✨ 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/FlyshotTrajectoryStore.cs

@@ -193,6 +193,7 @@ public sealed class JsonFlyshotTrajectoryStore
             ["use_do"] = JsonValue.Create(settings.UseDo),
             ["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
             ["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
+            ["trigger_sample_index_offset_cycles"] = JsonValue.Create(settings.TriggerSampleIndexOffsetCycles),
             ["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
             ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
             ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum),