✨ feat(*): 添加触发样本偏移与实发轨迹分析导出

* 为 RobotConfig 增加 trigger_sample_index_offset_cycles 配置
  * 让 DO 事件携带示教点关节角并按最接近 sample 绑定触发
  * 调整运行时 IO 地址位掩码映射并补充 ShotEvents 导出
  * 新增 2026042802-1 抓包分析脚本、数据产物与结论文档
  * 补齐配置兼容、规划绑定和运行时触发相关测试

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -507,6 +507,18 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
                 _logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
                 ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
             }
+            else
+            {
+                //检验当前机械臂的关节坐标与计划轨迹的第一个点之前的差异,如果差异过大.就不报警,不执行下去
+                var currentJointPositions = _runtime.GetJointPositions();
+                var targetJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[0].Positions;
+                var diff = currentJointPositions.Zip(targetJointPositions, (c, t) => Math.Abs(c - t)).Sum();
+                if (diff > 0.01)
+                {
+                    _logger?.LogWarning("ExecuteTrajectoryByName 当前关节坐标与计划轨迹的第一个点之前的差异过大 name={Name}", name);
+                    return;
+                }
+            }
 
             var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
             _runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
@@ -831,6 +843,7 @@ public sealed class ControllerClientCompatService : IControllerClientCompatServi
             useDo: false,
             ioAddresses: Array.Empty<int>(),
             ioKeepCycles: 2,
+            triggerSampleIndexOffsetCycles: 7,
             accLimitScale: 1.0,
             jerkLimitScale: 1.0,
             adaptIcspTryNum: 5);