✨ feat(fanuc): 打通飞拍轨迹完整执行链路

* 增加 J519 稠密发送采样校验与保姿回发逻辑
* 调整 saveTrajectory 导出与 sequence buffer 行为
* 补充 10010 解析脚本、ICSP 说明和回归测试

.claude/settings.local.json

@@ -0,0 +1,42 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(git commit -m ':*)",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln -v minimal 2>&1')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal 2>&1')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test FlyshotReplacement.sln --no-build -v minimal 2>&1')",
+      "Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal)",
+      "Bash(DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj --no-build -v minimal)",
+      "Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json'\\)\\); json.load\\(open\\('.vscode/tasks.json'\\)\\); print\\('JSON valid.'\\)\")",
+      "Bash(python -c \"import json; json.load\\(open\\('.vscode/launch.json', encoding='utf-8'\\)\\); json.load\\(open\\('.vscode/tasks.json', encoding='utf-8'\\)\\); print\\('JSON valid.'\\)\")",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj -v minimal')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(taskkill /PID 120812 /F)",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build flyshot-replacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build /d/Dev/Codes/rvbust-code/FlyingShotPkg_3.15_VDA/flyshot-replacement/FlyshotReplacement.sln --no-restore -v minimal 2>&1')",
+      "Bash(capinfos \"20260430.pcap\")",
+      "Bash(tshark -r \"20260430.pcap\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e data.len)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.srcport -e udp.length -e data.len)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e ip.dst -e udp.srcport -e udp.dstport -e udp.length -e frame.protocols)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and frame.number==1\" -V)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.dstport!=60015\" -T fields -e frame.number -e frame.time_relative -e ip.dst -e udp.dstport)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e ip.src -e udp.length)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frj519.type -e frj519.seq -e frj519.status -e frj519.j1 -e frj519.j2 -e frj519.j3 -e frj519.j4 -e frj519.j5 -e frj519.j6 -e frj519.j7 -e frj519.j8 -e frj519.j9 -e frj519.timestamp -e frj519.x -e frj519.y -e frj519.z -e frj519.w -e frj519.p -e frj519.r)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -E header=y)",
+      "Bash(tshark -G fields)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"frj519\" -T fields -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" -Y \"udp.port==60015 and udp.srcport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(tshark -r \"20260430.pcap\" --disable-protocol frj519 -Y \"udp.dstport==60015\" -T fields -e frame.number -e frame.time_relative -e data)",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj --no-restore -v minimal 2>&1 | tail -20')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -25')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet build FlyshotReplacement.sln --no-restore -v minimal 2>&1 | tail -15')",
+      "Bash(/bin/bash -lc 'DOTNET_CLI_HOME=/tmp NUGET_PACKAGES=/tmp/nuget-packages dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --no-restore -v minimal 2>&1 | tail -30')"
+    ]
+  }
+}

.gitignore

@@ -396,3 +396,7 @@ FodyWeavers.xsd
 
 # JetBrains Rider
 *.sln.iml
+Config/Data/*
+.dotnet-home/*
+codex-dotnet-home/*
+.dotnet-sdk8/*

.vscode/launch.json

@@ -0,0 +1,67 @@
+{
+    // VS Code 启动与调试配置
+    // 依赖 C# 扩展（OmniSharp 或 C# Dev Kit）提供 coreclr 调试器。
+    // 文档：https://code.visualstudio.com/docs/csharp/debugger-settings
+    "version": "0.2.0",
+    "configurations": [
+        {
+            // 标准调试启动：编译并启动 Host，命中断点，浏览器自动打开首页
+            "name": ".NET Core Launch (Host)",
+            "type": "coreclr",
+            "request": "launch",
+            "program": "dotnet",
+            "args": [
+                "run",
+                "--project",
+                "${workspaceFolder}/src/Flyshot.Server.Host/Flyshot.Server.Host.csproj",
+                "--no-launch-profile"
+            ],
+            "cwd": "${workspaceFolder}",
+            "env": {
+                "ASPNETCORE_ENVIRONMENT": "Development",
+                "ASPNETCORE_URLS": "http://localhost:5190"
+            },
+            "stopAtEntry": false,
+            "console": "internalConsole",
+            "preLaunchTask": "build",
+            "serverReadyAction": {
+                "action": "openExternally",
+                "pattern": "\\bNow listening on:\\s+(https?://\\S+)",
+                "uriFormat": "%s"
+            }
+        },
+        {
+            // 热重载调试启动：自动编译、自动重启、断点保留；迭代 Web / 控制器层时首选
+            "name": ".NET Core Watch (Host)",
+            "type": "coreclr",
+            "request": "launch",
+            "program": "dotnet",
+            "args": [
+                "watch",
+                "run",
+                "--project",
+                "${workspaceFolder}/src/Flyshot.Server.Host/Flyshot.Server.Host.csproj",
+                "--no-launch-profile"
+            ],
+            "cwd": "${workspaceFolder}",
+            "env": {
+                "ASPNETCORE_ENVIRONMENT": "Development",
+                "ASPNETCORE_URLS": "http://localhost:5190"
+            },
+            "stopAtEntry": false,
+            "console": "integratedTerminal",
+            "serverReadyAction": {
+                "action": "openExternally",
+                "pattern": "\\bNow listening on:\\s+(https?://\\S+)",
+                "uriFormat": "%s"
+            }
+        },
+        {
+            // 附加到正在运行的 dotnet 进程（如已手动 `dotnet run` 或 Windows Service 模式）
+            "name": ".NET Core Attach",
+            "type": "coreclr",
+            "request": "attach",
+            "processId": "${command:pickProcess}"
+        }
+    ]
+}

.vscode/tasks.json

@@ -0,0 +1,160 @@
+{
+    // VS Code 任务配置
+    // 文档：https://code.visualstudio.com/docs/editor/tasks
+    "version": "2.0.0",
+    "tasks": [
+        {
+            // 构建整个解决方案，是 launch.json 启动前的默认 preLaunchTask
+            "label": "build",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "build",
+                "${workspaceFolder}/FlyshotReplacement.sln",
+                "/property:GenerateFullPaths=true",
+                "/consoleloggerparameters:NoSummary",
+                "-v",
+                "minimal"
+            ],
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": "$msCompile",
+            "presentation": {
+                "reveal": "silent",
+                "clear": true
+            }
+        },
+        {
+            // 仅构建宿主项目，迭代 Web 层时比整解决方案快
+            "label": "build-host",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "build",
+                "${workspaceFolder}/src/Flyshot.Server.Host/Flyshot.Server.Host.csproj",
+                "/property:GenerateFullPaths=true",
+                "/consoleloggerparameters:NoSummary",
+                "-v",
+                "minimal"
+            ],
+            "group": "build",
+            "problemMatcher": "$msCompile"
+        },
+        {
+            // 还原 NuGet 包，新增引用或克隆后第一次打开时使用
+            "label": "restore",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "restore",
+                "${workspaceFolder}/FlyshotReplacement.sln"
+            ],
+            "problemMatcher": []
+        },
+        {
+            // 清理所有项目的 bin/obj
+            "label": "clean",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "clean",
+                "${workspaceFolder}/FlyshotReplacement.sln"
+            ],
+            "problemMatcher": "$msCompile"
+        },
+        {
+            // 跑全部测试（领域 + 集成）
+            "label": "test",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "test",
+                "${workspaceFolder}/FlyshotReplacement.sln",
+                "--no-restore",
+                "-v",
+                "minimal"
+            ],
+            "group": {
+                "kind": "test",
+                "isDefault": true
+            },
+            "problemMatcher": "$msCompile"
+        },
+        {
+            // 仅跑领域 / 算法层测试，迭代规划逻辑时使用
+            "label": "test-core",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "test",
+                "${workspaceFolder}/tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj",
+                "-v",
+                "minimal"
+            ],
+            "group": "test",
+            "problemMatcher": "$msCompile"
+        },
+        {
+            // 仅跑宿主集成测试，迭代 HTTP / 控制器层时使用
+            "label": "test-integration",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "test",
+                "${workspaceFolder}/tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj",
+                "-v",
+                "minimal"
+            ],
+            "group": "test",
+            "problemMatcher": "$msCompile"
+        },
+        {
+            // 启动宿主，供 launch.json 的 watch 配置作为前置任务
+            "label": "watch",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "watch",
+                "run",
+                "--project",
+                "${workspaceFolder}/src/Flyshot.Server.Host/Flyshot.Server.Host.csproj",
+                "--launch-profile",
+                "http"
+            ],
+            "isBackground": true,
+            "problemMatcher": {
+                "owner": "dotnet-watch",
+                "pattern": [
+                    {
+                        "regexp": "^.*$",
+                        "file": 1,
+                        "location": 2,
+                        "message": 3
+                    }
+                ],
+                "background": {
+                    "activeOnStart": true,
+                    "beginsPattern": "^.*Watch run started.*$",
+                    "endsPattern": "^.*Application started.*$"
+                }
+            }
+        },
+        {
+            // Release 配置发布到 publish/，用于现场部署包打包
+            "label": "publish",
+            "command": "dotnet",
+            "type": "process",
+            "args": [
+                "publish",
+                "${workspaceFolder}/src/Flyshot.Server.Host/Flyshot.Server.Host.csproj",
+                "-c",
+                "Release",
+                "-o",
+                "${workspaceFolder}/publish"
+            ],
+            "problemMatcher": "$msCompile"
+        }
+    ]
+}

AGENTS.md

@@ -8,7 +8,7 @@
 
 - 使用 `C# + .NET 8`
 - 提供跨平台独立服务端
-- 兼容现有 `50001/TCP+JSON` 上层接入语义
+- 以新的 ASP.NET Core HTTP API 作为唯一上层接口
 - 重写轨迹生成、触发时序、FANUC 控制链路和状态监控
 - Windows / Linux 都能运行完整服务端
 - 只支持当前现场这套组合
@@ -18,6 +18,7 @@
 - GUI 桌面程序
 - 多机器人同时控制
 - 面向多控制柜的通用平台化框架
+- 恢复旧 `50001/TCP+JSON` 网关
 
 ## 2. 代码与资料边界
 
@@ -37,7 +38,12 @@
 flyshot-replacement/
   ├─ src/
   │  ├─ Flyshot.Server.Host/
+  │  ├─ Flyshot.ControllerClientCompat/
+  │  ├─ Flyshot.Core.Config/
   │  ├─ Flyshot.Core.Domain/
+  │  ├─ Flyshot.Core.Planning/
+  │  ├─ Flyshot.Core.Triggering/
+  │  ├─ Flyshot.Runtime.Fanuc/
   │  └─ Flyshot.Runtime.Common/
   ├─ tests/
   │  ├─ Flyshot.Server.IntegrationTests/
@@ -64,8 +70,10 @@ flyshot-replacement/
 - `Flyshot.Core.Triggering`
   - `TrajectoryDO` 等价时间轴
   - `shot_flags / offset_values / addr` 解析
-- `Flyshot.LegacyGateway`
-  - `50001/TCP+JSON` 兼容接入
+- `Flyshot.ControllerClientCompat`
+  - HTTP 控制器后端兼容服务
+  - 旧 `ControllerClient` 语义适配
+  - 不启动 `50001/TCP+JSON` 监听
 - `Flyshot.Runtime.Fanuc`
   - `10010 / 10012 / 60015`
 - `Flyshot.Web.Status`
@@ -84,6 +92,7 @@ flyshot-replacement/
 
 ### 4.2 实现约束
 
+- 旧 `ControllerClient` 资料只作为接口语义参考；运行时入口以新 HTTP API 为准，不恢复旧 `50001/TCP+JSON` 网关。
 - 旧协议兼容以“语义兼容”为主，不追求二进制逐字节一致。
 - 轨迹规划必须与底层 Socket / HTTP / Web UI 解耦。
 - 领域层不允许引用 ASP.NET Core、Socket、文件系统 API。
@@ -103,6 +112,15 @@ flyshot-replacement/
 - 所有静态变量都必须提供 XML 注释。
 - 关键代码块必须补充单行注释，说明该段逻辑为什么存在、在做什么，不允许只写空泛注释。
 
+### 4.5 机器人模型字段约定
+
+- 当任务涉及六轴 `velocity / acceleration / jerk` 来源时，默认先查看机器人模型文件中的 `joint.limit`，不要先从抓包、导出轨迹或聊天记录反推。
+- 当前仓库约定：`velocity_eff = velocity_base`，`acceleration_eff = acceleration_base * acc_limit`，`jerk_eff = jerk_base * jerk_limit`。
+- `acc_limit / jerk_limit` 来自运行时 `RobotConfig.json`，它们是全局倍率，不是每轴单独配置。
+- 模型里的 `limit.effort` 目前只能当静态模型字段记录，不能直接当现场真实电流。
+- 如果用户问“电流是不是从这个模型文件提取的”，默认先明确区分：模型里的 `effort` 不等于 J519 反馈里的电机电流。
+- 相关固定表格文档见 `docs/robot-joint-limit-table-20260505.md`。
+
 ## 5. 构建与验证命令
 
 在当前环境中，推荐使用下面两条命令：
@@ -132,9 +150,24 @@ flyshot-replacement/
 - `../analysis/ICSP_algorithm_reverse_analysis.md`
 - `../analysis/CommonMsg_protocol_analysis.md`
 - `../analysis/J519_stream_motion_analysis.md`
+- `../analysis/UTTC_20260428_packet_validation.md`
 - `../analysis/FANUC_realtime_comm_analysis.md`
 - `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
 
+### 6.1 父目录资料引用约定
+
+- 日常开发、测试和 Codex 会话默认从 `flyshot-replacement/` 根目录启动。
+- 当前仓库内的 `@` 引用默认只覆盖本仓库文件，不要假设它能索引父目录资料。
+- 引用父目录资料时，统一直接写明确路径，优先使用相对路径，例如：
+  - `../analysis/ICSP_algorithm_reverse_analysis.md`
+  - `../analysis/ControllerServer_analysis.md`
+  - `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
+- 当路径较长或跨工具复制时，可以使用绝对路径，但在文档和注释中优先保留相对路径写法，便于仓库整体搬迁。
+- 父目录中的 `analysis/`、`FlyingShot/`、`RobotController/`、`RPS/` 默认视为参考资料区，不在这些目录中继续落地新实现。
+- 新实现、测试、兼容层代码、设计文档和运行说明，都应优先写入 `flyshot-replacement/` 内部。
+- 如果父目录资料中的某段结论会长期影响本仓库实现，应在本仓库 `docs/` 中补充归纳说明，并标明来源路径，而不是要求后续开发反复回看聊天记录。
+- 如果需要引用父目录样本文件做测试输入，优先通过只读方式加载；只有在测试需要固化样本且样本已明确收敛时，才复制到本仓库测试数据目录。
+
 ## 7. 任务推进方式
 
 - `README.md` 中的 Todo 需要随着阶段推进同步更新。
@@ -148,3 +181,13 @@ flyshot-replacement/
 - `Flyshot.Server.Host` 已提供最小 `/healthz`。
 - 最小集成测试已通过。
 - 解决方案构建已通过。
+- 新 HTTP API / HTTP-only `ControllerClientCompat` 已覆盖旧 HTTP 控制器后端的主要兼容语义。
+- `Flyshot.Core.Planning` 已落地 `icsp` 与 `self-adapt-icsp`，并已完成旧系统导出轨迹对齐。
+- `Flyshot.Core.Triggering` 已能从 `shot_flags / offset_values / addr` 生成触发时间轴。
+- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码，`10010` 状态帧以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B。
+- `Flyshot.Runtime.Fanuc` 已将 TCP 10010 的 `pose[6]`、`joint[6]`、`external_axes[3]` 和 `raw_tail_words[4]` 映射为明确状态帧字段，并在状态快照中保留尾部状态字诊断信息。
+- `Rvbust/uttc-20260428` 抓包确认 J519 命令目标为关节角 `deg`，而导出 `JointDetialTraj.txt` 为 `rad`；执行链路必须做单位转换。
+- `Rvbust/uttc-20260428` 抓包确认 `speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；本抓包机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`，不要把速度缩放只建模成单个机器人命令。J519 实发周期仍为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，`UTTC_MS11` 的 `464` 行导出轨迹对应 `1322` 个主运行 J519 包。
+- `Rvbust/uttc-20260428` 抓包确认 `UTTC_MS11` 的 17 个 `shot_flags=true` 对应 17 个 UDP IO 脉冲，`io_keep_cycles=2` 对应约两周期清零。
+- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端、速度倍率/TCP/IO 参数命令和 J519 周期发送链路；稠密轨迹下发已按 `speed_ratio` 推进轨迹时间，J519 闭环状态判断与现场联调仍需补齐。
+- `ExecuteTrajectory` / `ExecuteFlyShotTraj` 已接入 `Planning + Triggering + Runtime`，不再只是兼容层内存赋值。

CLAUDE.md

@@ -64,8 +64,10 @@ flyshot-replacement/
 - `Flyshot.Core.Triggering`
   - `TrajectoryDO` 等价时间轴
   - `shot_flags / offset_values / addr` 解析
-- `Flyshot.LegacyGateway`
-  - `50001/TCP+JSON` 兼容接入
+- `Flyshot.ControllerClientCompat`
+  - HTTP 控制器后端兼容服务
+  - 旧 `ControllerClient` 语义适配
+  - 不启动 `50001/TCP+JSON` 监听
 - `Flyshot.Runtime.Fanuc`
   - `10010 / 10012 / 60015`
 - `Flyshot.Web.Status`
@@ -132,6 +134,7 @@ flyshot-replacement/
 - `../analysis/ICSP_algorithm_reverse_analysis.md`
 - `../analysis/CommonMsg_protocol_analysis.md`
 - `../analysis/J519_stream_motion_analysis.md`
+- `../analysis/UTTC_20260428_packet_validation.md`
 - `../analysis/FANUC_realtime_comm_analysis.md`
 - `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
 
@@ -148,3 +151,7 @@ flyshot-replacement/
 - `Flyshot.Server.Host` 已提供最小 `/healthz`。
 - 最小集成测试已通过。
 - 解决方案构建已通过。
+- `10010` 状态帧以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B。
+- `Rvbust/uttc-20260428` 抓包确认 J519 命令目标为关节角 `deg`，而导出 `JointDetialTraj.txt` 为 `rad`；执行链路必须做单位转换。
+- `Rvbust/uttc-20260428` 抓包确认 `speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；本抓包机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`。J519 实发周期仍为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，`UTTC_MS11` 的 `464` 行导出轨迹对应 `1322` 个主运行 J519 包。
+- `Rvbust/uttc-20260428` 抓包确认 `UTTC_MS11` 的 17 个 `shot_flags=true` 对应 17 个 UDP IO 脉冲，`io_keep_cycles=2` 对应约两周期清零。

Config/Models/LR_Mate_200iD_7L.json

@@ -0,0 +1,366 @@
+{
+    "scenes": [
+    {
+        "extras": {
+            "rvbust": {
+                "robotics": {
+                    "bodies": [
+                        {
+                            "active_manipulator_name": "ManipulatorName",
+                            "controller_info": {
+                                "analog_io": {
+                                    "imax": 100,
+                                    "imin": 0,
+                                    "omax": 100,
+                                    "omin": 0
+                                },
+                                "digital_io": {
+                                    "imax": 100,
+                                    "imin": 0,
+                                    "omax": 100,
+                                    "omin": 0
+                                },
+                                "name": "R30iB"
+                            },
+                            "generic_info": {
+                                "boundary_area": {
+                                    "height": 0.8689,
+                                    "length": 0.8194,
+                                    "pose": [
+                                        0.103025,
+                                        0.0,
+                                        0.10445,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "type": 2,
+                                    "width": 0.2349
+                                },
+                                "materials": [
+                                    {
+                                        "color": [
+                                            0.15,
+                                            0.15,
+                                            0.15,
+                                            1.0
+                                        ],
+                                        "name": "FANUC_Black",
+                                        "texture_filename": ""
+                                    },
+                                    {
+                                        "color": [
+                                            1.0,
+                                            1.0,
+                                            1.0,
+                                            1.0
+                                        ],
+                                        "name": "FANUC_Generic",
+                                        "texture_filename": ""
+                                    },
+                                    {
+                                        "color": [
+                                            0.278,
+                                            0.278,
+                                            0.278,
+                                            1.0
+                                        ],
+                                        "name": "FANUC_Grey",
+                                        "texture_filename": ""
+                                    },
+                                    {
+                                        "color": [
+                                            1.0,
+                                            1.0,
+                                            0.0,
+                                            1.0
+                                        ],
+                                        "name": "FANUC_Yellow",
+                                        "texture_filename": ""
+                                    }
+                                ],
+                                "path_to_image": "./LR_Mate_200iD_7L.png"
+                            },
+                            "joints": [
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "child": "Link1",
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 26.9,
+                                        "effort": 0.0,
+                                        "jerk": 224.22,
+                                        "lower": -2.96,
+                                        "upper": 2.96,
+                                        "velocity": 6.45
+                                    },
+                                    "name": "Joint1",
+                                    "origin": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "BaseLink",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0,
+                                        0.0
+                                    ],
+                                    "child": "Link2",
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 22.54,
+                                        "effort": 0.0,
+                                        "jerk": 187.86,
+                                        "lower": -1.74,
+                                        "upper": 2.52,
+                                        "velocity": 5.41
+                                    },
+                                    "name": "Joint2",
+                                    "origin": [
+                                        0.05,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "Link1",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        -1.0,
+                                        0.0
+                                    ],
+                                    "child": "Link3",
+                                    "couple": {
+                                        "kin_lower": -1.22,
+                                        "kin_upper": 3.71,
+                                        "master_joint": "Joint2",
+                                        "multiplier": 1.0,
+                                        "offset": 0.0,
+                                        "poly_boundary": [
+                                            -1.745,
+                                            0.524,
+                                            -1.745,
+                                            4.886,
+                                            -1.132,
+                                            4.832,
+                                            2.53,
+                                            1.1677,
+                                            2.53067,
+                                            -2.02841,
+                                            1.3739,
+                                            -2.574281
+                                        ]
+                                    },
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 29.81,
+                                        "effort": 0.0,
+                                        "jerk": 248.46,
+                                        "lower": -2.59,
+                                        "upper": 4.88,
+                                        "velocity": 7.15
+                                    },
+                                    "name": "Joint3",
+                                    "origin": [
+                                        0.0,
+                                        0.0,
+                                        0.44,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "Link2",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        -1.0,
+                                        0.0,
+                                        0.0
+                                    ],
+                                    "child": "Link4",
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 39.99,
+                                        "effort": 0.0,
+                                        "jerk": 333.3,
+                                        "lower": -3.31,
+                                        "upper": 3.31,
+                                        "velocity": 9.59
+                                    },
+                                    "name": "Joint4",
+                                    "origin": [
+                                        0.0,
+                                        0.0,
+                                        0.035,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "Link3",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        -1.0,
+                                        0.0
+                                    ],
+                                    "child": "Link5",
+                                    "curr_position": -1.5708,
+                                    "home_position": -1.5708,
+                                    "limit": {
+                                        "acceleration": 39.63,
+                                        "effort": 0.0,
+                                        "jerk": 330.27,
+                                        "lower": -2.18,
+                                        "upper": 2.18,
+                                        "velocity": 9.51
+                                    },
+                                    "name": "Joint5",
+                                    "origin": [
+                                        0.42,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "Link4",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        -1.0,
+                                        0.0,
+                                        0.0
+                                    ],
+                                    "child": "Link6",
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 72.72,
+                                        "effort": 0.0,
+                                        "jerk": 606.01,
+                                        "lower": -6.28,
+                                        "upper": 6.28,
+                                        "velocity": 17.45
+                                    },
+                                    "name": "Joint6",
+                                    "origin": [
+                                        0.08,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        1.0
+                                    ],
+                                    "parent": "Link5",
+                                    "type": 2
+                                },
+                                {
+                                    "axis": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.0
+                                    ],
+                                    "child": "EffectorLink",
+                                    "curr_position": 0.0,
+                                    "home_position": 0.0,
+                                    "limit": {
+                                        "acceleration": 0.0,
+                                        "effort": 0.0,
+                                        "jerk": 0.0,
+                                        "lower": 0.0,
+                                        "upper": 0.0,
+                                        "velocity": 0.0
+                                    },
+                                    "name": "JointEffector",
+                                    "origin": [
+                                        0.0,
+                                        0.0,
+                                        0.0,
+                                        0.7071067811865475,
+                                        0.0,
+                                        0.7071067811865475,
+                                        0.0
+                                    ],
+                                    "parent": "Link6",
+                                    "type": 1
+                                }
+                            ],
+                            "name": "FANUC_LR_Mate_200iD_7L",
+                            "other": {
+                                "base_transformation": [
+                                    0.0,
+                                    0.0,
+                                    0.0,
+                                    0.0,
+                                    0.0,
+                                    0.0,
+                                    1.0
+                                ]
+                            },
+                            "robot_generic_info": {
+                                "payload": 7.0,
+                                "reach": 0.911,
+                                "repeat": 0.01,
+                                "vendor": "FANUC",
+                                "weight": 27.0
+                            },
+                            "rvdf_version": "0.1.0"
+                        }
+                    ]
+                }
+            }
+        }
+    }
+    ]
+}

