✨ 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/PlanningCompatibilityTests.cs

@@ -170,6 +170,51 @@ public sealed class PlanningCompatibilityTests
         Assert.Equal(1, doEvent.WaypointIndex);
         Assert.Equal(1, doEvent.OffsetCycles);
         Assert.Equal(2, doEvent.HoldCycles);
+        Assert.NotNull(doEvent.ReferenceJointsDegrees);
+        Assert.Equal(RadiansToDegrees(1.0), doEvent.ReferenceJointsDegrees![0], precision: 6);
+        Assert.Equal(0.0, doEvent.ReferenceJointsDegrees![1], precision: 6);
+    }
+
+    /// <summary>
+    /// 验证时间轴会把示教点关节角保存到 DO 事件里，供运行时在近时窗内做最小关节差绑定。
+    /// </summary>
+    [Fact]
+    public void ShotTimelineBuilder_PopulatesReferenceJointsDegreesForRuntimeBinding()
+    {
+        var robot = CreateRobotProfile([1, 1], [1, 1], [1, 1]);
+        var program = new FlyshotProgram(
+            name: "demo",
+            waypoints:
+            [
+                new JointWaypoint([0.0, 0.0]),
+                new JointWaypoint([Math.PI / 6.0, -Math.PI / 4.0])
+            ],
+            shotFlags: [false, true],
+            offsetValues: [0, 0],
+            addressGroups:
+            [
+                new IoAddressGroup(Array.Empty<int>()),
+                new IoAddressGroup([1])
+            ]);
+
+        var trajectory = new PlannedTrajectory(
+            robot: robot,
+            originalProgram: program,
+            plannedWaypoints: program.Waypoints,
+            waypointTimes: [0.0, 0.5],
+            segmentDurations: [0.5],
+            segmentScales: [1.0],
+            method: PlanningMethod.Icsp,
+            iterations: 1,
+            threshold: 0.0);
+
+        var timeline = new ShotTimelineBuilder(new WaypointTimestampResolver())
+            .Build(trajectory, holdCycles: 1, samplePeriod: TimeSpan.FromMilliseconds(8));
+
+        var trigger = Assert.Single(timeline.TriggerTimeline);
+        Assert.NotNull(trigger.ReferenceJointsDegrees);
+        Assert.Equal(30.0, trigger.ReferenceJointsDegrees![0], precision: 6);
+        Assert.Equal(-45.0, trigger.ReferenceJointsDegrees![1], precision: 6);
     }
 
     /// <summary>
@@ -271,4 +316,9 @@ public sealed class PlanningCompatibilityTests
 
         throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
     }
+
+    private static double RadiansToDegrees(double radians)
+    {
+        return radians * 180.0 / Math.PI;
+    }
 }