✨ 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

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -21,6 +21,7 @@ public sealed class ConfigCompatibilityTests
         Assert.True(loaded.Robot.UseDo);
         Assert.Equal([7, 8], loaded.Robot.IoAddresses);
         Assert.Equal(2, loaded.Robot.IoKeepCycles);
+        Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
         Assert.Equal(1.0, loaded.Robot.AccLimitScale);
         Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
         Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
@@ -70,6 +71,7 @@ public sealed class ConfigCompatibilityTests
             Assert.False(loaded.Robot.UseDo);
             Assert.Empty(loaded.Robot.IoAddresses);
             Assert.Equal(3, loaded.Robot.IoKeepCycles);
+            Assert.Equal(7, loaded.Robot.TriggerSampleIndexOffsetCycles);
             Assert.Equal(0.5, loaded.Robot.AccLimitScale);
             Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
             Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
@@ -123,6 +125,46 @@ public sealed class ConfigCompatibilityTests
         }
     }
 
+    /// <summary>
+    /// 验证 RobotConfig.json 可以显式配置触发绑定后的命令 sample 后移周期数。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsTriggerSampleIndexOffsetCycles()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "trigger_sample_index_offset_cycles": 8,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0
+                  },
+                  "flying_shots": {
+                    "demo": {
+                      "traj_waypoints": [[0, 1], [2, 3], [4, 5], [6, 7]],
+                      "shot_flags": [false, false, false, false]
+                    }
+                  }
+                }
+                """);
+
+            var loaded = new RobotConfigLoader().Load(configPath);
+
+            Assert.Equal(8, loaded.Robot.TriggerSampleIndexOffsetCycles);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
     /// <summary>
     /// 验证 RobotConfig.json 可以关闭飞拍执行前的二次平滑起停时间重映射。
     /// </summary>