Config/RobotConfig.json

@@ -0,0 +1,303 @@
+{
+  "robot": {
+    "use_do": true,
+    "io_addr": [
+      7,
+      8
+    ],
+    "io_keep_cycles": 2,
+    "acc_limit": 1,
+    "jerk_limit": 1,
+    "adapt_icsp_try_num": 5,
+    "planning_speed_scale": 0.74227,
+    "smooth_start_stop_timing": false
+  },
+  "flying_shots": {
+    "UTTC_MS11": {
+      "traj_waypoints": [
+        [
+          1.056731,
+          0.011664811,
+          -0.017892333,
+          -0.01516874,
+          0.021492079,
+          0.009567846
+        ],
+        [
+          0.8532358,
+          0.03837953,
+          -0.19235304,
+          0.0071595116,
+          0.109054826,
+          0.040055145
+        ],
+        [
+          0.96600056,
+          0.20607172,
+          -0.12233179,
+          -1.2394339,
+          0.10493033,
+          1.2958988
+        ],
+        [
+          0.9618476,
+          0.15288207,
+          -0.14867093,
+          -0.7176314,
+          0.1764264,
+          0.73228663
+        ],
+        [
+          0.76189893,
+          -0.028442925,
+          -0.30919823,
+          0.10463613,
+          0.5615024,
+          -0.39399016
+        ],
+        [
+          1.1271763,
+          0.074403025,
+          -0.27347943,
+          -0.5227772,
+          0.52098846,
+          0.79633313
+        ],
+        [
+          1.0555661,
+          0.4026262,
+          -0.08746306,
+          0.6301835,
+          0.09644133,
+          -0.5463328
+        ],
+        [
+          1.2300354,
+          0.28612664,
+          -0.23486805,
+          -0.4868128,
+          0.25369516,
+          0.55347764
+        ],
+        [
+          1.2144431,
+          -0.29855102,
+          -0.15202847,
+          -1.0205934,
+          0.13317892,
+          1.1246506
+        ],
+        [
+          1.2840607,
+          -0.11222197,
+          -0.16805042,
+          -2.248135,
+          0.2560587,
+          2.4434967
+        ],
+        [
+          1.3189346,
+          -0.25620222,
+          -0.12730704,
+          -2.285038,
+          0.30872014,
+          2.4765089
+        ],
+        [
+          1.502615,
+          -0.25304365,
+          -0.23878741,
+          -1.2194318,
+          0.46674785,
+          1.5533328
+        ],
+        [
+          1.07723,
+          -0.07387611,
+          -0.1707704,
+          -1.8916591,
+          0.38677844,
+          2.061968
+        ],
+        [
+          1.3920237,
+          0.08098731,
+          -0.2672306,
+          -0.9780007,
+          0.4561093,
+          0.9102286
+        ],
+        [
+          1.9016331,
+          0.023924276,
+          -0.58633333,
+          -0.8441697,
+          0.76730615,
+          1.4842151
+        ],
+        [
+          1.9300697,
+          -0.06738541,
+          -0.56542397,
+          -0.892083,
+          0.77194446,
+          1.5293273
+        ],
+        [
+          2.0611632,
+          -0.30327517,
+          -0.54225636,
+          -1.0395275,
+          0.8505439,
+          1.6429617
+        ],
+        [
+          1.0921186,
+          -0.40034482,
+          -0.1803499,
+          1.3524796,
+          0.6210477,
+          -1.2159473
+        ],
+        [
+          1.0521278,
+          -0.40034503,
+          -0.1803492,
+          1.3524843,
+          0.6210471,
+          -1.2159531
+        ],
+        [
+          1.056731,
+          0.011664811,
+          -0.017892333,
+          -0.01516874,
+          0.021492079,
+          0.009567846
+        ]
+      ],
+      "shot_flags": [
+        false,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        true,
+        false,
+        true,
+        false
+      ],
+      "offset_values": [
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0,
+        0
+      ],
+      "addr": [
+        [],
+        [
+          2,
+          4
+        ],
+        [
+          3,
+          4,
+          2
+        ],
+        [
+          3,
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          3,
+          4
+        ],
+        [
+          3,
+          4
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
+        ],
+        []
+      ]
+    }
+  }
+}

FlyshotReplacement.sln

@@ -23,6 +23,10 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Flyshot.Core.Planning", "sr
 EndProject
 Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Flyshot.Core.Triggering", "src\Flyshot.Core.Triggering\Flyshot.Core.Triggering.csproj", "{E4DDC34C-9AB6-4050-A927-3DF69804708A}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Flyshot.ControllerClientCompat", "src\Flyshot.ControllerClientCompat\Flyshot.ControllerClientCompat.csproj", "{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Flyshot.Runtime.Fanuc", "src\Flyshot.Runtime.Fanuc\Flyshot.Runtime.Fanuc.csproj", "{B705FA6C-19CA-44A8-882C-6CE26A5379C9}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -129,6 +133,30 @@ Global
 		{E4DDC34C-9AB6-4050-A927-3DF69804708A}.Release|x64.Build.0 = Release|Any CPU
 		{E4DDC34C-9AB6-4050-A927-3DF69804708A}.Release|x86.ActiveCfg = Release|Any CPU
 		{E4DDC34C-9AB6-4050-A927-3DF69804708A}.Release|x86.Build.0 = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|x64.Build.0 = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Debug|x86.Build.0 = Debug|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|Any CPU.Build.0 = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|x64.ActiveCfg = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|x64.Build.0 = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|x86.ActiveCfg = Release|Any CPU
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3}.Release|x86.Build.0 = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|x64.Build.0 = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Debug|x86.Build.0 = Debug|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|Any CPU.Build.0 = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|x64.ActiveCfg = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|x64.Build.0 = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|x86.ActiveCfg = Release|Any CPU
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -142,5 +170,7 @@ Global
 		{6CC8418D-2A13-4D70-8F94-585CD71F0B74} = {CB517CF5-2EF6-43A8-B335-ABD3A6FCE3BE}
 		{154CA299-80D8-4BE2-B1C9-4BC133FA8B28} = {64EABE09-B1E0-4476-A213-32C93E46E7C3}
 		{E4DDC34C-9AB6-4050-A927-3DF69804708A} = {64EABE09-B1E0-4476-A213-32C93E46E7C3}
+		{5B45CC23-3551-4D0F-B3CC-22659C2A8BA3} = {64EABE09-B1E0-4476-A213-32C93E46E7C3}
+		{B705FA6C-19CA-44A8-882C-6CE26A5379C9} = {64EABE09-B1E0-4476-A213-32C93E46E7C3}
 	EndGlobalSection
 EndGlobal

NLog.config

@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<nlog xmlns="http://www.nlog-project.org/schemas/NLog.xsd"
+      xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+      xsi:schemaLocation="http://www.nlog-project.org/schemas/NLog.xsd NLog.xsd"
+      autoReload="true"
+      throwExceptions="false"
+      internalLogLevel="Off" >
+
+  <!-- 环境变量配置：如果 ASPNETCORE_ENVIRONMENT 为空，则默认为 Production -->
+  <variable name="env" value="${environment:ASPNETCORE_ENVIRONMENT:whenEmpty=Production}"/>
+
+  <!-- 文件目标：按日期分文件，单文件超过 4MB 自动归档，保留最近 50 个归档文件 -->
+  <targets>
+    <target name="logfile" xsi:type="File"
+        fileName="${basedir}/logs/${shortdate}.log"
+        layout="${longdate}|${level:uppercase=true}|${threadid}|${logger}|${message}${onexception:${newline}  ${exception:format=tostring}}"
+        archiveFileName="${basedir}/logs/${shortdate}.{#}.log"
+        archiveAboveSize="4048576"
+        archiveNumbering="Sequence"
+        maxArchiveFiles="50"
+        concurrentWrites="true"
+        keepFileOpen="false"
+        encoding="utf-8" />
+
+    <!-- 控制台目标：开发环境使用，带颜色高亮 -->
+    <target name="logconsole" xsi:type="Console"
+        layout="${longdate}|${level:uppercase=true}|${threadid}|${logger}|${message}${onexception:${newline}  ${exception:format=tostring}}" />
+  </targets>
+
+  <rules>
+    <!-- 压制 ASP.NET Core 的常规信息日志，只保留 Error 及以上级别。 -->
+     <logger name="Microsoft.AspNetCore.*" maxlevel="Warn" final="true" />
+     <logger name="Microsoft.AspNetCore.*" minlevel="Error" writeTo="logconsole,logfile" />
+
+    <!-- 开发环境：显示控制台 + 详细文件，最低 Debug -->
+    <logger name="*" minlevel="Debug" writeTo="logconsole,logfile" condition="equals('${var:env}','Development')" />
+
+    <!-- 生产环境：仅文件，最低 Info -->
+    <logger name="*" minlevel="Info" writeTo="logfile" condition="not_equals('${var:env}','Development')" />
+  </rules>
+</nlog>

README.md

@@ -4,7 +4,7 @@
 
 当前目标：
 
-- 兼容现有 `50001/TCP+JSON` 上层接入语义
+- 以新的 ASP.NET Core HTTP API 作为唯一上层接口
 - 重写轨迹生成、触发时序和 FANUC 实时控制链路
 - 提供 Web 状态监控页面
 - 在 Windows 和 Linux 上运行完整后台服务
@@ -13,12 +13,112 @@
 
 - 这是长期运行的无头后台服务，不是 GUI 桌面程序。
 - 第一版仅面向当前现场组合，后续再扩展机型与控制柜适配。
+- 当前仓库不再恢复旧 `50001/TCP+JSON` 监听入口；旧 `ControllerClient` 逆向资料只作为接口语义参考，不作为运行时目标。
+- 宿主只保留 ASP.NET Core HTTP 控制器层，以及其后端 `Flyshot.ControllerClientCompat` 兼容服务。
+- `ExecuteTrajectory` 与 `ExecuteFlyShotTraj` 已经接入 `Planning + Triggering + Runtime` 链路；Web 状态页已通过 `/status` 和 `/api/status/snapshot` 暴露当前兼容层与运行时状态。
+- `Flyshot.Core.Planning` 的 ICSP / self-adapt-icsp 轨迹已经完成旧系统导出轨迹对齐；`doubles` 仍未实现。
+- `Flyshot.Runtime.Fanuc` 已固化 `10010 / 10012 / 60015` 基础协议帧编解码。`10010` 状态通道以 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 真机抓包确认为 90B 固定帧。
+- 2026-04-28 UTTC 抓包确认：UDP 60015 命令 `target[0..5]` 为关节角度制 `deg`，`JointDetialTraj.txt` 为弧度制 `rad`，`speed_ratio=0.7` 体现为 UDP 下发时间轴约 `1.427730x` 拉伸；2026-04-30 实体机确认 `speed_ratio` 不影响生成的 `JointTraj.txt` 规划时长，当前实际生成约 `7.4s` 轨迹。
+- 2026-04-30 本机 `50001/TCP+JSON` 抓包确认：`ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 请求只显式携带规划方法、保存、缓存和等待参数，不携带 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此旧系统不可见的有效规划限制不再继续假设来自公开链路，新系统按 replacement-only 内部参数限制规划加速度。
+- 真机 Socket 客户端已具备基础连接、程序启停、速度倍率/TCP/IO 参数命令和 J519 状态包驱动发送能力；稠密轨迹下发已按 `speed_ratio` 做执行时间缩放，并已用 0.5/0.7/1.0 三份 UTTC 抓包固化 J519 golden tests。真实 R30iB 全流程现场联调仍需执行。
+- `MoveJoint` 已按 `2026042802-mvpoint*.pcap` 复刻为点到点临时轨迹：当前关节到目标关节的关节空间直线，五次 smoothstep 起停，按 `status=15` 运动窗口复现 `40/55/77` 点，并由 J519 层完成 `rad -> deg` 下发。
+- 单程序只对应一台机器人，上传/删除/恢复飞拍轨迹统一读写运行目录 `Config/RobotConfig.json`，不再创建独立轨迹存储文件。
 
-当前 Todo：
+单位约定总览：
+
+- 规划层、`JointDetialTraj.txt` 和运行时内部关节轨迹，默认按弧度制 `rad` 理解。
+- `UDP 60015` J519 命令 `target[0..5]` 和响应关节反馈按角度制 `deg` 理解；运行时下发前必须显式执行 `rad -> deg` 转换。
+- `TCP 10010` 状态通道是混合单位：`pose[0..2]` 更像 `mm`，`pose[3..5]` 更像 `deg`，`joint_or_ext[0..5]` 当前现场抓包更支持按 `rad` 理解。
+- 不要把“关节角”默认当成统一单位；在规划、状态监控和 J519 执行三条链路之间必须明确标注 `rad/deg`。
+
+当前现场主链路的单位流转可简化为：
+
+| 位置 | 内容 | 当前更可信单位 |
+| --- | --- | --- |
+| 规划输入 / 轨迹算法 | 关节角 | `rad` |
+| `JointDetialTraj.txt` / `JointTraj.txt` | 关节角 | `rad` |
+| 运行时下发前内部轨迹 | 关节角 | `rad` |
+| `UDP 60015` 命令 `target[0..5]` | 关节目标 | `deg` |
+| `UDP 60015` 响应 `Joint` | 关节反馈 | `deg` |
+| `TCP 10010` `pose[0..2]` | `X/Y/Z` | `mm` |
+| `TCP 10010` `pose[3..5]` | 姿态角 | `deg` |
+| `TCP 10010` `joint_or_ext[0..5]` | 关节状态 | 更像 `rad` |
+| `TCP 10010` `joint_or_ext[6..8]` | 扩展轴槽位 | 当前样本为 `0` |
+
+`TCP 10010` 的正式字段表、样例帧和已确认/待确认说明见 `docs/fanuc-10010-state-frame.md`。
+
+开发约定：
+
+- 建议从 `flyshot-replacement/` 根目录启动 IDE、终端和 Codex 会话。
+- 当前仓库内的 `@` 引用主要覆盖本仓库文件；引用父目录资料时，请直接写相对路径，如 `../analysis/ICSP_algorithm_reverse_analysis.md`。
+- 父目录中的 `analysis/`、`FlyingShot/`、`RobotController/`、`RPS/` 主要作为逆向参考资料和样本来源，新实现默认只落地在当前仓库。
+
+当前已完成：
 
 - [x] 初始化独立仓库
 - [x] 创建 `dotnet 8` 解决方案骨架
 - [x] 打通最小宿主与 `/healthz`
 - [x] 建立领域模型与模块边界
 - [x] 落地配置兼容与机器人模型解析
-- [ ] 落地轨迹规划、实时控制和 Web 状态页
+- [x] 落地 ICSP / self-adapt-icsp 轨迹规划与飞拍触发时间轴
+- [x] 完成 ICSP 轨迹导出结果与旧系统对齐
+- [x] 将 `ExecuteTrajectory` / `ExecuteFlyShotTraj` 接入 FANUC 运行时链路
+- [x] 落地 Web 状态页
+- [x] 落地浏览器内 OpenAPI 自动驱动的接口调试页（`/debug`），与 `Swagger:Enabled` 同步可见
+- [x] 固化 `10010 / 10012 / 60015` FANUC 基础协议帧编解码，确认 `10010` 状态帧为 90B
+- [x] 使用本地 TCP/UDP 模拟器覆盖命令通道、状态通道和 J519 基础收发
+- [x] 补齐 `Get/SetSpeedRatio`、`Get/SetTCP`、`Get/SetIO` 真机命令体与响应解析
+- [x] 保留新 HTTP 接口路线，明确不再实现旧 `50001/TCP+JSON` 网关
+- [x] 将飞拍轨迹持久化收敛到运行目录 `Config/RobotConfig.json`
+
+剩余 Todo：
+
+1. 配置与测试基线
+   - [x] 修正 `ConfigCompatibilityTests` 当前样本路径漂移：`Rvbust/EOL10_EAU_0/RobotConfig.json` 不再包含 `001`，应改用稳定样本或更新断言。
+   - [x] 将 `RobotConfig.json` 中的 `use_do`、`io_keep_cycles`、`acc_limit`、`jerk_limit`、`adapt_icsp_try_num` 全部贯通到规划和执行链路。
+   - [x] 将上传飞拍轨迹统一保存到运行目录 `Config/RobotConfig.json` 的 `flying_shots` 节点。
+   - [x] 为新 HTTP API 补一份当前现场调用顺序文档，替代旧 `ControllerClient` 工作流：见 `docs/fanuc-field-runtime-workflow.md`。
+
+2. 轨迹规划
+   - [x] 补齐 ICSP 最终 `global_scale > 1.0` 失败判定，避免未收敛轨迹被当作有效结果执行。
+   - [x] 将 self-adapt-icsp 的补点次数改为使用配置中的 `adapt_icsp_try_num`。
+   - [ ] 新增 replacement-only 的 `planning_acceleration_scale` 规划加速度校准参数，用于复现旧服务端公开链路中抓不到的保守 effective limits；该参数只影响规划结果，不影响运行时 `speed_ratio`。
+   - [ ] 如果现场仍需要 `method="doubles"`，实现 `TrajectoryDoubleS` 等价规划；否则在 HTTP 文档中明确标为不支持。
+   - [ ] 把已完成对齐的旧系统轨迹样本固化为 golden tests，防止后续重构破坏轨迹一致性。
+   - [x] 将 `Rvbust/uttc-20260428/Data/JointDetialTraj.txt` 固化为 J519 golden 样本：输入为 `rad`，下发为 `deg`，并按 `speed_ratio` 拉伸时间轴；覆盖 `2026042802-0.5/0.7/1.pcap`。
+   - [x] 补齐飞拍 `save_traj` / `SaveTrajInfo` 的规划结果导出，将关节关键点、稠密关节轨迹、笛卡尔关键点、稠密笛卡尔轨迹和 ShotEvents 写入 `Config/Data/<name>`。
+
+3. FANUC TCP 10012 命令通道
+   - [x] 补齐 `GetSpeedRatio` / `SetSpeedRatio` 真机命令体与响应解析。
+   - [x] 补齐 `GetTCP` / `SetTCP` 真机命令体与响应解析。
+   - [x] 补齐 `GetIO` / `SetIO` 真机命令体与响应解析。
+   - [x] 所有命令响应必须检查 `result_code`，失败时返回可诊断错误，而不是只更新本地缓存。
+
+4. FANUC TCP 10010 状态通道
+   - [x] 用 `j519 协议.pcap` 和 `Rvbust/uttc-20260428/20260428.pcap` 中的 90B 真机状态帧扩充状态解析测试样本。
+   - [x] 明确 `pose[6]`、`joint_or_ext[9]`、尾部状态字的字段语义，并映射到 `ControllerStateSnapshot`。
+   - [x] 补充 `TCP 10010` 正式字段表与已确认/待确认说明：见 `docs/fanuc-10010-state-frame.md`。
+   - [x] 补充断线清理和异常帧拒绝测试。
+   - [x] 补充状态通道超时和重连策略，超时后标记陈旧状态并按退避策略自动重连。
+
+5. FANUC UDP 60015 J519 运动链路
+   - [x] 重新确认 J519 发送节拍与 `FanucControllerRuntime` 稠密轨迹循环的职责边界：`FanucJ519Client` 收到机器人 UDP status 后按该 status sequence 回发命令，`FanucControllerRuntime` 只按轨迹时间更新下一帧命令内容。
+   - [x] 执行时将规划输出 `rad` 转为 J519 `deg` 目标，并按当前 `speed_ratio` 调整原轨迹采样时间尺度：第 `k` 个 J519 目标的实发时间为 `t_send = k * 0.008`，采样时间为 `t_traj = t_send * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
+   - [x] 补齐 `accept_cmd`、`received_cmd`、`sysrdy`、`rbt_inmotion` 状态位解析与启动前闭环检查；若已有 J519 响应且 `accept_cmd/sysrdy` 未就绪，则拒绝稠密轨迹执行。
+   - [x] 校验序号递增、状态包 sequence 校准、响应滞后、丢包、停止包和最后一帧语义：UTTC golden tests 覆盖连续 seq、无重复 seq、响应滞后 2 到 8 帧、`lastData=0`；J519 客户端测试覆盖收到 status 后按 status sequence 回发命令和 type 2 状态输出停止包。
+   - [x] 将飞拍 IO 触发的 `write_io_type/index/mask/value` 与现场控制柜实际 IO 地址逐项对齐；UTTC golden tests 确认 17 个触发点对应 17 个 UDP IO set 脉冲、17 个 clear 帧，mask 集合为 `10/12/14`。
+   - [x] 将 `MoveJoint` 从单点最终目标改为临时 PTP 稠密轨迹：按 `status=15` 运动窗口统计，speed=1 抓包 40 点，speed=0.7 抓包 55 点，speed=0.5 抓包 77 点，路径为关节空间直线 + smoothstep 进度。
+   - [x] `ExecuteFlyShotTraj(move_to_start=true)` 复用临时 PTP 稠密轨迹移动到规划起点，并等待运行时完成后再启动飞拍轨迹，避免第一帧 J519 目标突变导致控制柜报警。
+   - [x] `ExecuteFlyShotTraj(wait=true)` 等待正式飞拍轨迹执行完成后再返回；HTTP `/execute_flyshot/` 已接入旧抓包中的 `wait` 字段，默认值为 `true`。
+
+6. 真机联调与运行安全
+   - [ ] 在真实 R30iB + `RVBUSTSM` 程序上验证 `Connect -> EnableRobot -> ExecuteFlyShotTraj -> StopMove -> DisableRobot -> Disconnect` 全流程。
+   - [x] 实体机复核运行速度对轨迹生成时间的影响：`speed_ratio` 不影响 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 生成的 `JointTraj.txt` 规划时长，当前实际生成约 `7.4s` 轨迹；运行阶段仅 J519 下发时长和包数按 `speed_ratio` 拉伸，UTTC_MS11 参考值为约 `7.4s` 与 `10.56s`。
+   - [ ] 增加急停、伺服未就绪、程序未启动、网络断开、控制柜拒收命令等故障路径处理。
+   - [ ] 给 HTTP 执行接口增加运行互斥、执行中拒绝重复轨迹、取消和超时控制。
+   - [ ] 增加运行日志、协议摘要日志和状态快照导出，便于现场排查。
+
+7. 发布与部署
+   - [ ] 固化 Windows / Linux 启动脚本和 systemd 服务配置。
+   - [ ] 补充生产配置模板、端口说明和现场部署检查表。
+   - [ ] 给 Web 状态页增加程序状态和最近报警显示；J519 状态位已通过快照和状态页显示。

