✨ feat(*): 添加 J519 实发重采样与 JSON 机型模型

* 新增 J519 实发采样器，按 8ms 周期生成 timing/jerk 诊断行并完成 rad->deg 转换
* 兼容层产物导出补充 speedRatio，规划编排补齐 smoothStartStopTiming 与日志透传
* 配置与机型加载切换到运行目录 JSON 模型，并补齐 7L 展开模型与相关单元测试

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs

@@ -5,6 +5,7 @@ using Flyshot.Core.Planning.Export;
 using Flyshot.Core.Planning.Kinematics;
 using Flyshot.Core.Planning.Sampling;
 using Microsoft.Extensions.Logging;
+using System.Text;
 
 namespace Flyshot.ControllerClientCompat;
 
@@ -18,6 +19,11 @@ public sealed class FlyshotTrajectoryArtifactWriter
     /// </summary>
     private const double LegacyDetailSamplePeriodSeconds = 0.016;
 
+    /// <summary>
+    /// FANUC J519 实际下发的固定伺服周期，单位为秒。
+    /// </summary>
+    private const double ActualSendServoPeriodSeconds = 0.008;
+
     private readonly ControllerClientCompatOptions _options;
     private readonly RobotModelLoader _robotModelLoader;
     private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
@@ -44,7 +50,8 @@ public sealed class FlyshotTrajectoryArtifactWriter
     /// <param name="trajectoryName">飞拍轨迹名称。</param>
     /// <param name="robot">当前机器人配置。</param>
     /// <param name="bundle">规划结果包。</param>
-    public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle)
+    /// <param name="speedRatio">导出 J519 实发采样点时使用的速度倍率。</param>
+    public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle, double speedRatio = 1.0)
     {
         if (string.IsNullOrWhiteSpace(trajectoryName))
         {
@@ -74,13 +81,99 @@ public sealed class FlyshotTrajectoryArtifactWriter
         TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
         TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
         TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents);
+        WriteActualSendArtifacts(outputDir, bundle.Result, speedRatio);
 
         _logger?.LogInformation(
-            "saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}",
+            "saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}, speedRatio={SpeedRatio}",
             trajectoryName,
             outputDir,
             jointTrajectory.Count,
-            jointDetailTrajectory.Count);
+            jointDetailTrajectory.Count,
+            speedRatio);
+    }
+
+    /// <summary>
+    /// 生成按 J519 8ms 实际发送周期重采样的轨迹点，供 saveTrajectory 离线对比真实下发序列。
+    /// </summary>
+    private static void WriteActualSendArtifacts(string outputDir, TrajectoryResult result, double speedRatio)
+    {
+        if (result.DenseJointTrajectory is null)
+        {
+            return;
+        }
+
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
+        }
+
+        var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
+            result.DenseJointTrajectory,
+            result.Duration.TotalSeconds,
+            ActualSendServoPeriodSeconds,
+            speedRatio);
+        var jointRows = new List<IReadOnlyList<double>>(samples.Count);
+        var timingRows = new List<IReadOnlyList<double>>(samples.Count);
+        var jerkRows = new List<IReadOnlyList<double>>();
+        double? previousSendTime = null;
+        double[]? previousJoints = null;
+        double[]? previousVelocity = null;
+        double[]? previousAcceleration = null;
+
+        foreach (var sample in samples)
+        {
+            jointRows.Add(BuildActualSendJointRow(sample.SendTime, sample.JointsDegrees));
+            timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
+
+            if (previousSendTime is not null && previousJoints is not null)
+            {
+                jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
+                    previousSendTime.Value,
+                    sample.SendTime,
+                    previousJoints,
+                    sample.JointsDegrees,
+                    ref previousVelocity,
+                    ref previousAcceleration));
+            }
+
+            previousSendTime = sample.SendTime;
+            previousJoints = sample.JointsDegrees.ToArray();
+        }
+
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), jointRows);
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), timingRows);
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), jerkRows);
+    }
+
+    /// <summary>
+    /// 构造实际发送点位文本行，格式为 send_time + 关节角度 + io_mask + io_value。
+    /// </summary>
+    private static IReadOnlyList<double> BuildActualSendJointRow(double sendTime, IReadOnlyList<double> joints)
+    {
+        var row = new double[joints.Count + 3];
+        row[0] = Math.Round(sendTime, 6);
+        for (var index = 0; index < joints.Count; index++)
+        {
+            row[index + 1] = Math.Round(joints[index], 6);
+        }
+
+        row[^2] = 0.0;
+        row[^1] = 0.0;
+        return row;
+    }
+
+    /// <summary>
+    /// 以空格分隔的旧轨迹文本格式写出数值行。
+    /// </summary>
+    private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
+    {
+        var sb = new StringBuilder();
+        foreach (var row in rows)
+        {
+            sb.AppendLine(string.Join(" ", row.Select(static value => $"{value:F6}")));
+        }
+
+        File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
     }
 
     /// <summary>