✨ 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.Planning/Sampling/TriggerSampleBinder.cs

@@ -0,0 +1,134 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 负责把理论触发事件绑定到实际 J519 发送 sample。
+/// 绑定规则为：先在理论触发时间前后固定时间窗内筛候选点，再优先选择关节差最小的 sample。
+/// </summary>
+public static class TriggerSampleBinder
+{
+    /// <summary>
+    /// 当前触发绑定使用的固定近时窗半宽，单位为秒。
+    /// 即：以理论触发时间为中心，在前后各 100ms 的范围内寻找最优 sample。
+    /// </summary>
+    public const double TriggerBindingToleranceSeconds = 0.1;
+
+    /// <summary>
+    /// 把一组触发事件绑定到采样后的 J519 sample。
+    /// </summary>
+    /// <param name="triggers">待绑定的触发事件。</param>
+    /// <param name="samples">J519 实发 sample。</param>
+    /// <param name="sampleIndexOffsetCycles">在最佳绑定 sample 基础上继续向后偏移的命令周期数。</param>
+    /// <returns>按最终 sampleIndex 排序的绑定结果。</returns>
+    public static IReadOnlyList<TriggerSampleBinding> Bind(
+        IReadOnlyList<TrajectoryDoEvent> triggers,
+        IReadOnlyList<J519SendSample> samples,
+        int sampleIndexOffsetCycles = 0)
+    {
+        ArgumentNullException.ThrowIfNull(triggers);
+        ArgumentNullException.ThrowIfNull(samples);
+        if (sampleIndexOffsetCycles < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(sampleIndexOffsetCycles), "触发 sample 偏移周期不能为负数。");
+        }
+
+        var bindings = new List<TriggerSampleBinding>(triggers.Count);
+        if (triggers.Count == 0 || samples.Count == 0)
+        {
+            return bindings;
+        }
+
+        var lastSampleIndex = samples.Count - 1;
+        foreach (var trigger in triggers)
+        {
+            var fallbackIndex = FindClosestTrajectoryTimeSampleIndex(samples, trigger.TriggerTime);
+            var candidateStart = Math.Max(0, fallbackIndex - 1);
+            var candidateEnd = Math.Min(lastSampleIndex, fallbackIndex + 1);
+            var bestIndex = fallbackIndex;
+            var bestScore = double.PositiveInfinity;
+            var foundInWindow = false;
+
+            for (var sampleIndex = candidateStart; sampleIndex <= candidateEnd; sampleIndex++)
+            {
+                var sample = samples[sampleIndex];
+                if (Math.Abs(sample.TrajectoryTime - trigger.TriggerTime) > TriggerBindingToleranceSeconds)
+                {
+                    continue;
+                }
+
+                foundInWindow = true;
+                var score = trigger.ReferenceJointsDegrees is { Count: > 0 }
+                    ? ComputeJointDifferenceScore(trigger.ReferenceJointsDegrees, sample.JointsDegrees)
+                    : Math.Abs(sample.TrajectoryTime - trigger.TriggerTime);
+                if (score < bestScore)
+                {
+                    bestScore = score;
+                    bestIndex = sampleIndex;
+                }
+            }
+
+            var finalIndex = Math.Min(lastSampleIndex, bestIndex + sampleIndexOffsetCycles);
+            bindings.Add(new TriggerSampleBinding(trigger, samples[finalIndex], finalIndex, foundInWindow));
+        }
+
+        return bindings
+            .OrderBy(static binding => binding.SampleIndex)
+            .ThenBy(static binding => binding.Trigger.WaypointIndex)
+            .ToArray();
+    }
+
+    /// <summary>
+    /// 按轨迹时间找到最接近理论触发时刻的 sample。
+    /// </summary>
+    public static int FindClosestTrajectoryTimeSampleIndex(IReadOnlyList<J519SendSample> samples, double triggerTime)
+    {
+        ArgumentNullException.ThrowIfNull(samples);
+
+        var bestIndex = 0;
+        var bestDelta = double.PositiveInfinity;
+        for (var sampleIndex = 0; sampleIndex < samples.Count; sampleIndex++)
+        {
+            var delta = Math.Abs(samples[sampleIndex].TrajectoryTime - triggerTime);
+            if (delta < bestDelta)
+            {
+                bestDelta = delta;
+                bestIndex = sampleIndex;
+            }
+        }
+
+        return bestIndex;
+    }
+
+    /// <summary>
+    /// 计算参考示教点与候选 sample 的关节差评分，使用平方和即可稳定排序。
+    /// </summary>
+    public static double ComputeJointDifferenceScore(
+        IReadOnlyList<double>? referenceJointsDegrees,
+        IReadOnlyList<double> sampleJointsDegrees)
+    {
+        if (referenceJointsDegrees is null || referenceJointsDegrees.Count == 0)
+        {
+            return 0.0;
+        }
+
+        var jointCount = Math.Min(referenceJointsDegrees.Count, sampleJointsDegrees.Count);
+        var score = 0.0;
+        for (var index = 0; index < jointCount; index++)
+        {
+            var delta = sampleJointsDegrees[index] - referenceJointsDegrees[index];
+            score += delta * delta;
+        }
+
+        return score;
+    }
+}
+
+/// <summary>
+/// 表示一个理论触发事件最终绑定到哪个 J519 sample 的结果。
+/// </summary>
+public sealed record TriggerSampleBinding(
+    TrajectoryDoEvent Trigger,
+    J519SendSample Sample,
+    int SampleIndex,
+    bool FoundInWindow);