✨ feat(server): 添加静态状态页与调试入口

- 将状态页、调试页改为 `wwwroot` 静态资源
  - 补充调试配置接口与前端脚本
  - 为兼容层、规划层和运行时补充日志
  - 更新集成测试覆盖新入口

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -3,6 +3,7 @@ using Flyshot.Core.Domain;
 using Flyshot.Core.Planning;
 using Flyshot.Core.Planning.Sampling;
 using Flyshot.Core.Triggering;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.ControllerClientCompat;
 
@@ -11,10 +12,22 @@ namespace Flyshot.ControllerClientCompat;
 /// </summary>
 public sealed class ControllerClientTrajectoryOrchestrator
 {
-    private readonly ICspPlanner _icspPlanner = new();
-    private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner = new();
+    private readonly ICspPlanner _icspPlanner;
+    private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
     private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
     private readonly Dictionary<string, PlannedExecutionBundle> _flyshotCache = new(StringComparer.Ordinal);
+    private readonly ILogger<ControllerClientTrajectoryOrchestrator>? _logger;
+
+    /// <summary>
+    /// 初始化轨迹编排器。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public ControllerClientTrajectoryOrchestrator(ILogger<ControllerClientTrajectoryOrchestrator>? logger = null)
+    {
+        _logger = logger;
+        _icspPlanner = new(logger: null);
+        _selfAdaptIcspPlanner = new(logger: null);
+    }
 
     /// <summary>
     /// 对普通轨迹执行 ICSP 规划。
@@ -31,6 +44,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
         ArgumentNullException.ThrowIfNull(waypoints);
         options ??= new TrajectoryExecutionOptions();
 
+        _logger?.LogInformation(
+            "PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}",
+            waypoints.Count, options.Method);
+
         var program = CreateProgram(
             name: "ordinary-trajectory",
             waypoints: waypoints,
@@ -49,6 +66,11 @@ public sealed class ControllerClientTrajectoryOrchestrator
         var shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
         var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
 
+        _logger?.LogInformation(
+            "PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
+            result.Duration.TotalSeconds,
+            result.DenseJointTrajectory?.Count ?? 0);
+
         return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
     }
 
@@ -69,6 +91,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
         options ??= new FlyshotExecutionOptions();
         settings ??= CreateDefaultRobotSettings();
 
+        _logger?.LogInformation(
+            "PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}",
+            uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache);
+
         var program = CreateProgram(
             name: uploaded.Name,
             waypoints: uploaded.Waypoints,
@@ -80,6 +106,7 @@ public sealed class ControllerClientTrajectoryOrchestrator
         var cacheKey = CreateFlyshotCacheKey(robot, uploaded, options, settings);
         if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
         {
+            _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
             // 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
             return new PlannedExecutionBundle(
                 cachedBundle.PlannedTrajectory,
@@ -104,6 +131,10 @@ public sealed class ControllerClientTrajectoryOrchestrator
         var result = CreateResult(plannedTrajectory, shotTimeline, usedCache: false);
         var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
 
+        _logger?.LogInformation(
+            "PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
+            uploaded.Name, result.Duration.TotalSeconds, result.TriggerTimeline.Count, result.DenseJointTrajectory?.Count ?? 0);
+
         if (options.UseCache)
         {
             _flyshotCache[cacheKey] = bundle;