analysis/calc_jointdetail_acceleration.py

@@ -0,0 +1,461 @@
+#!/usr/bin/env python3
+"""计算 JointDetialTraj 类文件的速度 / 加速度 / 跃度峰值，并与当前生效轴限位对比。
+
+输入格式:
+    time joint1 joint2 ... jointN
+
+本脚本采用的规则:
+1. 将轨迹按离散时间采样点读取，允许时间轴非等间隔。
+2. 自动推断角度单位:
+   - 任一关节绝对值超过 2*pi*1.5，则按 degree 处理
+   - 否则按 radian 处理
+3. 使用后向差分计算导数:
+      v_i = (q_i - q_{i-1}) / dt_i
+      a_i = (v_i - v_{i-1}) / dt_i
+      j_i = (a_i - a_{i-1}) / dt_i
+4. 所有导数量统一换算成 rad 基单位，再与当前生效的机器人限值比较。
+
+当前生效限值来源:
+    .robot limit.velocity
+    .robot limit.acceleration * RobotConfig.robot.acc_limit
+    .robot limit.jerk * RobotConfig.robot.jerk_limit
+"""
+
+from __future__ import annotations
+
+import argparse
+import math
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Iterable
+
+
+AUTO_DEG_THRESHOLD = 2.0 * math.pi * 1.5
+DEFAULT_VELOCITY_LIMITS = [6.45, 5.41, 7.15, 9.59, 9.51, 17.45]
+DEFAULT_ACCELERATION_LIMITS = [26.90, 22.54, 29.81, 39.99, 39.63, 72.72]
+DEFAULT_JERK_LIMITS = [224.22, 187.86, 248.46, 333.30, 330.27, 606.01]
+DEFAULT_JOINT_NAMES = [f"Joint{index}" for index in range(1, 7)]
+
+
+@dataclass(frozen=True)
+class JointLimit:
+    name: str
+    velocity: float
+    acceleration: float
+    jerk: float
+
+
+@dataclass(frozen=True)
+class PeakMetric:
+    joint_name: str
+    axis_index: int
+    window_start: float
+    window_end: float
+    row_number: int
+    metric_native: float
+    metric_rad: float
+    effective_limit_rad: float
+
+    @property
+    def ratio_vs_limit(self) -> float:
+        return abs(self.metric_rad) / self.effective_limit_rad
+
+
+@dataclass(frozen=True)
+class EffectiveLimits:
+    joints: list[JointLimit]
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(
+        description="Calculate velocity / acceleration / jerk peaks from JointDetialTraj.txt and compare with built-in effective robot limits."
+    )
+    parser.add_argument("joint_detail", type=Path, help="Path to JointDetialTraj.txt")
+    parser.add_argument(
+        "--limit-csv",
+        type=Path,
+        default=None,
+        help="Optional CSV file with columns: Joint,Velocity,Acceleration,Jerk . If omitted, use built-in 1/1 effective limits.",
+    )
+    parser.add_argument(
+        "--unit",
+        choices=("auto", "rad", "deg"),
+        default="auto",
+        help="Input joint-angle unit. Default: auto.",
+    )
+    return parser.parse_args()
+
+
+def resolve_path(path: Path) -> Path:
+    return path if path.is_absolute() else (Path.cwd() / path).resolve()
+
+
+def read_joint_rows(path: Path) -> list[list[float]]:
+    rows: list[list[float]] = []
+    for raw_line in path.read_text(encoding="utf-8").splitlines():
+        line = raw_line.strip()
+        if not line:
+            continue
+        rows.append([float(part) for part in line.split()])
+
+    if len(rows) < 4:
+        raise ValueError(f"{path} must contain at least 4 rows to calculate jerk.")
+
+    width = len(rows[0])
+    if width < 3:
+        raise ValueError(f"{path} must contain time + at least 2 joint columns.")
+
+    for index, row in enumerate(rows, start=1):
+        if len(row) != width:
+            raise ValueError(f"{path} line {index} has inconsistent column count.")
+
+    return rows
+
+
+def trim_rows_to_limit_count(rows: list[list[float]], limit_count: int) -> tuple[list[list[float]], str | None]:
+    joint_count = len(rows[0]) - 1
+    if joint_count == limit_count:
+        return rows, None
+
+    if joint_count < limit_count:
+        raise ValueError(f"Joint column count ({joint_count}) is smaller than robot limit count ({limit_count}).")
+
+    trimmed_rows = [row[: limit_count + 1] for row in rows]
+    ignored_joint_count = joint_count - limit_count
+    trim_note = (
+        f"ignored_joint_columns={ignored_joint_count} "
+        f"(using first {limit_count} joints out of {joint_count}; trailing columns treated as external axes/placeholders)"
+    )
+    return trimmed_rows, trim_note
+
+
+def infer_unit(rows: Iterable[list[float]], requested_unit: str) -> str:
+    if requested_unit != "auto":
+        return requested_unit
+
+    max_abs_joint = max(abs(value) for row in rows for value in row[1:])
+    return "deg" if max_abs_joint > AUTO_DEG_THRESHOLD else "rad"
+
+
+def read_limit_csv(path: Path) -> list[JointLimit]:
+    rows = [line.strip() for line in path.read_text(encoding="utf-8").splitlines() if line.strip()]
+    if len(rows) < 2:
+        raise ValueError(f"{path} must contain a header and at least one data row.")
+
+    header = [part.strip().lower() for part in rows[0].split(",")]
+    expected = ["joint", "velocity", "acceleration", "jerk"]
+    if header != expected:
+        raise ValueError(f"{path} header must be: Joint,Velocity,Acceleration,Jerk")
+
+    limits: list[JointLimit] = []
+    for row_index, row in enumerate(rows[1:], start=2):
+        parts = [part.strip() for part in row.split(",")]
+        if len(parts) != 4:
+            raise ValueError(f"{path} line {row_index} must contain 4 columns.")
+        limits.append(
+            JointLimit(
+                name=parts[0],
+                velocity=float(parts[1]),
+                acceleration=float(parts[2]),
+                jerk=float(parts[3]),
+            )
+        )
+    return limits
+
+
+def load_effective_limits(limit_csv_path: Path | None) -> EffectiveLimits:
+    if limit_csv_path is not None:
+        limits = read_limit_csv(resolve_path(limit_csv_path))
+    else:
+        limits = [
+            JointLimit(
+                name=name,
+                velocity=velocity,
+                acceleration=acceleration,
+                jerk=jerk,
+            )
+            for name, velocity, acceleration, jerk in zip(
+                DEFAULT_JOINT_NAMES,
+                DEFAULT_VELOCITY_LIMITS,
+                DEFAULT_ACCELERATION_LIMITS,
+                DEFAULT_JERK_LIMITS,
+                strict=True,
+            )
+        ]
+
+    return EffectiveLimits(joints=limits)
+
+
+def to_radians(value: float, unit: str) -> float:
+    return math.radians(value) if unit == "deg" else value
+
+
+def to_native_from_rad(value: float, unit: str) -> float:
+    return math.degrees(value) if unit == "deg" else value
+
+
+def calculate_velocity_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
+    joint_count = len(rows[0]) - 1
+    if joint_count != len(limits):
+        raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
+
+    peaks: list[PeakMetric | None] = [None] * joint_count
+
+    for row_index in range(1, len(rows)):
+        previous = rows[row_index - 1]
+        current = rows[row_index]
+        dt = current[0] - previous[0]
+        if dt <= 0.0:
+            raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
+
+        for joint_index in range(joint_count):
+            dq_native = current[joint_index + 1] - previous[joint_index + 1]
+            dq_rad = to_radians(dq_native, unit)
+            velocity_rad = dq_rad / dt
+            velocity_native = to_native_from_rad(velocity_rad, unit)
+
+            candidate = PeakMetric(
+                joint_name=limits[joint_index].name,
+                axis_index=joint_index + 1,
+                window_start=previous[0],
+                window_end=current[0],
+                row_number=row_index + 1,
+                metric_native=velocity_native,
+                metric_rad=velocity_rad,
+                effective_limit_rad=limits[joint_index].velocity,
+            )
+
+            current_peak = peaks[joint_index]
+            if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
+                peaks[joint_index] = candidate
+
+    return [peak for peak in peaks if peak is not None]
+
+
+def calculate_acceleration_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
+    joint_count = len(rows[0]) - 1
+    if joint_count != len(limits):
+        raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
+
+    velocities_rad: list[list[float]] = []
+    velocity_windows: list[tuple[float, float, int]] = []
+
+    for row_index in range(1, len(rows)):
+        previous = rows[row_index - 1]
+        current = rows[row_index]
+        dt = current[0] - previous[0]
+        if dt <= 0.0:
+            raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
+
+        velocity_row = []
+        for joint_index in range(joint_count):
+            dq_native = current[joint_index + 1] - previous[joint_index + 1]
+            dq_rad = to_radians(dq_native, unit)
+            velocity_row.append(dq_rad / dt)
+
+        velocities_rad.append(velocity_row)
+        velocity_windows.append((previous[0], current[0], row_index + 1))
+
+    peaks: list[PeakMetric | None] = [None] * joint_count
+
+    for velocity_index in range(1, len(velocities_rad)):
+        dt = velocity_windows[velocity_index][1] - velocity_windows[velocity_index][0]
+        for joint_index in range(joint_count):
+            acceleration_rad = (velocities_rad[velocity_index][joint_index] - velocities_rad[velocity_index - 1][joint_index]) / dt
+            acceleration_native = to_native_from_rad(acceleration_rad, unit)
+
+            candidate = PeakMetric(
+                joint_name=limits[joint_index].name,
+                axis_index=joint_index + 1,
+                window_start=velocity_windows[velocity_index][0],
+                window_end=velocity_windows[velocity_index][1],
+                row_number=velocity_windows[velocity_index][2],
+                metric_native=acceleration_native,
+                metric_rad=acceleration_rad,
+                effective_limit_rad=limits[joint_index].acceleration,
+            )
+
+            current_peak = peaks[joint_index]
+            if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
+                peaks[joint_index] = candidate
+
+    return [peak for peak in peaks if peak is not None]
+
+
+def calculate_jerk_peaks(rows: list[list[float]], unit: str, limits: list[JointLimit]) -> list[PeakMetric]:
+    joint_count = len(rows[0]) - 1
+    if joint_count != len(limits):
+        raise ValueError(f"Joint column count ({joint_count}) does not match robot limit count ({len(limits)}).")
+
+    velocities_rad: list[list[float]] = []
+    velocity_windows: list[tuple[float, float, int]] = []
+    for row_index in range(1, len(rows)):
+        previous = rows[row_index - 1]
+        current = rows[row_index]
+        dt = current[0] - previous[0]
+        if dt <= 0.0:
+            raise ValueError(f"Non-positive dt at line {row_index + 1}: {dt}")
+
+        velocity_row = []
+        for joint_index in range(joint_count):
+            dq_native = current[joint_index + 1] - previous[joint_index + 1]
+            dq_rad = to_radians(dq_native, unit)
+            velocity_row.append(dq_rad / dt)
+
+        velocities_rad.append(velocity_row)
+        velocity_windows.append((previous[0], current[0], row_index + 1))
+
+    accelerations_rad: list[list[float]] = []
+    acceleration_windows: list[tuple[float, float, int]] = []
+    for velocity_index in range(1, len(velocities_rad)):
+        dt = velocity_windows[velocity_index][1] - velocity_windows[velocity_index][0]
+        acceleration_row = []
+        for joint_index in range(joint_count):
+            acceleration_row.append((velocities_rad[velocity_index][joint_index] - velocities_rad[velocity_index - 1][joint_index]) / dt)
+        accelerations_rad.append(acceleration_row)
+        acceleration_windows.append((velocity_windows[velocity_index][0], velocity_windows[velocity_index][1], velocity_windows[velocity_index][2]))
+
+    peaks: list[PeakMetric | None] = [None] * joint_count
+
+    for acceleration_index in range(1, len(accelerations_rad)):
+        dt = acceleration_windows[acceleration_index][1] - acceleration_windows[acceleration_index][0]
+        for joint_index in range(joint_count):
+            jerk_rad = (accelerations_rad[acceleration_index][joint_index] - accelerations_rad[acceleration_index - 1][joint_index]) / dt
+            jerk_native = to_native_from_rad(jerk_rad, unit)
+
+            candidate = PeakMetric(
+                joint_name=limits[joint_index].name,
+                axis_index=joint_index + 1,
+                window_start=acceleration_windows[acceleration_index][0],
+                window_end=acceleration_windows[acceleration_index][1],
+                row_number=acceleration_windows[acceleration_index][2],
+                metric_native=jerk_native,
+                metric_rad=jerk_rad,
+                effective_limit_rad=limits[joint_index].jerk,
+            )
+
+            current_peak = peaks[joint_index]
+            if current_peak is None or abs(candidate.metric_rad) > abs(current_peak.metric_rad):
+                peaks[joint_index] = candidate
+
+    return [peak for peak in peaks if peak is not None]
+
+
+def format_table(peaks: list[PeakMetric], native_unit: str, rad_unit: str, limit_header: str) -> str:
+    lines = [
+        f"{'Joint':<8} {'Window(s)':<20} {'Line':>6} {'Peak(' + native_unit + ')':>18} {'Peak(' + rad_unit + ')':>18} {limit_header:>20} {'Ratio':>10}",
+        "-" * 108,
+    ]
+    for peak in peaks:
+        lines.append(
+            f"{peak.joint_name:<8} "
+            f"{peak.window_start:>7.6f}->{peak.window_end:<10.6f} "
+            f"{peak.row_number:>6} "
+            f"{peak.metric_native:>18.6f} "
+            f"{peak.metric_rad:>18.6f} "
+            f"{peak.effective_limit_rad:>20.6f} "
+            f"{peak.ratio_vs_limit:>10.4f}"
+        )
+    return "\n".join(lines)
+
+
+def print_metric_section(title: str, peaks: list[PeakMetric], unit: str, native_suffix: str, rad_suffix: str, limit_header: str) -> None:
+    print(build_metric_section(title, peaks, unit, native_suffix, rad_suffix, limit_header))
+
+
+def build_metric_section(title: str, peaks: list[PeakMetric], unit: str, native_suffix: str, rad_suffix: str, limit_header: str) -> str:
+    native_unit = f"deg/{native_suffix}" if unit == "deg" else f"rad/{native_suffix}"
+    rad_unit = f"rad/{rad_suffix}"
+    lines = [title, format_table(peaks, native_unit, rad_unit, limit_header)]
+    worst = max(peaks, key=lambda item: item.ratio_vs_limit)
+    metric_key = title.lower().replace(" ", "_")
+    lines.append(
+        f"worst_{metric_key}="
+        f"{worst.joint_name}, window={worst.window_start:.6f}->{worst.window_end:.6f}, "
+        f"peak_rad={worst.metric_rad:.6f}, limit_rad={worst.effective_limit_rad:.6f}, "
+        f"ratio={worst.ratio_vs_limit:.4f}"
+    )
+    return "\n".join(lines)
+
+
+def build_report_text(
+    joint_detail_path: Path,
+    rows: list[list[float]],
+    unit: str,
+    max_abs_joint: float,
+    limit_source_text: str,
+    trim_note: str | None,
+    velocity_peaks: list[PeakMetric],
+    acceleration_peaks: list[PeakMetric],
+    jerk_peaks: list[PeakMetric],
+) -> str:
+    lines = [
+        f"joint_detail={joint_detail_path}",
+        limit_source_text,
+        f"row_count={len(rows)}",
+        f"joint_count={len(rows[0]) - 1}",
+        f"inferred_unit={unit}",
+        f"max_abs_joint_value={max_abs_joint:.6f}",
+    ]
+    if trim_note is not None:
+        lines.append(trim_note)
+    lines.extend(
+        [
+            "",
+            build_metric_section("Velocity Peaks", velocity_peaks, unit, "s", "s", "VelLimit(rad/s)"),
+            "",
+            build_metric_section("Acceleration Peaks", acceleration_peaks, unit, "s^2", "s^2", "AccLimit(rad/s^2)"),
+            "",
+            build_metric_section("Jerk Peaks", jerk_peaks, unit, "s^3", "s^3", "JerkLimit(rad/s^3)"),
+            "",
+        ]
+    )
+    return "\n".join(lines)
+
+
+def main() -> int:
+    args = parse_args()
+    joint_detail_path = resolve_path(args.joint_detail)
+    rows = read_joint_rows(joint_detail_path)
+    limits_info = load_effective_limits(args.limit_csv)
+    rows, trim_note = trim_rows_to_limit_count(rows, len(limits_info.joints))
+    unit = infer_unit(rows, args.unit)
+
+    velocity_peaks = calculate_velocity_peaks(rows, unit, limits_info.joints)
+    acceleration_peaks = calculate_acceleration_peaks(rows, unit, limits_info.joints)
+    jerk_peaks = calculate_jerk_peaks(rows, unit, limits_info.joints)
+
+    max_abs_joint = max(abs(value) for row in rows for value in row[1:])
+
+    if args.limit_csv is None:
+        limit_source_text = "limit_source=built-in fixed effective limits (acc_limit=1, jerk_limit=1)"
+    else:
+        limit_source_text = f"limit_source_csv={resolve_path(args.limit_csv)}"
+
+    report_text = build_report_text(
+        joint_detail_path=joint_detail_path,
+        rows=rows,
+        unit=unit,
+        max_abs_joint=max_abs_joint,
+        limit_source_text=limit_source_text,
+        trim_note=trim_note,
+        velocity_peaks=velocity_peaks,
+        acceleration_peaks=acceleration_peaks,
+        jerk_peaks=jerk_peaks,
+    )
+
+    print(report_text, end="")
+
+    output_path = joint_detail_path.with_suffix(".analysis.txt")
+    try:
+        output_path.write_text(report_text, encoding="utf-8")
+        print(f"saved_report={output_path}")
+    except PermissionError as error:
+        print(f"save_report_failed={output_path}")
+        print(f"save_report_error={error}")
+
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())

analysis/fanuc_10010_dissector.lua

@@ -0,0 +1,199 @@
+local plugin_info = {
+    version = "1.1.0",
+    author = "OpenAI Codex",
+    description = "FANUC TCP 10010 状态帧解析器",
+}
+
+set_plugin_info(plugin_info)
+
+local fanuc10010_proto = Proto("fanuc10010_state_frame", "FANUC 10010 State Frame")
+
+local FRAME_LENGTH = 90
+local HEADER_LENGTH = 3
+local TRAILER_LENGTH = 3
+local LENGTH_OFFSET = 3
+local MESSAGE_ID_OFFSET = 7
+local POSE_OFFSET = 11
+local POSE_COUNT = 6
+local JOINT_OFFSET = 35
+local JOINT_COUNT = 9
+local TAIL_OFFSET = 71
+local TAIL_COUNT = 4
+
+local POSE_NAMES = { "X", "Y", "Z", "W", "P", "R" }
+local JOINT_NAMES = { "J1", "J2", "J3", "J4", "J5", "J6", "Ext1", "Ext2", "Ext3" }
+local HEADER_MAGIC = "doz"
+local TRAILER_MAGIC = "zod"
+
+local fields = {
+    frame = ProtoField.bytes("fanuc10010.frame", "原始状态帧"),
+    header = ProtoField.string("fanuc10010.header", "帧头 Magic"),
+    declared_length = ProtoField.uint32("fanuc10010.length", "声明长度", base.DEC),
+    message_id = ProtoField.uint32("fanuc10010.message_id", "消息号", base.DEC),
+    pose = ProtoField.none("fanuc10010.pose", "笛卡尔位姿"),
+    joints = ProtoField.none("fanuc10010.joints", "关节与扩展轴"),
+    joint_degrees = ProtoField.none("fanuc10010.joint_degrees", "Joint Degrees"),
+    tail = ProtoField.none("fanuc10010.tail", "尾部状态字"),
+    trailer = ProtoField.string("fanuc10010.trailer", "帧尾 Magic"),
+    expert_bad_length = ProtoField.string("fanuc10010.expert.bad_length", "长度异常"),
+    expert_bad_magic = ProtoField.string("fanuc10010.expert.bad_magic", "Magic 异常"),
+}
+
+for index = 1, POSE_COUNT do
+    fields["pose_" .. index] = ProtoField.float(
+        "fanuc10010.pose_" .. index,
+        "Pose " .. POSE_NAMES[index])
+end
+
+for index = 1, JOINT_COUNT do
+    fields["joint_" .. index] = ProtoField.float(
+        "fanuc10010.joint_" .. index,
+        JOINT_NAMES[index] .. " (raw)")
+end
+
+for index = 1, 6 do
+    fields["joint_deg_" .. index] = ProtoField.float(
+        "fanuc10010.joint_deg_" .. index,
+        JOINT_NAMES[index] .. " (deg)")
+end
+
+for index = 1, TAIL_COUNT do
+    fields["tail_" .. index] = ProtoField.uint32(
+        "fanuc10010.tail_" .. index,
+        "Tail[" .. (index - 1) .. "]",
+        base.DEC)
+end
+
+fanuc10010_proto.fields = fields
+
+local function read_f32_be(tvb, offset)
+    return tvb(offset, 4):tvb():range(0, 4):float()
+end
+
+local function read_u32_be(tvb, offset)
+    return tvb(offset, 4):uint()
+end
+
+local function read_ascii(tvb, offset, length)
+    return tvb(offset, length):string()
+end
+
+local function radians_to_degrees(value)
+    return value * 180.0 / math.pi
+end
+
+local function add_error(subtree, range, field, message)
+    local item = subtree:add(field, range, message)
+    item:add_expert_info(PI_MALFORMED, PI_ERROR, message)
+end
+
+local function dissect_single_frame(tvb, pinfo, tree, frame_offset)
+    local remaining = tvb:len() - frame_offset
+    local candidate_length = math.min(remaining, FRAME_LENGTH)
+    local frame_range = tvb(frame_offset, candidate_length)
+    local subtree = tree:add(fanuc10010_proto, frame_range, "FANUC 10010 状态帧")
+    subtree:add(fields.frame, frame_range)
+
+    if remaining < FRAME_LENGTH then
+        add_error(subtree, frame_range, fields.expert_bad_length, "剩余字节不足 90B，无法组成完整状态帧")
+        return remaining
+    end
+
+    local header = read_ascii(tvb, frame_offset, HEADER_LENGTH)
+    local declared_length = read_u32_be(tvb, frame_offset + LENGTH_OFFSET)
+    local message_id = read_u32_be(tvb, frame_offset + MESSAGE_ID_OFFSET)
+    local trailer = read_ascii(tvb, frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH)
+
+    subtree:add(fields.header, tvb(frame_offset, HEADER_LENGTH), header)
+    subtree:add(fields.declared_length, tvb(frame_offset + LENGTH_OFFSET, 4), declared_length)
+    subtree:add(fields.message_id, tvb(frame_offset + MESSAGE_ID_OFFSET, 4), message_id)
+
+    local pose_tree = subtree:add(fields.pose, tvb(frame_offset + POSE_OFFSET, POSE_COUNT * 4))
+    local pose_values = {}
+    for index = 1, POSE_COUNT do
+        local field_offset = frame_offset + POSE_OFFSET + ((index - 1) * 4)
+        local value = read_f32_be(tvb, field_offset)
+        pose_values[index] = value
+        pose_tree:add(fields["pose_" .. index], tvb(field_offset, 4), value)
+    end
+
+    local joint_tree = subtree:add(fields.joints, tvb(frame_offset + JOINT_OFFSET, JOINT_COUNT * 4))
+    local joint_values = {}
+    for index = 1, JOINT_COUNT do
+        local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
+        local value = read_f32_be(tvb, field_offset)
+        joint_values[index] = value
+        joint_tree:add(fields["joint_" .. index], tvb(field_offset, 4), value)
+    end
+
+    -- 单独保留一组角度显示，便于对照原始关节弧度值。
+    local joint_degree_tree = subtree:add(fields.joint_degrees, tvb(frame_offset + JOINT_OFFSET, 6 * 4))
+    for index = 1, 6 do
+        local field_offset = frame_offset + JOINT_OFFSET + ((index - 1) * 4)
+        joint_degree_tree:add(
+            fields["joint_deg_" .. index],
+            tvb(field_offset, 4),
+            radians_to_degrees(joint_values[index]))
+    end
+
+    local tail_tree = subtree:add(fields.tail, tvb(frame_offset + TAIL_OFFSET, TAIL_COUNT * 4))
+    local tail_values = {}
+    for index = 1, TAIL_COUNT do
+        local field_offset = frame_offset + TAIL_OFFSET + ((index - 1) * 4)
+        local value = read_u32_be(tvb, field_offset)
+        tail_values[index] = value
+        tail_tree:add(fields["tail_" .. index], tvb(field_offset, 4), value)
+    end
+
+    subtree:add(fields.trailer, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), trailer)
+
+    if header ~= HEADER_MAGIC then
+        add_error(subtree, tvb(frame_offset, HEADER_LENGTH), fields.expert_bad_magic, "帧头不是 doz")
+    end
+
+    if trailer ~= TRAILER_MAGIC then
+        add_error(subtree, tvb(frame_offset + FRAME_LENGTH - TRAILER_LENGTH, TRAILER_LENGTH), fields.expert_bad_magic, "帧尾不是 zod")
+    end
+
+    if declared_length ~= FRAME_LENGTH then
+        add_error(subtree, tvb(frame_offset + LENGTH_OFFSET, 4), fields.expert_bad_length, "长度字段不是 90")
+    end
+
+    local summary = string.format(
+        "MsgId=%u X=%.3f Y=%.3f Z=%.3f J1=%.6f rad / %.3f deg J2=%.6f rad / %.3f deg Tail=[%u,%u,%u,%u]",
+        message_id,
+        pose_values[1], pose_values[2], pose_values[3],
+        joint_values[1], radians_to_degrees(joint_values[1]),
+        joint_values[2], radians_to_degrees(joint_values[2]),
+        tail_values[1], tail_values[2], tail_values[3], tail_values[4])
+
+    subtree:set_text("FANUC 10010 状态帧, " .. summary)
+    pinfo.cols.info:append(" | " .. summary)
+
+    return FRAME_LENGTH
+end
+
+function fanuc10010_proto.dissector(tvb, pinfo, tree)
+    if tvb:len() == 0 then
+        return 0
+    end
+
+    pinfo.cols.protocol = "FANUC10010"
+
+    local offset = 0
+    while offset < tvb:len() do
+        local consumed = dissect_single_frame(tvb, pinfo, tree, offset)
+        if consumed <= 0 then
+            break
+        end
+
+        offset = offset + consumed
+        if consumed < FRAME_LENGTH then
+            break
+        end
+    end
+
+    return tvb:len()
+end
+
+DissectorTable.get("tcp.port"):add(10010, fanuc10010_proto)

