✨ feat(fanuc): 添加协议编解码与状态页" -m "* 固化 10010 状态帧、10012 命令帧和 60015 J519 包编解码

* 扩展 ControllerClient 兼容层的执行参数和运行时编排
  * 新增 /status 页面与 /api/status/snapshot 状态快照接口
  * 补充 FANUC 协议、客户端和状态接口的最小验证测试
  * 更新 README、兼容要求和真机 Socket 通信实现计划

src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs

@@ -0,0 +1,127 @@
+using System.Buffers.Binary;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// 表示 FANUC TCP 10010 状态通道中的单个状态帧。
+/// </summary>
+public sealed class FanucStateFrame
+{
+    private readonly double[] _pose;
+    private readonly double[] _jointOrExtensionValues;
+    private readonly uint[] _tailWords;
+
+    /// <summary>
+    /// 初始化状态帧解析结果。
+    /// </summary>
+    /// <param name="messageId">状态帧消息号或序号。</param>
+    /// <param name="pose">控制器回传的笛卡尔位姿。</param>
+    /// <param name="jointOrExtensionValues">控制器回传的关节或扩展轴状态。</param>
+    /// <param name="tailWords">状态帧尾部状态槽位。</param>
+    public FanucStateFrame(
+        uint messageId,
+        IEnumerable<double> pose,
+        IEnumerable<double> jointOrExtensionValues,
+        IEnumerable<uint> tailWords)
+    {
+        MessageId = messageId;
+        _pose = pose?.ToArray() ?? throw new ArgumentNullException(nameof(pose));
+        _jointOrExtensionValues = jointOrExtensionValues?.ToArray() ?? throw new ArgumentNullException(nameof(jointOrExtensionValues));
+        _tailWords = tailWords?.ToArray() ?? throw new ArgumentNullException(nameof(tailWords));
+    }
+
+    /// <summary>
+    /// 获取状态帧消息号或序号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器回传的笛卡尔位姿。
+    /// </summary>
+    public IReadOnlyList<double> Pose => _pose;
+
+    /// <summary>
+    /// 获取控制器回传的关节或扩展轴状态。
+    /// </summary>
+    public IReadOnlyList<double> JointOrExtensionValues => _jointOrExtensionValues;
+
+    /// <summary>
+    /// 获取状态帧尾部状态槽位。
+    /// </summary>
+    public IReadOnlyList<uint> TailWords => _tailWords;
+}
+
+/// <summary>
+/// 提供 FANUC TCP 10010 状态通道固定帧解析能力。
+/// </summary>
+public static class FanucStateProtocol
+{
+    /// <summary>
+    /// FANUC 状态通道抓包确认的完整帧长度。
+    /// </summary>
+    public const int StateFrameLength = 90;
+
+    /// <summary>
+    /// 解析 TCP 10010 状态通道中的单个完整状态帧。
+    /// </summary>
+    /// <param name="frame">完整状态帧。</param>
+    /// <returns>状态帧解析结果。</returns>
+    public static FanucStateFrame ParseFrame(ReadOnlySpan<byte> frame)
+    {
+        ValidateFrame(frame);
+
+        var pose = new double[6];
+        var jointOrExtensionValues = new double[9];
+        var tailWords = new uint[4];
+
+        // 状态帧采用固定布局，偏移来自抓包与 StateServer 逆向结论。
+        for (var index = 0; index < pose.Length; index++)
+        {
+            pose[index] = BinaryPrimitives.ReadSingleBigEndian(frame.Slice(11 + (index * sizeof(float)), sizeof(float)));
+        }
+
+        for (var index = 0; index < jointOrExtensionValues.Length; index++)
+        {
+            jointOrExtensionValues[index] = BinaryPrimitives.ReadSingleBigEndian(frame.Slice(35 + (index * sizeof(float)), sizeof(float)));
+        }
+
+        for (var index = 0; index < tailWords.Length; index++)
+        {
+            tailWords[index] = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(71 + (index * sizeof(uint)), sizeof(uint)));
+        }
+
+        return new FanucStateFrame(
+            BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(7, sizeof(uint))),
+            pose,
+            jointOrExtensionValues,
+            tailWords);
+    }
+
+    /// <summary>
+    /// 校验状态帧的长度、magic 和长度字段。
+    /// </summary>
+    /// <param name="frame">完整状态帧。</param>
+    private static void ValidateFrame(ReadOnlySpan<byte> frame)
+    {
+        if (frame.Length != StateFrameLength)
+        {
+            throw new InvalidDataException("FANUC 状态帧长度不符合 TCP 10010 固定帧布局。");
+        }
+
+        if (frame[0] != (byte)'d' || frame[1] != (byte)'o' || frame[2] != (byte)'z')
+        {
+            throw new InvalidDataException("FANUC 状态帧头 magic 不正确。");
+        }
+
+        if (frame[^3] != (byte)'z' || frame[^2] != (byte)'o' || frame[^1] != (byte)'d')
+        {
+            throw new InvalidDataException("FANUC 状态帧尾 magic 不正确。");
+        }
+
+        var declaredLength = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(3, sizeof(uint)));
+        if (declaredLength != frame.Length)
+        {
+            throw new InvalidDataException("FANUC 状态帧长度字段与实际长度不一致。");
+        }
+    }
+}