✨ 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.Core.Domain/TrajectoryResult.cs

@@ -22,6 +22,7 @@ public sealed class TrajectoryResult
         bool usedCache,
         int originalWaypointCount,
         int plannedWaypointCount,
+        int triggerSampleIndexOffsetCycles = 0,
         IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null)
     {
         if (string.IsNullOrWhiteSpace(programName))
@@ -44,6 +45,11 @@ public sealed class TrajectoryResult
             throw new ArgumentOutOfRangeException(nameof(plannedWaypointCount), "Planned waypoint count must be greater than or equal to the original waypoint count.");
         }
 
+        if (triggerSampleIndexOffsetCycles < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(triggerSampleIndexOffsetCycles), "Trigger sample index offset cycles must be zero or positive.");
+        }
+
         ArgumentNullException.ThrowIfNull(shotEvents);
         ArgumentNullException.ThrowIfNull(triggerTimeline);
         ArgumentNullException.ThrowIfNull(artifacts);
@@ -65,6 +71,7 @@ public sealed class TrajectoryResult
         UsedCache = usedCache;
         OriginalWaypointCount = originalWaypointCount;
         PlannedWaypointCount = plannedWaypointCount;
+        TriggerSampleIndexOffsetCycles = triggerSampleIndexOffsetCycles;
         DenseJointTrajectory = copiedDenseJointTrajectory;
     }
 
@@ -134,6 +141,12 @@ public sealed class TrajectoryResult
     [JsonPropertyName("plannedWaypointCount")]
     public int PlannedWaypointCount { get; }
 
+    /// <summary>
+    /// Gets the configured command-sample offset applied after trigger binding picks the best sample.
+    /// </summary>
+    [JsonPropertyName("triggerSampleIndexOffsetCycles")]
+    public int TriggerSampleIndexOffsetCycles { get; }
+
     /// <summary>
     /// Gets the dense joint trajectory samples where each row is [time, j1, j2, ...].
     /// Null when dense sampling was not performed (e.g. simulation fallback).
@@ -150,7 +163,13 @@ public sealed class TrajectoryDoEvent
     /// <summary>
     /// Initializes a validated runtime trigger event.
     /// </summary>
-    public TrajectoryDoEvent(int waypointIndex, double triggerTime, int offsetCycles, int holdCycles, IoAddressGroup addressGroup)
+    public TrajectoryDoEvent(
+        int waypointIndex,
+        double triggerTime,
+        int offsetCycles,
+        int holdCycles,
+        IoAddressGroup addressGroup,
+        IEnumerable<double>? referenceJointsDegrees = null)
     {
         if (waypointIndex < 0)
         {
@@ -172,6 +191,7 @@ public sealed class TrajectoryDoEvent
         OffsetCycles = offsetCycles;
         HoldCycles = holdCycles;
         AddressGroup = addressGroup ?? throw new ArgumentNullException(nameof(addressGroup));
+        ReferenceJointsDegrees = referenceJointsDegrees?.ToArray();
     }
 
     /// <summary>
@@ -203,6 +223,13 @@ public sealed class TrajectoryDoEvent
     /// </summary>
     [JsonPropertyName("addressGroup")]
     public IoAddressGroup AddressGroup { get; }
+
+    /// <summary>
+    /// Gets the teach waypoint joints converted to degrees.
+    /// This is used to select the closest real send sample inside the trigger time window.
+    /// </summary>
+    [JsonPropertyName("referenceJointsDegrees")]
+    public IReadOnlyList<double>? ReferenceJointsDegrees { get; }
 }
 
 /// <summary>