✨ 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/RuntimeOrchestrationTests.cs

@@ -189,6 +189,7 @@ public sealed class RuntimeOrchestrationTests
             useDo: true,
             ioAddresses: [7, 8],
             ioKeepCycles: 4,
+            triggerSampleIndexOffsetCycles: 7,
             accLimitScale: 1.0,
             jerkLimitScale: 1.0,
             adaptIcspTryNum: 5);
@@ -212,6 +213,7 @@ public sealed class RuntimeOrchestrationTests
             useDo: false,
             ioAddresses: [7, 8],
             ioKeepCycles: 4,
+            triggerSampleIndexOffsetCycles: 7,
             accLimitScale: 1.0,
             jerkLimitScale: 1.0,
             adaptIcspTryNum: 5);
@@ -940,11 +942,14 @@ public sealed class RuntimeOrchestrationTests
             var outputDir = Path.Combine(configRoot, "Data", "demo-flyshot");
             var pointsPath = Path.Combine(outputDir, "ActualSendJointTraj.txt");
             var timingPath = Path.Combine(outputDir, "ActualSendTiming.txt");
+            var shotEventsPath = Path.Combine(outputDir, "ShotEvents.json");
             Assert.True(File.Exists(pointsPath));
             Assert.True(File.Exists(timingPath));
+            Assert.True(File.Exists(shotEventsPath));
 
             var pointRows = File.ReadAllLines(pointsPath).Select(ParseSpaceSeparatedDoubles).ToArray();
             var timingRows = File.ReadAllLines(timingPath).Select(ParseSpaceSeparatedDoubles).ToArray();
+            var shotEventsJson = File.ReadAllText(shotEventsPath);
             var executionDuration = double.Parse(
                 File.ReadLines(Path.Combine(outputDir, "JointDetialTraj.txt")).Last().Split(' ')[0],
                 CultureInfo.InvariantCulture);
@@ -956,6 +961,8 @@ public sealed class RuntimeOrchestrationTests
             Assert.Equal(0.008, pointRows[1][0], precision: 6);
             Assert.Equal(0.004, timingRows[1][2], precision: 6);
             Assert.Equal(0.5, timingRows[1][3], precision: 6);
+            Assert.Contains("\"trigger_window_seconds\": 0.1", shotEventsJson);
+            Assert.Contains("\"selected_sample_index\"", shotEventsJson);
         }
         finally
         {
@@ -1127,6 +1134,7 @@ public sealed class RuntimeOrchestrationTests
             useDo: settings.UseDo,
             ioAddresses: settings.IoAddresses,
             ioKeepCycles: settings.IoKeepCycles,
+            triggerSampleIndexOffsetCycles: settings.TriggerSampleIndexOffsetCycles,
             accLimitScale: settings.AccLimitScale,
             jerkLimitScale: settings.JerkLimitScale,
             adaptIcspTryNum: settings.AdaptIcspTryNum,