♻️ refactor(compat): 替换 MoveJoint 时间律为解析式 7 阶平滑函数并添加离散限位校验

* 将预捕获 alpha 数据表替换为解析式 7 阶平滑点到点时间律
  s(u)=35u⁴-84u⁵+70u⁶-20u⁷，形状系数按 1~3 阶导数最大值重算
* 新增离散限位校验：按真实 8ms 采样点反算速度/加速度/jerk，
  不满足时自动拉长总时长后重采样，最多迭代 10000 次
* 实发轨迹落盘：ActualSendJointTraj.txt（角度制）、
  ActualSendJerkStats.txt（点间跃度统计），按时间目录归档
* J519 AcceptsCommand 门控：只有机器人就绪时才发送下一帧，
  减少无效下发；状态日志附带最近发送目标关节轴
* FanucControllerRuntime 构造函数改为必选 ILogger 注入，
  确保 DI 解析时稳定拿到日志实例
* LegacyHttpApiController 移除已废弃的 ConnectServer 调用，
  EnableRobot 参数从 2 改为 4
* 新增跃度报警分析文档和六轴限值表，补充反馈远离拒绝测试

Co-authored-by: Copilot <copilot@github.com>

tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs

@@ -337,6 +337,49 @@ public sealed class RuntimeOrchestrationTests
         }
     }
 
+    /// <summary>
+    /// 验证正式飞拍前若真实反馈仍未接近起点，则兼容层会拒绝继续执行。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatService_ExecuteTrajectoryByName_RejectsFlyshotWhenFeedbackIsNotNearStartAfterMoveToStart()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions
+            {
+                ConfigRoot = configRoot
+            };
+            var runtime = new StickyFeedbackControllerRuntime(
+                initialJointPositions: [0.4, 0.0, 0.0, 0.0, 0.0, 0.0],
+                firstMotionCompletionDelay: TimeSpan.FromMilliseconds(20));
+            var service = new ControllerClientCompatService(
+                options,
+                new ControllerClientCompatRobotCatalog(options, new RobotModelLoader()),
+                runtime,
+                new ControllerClientTrajectoryOrchestrator(),
+                new RobotConfigLoader());
+
+            service.SetUpRobot("FANUC_LR_Mate_200iD");
+            service.SetActiveController(sim: false);
+            service.Connect("192.168.10.101");
+            service.EnableRobot(2);
+            service.UploadTrajectory(TestRobotFactory.CreateUploadedTrajectoryWithSingleShot());
+
+            var exception = Assert.Throws<InvalidOperationException>(() =>
+                service.ExecuteTrajectoryByName(
+                    "demo-flyshot",
+                    new FlyshotExecutionOptions(moveToStart: true, method: "icsp", saveTrajectory: false, useCache: false)));
+
+            Assert.Contains("not near flyshot start", exception.Message, StringComparison.OrdinalIgnoreCase);
+            Assert.Single(runtime.ExecuteCalls);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证 ExecuteFlyShotTraj(wait=true) 会等待正式飞拍轨迹完成后再返回。
     /// </summary>
@@ -897,3 +940,129 @@ internal sealed class DelayedCompletionControllerRuntime : IControllerRuntime
         }
     }
 }
+
+/// <summary>
+/// 模拟 move_to_start 逻辑完成后，真实反馈仍停留在旧位置的测试运行时。
+/// </summary>
+internal sealed class StickyFeedbackControllerRuntime : IControllerRuntime
+{
+    private readonly object _lock = new();
+    private readonly TimeSpan _firstMotionCompletionDelay;
+    private double[] _jointPositions;
+    private bool _isEnabled;
+    private bool _isInMotion;
+    private bool _firstMotionCompleted;
+
+    public StickyFeedbackControllerRuntime(
+        IReadOnlyList<double> initialJointPositions,
+        TimeSpan firstMotionCompletionDelay)
+    {
+        _jointPositions = initialJointPositions.ToArray();
+        _firstMotionCompletionDelay = firstMotionCompletionDelay;
+    }
+
+    public List<(TrajectoryResult Result, IReadOnlyList<double> FinalJointPositions)> ExecuteCalls { get; } = [];
+
+    public void ResetRobot(RobotProfile robot, string robotName)
+    {
+    }
+
+    public void SetActiveController(bool sim)
+    {
+    }
+
+    public void Connect(string robotIp)
+    {
+    }
+
+    public void Disconnect()
+    {
+    }
+
+    public void EnableRobot(int bufferSize)
+    {
+        _isEnabled = true;
+    }
+
+    public void DisableRobot()
+    {
+        _isEnabled = false;
+    }
+
+    public void StopMove()
+    {
+        lock (_lock)
+        {
+            _isInMotion = false;
+        }
+    }
+
+    public double GetSpeedRatio() => 1.0;
+
+    public void SetSpeedRatio(double ratio)
+    {
+    }
+
+    public IReadOnlyList<double> GetTcp() => [0.0, 0.0, 0.0];
+
+    public void SetTcp(double x, double y, double z)
+    {
+    }
+
+    public bool GetIo(int port, string ioType) => false;
+
+    public void SetIo(int port, bool value, string ioType)
+    {
+    }
+
+    public IReadOnlyList<double> GetJointPositions()
+    {
+        lock (_lock)
+        {
+            return _jointPositions.ToArray();
+        }
+    }
+
+    public IReadOnlyList<double> GetPose() => Array.Empty<double>();
+
+    public ControllerStateSnapshot GetSnapshot()
+    {
+        lock (_lock)
+        {
+            return new ControllerStateSnapshot(
+                capturedAt: DateTimeOffset.UtcNow,
+                connectionState: "Connected",
+                isEnabled: _isEnabled,
+                isInMotion: _isInMotion,
+                speedRatio: 1.0,
+                jointPositions: _jointPositions.ToArray(),
+                cartesianPose: Array.Empty<double>(),
+                activeAlarms: Array.Empty<RuntimeAlarm>());
+        }
+    }
+
+    public void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions)
+    {
+        lock (_lock)
+        {
+            ExecuteCalls.Add((result, finalJointPositions.ToArray()));
+            if (!_firstMotionCompleted)
+            {
+                _isInMotion = true;
+                _ = Task.Run(async () =>
+                {
+                    await Task.Delay(_firstMotionCompletionDelay).ConfigureAwait(false);
+                    lock (_lock)
+                    {
+                        // 模拟控制链逻辑上结束，但真实反馈仍卡在旧位置。
+                        _isInMotion = false;
+                        _firstMotionCompleted = true;
+                    }
+                });
+                return;
+            }
+
+            _jointPositions = finalJointPositions.ToArray();
+        }
+    }
+}