✨ 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

tests/Flyshot.Core.Tests/FanucProtocolTests.cs

@@ -0,0 +1,116 @@
+using System.Buffers.Binary;
+using Flyshot.Runtime.Fanuc.Protocol;
+
+namespace Flyshot.Core.Tests;
+
+/// <summary>
+/// 验证 FANUC 真机三条通信链路的二进制协议基础与逆向抓包样本一致。
+/// </summary>
+public sealed class FanucProtocolTests
+{
+    /// <summary>
+    /// 验证 TCP 10012 程序命令封包与抓包中的 StopProg("RVBUSTSM") 完全一致。
+    /// </summary>
+    [Fact]
+    public void CommandProtocol_PacksCapturedStopProgramFrame()
+    {
+        var frame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.StopProgram, "RVBUSTSM");
+
+        Assert.Equal(
+            Convert.FromHexString("646f7a0000001a0000210300000008525642555354534d7a6f64"),
+            frame);
+    }
+
+    /// <summary>
+    /// 验证 TCP 10012 短响应和程序状态响应可以按抓包字段解析。
+    /// </summary>
+    [Fact]
+    public void CommandProtocol_ParsesCapturedResponses()
+    {
+        var stopResponse = FanucCommandProtocol.ParseResultResponse(
+            Convert.FromHexString("646f7a0000001200002103000000007a6f64"));
+        var statusResponse = FanucCommandProtocol.ParseProgramStatusResponse(
+            Convert.FromHexString("646f7a000000160000200300000000000000017a6f64"));
+
+        Assert.Equal(FanucCommandMessageIds.StopProgram, stopResponse.MessageId);
+        Assert.True(stopResponse.IsSuccess);
+        Assert.Equal(FanucCommandMessageIds.GetProgramStatus, statusResponse.MessageId);
+        Assert.True(statusResponse.IsSuccess);
+        Assert.Equal(1u, statusResponse.ProgramStatus);
+    }
+
+    /// <summary>
+    /// 验证 TCP 10010 状态帧可以从抓包样本解析出尾部状态槽位。
+    /// </summary>
+    [Fact]
+    public void StateProtocol_ParsesCapturedStateFrame()
+    {
+        var frame = FanucStateProtocol.ParseFrame(Convert.FromHexString(
+            "646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64"));
+
+        Assert.Equal(0u, frame.MessageId);
+        Assert.Equal(6, frame.Pose.Count);
+        Assert.Equal(9, frame.JointOrExtensionValues.Count);
+        Assert.Equal([2u, 0u, 0u, 1u], frame.TailWords);
+    }
+
+    /// <summary>
+    /// 验证 UDP 60015 的 J519 初始化、结束和命令包字段布局。
+    /// </summary>
+    [Fact]
+    public void J519Protocol_PacksControlAndCommandPackets()
+    {
+        var command = new FanucJ519Command(
+            sequence: 2,
+            targetJoints: [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+
+        var packet = FanucJ519Protocol.PackCommandPacket(command);
+
+        Assert.Equal(Convert.FromHexString("0000000000000001"), FanucJ519Protocol.PackInitPacket());
+        Assert.Equal(Convert.FromHexString("0000000200000001"), FanucJ519Protocol.PackEndPacket());
+        Assert.Equal(FanucJ519Protocol.CommandPacketLength, packet.Length);
+        Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x00, 4)));
+        Assert.Equal(1u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x04, 4)));
+        Assert.Equal(2u, BinaryPrimitives.ReadUInt32BigEndian(packet.AsSpan(0x08, 4)));
+        Assert.Equal(2, packet[0x0d]);
+        Assert.Equal(1, packet[0x12]);
+        Assert.Equal(1.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x1c, 4)));
+        Assert.Equal(6.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x30, 4)));
+        Assert.Equal(0.0f, BinaryPrimitives.ReadSingleBigEndian(packet.AsSpan(0x38, 4)));
+    }
+
+    /// <summary>
+    /// 验证 UDP 60015 的 132 字节响应包字段可以被解析成状态位和关节反馈。
+    /// </summary>
+    [Fact]
+    public void J519Protocol_ParsesResponsePacket()
+    {
+        var packet = new byte[FanucJ519Protocol.ResponsePacketLength];
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x00, 4), 0);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x04, 4), 1);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x08, 4), 12);
+        packet[0x0c] = 15;
+        packet[0x0d] = 2;
+        BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x0e, 2), 1);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x10, 2), 255);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.AsSpan(0x12, 2), 10);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0x14, 4), 1234);
+        BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x18, 4), 100.5f);
+        BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x3c, 4), 1.25f);
+        BinaryPrimitives.WriteSingleBigEndian(packet.AsSpan(0x60, 4), 2.5f);
+
+        var response = FanucJ519Protocol.ParseResponse(packet);
+
+        Assert.Equal(12u, response.Sequence);
+        Assert.Equal(15, response.Status);
+        Assert.True(response.AcceptsCommand);
+        Assert.True(response.ReceivedCommand);
+        Assert.True(response.SystemReady);
+        Assert.True(response.RobotInMotion);
+        Assert.Equal(10, response.ReadIoValue);
+        Assert.Equal(1234u, response.Timestamp);
+        Assert.Equal(100.5, response.Pose[0], precision: 6);
+        Assert.Equal(1.25, response.JointDegrees[0], precision: 6);
+        Assert.Equal(2.5, response.MotorCurrents[0], precision: 6);
+    }
+}