
+        Assert.Equal(PlanningMethod.IcspRust, bundle.Result.Method);
+    }
+
+    /// <summary>
+    /// 验证飞拍轨迹使用准确字串 icsp_rust 时会真实调用 Rust DLL，同时保留触发时间轴。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_UsesRustPlanner()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+        var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+
+        var bundle = orchestrator.PlanUploadedFlyshot(
+            robot,
+            uploaded,
+            new FlyshotExecutionOptions(method: "icsp_rust", useCache: false));
+
+        Assert.Equal(PlanningMethod.IcspRust, bundle.PlannedTrajectory.Method);
+        Assert.Equal(PlanningMethod.IcspRust, bundle.Result.Method);
+        Assert.Single(bundle.Result.ShotEvents);
+        Assert.Single(bundle.Result.TriggerTimeline);
+    }
+
+    /// <summary>
+    /// 验证普通轨迹默认 icsp 仍使用现有 C# 规划器。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_KeepsManagedIcspPlanner()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = TestRobotFactory.CreateRobotProfile();
+
+        var bundle = orchestrator.PlanOrdinaryTrajectory(
+            robot,
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.001, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.002, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.003, 0.0, 0.0, 0.0, 0.0, 0.0]
+            ],
+            new TrajectoryExecutionOptions(method: "icsp"));
+
+        Assert.Equal(PlanningMethod.Icsp, bundle.PlannedTrajectory.Method);
+        Assert.Equal(PlanningMethod.Icsp, bundle.Result.Method);
+    }
+
+    /// <summary>
+    /// 验证 self-adapt-icsp 仍使用 C# 自适应规划器，不切换到 Rust。
+    /// </summary>
+    [Fact]
+    public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_KeepsManagedSelfAdaptPlanner()
+    {
+        var orchestrator = new ControllerClientTrajectoryOrchestrator();
+        var robot = new RobotProfile(
+            name: "ManagedSelfAdaptTestRobot",
+            modelPath: "Models/ManagedSelfAdaptTest.robot",
+            degreesOfFreedom: 6,
+            jointLimits: Enumerable.Range(1, 6)
+                .Select(static index => new JointLimit($"J{index}", 1.0, 2.0, 10.0))
+                .ToArray(),
+            jointCouplings: [],
+            servoPeriod: TimeSpan.FromMilliseconds(8),
+            triggerPeriod: TimeSpan.FromMilliseconds(8));
+        var uploaded = new ControllerClientCompatUploadedTrajectory(
+            name: "managed-self-adapt",
+            waypoints:
+            [
+                [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+                [0.4, 0.1, 0.0, 0.0, 0.0, 0.0],
+                [0.8, 0.3, 0.0, 0.0, 0.0, 0.0],
+                [1.0, 0.2, 0.0, 0.0, 0.0, 0.0]
+            ],
+            shotFlags: [false, true, false, false],
+            offsetValues: [0, 0, 0, 0],
+            addressGroups: [[], [7], [], []]);
+
+        var bundle = orchestrator.PlanUploadedFlyshot(
+            robot,
+            uploaded,
+            new FlyshotExecutionOptions(method: "self-adapt-icsp", useCache: false));
+
+        Assert.Equal(PlanningMethod.SelfAdaptIcsp, bundle.PlannedTrajectory.Method);
+        Assert.Equal(PlanningMethod.SelfAdaptIcsp, bundle.Result.Method);
+        Assert.Single(bundle.Result.TriggerTimeline);
+    }
+
     /// <summary>
     /// 验证飞拍规划会把规划限速倍率纳入速度/加速度/Jerk 限制，而不是复用运行时下发倍率。
     /// </summary>