✨ feat(server): 添加服务启动自动初始化机器人功能

* 在 ControllerClientCompatOptions 中新增 AutoInitOptions 配置模型
* 创建 AutoInitRobotHostedService 实现启动时自动初始化链路
* 在 appsettings.json 的 ControllerClientCompat.AutoInit 节配置
  RobotName 和 RobotIp
* 启动时依次执行 SetUpRobot → SetActiveController → Connect →
  EnableRobot；配置缺失或连接失败不阻止服务启动
* 更新 README.md 和现场工作流文档

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs

@@ -12,6 +12,10 @@ public sealed class FanucJ519Client : IDisposable
     private readonly object _commandLock = new();
     private readonly object _responseLock = new();
     private readonly ILogger<FanucJ519Client>? _logger;
+    /// <summary>
+    /// 指示预装队列发出 LastData 结束帧后是否进入仅监控状态，而不是继续发送保姿命令。
+    /// </summary>
+    private readonly bool _endCommandStreamAfterQueueDrained;
     private UdpClient? _udpClient;
     private CancellationTokenSource? _cts;
     private Thread? _receiveThread;
@@ -25,8 +29,14 @@ public sealed class FanucJ519Client : IDisposable
     private long _slowSendCount;
     private long _maxReceiveToSendTicks;
     private uint _sequenceBufferSize;
-    // 标记 StartMotion 前是否刚装载过新目标，用于区分新命令和上次运动残留目标。
+    /// <summary>
+    /// 在 StartMotion 前是否有待发送的新命令；如果为 true 则 StartMotion 不会清空当前目标，而是继续发送新目标。
+    /// </summary>
     private bool _hasPendingCommandForStart;
+    /// <summary>
+    ///  标记命令流已通过 LastData 正常结束；该状态下仅接收状态包，不继续回发 hold 命令。
+    /// </summary>
+    private bool _monitorOnlyAfterLastData;
     private bool _motionStarted;
     private bool _disposed;
 
@@ -35,13 +45,22 @@ public sealed class FanucJ519Client : IDisposable
     /// </summary>
     public bool IsConnected => _udpClient is not null;
 
+    /// <summary>
+    /// 获取正常队列结束时是否通过 LastData 结束命令流并保留状态监控。
+    /// </summary>
+    internal bool EndCommandStreamAfterQueueDrained => _endCommandStreamAfterQueueDrained;
+
     /// <summary>
     /// 初始化 FANUC J519 客户端。
     /// </summary>
     /// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
-    public FanucJ519Client(ILogger<FanucJ519Client>? logger = null)
+    /// <param name="endCommandStreamAfterQueueDrained">队列结束帧发出后是否停止命令流并保留状态监控。</param>
+    public FanucJ519Client(
+        ILogger<FanucJ519Client>? logger = null,
+        bool endCommandStreamAfterQueueDrained = true)
     {
         _logger = logger;
+        _endCommandStreamAfterQueueDrained = endCommandStreamAfterQueueDrained;
     }
 
     /// <summary>
@@ -113,6 +132,7 @@ public sealed class FanucJ519Client : IDisposable
             }
 
             _hasPendingCommandForStart = false;
+            _monitorOnlyAfterLastData = false;
             _motionStarted = true;
             
         }
@@ -156,6 +176,7 @@ public sealed class FanucJ519Client : IDisposable
         {
             _motionStarted = false;
             _hasPendingCommandForStart = false;
+            _monitorOnlyAfterLastData = false;
             CompleteCommandQueueLocked();
         }
 
@@ -178,6 +199,7 @@ public sealed class FanucJ519Client : IDisposable
             CompleteCommandQueueLocked();
             _currentCommand = command;
             _hasPendingCommandForStart = true;
+            _monitorOnlyAfterLastData = false;
             _commandHistoryForTests?.Add(command);
         }
 
@@ -211,6 +233,8 @@ public sealed class FanucJ519Client : IDisposable
             // 队列耗尽后继续保持最后一帧目标，避免运动结束后回落到旧目标或空目标。
             _currentCommand = commands[^1];
             _hasPendingCommandForStart = true;
+            _monitorOnlyAfterLastData = false;
+            _motionStarted = true;
             _commandQueueDrainedCompletion = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
             _commandHistoryForTests?.AddRange(commands);
         }
@@ -337,6 +361,7 @@ public sealed class FanucJ519Client : IDisposable
             CompleteCommandQueueLocked();
             _commandHistoryForTests = null;
             _hasPendingCommandForStart = false;
+            _monitorOnlyAfterLastData = false;
             _motionStarted = false;
         }
 
@@ -375,6 +400,7 @@ public sealed class FanucJ519Client : IDisposable
         {
             CompleteCommandQueueLocked();
             _hasPendingCommandForStart = false;
+            _monitorOnlyAfterLastData = false;
         }
     }
 
@@ -526,9 +552,15 @@ public sealed class FanucJ519Client : IDisposable
     {
         FanucJ519Command? command;
         var willDrainQueue = false;
+        var suppressHoldCommand = false;
         lock (_commandLock)
         {
-            if (!_motionStarted)
+            if (_monitorOnlyAfterLastData)
+            {
+                command = null;
+                suppressHoldCommand = true;
+            }
+            else if (!_motionStarted)
             {
                 command = null;
             }
@@ -546,7 +578,7 @@ public sealed class FanucJ519Client : IDisposable
             }
         }
 
-        if (command is null)
+        if (command is null && !suppressHoldCommand)
         {
             command = TryBuildHoldCommandFromLatestResponse(response);
         }
@@ -574,7 +606,14 @@ public sealed class FanucJ519Client : IDisposable
         lock (_commandLock)
         {
             _lastSentCommand = command;
-            if (willDrainQueue && _commandQueue is { Count: 0 })
+            if (_endCommandStreamAfterQueueDrained && command.LastData == 1)
+            {
+                // LastData 是命令流的正常结束语义；结束后保留状态接收，但不继续回发保姿包。
+                _monitorOnlyAfterLastData = true;
+                _motionStarted = false;
+                CompleteCommandQueueLocked();
+            }
+            else if (willDrainQueue && _commandQueue is { Count: 0 })
             {
                 CompleteCommandQueueLocked();
             }