analysis/segment_02_acc_jerk_summary.csv

@@ -0,0 +1,7 @@
+Axis,AccPeakRadPerS2,AccLimitRadPerS2,AccRatio,AccWindowStartS,AccWindowEndS,AccLine,JerkPeakRadPerS3,JerkLimitRadPerS3,JerkRatio,JerkWindowStartS,JerkWindowEndS,JerkLine
+Joint1,16.638678,26.900000,0.618538,0.128012,0.135939,18,902.687973,224.220000,4.025903,6.312082,6.320127,791
+Joint2,14.521836,22.540000,0.644270,3.088013,3.096086,388,888.335197,187.860000,4.728709,2.904052,2.912069,365
+Joint3,14.267221,29.810000,0.478605,0.128012,0.135939,18,728.505873,248.460000,2.932085,0.135939,0.143989,19
+Joint4,-34.694506,39.990000,0.867580,6.832125,6.840105,856,-2222.596524,333.300000,6.668456,6.312082,6.320127,791
+Joint5,-16.329775,39.630000,0.412056,6.840105,6.848111,857,842.738923,330.270000,2.551667,6.936077,6.944096,869
+Joint6,34.766065,72.720000,0.478081,1.392021,1.399995,176,2678.050822,606.010000,4.419153,6.312082,6.320127,791

docs/controller-client-api-compatibility-requirements.md

@@ -0,0 +1,143 @@
+# ControllerClient API 兼容逆向约束
+
+> 记录时间：2026-04-24
+> 适用仓库：`flyshot-replacement`
+> 当前阶段：已落地 HTTP-only `ControllerClientCompat` 服务，并已将轨迹执行接入规划、触发时间轴和最小运行时骨架；不实现 `50001/TCP+JSON` 监听
+
+## 1. 当前目标
+
+本轮目标不是直接实现 `50001/TCP+JSON` 兼容网关，而是先把旧 `ControllerClient` 暴露的公开 API 做成可执行的逆向合同。
+
+本轮交付物固定为两份文档：
+
+- `docs/controller-client-api-compatibility-requirements.md`
+- `docs/controller-client-api-reverse-engineering.md`
+
+后续继续扩展 `Flyshot.ControllerClientCompat` 的方法覆盖、兼容测试矩阵或真实控制器联动时，必须以这两份文档为准，不再重新口头约定接口语义。
+
+## 2. 范围边界
+
+本轮只覆盖 `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h` 中的 32 个公开方法。
+
+分组如下：
+
+- 传输与版本：`ConnectServer`、`GetServerVersion`、`GetClientVersion`
+- 机器人初始化：`SetUpRobot`、`SetUpRobotFromEnv`、`IsSetUp`、`SetShowTCP`、`GetName`、`GetDoF`
+- 控制器状态：`SetActiveController`、`Connect`、`Disconnect`、`EnableRobot`、`DisableRobot`、`StopMove`
+- 参数与 IO：`GetSpeedRatio`、`SetSpeedRatio`、`GetTCP`、`SetTCP`、`GetIO`、`SetIO`
+- 运动与求解：`GetJointPosition`、`GetPose`、`GetNearestIK`、`MoveJoint`、`ExecuteTrajectory`
+- 飞拍轨迹：`UploadFlyShotTraj`、`DeleteFlyShotTraj`、`ListFlyShotTraj`、`ExecuteFlyShotTraj`、`SaveTrajInfo`、`IsFlyShotTrajValid`
+
+明确不在本轮范围内：
+
+- `ControllerServer` 内部所有未公开 `_Xxx` 方法的完整实现复原
+- `50001` 网关代码、TCP server、JSON parser、命令路由实现
+- 真机 `10010 / 10012 / 60015` 联调
+- 抓包、hook、反汇编级协议完全坐实
+- 把当前 replacement 仓库的实现约束误写成旧系统事实
+
+## 3. 证据源优先级
+
+逆向结论必须按以下优先级交叉确认：
+
+1. `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h`
+2. `../FlyingShot/FlyingShot/Example/UseControllerClient.cpp`
+3. `../FlyingShot/FlyingShot/Example/UseControllerClient.py`
+4. `../FlyingShot/FlyingShot/Example/UseRealRobot.py`
+5. `../FlyingShot/FlyingShot/Docs/用户手册/FANUC飞拍软件及SDK用户手册.md`
+6. `../analysis/ControllerServer_analysis.md`
+7. `../analysis/CommonMsg_protocol_analysis.md`
+8. `../analysis/Trajectory_generation_algorithm_analysis.md`
+9. `../FlyingShot/FlyingShot/Lib/libControllerClient.so` 与 `../FlyingShot/FlyingShot/Python/ControllerServer/ControllerServer.cpython-37m-x86_64-linux-gnu.so` 的字符串证据
+
+使用规则：
+
+- 头文件负责定义“公开合同”：方法名、参数名、默认值、返回类型。
+- 示例和手册负责定义“典型调用方式”：调用顺序、Python 包装形态、用户侧常见用法。
+- 逆向分析文档和二进制字符串负责定义“服务端映射”和“协议线索”：`_Xxx` 方法名、错误文本、命令名、部分字段顺序。
+- 不能从当前 replacement 仓库的未来设计反推旧系统事实。
+
+## 4. 文档填写规则
+
+主归档文档 `docs/controller-client-api-reverse-engineering.md` 对每个 API 必须固定填写以下项目：
+
+- C++ 公开签名
+- Python 包装形态
+- 服务端归属
+- 协议 / 命令线索
+- 返回值与默认值
+- 典型工作流位置
+- 证据来源
+- 置信度
+- 待确认点
+
+填写约束：
+
+- 只要精确 JSON 包结构还未恢复，就明确写成“命令名已知，JSON envelope 未恢复”。
+- 只要 Python 失败路径没有样例，就不能假装已经确认失败时的返回形态。
+- `GetServerVersion` 这类没有显式 `_GetServerVersion` 的接口，必须标成“协议分发层行为”，不能伪造一个服务端实现名。
+- `ConnectServer` 与 `GetClientVersion` 必须明确标成客户端侧行为，不写进服务端命令表。
+- 对 `GetJointPosition -> _GetJointPositions` 这种命名不一致，要单独注明。
+- 当同一结论同时来自头文件、示例和字符串时，置信度可标为“高”；只有示例间接体现时，最多“中”。
+
+## 5. 验收条件
+
+本轮逆向归档完成时，至少满足：
+
+- 32 个公开方法全部覆盖，且每个方法只出现一次
+- 29 个服务端相关 API 有明确映射或明确写成协议分发层行为
+- `ConnectServer`、`GetClientVersion` 两个客户端侧行为被明确排除在服务端命令表外
+- 四条工作流附录完整：
+  - 初始化工作流
+  - 控制器状态工作流
+  - 普通轨迹工作流
+  - 飞拍轨迹工作流
+- 已知高置信协议字段至少记录：
+  - `GetSpeedRatio`
+  - `SetSpeedRatio`
+  - `GetIO`
+  - `SetIO`
+- 仍未恢复的部分必须进入“待确认问题”清单，不能被静默略过
+
+## 6. 当前已确认摘要
+
+当前已确认的高价值结论如下：
+
+- `ControllerClient.h` 中共有 32 个公开方法。
+- 其中 29 个方法可与 `ControllerServer` 的公开 `_Xxx` 方法一一对齐。
+- `GetServerVersion` 能看到明确字符串证据，但未恢复到显式 `_GetServerVersion` 实现，更接近 `_ClientCB` / `_IsJsonValid` 所在的协议分发层。
+- `ConnectServer` 是客户端建立到 `127.0.0.1:50001` 的传输层动作。
+- `GetClientVersion` 更像客户端库自身版本查询，不进入服务端命令表。
+- `GetSpeedRatio` / `SetSpeedRatio`、`GetIO` / `SetIO` 已有较高置信度的底层字段顺序与 `MsgID` 证据。
+- `UploadFlyShotTraj`、`ListFlyShotTraj` 存在额外字符串线索：
+  - `StartUploadFlyShotTraj`
+  - `EndUploadFlyShotTraj`
+  - `GetNextListFlyShotTraj`
+- `ExecuteFlyShotTraj`、`IsFlyShotTrajValid`、`SaveTrajInfo` 在工作流上有清晰分工，不能混成一个“执行轨迹”接口。
+
+## 7. 下轮实现约束
+
+当前 HTTP-only 兼容层已经可以承接公开 API 的主要服务端语义，并且 `ExecuteTrajectory` / `ExecuteFlyShotTraj` 已经进入 replacement 自身的规划与运行时链路。后续扩展必须遵守：
+
+- 先以逆向合同建命令表，再写 `TCP + JSON` 入口
+- 先做兼容测试矩阵，再补最小命令桩
+- 区分“旧系统事实”和“replacement 当前策略”
+- 真机未接通前，允许实现层返回稳定错误或模拟状态，但不能反过来污染逆向文档
+- `50001/TCP+JSON` 抓包已经覆盖 `SetSpeedRatio` 与 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)`，请求中没有显式 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk` 字段；因此规划限制的补齐必须作为 replacement-only 策略记录，不能写成旧公开 API 合同。
+
+## 8. 当前 replacement 实现状态
+
+以下内容是当前新实现的状态，不反推为旧系统事实：
+
+- `Flyshot.ControllerClientCompat` 继续作为 HTTP 控制器后端兼容服务，不启动 `50001/TCP+JSON` 监听。
+- `ExecuteTrajectory` 会先通过 `ICspPlanner` 规划普通轨迹，再把 `TrajectoryResult` 和最终关节位置交给 `IControllerRuntime`。
+- `ExecuteFlyShotTraj` 会从上传轨迹目录取出轨迹，通过 `SelfAdaptIcspPlanner` 规划并用 `ShotTimelineBuilder` 生成 `ShotEvent` / `TrajectoryDoEvent`。
+- HTTP 控制器已经按公开文档和抓包补齐 `ExecuteTrajectory(method, save_traj)` 与 `ExecuteFlyShotTraj(move_to_start, method, save_traj, use_cache, wait)` 参数，并继续兼容旧的裸 waypoint 数组和只传 `name` 的请求体。
+- 规划阶段会继续消费旧配置中的 `acc_limit / jerk_limit`。如果现场需要复现旧服务端不可见的保守约束，replacement 设计上使用内部 `planning_acceleration_scale` 限制规划加速度；该字段不属于旧 `ControllerClient` 公开 API，也不会通过 `50001` JSON 下发。
+- `method="icsp"` 与 `method="self-adapt-icsp"` 已接入当前规划器；`method="doubles"` 会被识别但返回显式未实现，不会静默降级成 ICSP。
+- `Flyshot.Runtime.Fanuc.Protocol` 已经固化 `10010` 状态帧、`10012` 命令帧和 `60015` J519 数据包的基础编解码，并使用逆向抓包样本覆盖最小测试；`10010` 当前现场确认固定 90B。
+- `Flyshot.Runtime.Fanuc` 已具备基础 Socket 客户端、程序启停、速度倍率/TCP/IO 参数命令和 J519 状态包驱动发送链路；稠密轨迹下发已按 `speed_ratio` 推进轨迹时间，并在收到机器人 UDP status 后按该 status sequence 回发命令。真实 R30iB 全流程现场联调仍需执行。
+- 2026-04-28 `UTTC_MS11` 抓包确认 J519 命令目标为 `deg`、导出 `JointDetialTraj.txt` 为 `rad`，`speed_ratio=0.5/0.7/1.0` 分别形成 `1851/1322/926` 个主运行 J519 包；实际执行不发送 464 行导出点，而是在 8ms 实发周期上按 `t_traj = t_send * speed_ratio` 采样，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
+- 宿主已经提供只读 Web 状态页 `/status` 和状态快照 API `/api/status/snapshot`，用于查看兼容层初始化、机器人元数据和运行时快照。
+- `MoveJoint` 仍保持旧兼容语义中的直接运动接口，但状态写入已经统一经过运行时，而不是由兼容服务自己维护关节数组。
+- `GetNearestIK`、`SetUpRobotFromEnv` 当前已经暴露完整参数形状，但后端求解器 / 环境文件解析仍返回显式未实现。

