🐛 fix(flyshot): 修复输出选择并同步现场配置与文档

- 恢复 use_do 对 DO/RO 的选择，保留拍照脉冲与清零
- 统一直接关节移动与飞拍预移动的规划和运行倍率
- 补充输出选择、预生成队列和点对点倍率回归测试
- 更新 WhP_test 轨迹配置、系统说明和 README
- 删除本地 Claude 配置文件

验证：构建零警告零错误，定向测试 6 项与集成测试 38 项通过。
核心全量 175 项通过、14 项失败，失败项与修改前基线一致。

tests/Flyshot.Core.Tests/FanucControllerRuntimeDenseTests.cs

@@ -16,6 +16,70 @@ namespace Flyshot.Core.Tests;
 /// </summary>
 public sealed class FanucControllerRuntimeDenseTests
 {
+    /// <summary>
+    /// 验证飞拍输出选择贯通到 J519 命令，DO/RO 模式都输出两周期脉冲并在同一路清零。
+    /// </summary>
+    /// <param name="useDo">true 选择 DO，false 选择 RO。</param>
+    /// <param name="expectedIoType">预期 J519 写入类型，DO 为 2，RO 为 9。</param>
+    /// <param name="usePreparedExecution">是否使用上游已完成触发绑定的最终发送队列。</param>
+    [Theory]
+    [InlineData(true, 2, false)]
+    [InlineData(false, 9, false)]
+    [InlineData(true, 2, true)]
+    [InlineData(false, 9, true)]
+    public void ExecuteTrajectory_FlyshotOutputSelection_PreservesPulseAndClear(bool useDo, int expectedIoType, bool usePreparedExecution)
+    {
+        using var commandClient = new FanucCommandClient();
+        using var stateClient = new FanucStateClient();
+        using var j519Client = new FanucJ519Client();
+        using var runtime = new FanucControllerRuntime(commandClient, stateClient, j519Client);
+        runtime.ResetRobot(TestRobotFactory.CreateRobotProfile(), "FANUC_LR_Mate_200iD");
+        j519Client.EnableCommandHistoryForTests();
+        ForceRealModeEnabled(runtime, speedRatio: 1.0);
+
+        var trigger = new TrajectoryDoEvent(waypointIndex: 1, triggerTime: 0.008,
+            offsetCycles: 0, holdCycles: 2, addressGroup: new IoAddressGroup([1]), useDo: useDo);
+        var samples = Enumerable.Range(0, 4)
+            .Select(index => new FlyshotPreparedSample(index, index * 0.008, index * 0.008,
+                1.0, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])).ToArray();
+        var preparedExecution = usePreparedExecution
+            ? new FlyshotPreparedExecution(samples,
+                [new FlyshotPreparedTriggerBinding(trigger, samples[1], 1, true)],
+                Array.Empty<IReadOnlyList<double>>(), Array.Empty<IReadOnlyList<double>>(),
+                requestSpeedRatio: 1.0, finalSpeedRatio: 1.0, finalDurationSeconds: 0.024, stretchIterationCount: 0)
+            : null;
+
+        // 静止轨迹隔离运动算法影响，仅验证触发、保持和清零对应的协议字段。
+        var result = new TrajectoryResult(
+            programName: "output-selection",
+            method: PlanningMethod.Icsp,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(0.024),
+            shotEvents: Array.Empty<ShotEvent>(),
+            triggerTimeline: [trigger],
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: false,
+            originalWaypointCount: 2,
+            plannedWaypointCount: 2,
+            denseJointTrajectory:
+            [
+                new double[] { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 },
+                new double[] { 0.024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 }
+            ],
+            preparedFlyshotExecution: preparedExecution);
+
+        runtime.ExecuteTrajectory(result, [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]);
+        WaitUntilIdle(runtime);
+
+        var commands = j519Client.GetCommandHistoryForTests();
+        Assert.True(commands.Count >= 4);
+        Assert.All(commands, command => Assert.Equal((byte)expectedIoType, command.WriteIoType));
+        Assert.All(commands, command => Assert.Equal((ushort)1, command.WriteIoIndex));
+        Assert.Equal(new ushort[] { 0, 1, 1, 1 }, commands.Take(4).Select(command => command.WriteIoMask));
+        Assert.Equal(new ushort[] { 0, 1, 1, 0 }, commands.Take(4).Select(command => command.WriteIoValue));
+    }
+
     private const double SmoothPtpVelocityShapeCoefficient = 2.1875;
     private const double SmoothPtpAccelerationShapeCoefficient = 7.513188404399293;
     private const double SmoothPtpJerkShapeCoefficient = 52.5;