✨ 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/FlyshotTrajectoryArtifactWriter.cs

@@ -83,7 +83,6 @@ public sealed class FlyshotTrajectoryArtifactWriter
         TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
         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, robot, bundle.Result, speedRatio);
 
         _logger?.LogInformation(
@@ -133,6 +132,10 @@ public sealed class FlyshotTrajectoryArtifactWriter
         var jointRows = new List<IReadOnlyList<double>>(samples.Count);
         var timingRows = new List<IReadOnlyList<double>>(samples.Count);
         var jerkRows = new List<IReadOnlyList<double>>();
+        var triggerBindings = TriggerSampleBinder.Bind(
+            result.TriggerTimeline,
+            samples,
+            result.TriggerSampleIndexOffsetCycles);
         double? previousSendTime = null;
         double[]? previousJoints = null;
         double[]? previousVelocity = null;
@@ -161,6 +164,7 @@ public sealed class FlyshotTrajectoryArtifactWriter
         WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), jointRows);
         WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), timingRows);
         WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), jerkRows);
+        TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), result.ShotEvents, triggerBindings);
     }
 
     /// <summary>