docs/controller-client-api-reverse-engineering.md

@@ -0,0 +1,562 @@
+# ControllerClient API 全量逆向归档
+
+> 记录时间：2026-04-24
+> 适用仓库：`flyshot-replacement`
+> 目标：为后续 `50001/TCP+JSON` 兼容网关实现提供只读合同
+
+## 1. 总览
+
+本次归档覆盖 `../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h` 中全部 32 个公开方法。
+
+当前分类结果：
+
+- 29 个 API 可与 `ControllerServer` 公开 `_Xxx` 方法一一映射
+- 1 个 API 属于协议分发层行为：`GetServerVersion`
+- 2 个 API 属于客户端侧行为：`ConnectServer`、`GetClientVersion`
+
+本文档中的“协议 / 命令线索”有两个层次：
+
+- 命令名：已从头文件、字符串或逆向文档坐实，例如 `SetUpRobot`、`GetIO`
+- JSON envelope：请求 JSON 的精确键名、必填规则、整体结构；当前大多仍未完全恢复
+
+因此，除 `GetSpeedRatio` / `SetSpeedRatio` / `GetIO` / `SetIO` 等已在命令通道层坐实字段顺序的接口外，其余接口默认只写“命令名已知，精确 JSON 包结构待确认”。
+
+置信度定义：
+
+- 高：头文件 + 示例/手册 + 字符串/逆向文档三方交叉确认
+- 中：头文件 + 示例，或头文件 + 字符串，缺少第三方交叉
+- 低：仅有间接线索，未达到本轮归档主结论标准
+
+## 2. 传输与版本
+
+### `ConnectServer`
+
+- C++ 公开签名：`bool ConnectServer(const std::string &server_ip = "127.0.0.1", unsigned port = 50001);`
+- Python 包装形态：`c.ConnectServer(server_ip="127.0.0.1", port=50001) -> bool`
+- 服务端归属：客户端传输层行为，不进入 `ControllerServer._Xxx` 命令表
+- 协议 / 命令线索：建立到 `127.0.0.1:50001` 的 TCP 连接；JSON 负载只发生在连接建立之后
+- 返回值与默认值：默认 `server_ip="127.0.0.1"`、`port=50001`；成功返回 `true`
+- 典型工作流位置：所有远程 API 的前置步骤
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`UseRealRobot.py`
+- 置信度：高
+- 待确认点：重连、超时、握手细节未恢复
+
+### `GetServerVersion`
+
+- C++ 公开签名：`bool GetServerVersion(std::string &version);`
+- Python 包装形态：样例中表现为 `controller.GetServerVersion() -> str`
+- 服务端归属：协议分发层行为；当前未恢复到显式 `_GetServerVersion`
+- 协议 / 命令线索：命令名字符串 `GetServerVersion` 已坐实；服务端存在 `GetServerVersion success: {}.` 日志；精确 JSON envelope 未恢复
+- 返回值与默认值：C++ 为 `bool + out string`；Python 样例把结果当作直接字符串使用
+- 典型工作流位置：`ConnectServer` 之后、机器人初始化前后均可读取的元信息接口
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`libControllerClient.so`、`ControllerServer.cpython-37m-x86_64-linux-gnu.so`
+- 置信度：高
+- 待确认点：Python 失败路径的返回形态未看到样例；请求 JSON 的精确字段未恢复
+
+### `GetClientVersion`
+
+- C++ 公开签名：`bool GetClientVersion(std::string &version);`
+- Python 包装形态：未见公开样例；从包装库字符串看接口存在
+- 服务端归属：客户端本地行为，不进入服务端命令表
+- 协议 / 命令线索：`libControllerClient.so` 与 `PyControllerClient` 都有 `GetClientVersion` 符号；未见 `ControllerServer` 对应 `_Xxx`
+- 返回值与默认值：C++ 为 `bool + out string`；Python 侧返回形态待确认
+- 典型工作流位置：客户端自检或 SDK 版本上报，不依赖服务端状态
+- 证据来源：`ControllerClient.h`、`libControllerClient.so`、`PyControllerClient.cpython-37m-x86_64-linux-gnu.so`
+- 置信度：高
+- 待确认点：实际版本字符串来源与 Python 包装失败行为未恢复
+
+## 3. 机器人初始化
+
+### `SetUpRobot`
+
+- C++ 公开签名：`bool SetUpRobot(const std::string &robot_name);`
+- Python 包装形态：`c.SetUpRobot("FANUC_LR_Mate_200iD") -> bool`
+- 服务端归属：`ControllerServer._SetUpRobot`
+- 协议 / 命令线索：命令名 `SetUpRobot` 已坐实；参数高概率是 `robot_name`；精确 JSON envelope 未恢复
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：创建客户端并连上 `50001` 后首先调用；旧说明明确它是最先执行的服务端初始化动作
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：请求字段键名是否为 `robot_name` 仍需抓包或 hook 坐实
+
+### `SetUpRobotFromEnv`
+
+- C++ 公开签名：`bool SetUpRobotFromEnv(const std::string &env_file);`
+- Python 包装形态：未见公开样例；服务端与客户端字符串均存在
+- 服务端归属：`ControllerServer._SetUpRobotFromEnv`
+- 协议 / 命令线索：命令名 `SetUpRobotFromEnv` 已坐实；参数高概率是环境文件绝对路径；精确 JSON envelope 未恢复
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：与 `SetUpRobot` 二选一；当现场通过环境文件而不是型号名初始化时使用
+- 证据来源：`ControllerClient.h`、`ControllerServer_analysis.md`、`ControllerServer` 字符串、`libControllerClient.so`
+- 置信度：高
+- 待确认点：环境文件路径是否必须为绝对路径由注释可见，但服务端是否做额外归一化未恢复
+
+### `IsSetUp`
+
+- C++ 公开签名：`bool IsSetUp();`
+- Python 包装形态：`c.IsSetUp() -> bool`
+- 服务端归属：`ControllerServer._IsSetUp`
+- 协议 / 命令线索：命令名 `IsSetUp` 已坐实；精确 JSON envelope 未恢复
+- 返回值与默认值：直接返回布尔值
+- 典型工作流位置：`SetUpRobot` 或 `SetUpRobotFromEnv` 之后的状态确认
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：服务端返回是否仅受机器人对象存在性控制，还是还依赖模型/控制器更深层状态，当前未完全恢复
+
+### `SetShowTCP`
+
+- C++ 公开签名：`bool SetShowTCP(bool is_show = true, double axis_length = 0.1, size_t axis_size = 2);`
+- Python 包装形态：`c.SetShowTCP(is_show=True, axis_length=0.1, axis_size=2) -> bool`
+- 服务端归属：`ControllerServer._SetShowTCP`
+- 协议 / 命令线索：命令名 `SetShowTCP` 已坐实；字符串中可见 `SetShowTCP is_show success/failed`；精确 JSON envelope 未恢复
+- 返回值与默认值：默认 `is_show=true`、`axis_length=0.1`、`axis_size=2`
+- 典型工作流位置：初始化完成后、切换控制器前的仿真显示配置
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`ControllerServer_analysis.md`、`ControllerServer` 字符串
+- 置信度：高
+- 待确认点：仅仿真控制器生效还是真实控制器也接受该命令，当前未见明确负例
+
+### `GetName`
+
+- C++ 公开签名：`std::string GetName();`
+- Python 包装形态：`c.GetName() -> str`
+- 服务端归属：`ControllerServer._GetName`
+- 协议 / 命令线索：命令名 `GetName` 已坐实；精确 JSON envelope 未恢复
+- 返回值与默认值：直接返回机器人名称字符串
+- 典型工作流位置：完成机器人初始化后读取名称确认
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：失败时是返回空串还是异常/默认值，Python 样例未覆盖
+
+### `GetDoF`
+
+- C++ 公开签名：`int GetDoF();`
+- Python 包装形态：`c.GetDoF() -> int`
+- 服务端归属：`ControllerServer._GetDoF`
+- 协议 / 命令线索：命令名 `GetDoF` 已坐实；精确 JSON envelope 未恢复
+- 返回值与默认值：直接返回自由度整数
+- 典型工作流位置：完成机器人初始化后读取自由度
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：失败时的客户端行为未恢复
+
+## 4. 控制器状态
+
+### `SetActiveController`
+
+- C++ 公开签名：`bool SetActiveController(bool sim = true);`
+- Python 包装形态：`c.SetActiveController(sim=True) -> bool`；真机样例使用 `sim=False`
+- 服务端归属：`ControllerServer._SetActiveController`
+- 协议 / 命令线索：命令名 `SetActiveController` 已坐实；字符串中可见 `SetActiveController sim success/failed`
+- 返回值与默认值：默认 `sim=true`
+- 典型工作流位置：机器人初始化后、`Connect` 前，用于在仿真控制器和真实控制器之间切换
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`UseRealRobot.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：切换控制器时是否会隐式断开旧控制器，当前只有 `_DisconnectAll` 的间接线索
+
+### `Connect`
+
+- C++ 公开签名：`bool Connect(const std::string &robot_ip);`
+- Python 包装形态：`c.Connect("192.168.10.101") -> bool`
+- 服务端归属：`ControllerServer._Connect`
+- 协议 / 命令线索：命令名 `Connect` 已坐实；字符串中可见 `Connect ip success/failed`
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：选定活动控制器后，通知服务端连接真实机器人 IP
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`UseRealRobot.py`、SDK 手册、`ControllerServer_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 键名是否为 `ip` 或 `robot_ip` 未恢复；仿真模式下是否接受同一命令仍需实现侧验证
+
+### `Disconnect`
+
+- C++ 公开签名：`bool Disconnect();`
+- Python 包装形态：`c.Disconnect() -> bool`
+- 服务端归属：`ControllerServer._Disconnect`
+- 协议 / 命令线索：命令名 `Disconnect` 已坐实；字符串中可见 `Disconnect success/failed`
+- 返回值与默认值：直接返回布尔值
+- 典型工作流位置：真实控制器断开或工作流结束时调用
+- 证据来源：`ControllerClient.h`、`ControllerServer_analysis.md`、`ControllerServer` 字符串、`libControllerClient.so`
+- 置信度：高
+- 待确认点：是否同步清理状态通道 / 命令通道 / 伺服通道，当前只在 FANUC 分析文档看到对象链，并未完全坐实释放顺序
+
+### `EnableRobot`
+
+- C++ 公开签名：`bool EnableRobot(unsigned buffer_size = 2);`
+- Python 包装形态：`c.EnableRobot() -> bool`
+- 服务端归属：`ControllerServer._EnableRobot`
+- 协议 / 命令线索：命令名 `EnableRobot` 已坐实；字符串中可见 `EnableRobot success/failed`
+- 返回值与默认值：默认 `buffer_size=2`
+- 典型工作流位置：`Connect` 后使能机器人；多数运动 API 前置条件
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`UseRealRobot.py`、`ControllerServer_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：`buffer_size` 在旧服务端具体如何映射到伺服缓冲区参数，当前未完全恢复
+
+### `DisableRobot`
+
+- C++ 公开签名：`bool DisableRobot();`
+- Python 包装形态：`c.DisableRobot() -> bool`
+- 服务端归属：`ControllerServer._DisableRobot`
+- 协议 / 命令线索：命令名 `DisableRobot` 已坐实；字符串中可见 `DisableRobot success/failed`
+- 返回值与默认值：直接返回布尔值
+- 典型工作流位置：停机或退出前关闭机器人使能
+- 证据来源：`ControllerClient.h`、`ControllerServer_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：与 `StopMove` 的先后顺序约束未恢复
+
+### `StopMove`
+
+- C++ 公开签名：`bool StopMove();`
+- Python 包装形态：`c.StopMove() -> bool`
+- 服务端归属：`ControllerServer._StopMove`
+- 协议 / 命令线索：命令名 `StopMove` 已坐实；字符串中可见 `StopMove success/failed`
+- 返回值与默认值：直接返回布尔值
+- 典型工作流位置：当前运动中止；Python 示例中调用后会再次 `EnableRobot()`
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`ControllerServer_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：是否会清空控制器执行队列、是否必须重新使能，当前只从示例看到倾向性而非硬约束
+
+## 5. 参数与 IO
+
+### `GetSpeedRatio`
+
+- C++ 公开签名：`double GetSpeedRatio();`
+- Python 包装形态：`c.GetSpeedRatio() -> float`
+- 服务端归属：`ControllerServer._GetSpeedRatio`
+- 协议 / 命令线索：命令通道 `MsgID = 0x2206`；响应字段为 `ratio_int` 与 `result_code`；成功后客户端将 `ratio_int / 100.0`
+- 返回值与默认值：直接返回 `0~1` 之间的倍率
+- 典型工作流位置：连机并使能后读取当前速度倍率
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`
+- 置信度：高
+- 待确认点：服务端 JSON 层到命令通道层的参数桥接结构未恢复
+
+### `SetSpeedRatio`
+
+- C++ 公开签名：`bool SetSpeedRatio(double ratio);`
+- Python 包装形态：`c.SetSpeedRatio(0.8) -> bool`
+- 服务端归属：`ControllerServer._SetSpeedRatio`
+- 协议 / 命令线索：命令通道 `MsgID = 0x2207`；请求字段为 `ratio_int_0_100`；输入 `double` 先乘 `100` 并夹到 `[0,100]`
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：连机并使能后修改控制器速度倍率
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`UseRealRobot.py`、SDK 手册、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：ratio 越界时客户端是裁剪还是直接失败，当前更偏向裁剪，但缺少公开负例
+
+### `GetTCP`
+
+- C++ 公开签名：`bool GetTCP(Pose &tcp);`
+- Python 包装形态：`res, tcp = c.GetTCP()`
+- 服务端归属：`ControllerServer._GetTCP`
+- 协议 / 命令线索：控制器命令通道底层接口 `GetTCP` 已有 `MsgID = 0x2200` 证据，但 `ControllerClient` JSON 层请求结构未完全恢复
+- 返回值与默认值：C++ 为 `bool + out Pose`；Python 为 `(bool, Pose)`
+- 典型工作流位置：连机后读取当前控制器 TCP
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 层是否支持多个 TCP ID，目前只看到底层命令通道有 `tcp_id`
+
+### `SetTCP`
+
+- C++ 公开签名：`bool SetTCP(const Pose &tcp);`
+- Python 包装形态：`c.SetTCP(tcp) -> bool`
+- 服务端归属：`ControllerServer._SetTCP`
+- 协议 / 命令线索：控制器命令通道底层接口 `SetTCP` 已有 `MsgID = 0x2201` 证据；JSON 层精确字段未恢复
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：连机后修改控制器 TCP
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 层是否也暴露 `tcp_id` 概念尚未恢复
+
+### `GetIO`
+
+- C++ 公开签名：`bool GetIO(unsigned port, bool &value, IOType type = kIOTypeDI);`
+- Python 包装形态：`res, value = c.GetIO(port=1, io_type=IOType.kIOTypeDI)`
+- 服务端归属：`ControllerServer._GetIO`
+- 协议 / 命令线索：命令通道 `MsgID = 0x2208`；请求字段顺序是 `io_type`、`io_index`；响应字段是 `result_code`、`io_value`
+- 返回值与默认值：默认 `type = kIOTypeDI`；C++ 为 `bool + out bool`；Python 为 `(bool, bool)`
+- 典型工作流位置：连机后读取 DI/DO/RI/RO 等 IO 值
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：高层 JSON 是否把字段命名为 `port` / `value` / `type`，还是 `io_index` / `io_type`，当前未抓到完整包
+
+### `SetIO`
+
+- C++ 公开签名：`bool SetIO(unsigned port, bool value, IOType type = kIOTypeDO);`
+- Python 包装形态：`c.SetIO(port=1, value=True, io_type=IOType.kIOTypeDO) -> bool`
+- 服务端归属：`ControllerServer._SetIO`
+- 协议 / 命令线索：命令通道 `MsgID = 0x2209`；请求字段顺序是 `io_type`、`io_index`、`io_value`
+- 返回值与默认值：默认 `type = kIOTypeDO`
+- 典型工作流位置：连机后设置数字输出；飞拍链路之外的普通 IO 调试也会用到
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`CommonMsg_protocol_analysis.md`、`FANUC_realtime_comm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：布尔值在高层 JSON 中是否以 `true/false` 传输、在命令通道中以 `float` 传输，当前只坐实了命令通道层
+
+## 6. 运动与求解
+
+### `GetJointPosition`
+
+- C++ 公开签名：`bool GetJointPosition(JointPositions &joint_position);`
+- Python 包装形态：`res, joints = c.GetJointPosition()`
+- 服务端归属：`ControllerServer._GetJointPositions`
+- 协议 / 命令线索：命令名 `GetJointPositions` 已坐实；客户端公开 API 名与服务端方法名存在单复数差异
+- 返回值与默认值：C++ 为 `bool + out JointPositions`；Python 为 `(bool, JointPositions)`
+- 典型工作流位置：读取当前关节角，常作为 `GetNearestIK` 的 seed 或 `MoveJoint` 的基准
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 层返回数组字段键名未恢复
+
+### `GetPose`
+
+- C++ 公开签名：`bool GetPose(Pose &pose);`
+- Python 包装形态：`res, pose = c.GetPose()`
+- 服务端归属：`ControllerServer._GetPose`
+- 协议 / 命令线索：命令名 `GetPose` 已坐实；字符串中可见 `GetPose success/failed`
+- 返回值与默认值：C++ 为 `bool + out Pose`；Python 为 `(bool, Pose)`
+- 典型工作流位置：读取当前 TCP 位姿，常与 `GetNearestIK` 配套使用
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：位姿坐标系定义虽然在 `Types.h` 中体现为 7 元数组，但 JSON 层字段结构未恢复
+
+### `GetNearestIK`
+
+- C++ 公开签名：`bool GetNearestIK(const Pose &pose, const JointPositions &seed, JointPositions &ik);`
+- Python 包装形态：`res, ik = c.GetNearestIK(pose, joint_seed=joints)`
+- 服务端归属：`ControllerServer._GetNearestIK`
+- 协议 / 命令线索：命令名 `GetNearestIK` 已坐实；字符串中可见 `GetNearestIK success/failed`
+- 返回值与默认值：C++ 为 `bool + out JointPositions`；Python 为 `(bool, JointPositions)`
+- 典型工作流位置：先 `GetPose` 得到当前位姿，再构造目标位姿，并使用当前关节或邻近关节作为 seed 求最近 IK
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 层中 seed 参数键名在 Python 里表现为 `joint_seed`，但 C++ 注释写的是 `seed`；高层字段命名仍待确认
+
+### `MoveJoint`
+
+- C++ 公开签名：`bool MoveJoint(const JointPositions &joint_position);`
+- Python 包装形态：`c.MoveJoint(home_joint) -> bool`
+- 服务端归属：`ControllerServer._MoveJoint`
+- 协议 / 命令线索：命令名 `MoveJoint` 已坐实；字符串中可见 `MoveJoint waypoint success/failed`
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：点到点回零或移动到飞拍轨迹起点
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`ControllerServer_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：移动速度/平滑参数是否固定在服务端内部，公开 API 未暴露
+
+### `ExecuteTrajectory`
+
+- C++ 公开签名：`bool ExecuteTrajectory(const std::vector<JointPositions> &waypoints, const std::string &method = "icsp", bool save_traj = false);`
+- Python 包装形态：`c.ExecuteTrajectory(waypoints=[...], method="icsp", save_traj=True) -> bool`
+- 服务端归属：`ControllerServer._ExecuteTrajectory`
+- 协议 / 命令线索：命令名 `ExecuteTrajectory` 已坐实；`method` 至少支持 `icsp` 与 `doubles`
+- 返回值与默认值：默认 `method="icsp"`、`save_traj=false`
+- 典型工作流位置：普通多点轨迹执行，不带飞拍 IO；输入是关节空间稀疏 waypoint，而不是笛卡尔点
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`Trajectory_generation_algorithm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 中 waypoint 列表的键名和序列化结构未恢复；`doubles` 的失败语义未在公开样例中体现
+
+## 7. 飞拍轨迹
+
+### `UploadFlyShotTraj`
+
+- C++ 公开签名：`bool UploadFlyShotTraj(const std::string &name, const std::vector<JointPositions> &waypoints, const std::vector<bool> &shot_flags, const std::vector<int> &offset_values, const std::vector<std::vector<int>> &addrs);`
+- Python 包装形态：`c.UploadFlyShotTraj(name="test_traj", waypoints=..., shot_flags=..., offset_values=..., addrs=...) -> bool`
+- 服务端归属：`ControllerServer._UploadFlyShotTraj`
+- 协议 / 命令线索：命令名 `UploadFlyShotTraj` 已坐实；客户端字符串中可见 `StartUploadFlyShotTraj` 与 `EndUploadFlyShotTraj`，说明上传阶段很可能分为开始 / 传输 / 结束三个子步骤
+- 返回值与默认值：成功返回 `true`；无默认参数
+- 典型工作流位置：运行时动态构造飞拍轨迹时，先把轨迹定义登记到服务端
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`Trajectory_generation_algorithm_analysis.md`、`libControllerClient.so`、`ControllerServer` 字符串
+- 置信度：高
+- 待确认点：JSON 上传是否一次性发送完整 payload，还是像字符串暗示的那样分片上传，当前未完全恢复
+
+### `DeleteFlyShotTraj`
+
+- C++ 公开签名：`bool DeleteFlyShotTraj(const std::string &name);`
+- Python 包装形态：`c.DeleteFlyShotTraj(name="test_traj") -> bool`
+- 服务端归属：`ControllerServer._DeleteFlyShotTraj`
+- 协议 / 命令线索：命令名 `DeleteFlyShotTraj` 已坐实；字符串中可见 `DeleteFlyShotTraj {} success/failed`
+- 返回值与默认值：成功返回 `true`
+- 典型工作流位置：删除已上传的临时飞拍轨迹定义
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、SDK 手册、`ControllerServer_analysis.md`、`PyControllerClient` 字符串、`ControllerServer` 字符串
+- 置信度：高
+- 待确认点：删除配置内固有轨迹名与删除运行时上传轨迹时是否走同一条路径，当前未恢复
+
+### `ListFlyShotTraj`
+
+- C++ 公开签名：`std::vector<std::string> ListFlyShotTraj();`
+- Python 包装形态：`c.ListFlyShotTraj() -> list[str]`
+- 服务端归属：`ControllerServer._ListFlyShotTraj`
+- 协议 / 命令线索：命令名 `ListFlyShotTraj` 已坐实；客户端与服务端字符串都出现 `GetNextListFlyShotTraj`，说明底层列举很可能是迭代式获取，而不是一次性返回整个数组
+- 返回值与默认值：直接返回轨迹名称列表
+- 典型工作流位置：查看当前服务端已登记的飞拍轨迹
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py`、`ControllerServer_analysis.md`、`libControllerClient.so`、`ControllerServer` 字符串
+- 置信度：高
+- 待确认点：高层 JSON 是否真的直接返回数组，还是客户端内部循环拉取后再拼成数组，当前未完全恢复
+
+### `ExecuteFlyShotTraj`
+
+- C++ 公开签名：`bool ExecuteFlyShotTraj(const std::string &name, const bool move_to_start = false, const std::string &method = "icsp", bool save_traj = false, bool use_cache = false);`
+- Python 包装形态：`c.ExecuteFlyShotTraj(name="002", move_to_start=True, method="icsp", save_traj=True, use_cache=False) -> bool`
+- 服务端归属：`ControllerServer._ExecuteFlyShotTraj`
+- 协议 / 命令线索：命令名 `ExecuteFlyShotTraj` 已坐实；字符串中出现 `move_to_start`、`use_cache`；伪代码级逆向已恢复其主流程
+- 返回值与默认值：默认 `move_to_start=false`、`method="icsp"`、`save_traj=false`、`use_cache=false`
+- 典型工作流位置：对已存在的飞拍轨迹定义执行“生成 + 挂接 DO 时间轴 + 执行”
+- 证据来源：`ControllerClient.h`、`UseControllerClient.cpp`、`UseControllerClient.py`、`UseRealRobot.py`、SDK 手册、`ControllerServer_analysis.md`、`Trajectory_generation_algorithm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：JSON 包结构未恢复；`use_cache` 的缓存键是否只按 `name`，当前从伪代码判断是，但未见更底层证据
+
+### `SaveTrajInfo`
+
+- C++ 公开签名：`bool SaveTrajInfo(const std::string &name, const std::string &method = "icsp");`
+- Python 包装形态：未见运行样例，但包装库和服务端都有明确字符串；语义可由手册和分析文档确认
+- 服务端归属：`ControllerServer._SaveTrajInfo`
+- 协议 / 命令线索：命令名 `SaveTrajInfo` 已坐实；字符串中可见 `SaveTrajInfo {} success/failed`
+- 返回值与默认值：默认 `method="icsp"`；`self-adapt-icsp` 在执行时保存分析文件会回落成 `icsp` 导出语义
+- 典型工作流位置：按给定 `name + method` 生成并导出轨迹分析文件，例如 `JointTraj.txt`、`CartDetialTraj.txt`
+- 证据来源：`ControllerClient.h`、`ControllerServer_analysis.md`、`Trajectory_generation_algorithm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：Python 包装是否直接暴露该方法并返回 `bool`，虽然字符串存在，但公开示例未调用
+
+### `IsFlyShotTrajValid`
+
+- C++ 公开签名：`bool IsFlyShotTrajValid(double &time, const std::string &name, const std::string &method = "icsp", bool save_traj = false);`
+- Python 包装形态：`valid, time_sec = c.IsFlyShotTrajValid("EOL9_EAU_90", "icsp", save_traj=True)`
+- 服务端归属：`ControllerServer._IsFlyShotTrajValid`
+- 协议 / 命令线索：命令名 `IsFlyShotTrajValid` 已坐实；作用是“生成 + 合法性检查 + 返回轨迹总时长”
+- 返回值与默认值：默认 `method="icsp"`、`save_traj=false`；C++ 为 `bool + out double`；Python 为 `(bool, float)`
+- 典型工作流位置：在执行飞拍轨迹前预校验；也可与 `save_traj=True` 结合导出分析文件
+- 证据来源：`ControllerClient.h`、`UseControllerClient.py` 中的注释样例、`ControllerServer_analysis.md`、`Trajectory_generation_algorithm_analysis.md`、二进制字符串
+- 置信度：高
+- 待确认点：`method="self-adapt-icsp"` 是否被该接口完整支持，分析文档显示公开手册更强调 `icsp` / `doubles`，而示例注释里又出现 `self-adapt-icsp`，这里仍需后续抓包或真环境验证
+
+## 8. 四条旧 SDK 工作流
+
+### 8.1 初始化工作流
+
+```text
+ControllerClient()
+  -> ConnectServer("127.0.0.1", 50001)
+  -> SetUpRobot("FANUC_LR_Mate_200iD") 或 SetUpRobotFromEnv(...)
+  -> IsSetUp()
+  -> GetName()
+  -> GetDoF()
+  -> SetShowTCP(...)
+```
+
+说明：
+
+- 这是最常见的仿真或真机前置流程。
+- `SetUpRobot` 是旧说明里明确要求首先执行的服务端初始化动作。
+
+### 8.2 控制器状态工作流
+
+```text
+SetActiveController(sim=True/False)
+  -> Connect(robot_ip)
+  -> EnableRobot(buffer_size=2)
+  -> GetSpeedRatio() / SetSpeedRatio(...)
+  -> GetTCP() / SetTCP(...)
+  -> GetIO() / SetIO(...)
+  -> StopMove()
+  -> DisableRobot()
+  -> Disconnect()
+```
+
+说明：
+
+- 真机样例会使用 `sim=False`。
+- `StopMove()` 之后，Python 示例里会再次 `EnableRobot()`，说明停止运动后常伴随重新使能。
+
+### 8.3 普通轨迹工作流
+
+```text
+GetJointPosition()
+  -> GetPose()
+  -> GetNearestIK(pose, seed)
+  -> MoveJoint(home_joint)
+  -> ExecuteTrajectory(waypoints, method="icsp", save_traj=True)
+```
+
+说明：
+
+- 输入是关节空间稀疏 waypoint。
+- `ExecuteTrajectory` 至少支持 `icsp` 与 `doubles`。
+
+### 8.4 飞拍轨迹工作流
+
+#### 方案 A：轨迹名已在配置中存在
+
+```text
+name
+  -> IsFlyShotTrajValid(name, "icsp", save_traj=True)
+  -> ExecuteFlyShotTraj(name, move_to_start=True, method="icsp", save_traj=True, use_cache=False)
+  -> SaveTrajInfo(name, "icsp")
+```
+
+#### 方案 B：客户端动态上传飞拍轨迹
+
+```text
+UploadFlyShotTraj(name, waypoints, shot_flags, offset_values, addrs)
+  -> ListFlyShotTraj()
+  -> IsFlyShotTrajValid(name, "icsp", save_traj=True)
+  -> ExecuteFlyShotTraj(name, move_to_start=True, method="self-adapt-icsp", save_traj=True, use_cache=True)
+  -> DeleteFlyShotTraj(name)
+```
+
+说明：
+
+- `UploadFlyShotTraj` 只负责登记轨迹定义。
+- `IsFlyShotTrajValid` 负责“生成 + 合法性检查”。
+- `ExecuteFlyShotTraj` 负责“生成 + 挂接 `TrajectoryDO` + 执行”。
+- `SaveTrajInfo` 负责导出分析文件。
+
+## 9. 已知高置信协议线索
+
+当前能直接用于后续实现的高置信协议结论如下：
+
+- 传输层为 `TCP + JSON` 风格协议，不是 HTTP/gRPC。
+- JSON 层至少存在 `method` 字段，服务端存在 `_ClientCB` 与 `_IsJsonValid`。
+- 命令通道字段已确认：
+  - `GetSpeedRatio`：`MsgID = 0x2206`
+  - `SetSpeedRatio`：`MsgID = 0x2207`
+  - `GetIO`：`MsgID = 0x2208`
+  - `SetIO`：`MsgID = 0x2209`
+- 2026-04-28 `UTTC_MS11` 抓包中，`speed_ratio=0.7` 的效果能从 UDP 60015 主运行段时间尺度反推出来，但机器人侧 `TCP 10012` 未出现 `0x2207 SetSpeedRatio`；兼容实现不能只依赖一次 10012 命令来表达执行倍率，还要在 J519 发送时间轴上应用当前倍率。J519 实发时间为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio`，包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。
+- 飞拍轨迹相关额外字符串线索：
+  - `StartUploadFlyShotTraj`
+  - `EndUploadFlyShotTraj`
+  - `GetNextListFlyShotTraj`
+  - `move_to_start`
+  - `use_cache`
+  - `shot_flags`
+  - `offset_values`
+  - `addr` / `addrs`
+
+## 10. 待确认问题
+
+以下问题本轮故意保留，不冒充已确认结论：
+
+1. `50001/TCP+JSON` 请求 JSON 的精确 envelope 结构、字段必填规则、响应包统一格式。
+2. `GetServerVersion` 在高层 JSON 中的完整请求 / 响应字段。
+3. `GetClientVersion` 的实际版本字符串来源，以及 Python 包装失败路径。
+4. `ListFlyShotTraj` 是高层一次性返回数组，还是客户端内部循环 `GetNextListFlyShotTraj` 后再拼装列表。
+5. `UploadFlyShotTraj` 是否采用开始 / 数据 / 结束的多阶段上传协议。
+6. `IsFlyShotTrajValid` 对 `self-adapt-icsp` 的真实支持边界。
+7. `SetTCP` / `GetTCP` 在高层 JSON 中是否暴露 `tcp_id` 概念。
+8. `SetActiveController` 切换控制器时是否会隐式触发 `_DisconnectAll`。
+
+## 11. 后续实现使用方式
+
+等继续扩展 `Flyshot.ControllerClientCompat` 时，建议按以下顺序使用本文档：
+
+1. 先把 32 个 API 按本文档拆成命令表。
+2. 先实现高置信、状态简单的接口：
+   - `GetServerVersion`
+   - `SetUpRobot`
+   - `IsSetUp`
+   - `GetName`
+   - `GetDoF`
+   - `GetSpeedRatio`
+   - `SetSpeedRatio`
+   - `GetIO`
+   - `SetIO`
+3. 再实现返回复杂结构的接口：
+   - `GetTCP`
+   - `GetJointPosition`
+   - `GetPose`
+   - `GetNearestIK`
+4. 最后实现飞拍轨迹相关接口，并把本文档中的“待确认问题”逐项收敛成兼容测试。

docs/fanuc-10010-state-frame.md

@@ -0,0 +1,165 @@
+# FANUC TCP 10010 状态帧字段说明
+
+本文档整理当前现场真实抓包中 `TCP 10010` 状态通道的已确认字段布局，并明确哪些结论已经由抓包和代码验证，哪些仍然只是工作假设。
+
+读取时间：2026-05-03
+
+## 1. 结论范围
+
+本文基于以下证据整理：
+
+- `../analysis/UTTC_20260428_packet_validation.md`
+- `../analysis/J519_stream_motion_analysis.md`
+- `Rvbust/uttc-20260428/20260428.pcap`
+- `src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs`
+- `tests/Flyshot.Core.Tests/FanucProtocolTests.cs`
+
+当前结论仅覆盖现场已确认的 `R30iB + RVBUSTSM` 这一路状态通道行为，不提前推广为所有 FANUC 机型或所有旧版本协议的通用结论。
+
+## 2. 通道性质
+
+真实抓包显示，`TCP 10010` 是控制柜到上位机的单向状态流：
+
+- 上位机先主动建立 TCP 连接。
+- 建连后，带应用层 payload 的业务包全部来自 `192.168.10.11:10010 -> 192.168.10.10:41726`。
+- 上位机在该通道上只回 TCP `ACK`，没有观察到应用层请求体。
+
+因此当前实现应把 `10010` 当作“持续推送的固定长度状态帧”处理，而不是像 `TCP 10012` 那样按请求/响应语义建模。
+
+## 3. 整体布局
+
+当前现场抓包确认，状态帧固定为 `90B`：
+
+```text
+doz                 3 bytes
+length              u32 = 90
+msg_id              u32
+pose[6]             f32
+joint_or_ext[9]     f32
+tail[4]             u32
+zod                 3 bytes
+```
+
+其中：
+
+- 帧头 magic 固定为 `doz`
+- 帧尾 magic 固定为 `zod`
+- 长度字段固定为 `0x5a`，即 `90`
+- 当前全量抓包中 `msg_id` 恒为 `0`
+- `tail[4]` 当前全量抓包中恒为 `(2, 0, 0, 1)`
+
+## 4. 样例帧
+
+以下样例帧来自 `20260428.pcap` 中首条 `tcp.port == 10010 && tcp.len > 0` 的 payload：
+
+```text
+646f7a0000005a000000004388a23243f1ed7f43e9de6bc265031ec2b33cc3c278e0153f8742f53c3f128dbc929529bc7861d63cb0184c3c1ca1a7000000000000000000000000000000020000000000000000000000017a6f64
+```
+
+对应解析值：
+
+- `pose[6]`
+  - `273.26715`
+  - `483.85544`
+  - `467.73764`
+  - `-57.253044`
+  - `-89.618675`
+  - `-62.21883`
+- `joint_or_ext[9]`
+  - `1.0567309`
+  - `0.011662138`
+  - `-0.01789339`
+  - `-0.015160045`
+  - `0.02149596`
+  - `0.009560025`
+  - `0`
+  - `0`
+  - `0`
+- `tail[4]`
+  - `2`
+  - `0`
+  - `0`
+  - `1`
+
+## 5. 正式字段表
+
+| 偏移 | 长度 | 类型 | 样例值(hex) | 样例值(解析后) | 当前推断含义 |
+| --- | --- | --- | --- | --- | --- |
+| `0x00` | `3` | `char[3]` | `64 6f 7a` | `"doz"` | 固定帧头 magic |
+| `0x03` | `4` | `u32 be` | `00 00 00 5a` | `90` | 帧总长度 |
+| `0x07` | `4` | `u32 be` | `00 00 00 00` | `0` | `msg_id`，当前抓包全为 `0` |
+| `0x0B` | `4` | `f32 be` | `43 88 a2 32` | `273.26715` | `pose[0]`，推断为 TCP `X(mm)` |
+| `0x0F` | `4` | `f32 be` | `43 f1 ed 7f` | `483.85544` | `pose[1]`，推断为 TCP `Y(mm)` |
+| `0x13` | `4` | `f32 be` | `43 e9 de 6b` | `467.73764` | `pose[2]`，推断为 TCP `Z(mm)` |
+| `0x17` | `4` | `f32 be` | `c2 65 03 1e` | `-57.253044` | `pose[3]`，推断为姿态角 `W(deg)` |
+| `0x1B` | `4` | `f32 be` | `c2 b3 3c c3` | `-89.618675` | `pose[4]`，推断为姿态角 `P(deg)` |
+| `0x1F` | `4` | `f32 be` | `c2 78 e0 15` | `-62.21883` | `pose[5]`，推断为姿态角 `R(deg)` |
+| `0x23` | `4` | `f32 be` | `3f 87 42 f5` | `1.0567309` | `joint_or_ext[0]`，推断为 `J1(rad)` |
+| `0x27` | `4` | `f32 be` | `3c 3f 12 8d` | `0.011662138` | `joint_or_ext[1]`，推断为 `J2(rad)` |
+| `0x2B` | `4` | `f32 be` | `bc 92 95 29` | `-0.01789339` | `joint_or_ext[2]`，推断为 `J3(rad)` |
+| `0x2F` | `4` | `f32 be` | `bc 78 61 d6` | `-0.015160045` | `joint_or_ext[3]`，推断为 `J4(rad)` |
+| `0x33` | `4` | `f32 be` | `3c b0 18 4c` | `0.02149596` | `joint_or_ext[4]`，推断为 `J5(rad)` |
+| `0x37` | `4` | `f32 be` | `3c 1c a1 a7` | `0.009560025` | `joint_or_ext[5]`，推断为 `J6(rad)` |
+| `0x3B` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[6]`，扩展轴槽位，当前样本恒 `0` |
+| `0x3F` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[7]`，扩展轴槽位，当前样本恒 `0` |
+| `0x43` | `4` | `f32 be` | `00 00 00 00` | `0` | `joint_or_ext[8]`，扩展轴槽位，当前样本恒 `0` |
+| `0x47` | `4` | `u32 be` | `00 00 00 02` | `2` | `tail[0]`，诊断状态字，物理语义未坐实 |
+| `0x4B` | `4` | `u32 be` | `00 00 00 00` | `0` | `tail[1]`，诊断状态字，物理语义未坐实 |
+| `0x4F` | `4` | `u32 be` | `00 00 00 00` | `0` | `tail[2]`，诊断状态字，物理语义未坐实 |
+| `0x53` | `4` | `u32 be` | `00 00 00 01` | `1` | `tail[3]`，诊断状态字，物理语义未坐实 |
+| `0x57` | `3` | `char[3]` | `7a 6f 64` | `"zod"` | 固定帧尾 magic |
+
+## 6. 已确认结论
+
+### 6.1 已由真实抓包确认
+
+1. `TCP 10010` 是独立状态流，不是 `TCP 10012` 的请求/响应复用。
+2. 当前现场状态帧固定为 `90B`，不是早期静态分析里出现过的 `134B`。
+3. `msg_id` 在 `20260428.pcap` 当前全量样本中恒为 `0`。
+4. `tail[4]` 在 `20260428.pcap` 当前全量样本中恒为 `(2, 0, 0, 1)`。
+5. `pose[6]` 的量纲表现符合 `X/Y/Z(mm) + W/P/R(deg)`。
+6. `joint_or_ext[6..8]` 在当前现场样本中恒为 `0`。
+
+### 6.2 已由数值范围和交叉对照强支持
+
+1. `joint_or_ext[0..5]` 更像关节角 `rad`，而不是 `deg`。
+2. 该判断与 `../analysis/UTTC_20260428_packet_validation.md` 的结论一致。
+3. 该判断也与 `UDP 60015` 响应包中的关节 `deg` 形成互补关系：二者不能简单视作同单位直接复用。
+
+## 7. 待确认项
+
+以下内容当前不要写死为最终协议真义：
+
+1. `tail[4]` 四个 `u32` 分别代表什么控制器语义。
+2. `msg_id` 是否在其他控制柜版本、程序状态或异常态下会出现非零值。
+3. `pose[3..5]` 是否可以严格命名为 FANUC 标准 `W/P/R`，还是只是与其数值表现一致。
+4. `joint_or_ext[6..8]` 在带外部轴的现场是否仍复用同一布局。
+
+## 8. 与当前代码实现的对齐情况
+
+当前仓库里 `Flyshot.Runtime.Fanuc` 已按 `90B` 固定帧解析：
+
+- `src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs`
+- `tests/Flyshot.Core.Tests/FanucProtocolTests.cs`
+
+当前实现已经与抓包对齐的部分：
+
+1. 固定长度 `90B`
+2. `doz ... zod` 帧头帧尾校验
+3. `pose[6] + joint_or_ext[9] + tail[4]` 的字节布局
+4. `tail[4]` 原样保留到 `ControllerStateSnapshot.StateTailWords`
+
+当前仍建议后续关注的点：
+
+1. `FanucStateFrame` 已把该字段从 `JointDegrees` 更正为 `JointRadians`，后续新增代码应继续沿用弧度制命名。
+2. 如果后续状态页或运行时逻辑需要直接展示该通道关节值，仍需明确标注这是 `10010` 的弧度值，避免和 `UDP 60015` 的 degree 语义混淆。
+
+## 9. 建议用法
+
+在当前 replacement 实现里，`TCP 10010` 更适合作为以下用途：
+
+1. 提供机器人当前笛卡尔位姿和关节反馈快照。
+2. 提供状态通道是否健康、是否陈旧的连接诊断依据。
+3. 保留 `tail[4]` 原始状态字，供现场排错或后续继续逆向。
+
+当前不建议直接用 `tail[4]` 去驱动明确业务判断，除非后续拿到新的现场对照证据。

