✨ 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.Core.Planning/ICspPlanner.cs

@@ -1,4 +1,5 @@
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Planning;
 
@@ -33,6 +34,7 @@ public sealed class ICspPlanner
     private readonly int _maxIterations;
     private readonly bool _enforceFinalScale;
     private readonly double _finalScaleTolerance;
+    private readonly ILogger<ICspPlanner>? _logger;
 
     /// <summary>
     /// 初始化 ICSP 规划器。
@@ -41,11 +43,13 @@ public sealed class ICspPlanner
     /// <param name="maxIterations">最大迭代轮数。</param>
     /// <param name="enforceFinalScale">是否在最终最优 scale 仍大于 1.0 时抛出失败。</param>
     /// <param name="finalScaleTolerance">最终 scale 判定容差。</param>
+    /// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
     public ICspPlanner(
         double threshold = DefaultThreshold,
         int maxIterations = DefaultMaxIterations,
         bool enforceFinalScale = true,
-        double finalScaleTolerance = DefaultFinalScaleTolerance)
+        double finalScaleTolerance = DefaultFinalScaleTolerance,
+        ILogger<ICspPlanner>? logger = null)
     {
         if (threshold <= 0.0 || double.IsNaN(threshold) || double.IsInfinity(threshold))
         {
@@ -66,6 +70,7 @@ public sealed class ICspPlanner
         _maxIterations = maxIterations;
         _enforceFinalScale = enforceFinalScale;
         _finalScaleTolerance = finalScaleTolerance;
+        _logger = logger;
     }
 
     /// <summary>
@@ -81,9 +86,22 @@ public sealed class ICspPlanner
             throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
         }
 
+        _logger?.LogInformation(
+            "ICSP 规划开始: 名称={Name}, 路点数={WaypointCount}, 自由度={Dof}, threshold={Threshold}, maxIterations={MaxIterations}",
+            request.Program.Name, waypoints.Count, request.Robot.DegreesOfFreedom, _threshold, _maxIterations);
+        _logger?.LogDebug(
+            "ICSP 输入路点: {Waypoints}",
+            string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Positions.Select(j => j.ToString("F4")))}]")));
+
         var qs = WaypointsToArray(waypoints);
         var (velLimits, accLimits, jerkLimits) = ExtractLimits(request.Robot);
 
+        _logger?.LogDebug(
+            "ICSP 约束限值: vel=[{Vel}], acc=[{Acc}], jerk=[{Jerk}]",
+            string.Join(", ", velLimits.Select(v => v.ToString("F2"))),
+            string.Join(", ", accLimits.Select(a => a.ToString("F2"))),
+            string.Join(", ", jerkLimits.Select(j => j.ToString("F2"))));
+
         // 初始段时长直接取相邻示教点的关节空间欧氏距离。
         var segmentDurations = ComputeInitialDurations(qs);
         int nseg = segmentDurations.Length;
@@ -135,6 +153,9 @@ public sealed class ICspPlanner
 
             if (currentThreshold < _threshold)
             {
+                _logger?.LogDebug(
+                    "ICSP 第 {Iteration} 轮收敛: threshold={CurrentThreshold:E6}",
+                    iteration + 1, currentThreshold);
                 break;
             }
 
@@ -152,10 +173,22 @@ public sealed class ICspPlanner
         var globalScale = bestScales.Max();
         if (_enforceFinalScale && globalScale > 1.0 + _finalScaleTolerance)
         {
+            _logger?.LogError(
+                "ICSP 规划未收敛: global_scale={GlobalScale:F6} > {Tolerance:F6}, 段缩放=[{Scales}]",
+                globalScale, 1.0 + _finalScaleTolerance,
+                string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
             throw new InvalidOperationException(
                 $"ICSP 规划未收敛，global_scale={globalScale:F6} > {1.0 + _finalScaleTolerance:F6}，轨迹不可执行。");
         }
 
+        _logger?.LogInformation(
+            "ICSP 规划完成: 名称={Name}, 迭代轮数={Iterations}, 收敛阈值={Threshold:E6}, 总时长={Duration:F4}s, global_scale={GlobalScale:F6}",
+            request.Program.Name, bestIterations, bestThreshold, bestWaypointTimes[^1], globalScale);
+        _logger?.LogDebug(
+            "ICSP 段时长: [{Durations}], 段缩放: [{Scales}]",
+            string.Join(", ", bestDurations.Select(d => d.ToString("F4"))),
+            string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
+
         return new PlannedTrajectory(
             robot: request.Robot,
             originalProgram: request.Program,