✨ 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

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -1,10 +1,9 @@
 using Flyshot.Core.Config;
-using Flyshot.Core.Domain;
 
 namespace Flyshot.Core.Tests;
 
 /// <summary>
-/// 锁定 Task 3 的兼容输入行为，确保旧配置、.robot 元数据和路径策略都能被稳定加载。
+/// 锁定 Task 3 的兼容输入行为，确保旧配置、JSON 模型元数据和路径策略都能被稳定加载。
 /// </summary>
 public sealed class ConfigCompatibilityTests
 {
@@ -25,6 +24,7 @@ public sealed class ConfigCompatibilityTests
         Assert.Equal(1.0, loaded.Robot.AccLimitScale);
         Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
         Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+        Assert.True(loaded.Robot.SmoothStartStopTiming);
         Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
 
         var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
@@ -73,6 +73,7 @@ public sealed class ConfigCompatibilityTests
             Assert.Equal(0.5, loaded.Robot.AccLimitScale);
             Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
             Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+            Assert.True(loaded.Robot.SmoothStartStopTiming);
             Assert.Equal([0, 0, 0], program.OffsetValues);
             Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
         }
@@ -123,13 +124,53 @@ public sealed class ConfigCompatibilityTests
     }
 
     /// <summary>
-    /// 验证 .robot 解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
+    /// 验证 RobotConfig.json 可以关闭飞拍执行前的二次平滑起停时间重映射。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsSmoothStartStopTimingSwitch()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "smooth_start_stop_timing": false
+                  },
+                  "flying_shots": {
+                    "demo": {
+                      "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
+                      "shot_flags": [false, false, false, false]
+                    }
+                  }
+                }
+                """);
+
+            var loaded = new RobotConfigLoader().Load(configPath);
+
+            Assert.False(loaded.Robot.SmoothStartStopTiming);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证 JSON 模型解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
     /// </summary>
     [Fact]
     public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
     {
-        var workspaceRoot = GetWorkspaceRoot();
-        var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath);
 
@@ -147,13 +188,13 @@ public sealed class ConfigCompatibilityTests
     }
 
     /// <summary>
-    /// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到模型关节限制上。
+    /// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到 JSON 模型关节限制上。
     /// </summary>
     [Fact]
     public void RobotModelLoader_AppliesAccelerationAndJerkScales()
     {
-        var workspaceRoot = GetWorkspaceRoot();
-        var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
 
@@ -161,6 +202,28 @@ public sealed class ConfigCompatibilityTests
         Assert.Equal(62.115, profile.JointLimits[2].JerkLimit, precision: 3);
     }
 
+    /// <summary>
+    /// 验证 JSON 模型可一次解析后同时生成规划约束视图和运动学几何视图。
+    /// </summary>
+    [Fact]
+    public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
+    {
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
+
+        var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
+
+        Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.Profile.Name);
+        Assert.Equal(modelPath, loaded.Profile.ModelPath);
+        Assert.Equal(6, loaded.Profile.DegreesOfFreedom);
+        Assert.Equal(14.905, loaded.Profile.JointLimits[2].AccelerationLimit, precision: 3);
+        Assert.Equal(62.115, loaded.Profile.JointLimits[2].JerkLimit, precision: 3);
+
+        Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.KinematicsModel.Name);
+        Assert.True(loaded.KinematicsModel.Joints.Count >= loaded.Profile.DegreesOfFreedom);
+        Assert.Contains(loaded.KinematicsModel.Joints, static joint => joint.Name == "Joint3" && joint.CoupleMaster == "Joint2");
+    }
+
     /// <summary>
     /// 验证路径兼容层只从当前服务配置目录解析相对配置，并按平台策略生成默认用户数据目录。
     /// </summary>