docs/fanuc-field-runtime-workflow.md

@@ -0,0 +1,182 @@
+# FANUC Field Runtime Workflow
+
+本文档记录当前现场主链路的 HTTP 调用顺序，以及每一步在 FANUC 三条真机通道上的动作。它替代旧 `ControllerClient` 工作流说明；旧 `50001/TCP+JSON` 入口不再作为运行目标。
+
+## 1. 初始化
+
+推荐使用聚合端点完成当前现场的一次性初始化：
+
+```bash
+POST /init_mpc_robt
+{
+  "server_ip": "127.0.0.1",
+  "port": 50001,
+  "robot_name": "FANUC_LR_Mate_200iD",
+  "robot_ip": "192.168.10.11",
+  "sim": false
+}
+```
+
+该端点内部顺序：
+
+1. `ConnectServer(server_ip, port)`：兼容旧参数形状，仅记录服务连接语义。
+2. `SetUpRobot(robot_name)`：加载机器人配置、关节限制和伺服周期。
+3. `SetActiveController(sim)`：选择仿真或 FANUC 真机运行时。
+4. `Connect(robot_ip)`：真机模式下依次建立 `TCP 10010` 状态通道、`TCP 10012` 命令通道、`UDP 60015` J519 运动通道。
+5. `EnableRobot(2)`：真机模式下执行 `StopProg("RVBUSTSM") -> Reset -> GetProgStatus("RVBUSTSM") -> StartProg("RVBUSTSM")`，随后允许 J519 在收到机器人 UDP status 包后回发下一帧命令。
+
+也可以使用拆分端点按同样顺序调用：
+
+```text
+POST /connect_server/?server_ip=127.0.0.1&port=50001
+POST /setup_robot/?robot_name=FANUC_LR_Mate_200iD
+POST /set_active_controller/?sim=false
+POST /connect_robot/?ip=192.168.10.11
+GET  /enable_robot/?buffer_size=2
+```
+
+## 2. 参数设置
+
+规划约束参数：
+
+当前现场抓包已经确认，`50001/TCP+JSON` 的 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 请求不会显式携带 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此新系统把规划约束分成两层处理：
+
+1. 旧 `RobotConfig.json` 中已有的 `acc_limit / jerk_limit` 继续作为模型加载时的基础倍率。
+2. 若旧系统导出的 `JointTraj.txt` 明显比当前 C# 规划更慢，使用 replacement-only 的内部校准参数限制规划阶段加速度，设计字段为 `planning_acceleration_scale`。
+
+`planning_acceleration_scale` 只影响 `JointTraj.txt` 这类规划结果时间轴，不下发到 FANUC 控制柜，也不改变 J519 发送周期。若需要临时整体验证，也可以使用当前已有的 `planning_speed_scale`，但它是新系统兼容开关，不是旧抓包中出现的字段。
+
+速度倍率：
+
+```bash
+POST /set_speedRatio/
+{ "speed": 0.7 }
+```
+
+真机模式下会通过 `TCP 10012` 下发 `0x2207 SetSpeedRatio`，同时运行时保存当前倍率。`speed_ratio` 是执行期倍率，不参与 `IsFlyShotTrajValid` / `SaveTrajInfo` / `ExecuteFlyShotTraj(save_traj=true)` 的规划时长计算。J519 执行时仍按机器人 8ms 节拍更新目标，`speed_ratio` 只缩放原轨迹采样时间：
+
+```text
+t_send = k * 0.008
+t_traj = t_send * speed_ratio
+send_count = floor(duration / (0.008 * speed_ratio)) + 1
+```
+
+TCP 和普通 IO：
+
+```text
+POST /set_tcp/              body: { "x": 0, "y": 0, "z": 0 }
+GET  /get_tcp/
+POST /set_io/?port=7&value=true&io_type=DO
+GET  /get_io/?port=7&io_type=DO
+```
+
+飞拍触发 IO 不走独立 `TCP 10012 SetIO`，而是嵌入 `UDP 60015` J519 命令包的 `write_io_type/index/mask/value` 字段。
+
+## 3. 点到点 MoveJoint
+
+```bash
+POST /move_joint/
+{ "joints": [0.8532358, 0.03837953, -0.19235304, 0.0071595116, 0.109054826, 0.040055145] }
+```
+
+`MoveJoint` 不再直接把最终关节写成单个 J519 目标，而是按现场抓包确认的 PTP 临时轨迹执行：
+
+1. 从当前运行时状态读取当前关节坐标，单位为 `rad`。
+2. 以当前关节和目标关节构造关节空间直线。
+3. 用五次 smoothstep `10u^3 - 15u^4 + 6u^5` 生成起停平滑的进度。
+4. 真机执行时仍由 J519 层把 `rad` 转成 `deg`，并按当前 `speed_ratio` 重采样。
+
+已确认抓包按响应 `status=15` 运动窗口统计：
+
+| 抓包 | speed_ratio | 运动窗口点数 | 运动窗口时长 |
+|------|-------------|----------------------|----------|
+| `2026042802-mvpoint.pcap` | 1.0 | 40 | 约 0.312s |
+| `2026042802-mvpoint0.7.pcap` | 0.7 | 55 | 约 0.432s |
+| `2026042802-mvpoint0.5.pcap` | 0.5 | 77 | 约 0.608s |
+
+抓包命令流在运动窗口前后还会持续发送保持不变的起点/终点目标；功能复刻以 `status=15` 运动窗口为点数口径，并把最后一个采样点压到目标关节。实际目标几乎严格位于“起点 -> 终点”的同一条关节空间直线上，`speed_ratio` 体现为 J519 发送时间轴上的减速重采样，而不是改变路径形状。
+
+## 4. 飞拍轨迹
+
+上传：
+
+```bash
+POST /upload_flyshot/
+{
+  "name": "UTTC_MS11",
+  "waypoints": [[...]],
+  "shot_flags": [false, true],
+  "offset_values": [0, 0],
+  "addrs": [[1, 3]]
+}
+```
+
+校验：
+
+```bash
+POST /is_flyShotTrajValid/
+{
+  "name": "UTTC_MS11",
+  "method": "self-adapt-icsp",
+  "save_traj": false
+}
+```
+
+执行：
+
+```bash
+POST /execute_flyshot/
+{
+  "name": "UTTC_MS11",
+  "move_to_start": true,
+  "method": "self-adapt-icsp",
+  "save_traj": false,
+  "use_cache": true,
+  "wait": true
+}
+```
+
+执行链路：
+
+1. 从上传缓存读取 waypoint、shot flag、offset、IO 地址组。
+2. 使用 `icsp` 或 `self-adapt-icsp` 规划关节轨迹；规划阶段先应用 `acc_limit / jerk_limit`，再应用 replacement-only 的规划加速度校准参数。
+3. 生成 `TrajectoryDoEvent`，把拍照触发绑定到轨迹时间。
+4. 若 `move_to_start=true`，先从运行时当前关节位置生成临时 PTP 稠密轨迹移动到规划轨迹起点，并等待运行时 `IsInMotion=false` 后再启动飞拍轨迹，避免第一帧 J519 目标从当前位置跳到起点。
+5. 真机模式下把规划输出的 `rad` 稠密轨迹按 J519 轨迹时间步长重采样并转成 `deg`，命令实际发包由机器人 UDP status 包驱动。
+6. 若 `wait=true`，正式飞拍轨迹启动后继续等待运行时 `IsInMotion=false`，机器人执行完整条飞拍轨迹后 HTTP 才返回；`wait=false` 时启动后立即返回。
+7. 启动前若已有 J519 响应且 `accept_cmd` 或 `sysrdy` 未就绪，则拒绝执行。
+8. 周期命令中嵌入 IO 脉冲；当前 UTTC 抓包确认 mask 集合为 `10/12/14`，共 17 个 set 脉冲和 17 个 clear 帧。
+
+`method="doubles"` 当前明确返回未实现；现场主链路使用 `icsp` / `self-adapt-icsp`。
+
+## 5. 停止与断开
+
+```text
+GET  /stop_move/
+GET  /disable_robot/
+POST /disconnect_robot/
+```
+
+真机模式下：
+
+- `StopMove()` 取消当前稠密轨迹生成任务并停止 J519 状态包驱动发送。
+- `DisableRobot()` 发送 J519 packet type 2 状态输出停止包，然后 `StopProg("RVBUSTSM")`。
+- `Disconnect()` 关闭状态、命令和 J519 三条通道，并清理本地运行状态。
+
+## 6. 现场抓包覆盖
+
+`tests/Flyshot.Core.Tests/UttcJ519GoldenTests.cs` 直接解析以下抓包并与 `Rvbust/uttc-20260428/Data/JointDetialTraj.txt` 对比：
+
+| 抓包 | 速度 | 运行 J519 点数 | 发送时长 |
+|------|------|----------------|----------|
+| `2026042802-0.5.pcap` | 0.5 | 1851 | 14.800309s |
+| `2026042802-0.7.pcap` | 0.7 | 1322 | 10.568313s |
+| `2026042802-1.pcap` | 1.0 | 926 | 7.400125s |
+
+测试同时检查：
+
+- 主运行窗口命令序号连续，无重复 seq；J519 客户端单元测试覆盖按最新 status sequence 回发命令。
+- 响应 `status=15` 段覆盖主运行窗口，响应相对命令滞后 2 到 8 帧。
+- 实发点位相对重采样期望的全局 RMS 小于 `0.012deg`，最大绝对误差小于 `0.07deg`。
+- `lastData=0`，结束运动当前依赖 J519 packet type 2 状态输出停止包；`../j519 协议.pcap` 中另有 1 个 `LastData=1` 后紧跟 type 2 的样本，停止语义后续单独验证。
+- IO 脉冲数量和 mask 集合 `10/12/14` 与抓包一致。

docs/fanuc-socket-implementation-plan.md

@@ -0,0 +1,187 @@
+# FANUC 真机协议 Socket 通信层实现计划
+
+## 上下文
+
+状态更新：本计划中的 Socket 客户端和 `FanucControllerRuntime` 改造已经落地；当前事实以 `README.md` 和 `docs/fanuc-field-runtime-workflow.md` 为准。本文保留为实现过程记录。
+
+计划制定时 `flyshot-replacement` 项目已完成：
+- 三条 FANUC 通信链路的二进制协议编解码（`FanucCommandProtocol`、`FanucStateProtocol`、`FanucJ519Protocol`）
+- 抓包样本验证的协议测试（5 个 FanucProtocolTests 全部通过）
+- TCP 10012 的 `Get/SetSpeedRatio`、`Get/SetTCP`、`Get/SetIO` 参数命令封包、响应解析和本地模拟器测试
+- HTTP 兼容层控制器和状态监控页
+- 轨迹规划与飞拍触发编排层
+
+2026-04-28 `Rvbust/uttc-20260428/20260428.pcap` 新增约束：
+
+- `TCP 10010` 状态帧继续确认为固定 `90B`。
+- `UDP 60015` 命令 `target[0..5]` 为关节角 `deg`，而 `JointDetialTraj.txt` 为 `rad`。
+- `speed_ratio=0.7` 在本抓包中表现为 UDP 下发时间轴约 `1.427730x` 拉伸；机器人侧 `TCP 10012` 未抓到 `0x2207 SetSpeedRatio`。
+- `UTTC_MS11` 的 17 个飞拍触发点与 17 个 UDP IO 脉冲一一对齐，`io_keep_cycles=2` 对应约两周期清零。
+
+**历史缺失项（已完成）**：计划制定时 `FanucControllerRuntime` 仍是纯内存状态桩。当前实现已经改为持有 `FanucCommandClient`、`FanucStateClient` 和 `FanucJ519Client`，真机模式会建立三条通道并从状态/J519 响应读取运行状态。
+
+## 目标
+
+将 `FanucControllerRuntime` 从内存桩改造为具备真实 FANUC R30iB 通信能力的运行时，使 HTTP 层的每个指令真正下发到控制柜。
+
+## 架构设计
+
+### 分层结构
+
+```
+LegacyHttpApiController / StatusController  (HTTP 适配层，保持不动)
+    ↓ 调用同步接口
+IControllerRuntime / ControllerClientCompatService  (兼容层，保持不动)
+    ↓ 调用同步接口
+FanucControllerRuntime  (改造：从内存桩 → 委托给三个 Socket 客户端)
+    ↓ 内部持有并调度
+FanucCommandClient   (TCP 10012，Req/Res 同步命令通道)
+FanucStateClient     (TCP 10010，持续接收状态帧后台循环)
+FanucJ519Client      (UDP 60015，8ms 周期发送 + 接收响应)
+    ↓ 使用现有编解码
+FanucCommandProtocol / FanucStateProtocol / FanucJ519Protocol  (已有，不改动)
+```
+
+### 关键设计决策
+
+1. **接口保持同步**：`IControllerRuntime` 现有 18 个方法全为同步签名。内部 Socket I/O 采用 `Task` + `.GetAwaiter().GetResult()` 短时间阻塞，或后台线程 + 锁同步状态快照。避免一次性推翻整个兼容层。
+
+2. **三个独立客户端**：每条物理通道一个类，各自管理连接生命周期，便于单独测试和故障定位。
+
+3. **状态通道后台循环**：`FanucStateClient` 内部启动 `Task` 持续 `ReadAsync(90)`，解析状态帧后写入线程安全的 `ControllerStateSnapshot` 缓存。
+
+4. **J519 周期发送器**：`FanucJ519Client` 内部用 `PeriodicTimer` 或 `Task.Delay` 实现约 8ms 周期的发送循环。命令通过线程安全的队列/缓冲区注入。
+
+5. **RVBUSTSM 程序生命周期隐式管理**：`EnableRobot()` 时自动走 `StopProg→Reset→GetProgStatus→StartProg("RVBUSTSM")` 序列（与抓包一致）。`DisableRobot()` 时发送 `StopProg`。
+
+6. **连接顺序**：`Connect()` 按顺序建立三条通道 — 先 TCP 10010（状态），再 TCP 10012（命令），最后 UDP 60015（运动）。
+
+## 实现步骤
+
+### Phase 1: TCP 10012 命令客户端
+
+**新建文件**：`src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs`
+
+职责：
+- `Connect(string ip, int port = 10012)` — 建立 TcpClient 连接
+- `SendCommandAsync(uint messageId, ReadOnlyMemory<byte> body)` — 发送并等待响应
+- `SendProgramCommandAsync(uint messageId, string programName)` — 封装程序名命令
+- `Disconnect()` — 关闭连接
+- 线程安全（单个命令通道同一时间只处理一个请求）
+
+需要封装的具体命令方法：
+- `StopProgramAsync(string name)` → `PackProgramCommand(0x2103, name)`
+- `ResetRobotAsync()` → `PackEmptyCommand(0x2100)`
+- `GetProgramStatusAsync(string name)` → `PackProgramCommand(0x2003, name)`
+- `StartProgramAsync(string name)` → `PackProgramCommand(0x2102, name)`
+- `GetTcpAsync()` / `SetTcpAsync()` — 已按 `tcp_id + f32[7] pose` 字段布局实现
+- `GetSpeedRatioAsync()` / `SetSpeedRatioAsync()` — 已按 `ratio_int / 100.0` 与 `ratio_int_0_100` 字段布局实现；注意 2026-04-28 真实运行抓包未出现机器人侧 `0x2207`，执行链路仍必须在 UDP 发送时间尺度上应用当前速度倍率
+- `GetIoAsync()` / `SetIoAsync()` — 已按 `io_type / io_index / f32 io_value` 字段布局实现
+
+**测试**：`tests/Flyshot.Core.Tests/FanucCommandClientTests.cs`
+- 用 `TcpListener` 本地模拟控制器，验证帧收发与解析
+
+### Phase 2: TCP 10010 状态客户端
+
+**新建文件**：`src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs`
+
+职责：
+- `Connect(string ip, int port = 10010)` — 建立 TcpClient 连接
+- 内部启动后台 `Task` 循环 `ReadAsync(FanucStateProtocol.StateFrameLength)`
+- 每收到一帧调用 `FanucStateProtocol.ParseFrame()`
+- 将解析结果写入线程安全的最新状态缓存
+- 单帧接收超时后标记状态陈旧，不再把旧帧当作当前位姿/关节状态使用
+- EOF、坏帧、Socket 异常或超时后关闭当前连接，并按退避策略自动重连 TCP 10010
+- `GetLatestFrame()` — 返回最近一次解析的状态帧
+- `GetStatus()` — 返回连接阶段、陈旧状态、最近异常和重连次数
+- `Disconnect()` — 取消后台循环并关闭连接
+
+**测试**：`tests/Flyshot.Core.Tests/FanucStateClientTests.cs`
+- 用 `TcpListener` 本地发送抓包样本 hex，验证后台循环能正确解析。
+- 用本地模拟控制器验证无状态帧超时、EOF 后退避重连和重连后的继续收帧。
+- `FanucStateProtocol` 已用 `j519 协议.pcap` 中多条 90B 样本锁定 `pose[6]`、`joint[6]`、`external_axes[3]` 和 `raw_tail_words[4]`。
+- `Rvbust/uttc-20260428/20260428.pcap` 再次确认 `10010` 状态帧固定 90B，平均间隔约 25.6ms。
+- 尾部状态字当前只作为 `ControllerStateSnapshot.stateTailWords` 诊断字段保留，不从 `[2,0,0,1]` 推断使能或运动状态。
+
+### Phase 3: UDP 60015 J519 运动客户端
+
+**新建文件**：`src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs`
+
+职责：
+- `Connect(string ip, int port = 60015)` — 创建 UdpClient
+- 发送 init packet (`PackInitPacket()`)
+- 内部启动发送循环（约 8ms 周期）
+- `UpdateCommand(FanucJ519Command command)` — 原子更新下一周期要发送的命令
+- `StartMotion()` — 启动发送循环
+- `StopMotion()` — 发送 end packet，停止循环
+- 接收线程：持续 `ReceiveAsync()` 解析 132B 响应，更新反馈状态
+- `Disconnect()` — 清理
+
+执行注意事项：
+
+- 规划层输出关节角为 `rad`，J519 命令 `target[0..5]` 必须转为 `deg`。
+- 发送循环不能只按 `JointDetialTraj` 行号逐行发；需要保持约 8ms 的 J519 实发周期，同时按当前 `speed_ratio` 对原轨迹时间轴做缩放。
+- 实发规则：第 `k` 个 J519 周期的发送时间为 `t_send = k * 0.008`，轨迹采样时间为 `t_traj = t_send * speed_ratio`，命令包数为 `floor(duration / (0.008 * speed_ratio)) + 1`。`UTTC_MS11` 中 `7.403046 / (0.008 * 0.7) = 1321.9725`，因此主运行实发 `1322` 个运行包，而不是 `JointDetialTraj.txt` 的 `464` 行。
+- 飞拍 IO 事件应嵌入 `write_io_type/index/mask/value`，不要用独立 `TCP 10012 SetIO` 模拟拍照触发。
+- 响应 `joints_deg` 相对命令目标存在约 7 帧 / 56ms 滞后，闭环判断要容忍该延迟。
+
+**测试**：`tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs`
+- 用本地 UDP socket 模拟控制器收发
+
+### Phase 4: 重写 FanucControllerRuntime
+
+**改造文件**：`src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs`
+
+将当前内存桩替换为真实运行时：
+
+- 持有三个客户端实例：`FanucCommandClient`、`FanucStateClient`、`FanucJ519Client`
+- `Connect(robotIp)` — 顺序连接 10010 → 10012 → 60015
+- `EnableRobot(bufferSize)` — 走完整 StartProg 序列（Stop→Reset→Status→Start RVBUSTSM），然后启动 J519
+- `DisableRobot()` — 停止 J519，发送 StopProg
+- `Disconnect()` — 断开三条通道
+- `ExecuteTrajectory(result, finalJointPositions)` — 将规划后的稠密路点经 `rad -> deg` 转换，并按 `t_send = k * 0.008`、`t_traj = t_send * speed_ratio` 重采样后，通过 J519 逐周期发送
+- `StopMove()` — 立即停止 J519 发送循环
+- `GetSnapshot()` — 优先从 `FanucStateClient` 读取最新状态；若状态通道未连接，回退到内存值
+- `GetJointPositions()` / `GetPose()` / `GetTcp()` / `GetSpeedRatio()` / `GetIo()` — 优先从真实通道读取
+- `SetTcp()` / `SetSpeedRatio()` / `SetIo()` — 通过命令通道发送
+
+### Phase 5: 端到端集成测试
+
+**改造/新建测试**：
+- `tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs` — 补充真实连接流程（可用本地模拟器）
+- `tests/Flyshot.Core.Tests/FanucControllerRuntimeSocketTests.cs` — 用本地 TCP/UDP 模拟器验证完整链路
+
+**验证命令**：
+```bash
+cd flyshot-replacement
+dotnet build FlyshotReplacement.sln -v minimal
+dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj -v minimal
+dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal
+```
+
+## 风险与回退策略
+
+1. **真机连接风险**：第一版 Socket 实现可能有超时/重连问题。`FanucControllerRuntime` 保留 `_simulationMode` 路径，仿真模式下仍走内存桩。
+2. **性能风险**：同步接口内部阻塞 Socket 可能影响 HTTP 并发。若实测有问题，后续将 `IControllerRuntime` 改为 async。
+3. **现场验证风险**：TCP 10012 参数命令已按逆向结论实现，但仍需在真实 R30iB 控制柜上确认默认 `tcp_id=1`、IO 类型/地址和错误码语义。
+
+## 关键文件清单
+
+| 文件 | 动作 |
+|------|------|
+| `src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs` | 新建 |
+| `src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs` | 新建 |
+| `src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs` | 新建 |
+| `src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs` | 重写 |
+| `tests/Flyshot.Core.Tests/FanucCommandClientTests.cs` | 新建 |
+| `tests/Flyshot.Core.Tests/FanucStateClientTests.cs` | 新建 |
+| `tests/Flyshot.Core.Tests/FanucJ519ClientTests.cs` | 新建 |
+| `tests/Flyshot.Core.Tests/FanucControllerRuntimeSocketTests.cs` | 新建 |
+
+## 下一步验证标准
+
+- `FanucControllerRuntime` 的 `Connect()` 能成功建立三条 TCP/UDP 连接
+- `EnableRobot()` 能走完 `RVBUSTSM` 启动序列
+- `ExecuteTrajectory()` 能按 8ms 周期通过 J519 发送路点，并按当前 `speed_ratio` 推进原始轨迹时间
+- `GetSnapshot()` 返回的值来自 TCP 10010 真实状态帧而非内存
+- 现有 10 个集成测试和 25 个核心测试仍然通过

