✨ feat(fanuc): 统一 speedRatio 执行倍率语义

* 将 speedRatio 前移到规划/准备阶段，运行时只消费已生成的 8ms 队列
* 区分旧格式规划导出与 ActualSend 实发诊断工件
* 补充普通轨迹、MoveJoint、飞拍队列和严格限幅回归测试

src/Flyshot.Core.Planning/Sampling/FlyshotExecutionSendSequenceBuilder.cs

@@ -3,42 +3,32 @@ using Flyshot.Core.Domain;
 namespace Flyshot.Core.Planning.Sampling;
 
 /// <summary>
-/// 负责在飞拍进入运行时前构建最终 8ms 发送队列，并在必要时自动拉长执行时长直到通过离散限幅校验。
+/// 负责在飞拍进入运行时前构建最终 8ms 发送队列，并执行发送口径的离散限幅校验。
 /// </summary>
 public static class FlyshotExecutionSendSequenceBuilder
 {
     /// <summary>
-    /// 自动拉长时每轮采用的保守倍率缩减系数。
-    /// </summary>
-    private const double StretchFactor = 0.95;
-
-    /// <summary>
-    /// 自动拉长尝试的最大迭代次数。
-    /// </summary>
-    private const int MaxStretchIterations = 16;
-
-    /// <summary>
-    /// 根据规划层稠密轨迹和执行层 speedRatio 构建最终发送队列。
+    /// 根据连续规划轨迹构建最终发送队列；请求 speedRatio 只作为诊断信息保留。
     /// </summary>
     /// <param name="robot">机器人关节限值配置。</param>
+    /// <param name="plannedTrajectory">规划阶段产出的连续轨迹。</param>
     /// <param name="result">规划结果。</param>
     /// <param name="servoPeriodSeconds">J519 物理发送周期，单位为秒。</param>
-    /// <param name="requestedSpeedRatio">请求的执行倍率。</param>
+    /// <param name="requestedSpeedRatio">请求的执行倍率，必须已经在规划阶段折算进轨迹。</param>
+    /// <param name="samplingSpeedRatio">最终队列采样倍率；为空时使用 1.0，表示直接采样已调速后的规划轨迹。</param>
     /// <returns>通过离散校验后的飞拍最终发送结果。</returns>
     public static FlyshotPreparedExecution Build(
         RobotProfile robot,
+        PlannedTrajectory plannedTrajectory,
         TrajectoryResult result,
         double servoPeriodSeconds,
-        double requestedSpeedRatio)
+        double requestedSpeedRatio,
+        double? samplingSpeedRatio = null)
     {
         ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(plannedTrajectory);
         ArgumentNullException.ThrowIfNull(result);
 
-        if (result.DenseJointTrajectory is null)
-        {
-            throw new InvalidOperationException("飞拍执行准备前必须先生成规划层稠密关节轨迹。");
-        }
-
         if (requestedSpeedRatio <= 0.0 || double.IsNaN(requestedSpeedRatio) || double.IsInfinity(requestedSpeedRatio))
         {
             throw new ArgumentOutOfRangeException(nameof(requestedSpeedRatio), "speed_ratio 必须是有限正数。");
@@ -49,48 +39,40 @@ public static class FlyshotExecutionSendSequenceBuilder
             throw new ArgumentOutOfRangeException(nameof(servoPeriodSeconds), "伺服周期必须是有限正数。");
         }
 
-        var effectiveSpeedRatio = requestedSpeedRatio;
-        InvalidOperationException? firstFailure = null;
-
-        for (var iteration = 0; iteration <= MaxStretchIterations; iteration++)
+        var finalSpeedRatio = samplingSpeedRatio ?? 1.0;
+        if (finalSpeedRatio <= 0.0 || double.IsNaN(finalSpeedRatio) || double.IsInfinity(finalSpeedRatio))
         {
-            var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
-                result.DenseJointTrajectory,
-                result.Duration.TotalSeconds,
-                servoPeriodSeconds,
-                effectiveSpeedRatio);
-
-            try
-            {
-                TrajectoryLimitValidator.ValidateJ519SendSamples(
-                    robot,
-                    samples,
-                    trajectoryName: result.ProgramName,
-                    validateJerk: false);
-
-                return BuildPreparedExecution(
-                    result,
-                    samples,
-                    requestedSpeedRatio,
-                    effectiveSpeedRatio,
-                    iteration);
-            }
-            catch (InvalidOperationException exception)
-            {
-                firstFailure ??= exception;
-                if (iteration >= MaxStretchIterations)
-                {
-                    throw new InvalidOperationException(
-                        $"飞拍最终发送队列离散限幅校验失败，已达到最大自动拉长次数 {MaxStretchIterations}。",
-                        firstFailure);
-                }
-
-                // 只在执行侧进一步保守化 trajectoryTime(sendTime) 映射，不回写规划层轨迹。
-                effectiveSpeedRatio *= StretchFactor;
-            }
+            throw new ArgumentOutOfRangeException(nameof(samplingSpeedRatio), "最终队列采样倍率必须是有限正数。");
         }
 
-        throw new InvalidOperationException("飞拍最终发送队列构建失败。", firstFailure);
+        var samples = J519SendTrajectorySampler.SamplePlannedTrajectory(
+            plannedTrajectory,
+            servoPeriodSeconds,
+            finalSpeedRatio);
+
+        try
+        {
+            TrajectoryLimitValidator.ValidateJ519SendSamples(
+                robot,
+                samples,
+                trajectoryName: result.ProgramName,
+                validateJerk: false,
+                strictJerkTolerance: true);
+        }
+        catch (InvalidOperationException exception)
+        {
+            throw new InvalidOperationException(
+                $"飞拍最终发送队列在请求 speed_ratio={requestedSpeedRatio:F6} 下离散限幅校验失败。" +
+                "请降低 planning_speed_scale 或 speed_ratio 后重新规划；执行侧不会在发送阶段临场重采样。",
+                exception);
+        }
+
+        return BuildPreparedExecution(
+            result,
+            samples,
+            requestedSpeedRatio,
+            finalSpeedRatio,
+            stretchIterationCount: 0);
     }
 
     /// <summary>
@@ -122,7 +104,9 @@ public static class FlyshotExecutionSendSequenceBuilder
                     binding.SampleIndex,
                     binding.FoundInWindow))
             .ToArray();
-        var timingRows = samples.Select(J519SendTrajectorySampler.BuildTimingRow).ToArray();
+        var timingRows = samples
+            .Select(sample => J519SendTrajectorySampler.BuildTimingRow(sample, requestedSpeedRatio, stretchIterationCount))
+            .ToArray();
         var jerkRows = BuildJerkRows(samples);
         var finalDurationSeconds = preparedSamples.Length == 0 ? 0.0 : preparedSamples[^1].SendTime;