docs/fanuc-stream-motion-manual-notes.md

@@ -0,0 +1,232 @@
+# FANUC Stream Motion 文档要点与实现差异
+
+本文记录 `../FANUC_stream_motion.pdf` 中与本仓库 `Flyshot.Runtime.Fanuc` 直接相关的重点，并对照当前实现状态。
+
+读取时间：2026-05-03
+
+## 1. 文档定位
+
+`FANUC_stream_motion.pdf` 对应 FANUC `Stream motion` 功能，选项号为 `A05B-2600-J519`。它描述的是外部设备通过以太网实时发送期望位置，让机器人按外部生成路径运动的控制方式。
+
+文档明确要求外部设备自行生成满足机器人约束的路径，包括速度、加速度、jerk、可达性、姿态连续性等。FANUC 不提供完整运动学、逆解和碰撞检测公式。
+
+## 2. 使用前提与示教程序
+
+1. 机器人侧需要安装 J519 stream motion 选项。
+2. 物理网口通过 `$STMO.$PHYS_PORT` 选择，`1` 表示 `CD38A`，`2` 表示 `CD38B`。
+3. 机器人程序必须包含成对的 `IBGN start[*]` 和 `IBGN end[*]` 指令，二者编号必须一致，`start` 必须在 `end` 前一行。
+4. `IBGN start[*]` 执行期间，机器人根据外部设备发来的期望位置运动；`IBGN end[*]` 之后程序继续执行。
+5. 执行时要求 `AUTO` 模式和 `100% OVERRIDE`。
+
+当前实现中的 `FanucControllerRuntime.EnableRobot()` 会按现场抓包流程启动 `RVBUSTSM` 程序，并随后允许 J519 在收到机器人 UDP status 包后回发命令。是否满足 `AUTO / 100% OVERRIDE / IBGN start` 已到位，当前只通过 J519 状态位和现场程序行为间接判断，没有在代码里读取或设置这些控制器状态。
+
+## 3. UDP 60015 协议结构
+
+协议使用 UDP，大端字节序，机器人侧端口为 `60015`。通信周期通常为 `8ms`，部分机型支持 `4ms`。状态包输出可以在任意时间通过 start/stop 控制包启停，不要求已经进入 `IBGN start[*]`。
+
+### 3.1 状态输出 start 包
+
+外部设备发给机器人：
+
+| 字段 | 长度 | 值 |
+| --- | --- | --- |
+| Packet type | 4B | `0` |
+| Version | 4B | `1` |
+
+当前实现：`FanucJ519Protocol.PackInitPacket()` 已按 8B 大端控制包实现，`FanucJ519Client.ConnectAsync()` 连接后立即发送。
+
+### 3.2 状态包
+
+机器人发给外部设备，长度为 `132B`：
+
+| 偏移 | 字段 | 含义 |
+| --- | --- | --- |
+| `0x00` | Packet type | `0` |
+| `0x04` | Version | `1` |
+| `0x08` | Sequence No. | 状态包序号，发送 start 包后从 `1` 重新开始 |
+| `0x0c` | Status | bit0 接受命令、bit1 已收到命令、bit2 SYSRDY、bit3 运动中 |
+| `0x0d..0x12` | Read I/O 回显和值 | 回显命令包中的读取 IO 类型、索引、掩码，并返回 16 点 IO 值 |
+| `0x14` | Timestamp | ms 单位，2ms 分辨率 |
+| `0x18..0x38` | Cartesian / external axis | `X/Y/Z/W/P/R` 加 3 个扩展轴 |
+| `0x3c..0x5c` | Joint | `J1..J9`，单位 degree |
+| `0x60..0x80` | Motor current | `J1..J9` 电流，单位 A |
+
+当前实现：`FanucJ519Protocol.ParseResponse()` 已解析 `132B` 状态包，并暴露 `AcceptsCommand`、`ReceivedCommand`、`SystemReady`、`RobotInMotion` 四个状态位。`FanucControllerRuntime.GetSnapshot()` 也会把最新 J519 状态写进快照。
+
+### 3.3 命令包
+
+外部设备发给机器人，长度为 `64B`：
+
+| 偏移 | 字段 | 含义 |
+| --- | --- | --- |
+| `0x00` | Packet type | `1` |
+| `0x04` | Version | `1` |
+| `0x08` | Sequence No. | 第一包应等于刚收到的状态包序号，后续逐包递增 |
+| `0x0c` | Last data | 正常为 `0`；结束外部控制时最后一包设为 `1` |
+| `0x0d..0x11` | Reading I/O | 可读取最多 16 个连续 IO 点 |
+| `0x12` | Data format | `0` 笛卡尔，`1` 关节 |
+| `0x13..0x19` | Writing I/O | 可写入最多 16 个连续 IO 点 |
+| `0x1a` | unused | 2B |
+| `0x1c..0x3c` | target[9] | 9 个 f32 目标值；关节格式时单位 degree |
+
+当前实现：`FanucJ519Protocol.PackCommandPacket()` 已按上述布局打包，默认 `dataStyle=1`，也就是关节格式。运行时会把规划输出的弧度制关节轨迹转换为 degree 后下发。
+
+### 3.4 状态输出 stop 包
+
+外部设备发给机器人：
+
+| 字段 | 长度 | 值 |
+| --- | --- | --- |
+| Packet type | 4B | `2` |
+| Version | 4B | `1` |
+
+文档把它定义为“停止状态包输出”的控制包，不是命令流正常终止的首选动作。命令流结束应通过 command packet 的 `Last data=1` 表达。
+
+当前实现：`FanucJ519Client.StopMotionAsync()` 当前会停止状态包驱动发送并发送 packet type `2`，而稠密轨迹执行期间保持 `LastData=0`。这是与 FANUC 文档最明显的语义差异之一；已有多数 UTTC 抓包显示主运行窗口 `LastData=0`，但 `../j519 协议.pcap` 中存在 1 个 `LastData=1` 后紧跟 packet type `2` 的样本，后续应单独校准停止语义。
+
+## 4. 通信时序重点
+
+文档推荐的时序是：
+
+1. 外部设备发送状态输出 start 包。
+2. 机器人每个通信周期输出状态包。
+3. 机器人程序执行到 `IBGN start[*]` 后，状态包 bit0 变为 `1`，表示等待命令包。
+4. 外部设备收到 bit0 为 `1` 的状态包后，立即发送第一帧命令包，第一帧命令序号应等于刚收到的状态包序号。
+5. 后续每收到一个状态包，外部设备应立即发送下一帧命令包。
+6. 结束命令通信时，发送 `Last data=1` 的最后一帧命令包。
+
+当前实现对照：
+
+1. `FanucJ519Client` 已改为收到机器人 132B status 包后立即回发当前命令，不再由上位机本地固定 8ms 发送循环主动发包。
+2. 命令包 sequence 已按刚收到的 status packet sequence 写入，避免第一帧从本地 `0` 起步。
+3. `FanucControllerRuntime.ExecuteTrajectory()` 启动前会检查已有 J519 响应中的 `AcceptsCommand` 和 `SystemReady`；但如果还没收到状态包，则会放行，后续命令仍要等第一帧 status 到达才会发出。
+4. 当前稠密轨迹结束不发送 `LastData=1`，而是依赖停止 J519 状态包驱动发送和 packet type `2` stop 控制包。
+
+序号和节拍已经按手册方向校准；停止语义仍需在真实 R30iB 联调中继续确认。
+
+## 5. 命令缓冲
+
+文档说明机器人可以缓冲提前到达的 command packet。默认启用，缓冲上限为 `$STMO.$PKT_STACK - 1`，`$PKT_STACK` 默认 `10`，可配置范围 `2..10`。`$STMO.$START_MOVE` 决定积累多少未处理命令包后开始运动，默认 `1`。
+
+注意事项：
+
+1. 只有 command packet 会进入缓冲。
+2. status output stop packet 会立即处理。
+3. 如果 command buffer 中还有未处理包，不应发送 status output stop packet。
+4. 使用 `Last data=1` 时，机器人会先处理完缓冲里的命令包，再结束外部控制。
+
+当前实现没有显式预填 `$PKT_STACK` 缓冲，也没有读取 `$START_MOVE`。`FanucJ519Client` 只保存一个“当前命令”，由后台循环持续发送；`FanucControllerRuntime.SendDenseTrajectory()` 另一个 8ms 循环负责按轨迹时间更新这条当前命令。这与文档的“按状态包响应并可提前发多包缓冲”模型不同。
+
+## 6. 可执行运动条件
+
+文档列出的主要运动约束：
+
+1. 目标点必须可达。
+2. 笛卡尔格式下目标点对应的关节解必须唯一，且 configuration 要与 `IBGN start` 开始时一致。
+3. 各轴必须满足上下限。
+4. 不能发生自碰撞。
+5. 必须考虑 FANUC J3 轴定义：J3 不是相对 J2 臂的夹角，而是机器人视角下相对水平面的 J3 臂角度。
+6. 外部设备必须控制每轴速度、加速度、jerk 不超过 `$STMO_GRP` 下的限制。
+7. 状态包中的当前位置是 servo feedback position，不是 command position。轨迹起点应平滑连接到机器人 command position，而不能简单用当前 servo position 直接起步。
+8. reducer load 超限也会导致停机，负载相关计算不公开。
+
+当前实现对这些条件的覆盖：
+
+| 条件 | 当前状态 |
+| --- | --- |
+| 关节格式下发 | 已实现，当前现场链路默认只使用关节格式 |
+| `rad -> deg` | 已实现，并由 UTTC J519 golden tests 覆盖 |
+| `speed_ratio` 下发时间轴缩放 | 已实现，J519 实发时间为 `t_send = k * 0.008`，原轨迹采样时间为 `t_traj = t_send * speed_ratio` |
+| IO 触发嵌入 J519 命令包 | 已实现，使用 `write_io_type/index/mask/value` |
+| 速度、加速度、jerk 约束 | 规划层有 `acc_limit / jerk_limit` 等兼容参数，但未从 FANUC `$STMO_GRP` 在线读取，也未实现手册附录中的 20 档速度/负载插值 |
+| J3 轴定义 | 当前文档未见专门处理；需要确认 `.robot` 模型与现场导出轨迹是否已经采用 FANUC J3 定义 |
+| command position 起步 | `MoveJoint` 会用当前运行时记录的关节作为起点生成 PTP 稠密轨迹；但没有通过 FANUC HMI 通信读取 command position |
+| reducer load | 未建模，依赖保守规划和现场报警反馈 |
+| 笛卡尔格式限制 | 运行时不走笛卡尔 J519 目标格式，暂不覆盖 configuration 变化报警 |
+
+## 7. 系统变量
+
+与本仓库后续最相关的变量：
+
+| 变量 | 默认/含义 |
+| --- | --- |
+| `$STMO.$PHYS_PORT` | 物理口，`1=CD38A`，`2=CD38B` |
+| `$STMO.$COM_INT` | 通信周期，单位 ms，通常 `8`，只读 |
+| `$STMO.$PKT_STACK` | command buffer 最大保留量，默认 `10` |
+| `$STMO.$START_MOVE` | 缓冲中积累多少未处理命令后开始运动，默认 `1` |
+| `$STMO_GRP.$JNT_VEL_LIM[*]` | 各轴速度上限，degree/s，只读 |
+| `$STMO_GRP.$JNT_ACC_LIM[*]` | 各轴加速度上限，degree/s^2，只读 |
+| `$STMO_GRP.$JNT_JRK_LIM[*]` | 各轴 jerk 上限，degree/s^3，只读 |
+| `$STMO_GRP.$LMT_MODE` | 加速度/jerk 限制计算模式 |
+| `$STMO_GRP.$WARN_LIM` | 接近限制时报警阈值，默认 `80%` |
+| `$STMO_GRP.$FLTR_LN` | 命令目标移动平均滤波窗口 |
+| `$STMO_GRP.$MAX_SPD` | 用于限制计算的 flange center 最大速度 |
+
+当前实现没有读取或设置上述系统变量。`RobotProfile.ServoPeriod` 当前决定运行时发送周期；对当前现场而言应继续确认它与 `$COM_INT` 一致。
+
+## 8. 附录 B：加速度和 jerk 限制
+
+文档说明，在 `$STMO_GRP[].$LMT_MODE=0` 时，加速度和 jerk 的允许上限会根据 flange center speed 与 payload 计算：
+
+1. 以 `$MAX_SPD` 分成 20 档速度区间。
+2. 每个轴、每种限制类型都有无负载和最大负载两张 20 档表。
+3. 实际 payload 通过线性插值得到限制表。
+4. 实际 flange center speed 在相邻速度档之间线性插值。
+5. 限制值不是每个通信周期都更新，而是在超过 `Vmax/20` 到再次跌回阈值的整段时间内，以该段观测到的 `Vpeak` 决定。
+6. 如果长时间不跌回阈值，会按中间检查时间做临时判断。
+
+文档还提供了 packet type `3` 的限制表查询协议：
+
+| 包 | 方向 | 重点字段 |
+| --- | --- | --- |
+| 请求 | 外部设备 -> 机器人 | packet type `3`、version `1`、axis `1..9`、limit type `0=velocity/1=acceleration/2=jerk` |
+| 响应 | 机器人 -> 外部设备 | packet type `3`、version `1`、axis、limit type、`Vmax`、中间检查时间、无负载 20 档、最大负载 20 档 |
+
+当前实现没有 packet type `3` 查询，也没有实现手册描述的动态限制表算法。现阶段规划时长和保守程度主要依赖 replacement 自身参数与现场抓包对齐。
+
+## 9. 报警与诊断
+
+文档中与实现最相关的报警：
+
+| 报警 | 含义 |
+| --- | --- |
+| `MOTN-600` | 命令序号与机器人期望不一致 |
+| `MOTN-602` | data format 非法 |
+| `MOTN-603` | 后续命令包未在通信周期内到达 |
+| `MOTN-604` | 命令包过多，超出缓冲 |
+| `MOTN-605` | 目标位置包含 NaN 或 infinity |
+| `MOTN-606` | 非 AUTO 或 override 不是 100% |
+| `MOTN-607` | 协议版本不匹配 |
+| `MOTN-609/610/611` | 速度、加速度、jerk 超限 |
+| `MOTN-612/613/614` | 接近速度、加速度、jerk 限制 |
+| `MOTN-617` | 目标点与当前位置不连续 |
+| `MOTN-619` | 当前机型不支持笛卡尔目标格式 |
+| `PRIO-023` | 读写的 IO 类型或索引未分配 |
+
+当前 `ControllerStateSnapshot.ActiveAlarms` 仍为空，Web 状态页也尚未接入 FANUC 报警列表。后续现场联调如果出现报警，应优先按上述表格关联 J519 包序号、目标数据、IO 字段、发送间隔和状态包 bit。
+
+## 10. 与当前代码的结论
+
+已基本对齐：
+
+1. UDP 60015、大端、start/stop 控制包、64B command packet、132B status packet 的基础二进制布局。
+2. `Data format=1` 的关节目标下发。
+3. 状态位 bit0..bit3 的解析和快照暴露。
+4. 规划输出 `rad` 转 J519 `deg`。
+5. 根据 `speed_ratio` 做运行期时间轴缩放，而不是改变规划文件时间。
+6. 飞拍 IO 触发通过 command packet 的写 IO 字段下发。
+7. 命令发送按机器人 UDP status 包驱动，并使用最新 status sequence 回发。
+
+主要差异/风险：
+
+1. 当前未实现命令缓冲预填，也未读取 `$PKT_STACK / $START_MOVE`。
+2. 当前停止运动依赖 packet type `2` stop 控制包，没有稳定发送 `LastData=1` 的最后 command packet；这与手册标准结束语义不同。
+3. 当前未实现 packet type `3` 的速度/加速度/jerk 限制表查询，也未实现 payload/speed 20 档动态限制算法。
+4. 当前没有自动校验 `AUTO / 100% OVERRIDE / brake control / resume offset / payload` 等控制器前置状态。
+5. 当前没有报警码读取和 `MOTN-* / PRIO-*` 映射。
+
+建议后续联调优先级：
+
+1. 验证运动结束是否必须补 `LastData=1`；如果当前 stop 控制包能稳定工作，也应在文档中标为现场兼容路径，而不是手册标准路径。
+2. 抓一次报警现场包，确认 `MOTN-600/603/617` 等是否能从包序号与状态位直接定位。
+3. 如果后续追求更稳的真实机运行，补 packet type `3` 限制表查询，并把规划器的速度、加速度、jerk 校验与 FANUC 手册算法靠近。

docs/legacy-fit-uttc-ms11-plan.md

@@ -0,0 +1,70 @@
+# UTTC_MS11 Legacy Fit 计划
+
+## 目标
+
+把 `Rvbust/前两个点正常 飞拍失败的运行` 中的旧 1x 轨迹拟合逻辑收敛到当前 replacement 实现里，让 `UTTC_MS11` 在新系统中尽量复现旧系统的轨迹时间轴和中间点形状。
+
+当前已确认的事实：
+
+- `Config/RobotConfig.json` 里的 `UTTC_MS11` 示教点与旧样本一致。
+- 旧 `1倍速度 角度坐标点/waypoint.txt` 已给出 20 个示教点的 legacy 时间节点。
+- 旧 1x 的节点时间与当前规划时间存在稳定比例，约为 `0.742277`。
+- 当前运行时 `ApplySmoothStartStopTiming` 会再次改写时间轴，这会破坏旧 waypoint time 的拟合结果。
+
+## 拟合策略
+
+优先分两层处理，不把不同问题混成一个旋钮：
+
+1. 时间轴拟合
+   - 先把 `UTTC_MS11` 的规划时间拉回旧 1x 的节点时间。
+   - 通过 `planning_speed_scale` 复现旧 `waypoint.txt` 的时间比例。
+   - 对 legacy-fit 轨迹，禁止运行时二次平滑起停时间重映射。
+
+2. 空间曲线拟合
+   - 保持原始示教点不变。
+   - 先用当前插补器 + legacy 时间轴做第一版对齐。
+   - 如果中间点仍和旧轨迹差异明显，再用旧 `JointDetialTraj.txt` 在 knot 附近反推速度/加速度，升级为 Hermite 拟合。
+
+## 计划分解
+
+### 1. 配置层
+
+- 为 `RobotConfig.json` 增加明确的 legacy-fit 运行开关。
+- 当前现场的 `UTTC_MS11` 显式启用：
+  - `planning_speed_scale = 0.742277`
+  - `smooth_start_stop_timing = false`
+- 保留默认行为为兼容旧实现，以免影响其他轨迹。
+
+### 2. 编排层
+
+- `ControllerClientTrajectoryOrchestrator` 读取运行配置后，按开关决定是否调用 `ApplySmoothStartStopTiming`。
+- 缓存键必须包含该开关，避免 legacy-fit 和普通飞拍共用一份结果。
+- `saveTrajectory` / `IsFlyshotTrajectoryValid` 仍然输出规划结果，只是 legacy-fit 轨迹不再被二次改写时间轴。
+
+### 3. 运行层
+
+- `FanucControllerRuntime` 继续使用 8ms 物理发送周期。
+- DenseSend 实发点数仍按 `duration / (8ms * speedRatio)` 计算。
+- 终点要保留完整落点，不因为非整周期而丢掉最后一个点。
+
+### 4. 测试层
+
+- 增加配置测试，确认新开关可解析，默认值不破坏旧行为。
+- 增加编排测试，确认 UTTC_MS11 的规划时刻与旧 `waypoint.txt` 一致。
+- 增加运行测试，确认 legacy-fit 目录能写出稳定的 DenseSend 诊断文件。
+- 继续保留原有平滑起停测试，作为“显式开启平滑时”的回归保护。
+
+## 验收标准
+
+- `UTTC_MS11` 的 waypoint time 与旧 `waypoint.txt` 对齐。
+- `UTTC_MS11` 运行时不再额外套一层平滑重映射。
+- DenseSend 输出稳定，且不再受旧 bin 目录残留影响。
+- 现有默认轨迹和非 UTTC 场景不被破坏。
+
+## 后续可能的第二阶段
+
+如果时间轴对齐后，中间点仍和旧轨迹有明显偏差，再做第二阶段：
+
+- 从旧 `JointDetialTraj.txt` 提取 knot 附近速度/加速度。
+- 用 Hermite / quintic Hermite 继续逼近旧曲线形状。
+- 将空间曲线拟合与时间轴拟合分开验收。

docs/move-joint-jerk-comparison-20260505.md

@@ -0,0 +1,160 @@
+# MoveJoint 失败样本六轴限值与 ActualSendJerkStats 对比
+
+记录时间：2026-05-05
+
+## 1. 目的
+
+本文档固定记录以下三类证据，避免后续继续混用测试基线、旧文档结论和当前运行目录中的真实模型数据：
+
+- 当前运行目录 `.robot` 模型中的六轴基础 `velocity / acceleration / jerk`
+- 现场示教器读取到的六轴 `velocity / acceleration / jerk`
+- 当前运行目录 `RobotConfig.json` 中的 `acc_limit / jerk_limit`
+- 当前失败样本 `ActualSendJerkStats.txt` 中的逐轴实发跃度峰值
+
+本次样本对应目录：
+
+- `.robot`：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Models/LR_Mate_200iD_7L.robot`
+- 配置：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/RobotConfig.json`
+- 实发跃度：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/move-joint/DenseSend/20260505_203416_563/ActualSendJerkStats.txt`
+- 抓包：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/move-joint/DenseSend/20260505_203416_563/移动点 跃度过大.pcap`
+
+## 2. 当前运行模型的真实六轴限值
+
+当前仓库运行时通过 `RobotModelLoader.LoadProfile(...)` 从 `.robot` 中读取每轴 `limit.velocity / limit.acceleration / limit.jerk`，然后只对加速度和 jerk 叠加 `RobotConfig.json` 的全局倍率：
+
+- `velocity_eff = velocity_base`
+- `acceleration_eff = acceleration_base * acc_limit`
+- `jerk_eff = jerk_base * jerk_limit`
+
+当前运行目录 `RobotConfig.json` 中：
+
+- `acc_limit = 0.74`
+- `jerk_limit = 0.74`
+
+按当前运行目录真实模型解出的六轴基础值与生效值如下：
+
+| Joint | vel_base | acc_base | jerk_base | vel_eff | acc_eff | jerk_eff(rad/s^3) | jerk_eff(deg/s^3) |
+| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: |
+| Joint1 | 6.45 | 26.90 | 224.22 | 6.45 | 19.9060 | 165.9228 | 9506.6762 |
+| Joint2 | 5.41 | 22.54 | 187.86 | 5.41 | 16.6796 | 139.0164 | 7965.0530 |
+| Joint3 | 7.15 | 29.81 | 248.46 | 7.15 | 22.0594 | 183.8604 | 10534.4249 |
+| Joint4 | 9.59 | 39.99 | 333.30 | 9.59 | 29.5926 | 246.6420 | 14131.5457 |
+| Joint5 | 9.51 | 39.63 | 330.27 | 9.51 | 29.3262 | 244.3998 | 14003.0771 |
+| Joint6 | 17.45 | 72.72 | 606.01 | 17.45 | 53.8128 | 448.4474 | 25694.1434 |
+
+重要结论：
+
+- 当前运行目录中，`Joint1.jerk_base` 不是测试基线里常见的 `272.7`，而是 `224.22`。
+- 因此当前样本的 `Joint1` 生效 jerk 上限应按 `224.22 * 0.74 = 165.9228 rad/s^3` 计算。
+
+## 3. 示教器读取到的实际机器人限值
+
+2026-05-06 现场从机器人示教器读取到的速度、加速度与加加速度限制如下。示教器显示口径为角度制；下表同时记录换算后的弧度制，便于与 `.robot` / `RobotProfile` 中的基础限值直接对照。
+
+换算公式：
+
+- `rad = deg * π / 180`
+
+| Joint | velocity(deg/s) | velocity(rad/s) | acceleration(deg/s^2) | acceleration(rad/s^2) | jerk(deg/s^3) | jerk(rad/s^3) |
+| --- | ---: | ---: | ---: | ---: | ---: | ---: |
+| Joint1 | 370 | 6.457718 | 1541.667 | 26.907165 | 12847.223 | 224.226341 |
+| Joint2 | 310 | 5.410521 | 1291.667 | 22.543842 | 10763.889 | 187.865303 |
+| Joint3 | 410 | 7.155850 | 1708.333 | 29.816036 | 14236.111 | 248.467010 |
+| Joint4 | 550 | 9.599311 | 2291.667 | 39.997135 | 19097.223 | 333.309419 |
+| Joint5 | 545 | 9.512044 | 2270.833 | 39.633513 | 18923.611 | 330.279318 |
+| Joint6 | 1000 | 17.453293 | 4166.667 | 72.722058 | 34722.223 | 606.017115 |
+
+这组数据的含义：
+
+- 示教器读取值与当前运行 `.robot` 中的 `velocity_base / acceleration_base / jerk_base` 基本一致，可作为实际机器人基础限值证据。
+- 它还没有叠加当前 `RobotConfig.json` 的 `acc_limit = 0.74` 与 `jerk_limit = 0.74`；若用于本次失败样本比较，仍应使用第 2 节中的 `acc_eff / jerk_eff` 作为生效上限。
+
+## 4. ActualSendJerkStats 的单位边界
+
+`ActualSendJerkStats.txt` 的真实输入不是弧度，而是 J519 下发用的角度制关节目标：
+
+1. `SampleDenseJointTrajectoryDegrees(...)` 先把轨迹点从 `rad` 转成 `deg`
+2. `BuildDenseSendJointRow(...)` 把这组角度制关节写入 `ActualSendJointTraj.txt`
+3. `BuildDenseSendJerkRow(...)` 再直接基于这组角度制关节做三阶差分
+
+2026-05-06 之后，`ActualSendJointTraj.txt` 第一列和 `ActualSendJerkStats.txt` 的 `dt` 都使用 J519 实发时间；若需要查看被 `speed_ratio` 缩放后的原轨迹采样时间，应读取同目录的 `ActualSendTiming.txt`。因此当前这份 `ActualSendJerkStats.txt` 的逐轴跃度应按以下方式理解：
+
+- 文本中的数值口径：`deg/s^3`
+- 若要与 `.robot` / `RobotProfile` 中的 jerk limit 比较，需要先换算为 `rad/s^3`
+- 换算公式：`jerk_rad = jerk_deg * π / 180`
+
+## 5. 全文件逐轴最大跃度对比
+
+扫描整份 `ActualSendJerkStats.txt` 后，各轴绝对值最大跃度如下：
+
+| Joint | peak window(s) | peak line | peak actual(deg/s^3) | peak actual(rad/s^3) | jerk_eff(rad/s^3) | peak/limit |
+| --- | --- | ---: | ---: | ---: | ---: | ---: |
+| Joint1 | `1.056 -> 1.064` | 133 | 21868.115990 | 381.670625 | 165.922800 | 2.3003 |
+| Joint2 | `1.056 -> 1.064` | 133 | 40.271793 | 0.702875 | 139.016400 | 0.0051 |
+| Joint3 | `1.056 -> 1.064` | 133 | 98.314401 | 1.715910 | 183.860400 | 0.0093 |
+| Joint4 | `1.056 -> 1.064` | 133 | 0.207266 | 0.003617 | 246.642000 | 0.0000 |
+| Joint5 | `1.056 -> 1.064` | 133 | 26.759688 | 0.467045 | 244.399800 | 0.0019 |
+| Joint6 | `1.056 -> 1.064` | 133 | 2.328736 | 0.040644 | 448.447400 | 0.0001 |
+
+结论非常明确：
+
+- 全文件范围内，只有 `Joint1` 的实发跃度显著超过当前生效 jerk 上限。
+- 其余 5 个轴即使取全文件峰值，也远低于各自当前生效 jerk limit。
+- 当前样本本质上是一个“J1 主导”的跃度问题，而不是六轴普遍同时逼近上限。
+
+## 6. 报警窗口逐轴对比
+
+结合抓包与 J519 序号，报警前最后一个关键窗口是：
+
+- `seq=41552`
+- 轨迹时间窗口：`0.296 -> 0.304s`
+- `ActualSendJerkStats.txt` 行号：38
+
+该窗口逐轴跃度如下：
+
+| Joint | alarm window jerk(deg/s^3) | alarm window jerk(rad/s^3) | jerk_eff(rad/s^3) | alarm/limit |
+| --- | ---: | ---: | ---: | ---: |
+| Joint1 | -20395.713579 | 355.972355 | 165.922800 | 2.1454 |
+| Joint2 | -37.560252 | 0.655550 | 139.016400 | 0.0047 |
+| Joint3 | 91.694793 | 1.600376 | 183.860400 | 0.0087 |
+| Joint4 | -0.193310 | 0.003374 | 246.642000 | 0.0000 |
+| Joint5 | 24.957931 | 0.435598 | 244.399800 | 0.0018 |
+| Joint6 | 2.171939 | 0.037907 | 448.447400 | 0.0001 |
+
+该窗口的直接结论与全局扫描一致：
+
+- 机器人开始报警的 `0.296 -> 0.304s` 窗口里，真正越限的仍然只有 `Joint1`
+- `Joint1` 在报警窗口内已经达到当前生效 jerk limit 的 `2.1454x`
+- 其余 5 轴在同一窗口仍远低于生效 jerk 上限
+
+## 7. 报警窗口与全局峰值窗口的关系
+
+本次样本不能简单理解为“最大峰值出现的位置就是首次报警位置”。
+
+当前证据表明：
+
+- 首次报警相关窗口在 `0.296 -> 0.304s`
+- 全文件最大的 J1 跃度峰值出现在更后面的 `1.056 -> 1.064s`
+
+这说明至少有两件事需要分开：
+
+1. 机器人第一次进入异常态时，`Joint1` 已经在 `0.296 -> 0.304s` 超限约 `2.15x`
+2. 即便忽略第一次报警，后续轨迹中仍存在更高的 J1 跃度峰值，说明当前 `MoveJoint` 临时轨迹整体都偏激，不只是单个孤立点异常
+
+## 8. 当前可落地的结论
+
+基于当前运行目录的真实模型、配置和实发跃度文件，本次失败样本可以先固定为下面这组结论：
+
+- 当前运行模型 `Joint1.jerk_base = 224.22`，不是 `272.7`
+- 现场示教器读取到的 `Joint1.jerk = 12847.223 deg/s^3 = 224.226341 rad/s^3`，与当前运行模型基础值一致
+- 当前样本 `jerk_limit = 0.74`，所以 `Joint1.jerk_eff = 165.9228 rad/s^3`
+- `ActualSendJerkStats.txt` 需要按 `deg/s^3` 理解，再换算成 `rad/s^3` 后与模型 jerk limit 对比
+- 无论看报警窗口还是看全文件峰值，越限主体都只有 `Joint1`
+- 报警窗口 `0.296 -> 0.304s` 中，`Joint1` 已经约为当前生效 jerk 上限的 `2.1454x`
+- 全文件最大峰值窗口 `1.056 -> 1.064s` 中，`Joint1` 约为当前生效 jerk 上限的 `2.3003x`
+
+因此当前最合理的根因指向仍然是：
+
+- `MoveJoint` 临时轨迹生成得过于激进
+- 当前问题首先应按 `Joint1` 的 jerk 约束失配来处理
+- 暂时没有证据支持“六轴普遍一起逼近限制”或“网络链路导致跃度统计失真”这类解释

docs/planning-duration-mismatch-investigation.md

@@ -0,0 +1,592 @@
+# 轨迹规划时长差异调查记录
+
+## 背景
+
+当前新 C# 规划链路在不额外缩放规划约束时，部分真实现场轨迹会比旧 RVBUST/FlyingShot 导出的 `JointTraj.txt` 更短。
+
+最典型现象：
+
+- 真实 `Rvbust/uttc-20260428/Data/JointTraj.txt`：`UTTC_MS11` 总时长约 `7.403046s`。
+- 新 C# 当前默认规划输出：`src/Flyshot.Server.Host/bin/Debug/net8.0/Config/Data/UTTC_MS11/JointTraj.txt` 总时长约 `5.495112s`。
+- 实体机复核确认：修改运行时 `speed_ratio` 不影响 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 生成的 `JointTraj.txt` 规划时长。
+
+因此，本问题不应继续归因到运行时 `speed_ratio`，而应归到规划阶段的有效关节约束来源。
+
+## 已确认事实
+
+1. `speed_ratio` 是运行执行倍率。
+
+   UTTC 抓包和实体机测试都显示，`speed_ratio=0.7` 会拉伸 J519 实际下发时间和包数，但不会改变已生成的 `JointTraj.txt` 规划时间轴。
+
+2. `JointTraj.txt` 是规划结果点位。
+
+   `saveTrajectory` / `SaveTrajInfo` / `IsFlyshotTrajectoryValid(saveTrajectory=true)` 生成的 `JointTraj.txt` 表示规划后的 sparse waypoint 时间轴，不是上传的原始飞拍路径，也不是 J519 逐周期下发点。
+
+3. UTTC_MS11 的差异是整条时间轴等比例缩放。
+
+   对 `UTTC_MS11`，真实时间和当前 C# 默认规划时间之间的比例在所有 waypoint 上都一致：
+
+   ```text
+   C#默认规划时间 / 真实规划时间 = 5.495112 / 7.403046 = 0.742277
+   ```
+
+   这说明路点顺序、相对分段时间和 ICSP 主要逻辑基本一致，差异更像是规划时传入的有效 `vel/acc/jerk` joint limits 存在整体倍率差异。
+
+4. 现场配置中没有找到显式倍率字段。
+
+   已检查现场现有配置，未发现类似 `planning_speed_scale` 或等价字段保存了 `0.742277`、`0.7`、`0.9` 等规划倍率值。
+
+## 样本对比
+
+| 样本 | 真实 `JointTraj.txt` 时长 | 当前/已有新规划时长 | 等效倍率 `新规划/真实` | 说明 |
+| --- | ---: | ---: | ---: | --- |
+| `UTTC_MS11` | `7.403046s` | `5.495112s` | `0.742277` | 所有 waypoint 时间均为同一比例 |
+| `UTTC_MS11_TEST01` | `7.805885s` | `5.814370s` | `0.744870` | `20260428 多点` 新增 1 个路径点后仍几乎是整条时间轴等比例缩放 |
+| `EOL10_EAU_0` | `14.849788s` | `10.489800s` | `0.706394` | 同样表现为新规划偏快 |
+| `EOL9_EAU_0` / `EOL9_EAU_90` | `6.400851s` | `5.651140s` | `0.882873` | `EOL9 EAU 0` 与 `EOL9 EAU 90` 的真实 `JointTraj.txt` 文件一致 |
+| `EOL9_EAU_90` | `6.400851s` | `6.471610s` | `1.011055` | 使用 `speedRatio=0.9 + self-adapt-icsp` 的旧离线结果已接近真实 |
+
+这些样本说明差异不是 `UTTC_MS11` 的个案，也不是一个可以全局写死的常数。不同真实样本对应的等效规划倍率不同。
+
+## `20260428 多点` 新样本对比
+
+2026-04-30 追加现场新样本：
+
+```text
+../Rvbust/20260428 多点/RobotConfig.json
+../Rvbust/20260428 多点/JointTraj.txt
+../Rvbust/20260428 多点/JointDetialTraj.txt
+```
+
+该样本中的飞拍程序名为：
+
+```text
+UTTC_MS11_TEST01
+```
+
+配置摘要：
+
+```text
+waypoints=21
+shot_flags=21
+acc_limit=1
+jerk_limit=1
+```
+
+实机导出的 `JointTraj.txt`：
+
+```text
+rows=21
+duration=7.805885s
+```
+
+用当前 C# `ICspPlanner`、同一个 `LR_Mate_200iD_7L.robot`、同一份 `RobotConfig.json` 规划：
+
+```text
+rows=21
+duration=5.814370s
+C# / 实机 = 0.744870
+```
+
+逐点/逐段统计：
+
+```text
+point_ratio_std = 2.18e-7
+segment_ratio_std = 9.0e-7
+max_joint_diff = 5.0e-7 rad
+```
+
+这说明：
+
+1. 新样本的路点关节值与 C# 输入基本完全一致，不是解析错点或单位错位。
+2. 新增 1 个路径点后，C# 与旧系统仍然保持几乎严格的整条时间轴等比例差异。
+3. `UTTC_MS11_TEST01` 的倍率 `0.744870` 与原 `UTTC_MS11` 的 `0.742277` 非常接近，进一步支持“同一类 UTTC 现场导出使用了一组更保守的 effective JointLimits”这一判断。
+
+和原 `UTTC_MS11` 对比：
+
+```text
+原 UTTC_MS11 实机 rows=20 duration=7.403046s
+新 UTTC_MS11_TEST01 实机 rows=21 duration=7.805885s
+新增路径点后实机时长增加 0.402839s
+```
+
+当前观察不到新增点导致规划形状或局部段比例失真；它更像是在同一套旧系统规划约束下正常增加了一段路径时间。
+
+## `20260430.pcap` 初始化抓包复核
+
+2026-04-30 继续复核现场提供的完整初始化抓包：
+
+```text
+../Rvbust/20260428 多点/20260430.pcap
+```
+
+抓包总览：
+
+```text
+packet_count=4821
+tcp_payload_bytes=35302
+udp_payload_bytes=451946
+```
+
+主要有效负载会话为：
+
+```text
+UDP 192.168.10.11:60015 -> 192.168.10.10:56118 260700B
+UDP 192.168.10.11:60015 -> 192.168.10.10:48455 127116B
+UDP 192.168.10.10:48455 -> 192.168.10.11:60015 62088B
+TCP 192.168.10.11:10010 -> 192.168.10.10:42106 35102B
+TCP 192.168.10.11:10012 -> 192.168.10.10:33528 106B
+TCP 192.168.10.10:33528 -> 192.168.10.11:10012 94B
+```
+
+全包搜索以下明文关键字没有命中：
+
+```text
+Joint / joint / Limit / limit / vel / acc / jerk / Speed / speed /
+Robot / JSON / Traj / ratio / Ratio / GetJoint / SetJoint
+```
+
+`TCP 10012` 命令通道按 `doz + length + message_id + body + zod` 解码后，只看到以下初始化/程序命令：
+
+| 方向 | 消息号 | 含义 | 请求体/结果 |
+| --- | ---: | --- | --- |
+| C->R | `0x0001` | 未知握手 | 空请求 |
+| R->C | `0x0001` | 未知握手响应 | `result=0` |
+| C->R | `0x2000` | 未知版本/状态查询 | 空请求 |
+| R->C | `0x2000` | 未知版本/状态响应 | 包含 `0.6.0` 字符串 |
+| C->R | `0x2100` | `ResetRobot` | 空请求 |
+| R->C | `0x2100` | `ResetRobot` 响应 | `result=0` |
+| C->R | `0x2003` | `GetProgramStatus("RVBUSTSM")` | 程序名 `RVBUSTSM` |
+| R->C | `0x2003` | 程序状态响应 | `result=0, status=1` |
+| C->R | `0x2102` | `StartProgram("RVBUSTSM")` | 程序名 `RVBUSTSM` |
+| R->C | `0x2102` | 启动响应 | `result=0` |
+
+没有看到：
+
+- `0x2207 SetSpeedRatio`
+- `0x2206 GetSpeedRatio`
+- `0x2200/0x2201 GetTcp/SetTcp`
+- `0x2208/0x2209 GetIo/SetIo`
+- 任何疑似 `JointLimits / velocity / acceleration / jerk` 的参数帧
+
+`TCP 10010` 状态通道只有机器人侧到上位机的状态帧：
+
+```text
+390 个 90B 状态帧
+1 个 2B 连接前导
+```
+
+这些帧与已逆向的 `pose[6] + joint[6] + external_axes[3] + raw_tail_words[4]` 状态布局一致，不携带规划约束。
+
+`UDP 60015` J519 通道只出现既有三类长度：
+
+```text
+C->R 8B   初始化包 1 个
+C->R 64B  目标关节命令包 970 个
+R->C 132B 反馈包 2938 个
+```
+
+没有出现其他长度的 UDP 参数帧。64B 命令包是 J519 逐周期目标关节/IO 命令，132B 是机器人反馈；这条链路承载的是执行期 streaming motion，而不是旧 RVBUST 规划器的 joint limit 配置。
+
+阶段结论：
+
+```text
+20260430.pcap 只覆盖机器人侧 10010 / 10012 / 60015 通信。
+它没有 50001/TCP+JSON，也没有 ControllerServer/Python 客户端到旧服务端的配置调用。
+因此，这份抓包看不到旧规划阶段的 effective JointLimits。
+```
+
+这并不否定“旧系统规划瞬间存在更保守的 effective JointLimits”这一方向；它只说明这份初始化抓包不是抓取该信息的位置。若要抓到这类限制，需要抓旧服务端内部 `_GetJointLimits/_SetJointLimits`，或者抓上层 Python/GUI 与 ControllerServer 之间的配置/规划调用，而不是只抓机器人控制柜侧的执行链路。
+
+## `all-50001.pcap` 本机 50001 抓包复核
+
+2026-04-30 追加复核本机所有网卡抓包：
+
+```text
+../Rvbust/20260428 多点/all-50001.pcap
+SHA256=C3543F314AE446CABA8E2097EFAFB36F39DD73FFE166F051A1F9387CFD15990F
+```
+
+该文件由 `tcpdump -i any` 生成，pcap linktype 为 `113`，即 Linux cooked capture。按 SLL 头解析后，确认抓到了本机到本机的 `50001` TCP JSON 通信：
+
+```text
+192.168.1.100:35814 -> 192.168.1.100:50001  217B payload
+192.168.1.100:50001 -> 192.168.1.100:35814  91B payload
+```
+
+客户端到服务端的完整 JSON 命令序列为：
+
+```json
+{"reply_from_client":true}
+{"cmd":"SetUpRobot","robot_name":"FANUC_LR_Mate_200iD_7L"}
+{"cmd":"IsSetUp"}
+{"cmd":"SetActiveController","sim":false}
+{"cmd":"Connect","ip":"192.168.10.11"}
+{"buffer_size":8,"cmd":"EnableRobot"}
+```
+
+服务端返回为：
+
+```json
+{"test_from_server": true}
+{"res": true}
+{"res": true}
+{"res": true}
+{"res": true}
+{"res": true}
+```
+
+这说明本次抓包确实覆盖到了旧 `50001` 控制链路，但当前只包含机器人初始化、连接和使能流程。里面没有看到：
+
+- `ExecuteFlyShotTraj`
+- `SaveTrajInfo`
+- `IsFlyShotTrajValid`
+- `GetJointLimits / SetJointLimits`
+- `SetVelocityLimit / SetAccelerationLimit / SetJerkLimit`
+- 任何包含 `acc_limit / jerk_limit / JointLimits / velocity / acceleration / jerk` 的配置 JSON
+
+阶段结论：
+
+```text
+all-50001.pcap 已经证明抓包接口选对了；
+但这次只抓到了初始化链路，没有抓到规划/保存轨迹那一刻的 50001 请求。
+```
+
+该待确认点已由下一节 `all-50001-plan.pcap` 覆盖：后续抓包确实抓到了 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)`，仍未出现规划限制字段。
+
+## `all-50001-plan.pcap` 规划执行抓包复核
+
+2026-04-30 追加复核规划/执行动作期间的本机 50001 抓包：
+
+```text
+../Rvbust/20260428 多点/all-50001-plan.pcap
+SHA256=311DC45B4789ED11EBEAB7A396E2EE7A16EC8534E20F10127FB43BBAD823C21D
+```
+
+该抓包同样是 `tcpdump -i any` 生成的 Linux cooked capture，已按 SLL 头解析。有效 TCP JSON 流为：
+
+```text
+192.168.1.100:35814 -> 192.168.1.100:50001  2612B payload
+192.168.1.100:50001 -> 192.168.1.100:35814  516B payload
+```
+
+客户端到服务端的关键命令序列为：
+
+```json
+{"cmd":"ListFlyShotTraj"}
+{"cmd":"GetNextListFlyShotTraj","count":0}
+{"cmd":"SetSpeedRatio","ratio":0.5}
+{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
+{"cmd":"SetSpeedRatio","ratio":1.0}
+{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
+{"cmd":"StartUploadFlyShotTraj","name":"UTTC_MS11"}
+{"cmd":"UploadFlyShotTraj", "...":"4 批共 20 个 waypoint，每批包含 waypoints / shot_flags / offset_values / addrs"}
+{"cmd":"EndUploadFlyShotTraj","name":"UTTC_MS11"}
+{"cmd":"ListFlyShotTraj"}
+{"cmd":"GetNextListFlyShotTraj","count":0}
+```
+
+两次执行请求均为：
+
+```json
+{
+  "cmd": "ExecuteFlyShotTraj",
+  "method": "icsp",
+  "move_to_start": true,
+  "name": "UTTC_MS11_TEST01",
+  "save_traj": true,
+  "use_cache": false,
+  "wait": true
+}
+```
+
+它们前面的速度倍率分别为：
+
+```text
+第一次：SetSpeedRatio ratio=0.5
+第二次：SetSpeedRatio ratio=1.0
+```
+
+服务端对所有命令均返回：
+
+```json
+{"res": true}
+```
+
+这份抓包确认了两点：
+
+1. 公开 50001 JSON 链路确实会把 `SetSpeedRatio` 和 `ExecuteFlyShotTraj(save_traj=true,use_cache=false)` 发给旧服务端。
+2. 即便覆盖到了实际执行/保存轨迹动作，请求中仍没有出现 `GetJointLimits / SetJointLimits`、`SetVelocityLimit / SetAccelerationLimit / SetJerkLimit`，也没有 `acc_limit / jerk_limit / velocity / acceleration / jerk / JointLimits` 等规划限制字段。
+
+因此，当前能从 50001 抓包确认的是：
+
+```text
+规划方法、是否保存轨迹、是否使用缓存、是否等待执行，都会显式发到旧服务端；
+速度倍率通过 SetSpeedRatio 单独发到旧服务端；
+但 effective JointLimits 没有通过这次公开 50001 JSON 请求显式传入。
+```
+
+这进一步收敛了差异来源：如果旧系统规划时确实使用了更保守的 joint limits，它更可能来自旧服务端在 `SetUpRobot("FANUC_LR_Mate_200iD_7L")` 后加载/初始化的内部状态，或来自 GUI/服务端内部私有路径，而不是这次 50001 公开 JSON 在 `ExecuteFlyShotTraj` 请求中传入的字段。
+
+## Joint3/Joint2 couple A/B 测试
+
+2026-04-30 追加测试：为了验证 `.robot` 中 `Joint3` 对 `Joint2` 的 couple 是否是规划时长差异主因，使用 Python ICSP demo 做了多组只读 A/B。
+
+测试模型来自：
+
+```text
+flyshot-replacement/Config/Models/LR_Mate_200iD_7L.robot
+```
+
+其中 `Joint3` 的 couple 信息为：
+
+```text
+q3_kin = q3_raw + q2_kin * 1.0 + 0.0
+```
+
+测试变体：
+
+- `raw`：原始 6 轴路点直接规划。
+- `replace_q3=q3+q2`：规划输入中把第 3 轴替换为耦合后的运动学角。
+- `replace_q3=q3-q2`：反向符号试探，排除符号理解错误。
+- `raw+constraint(q3+q2)`：保留原始 6 轴，同时追加虚拟约束轴 `q3+q2`，用 Joint3 的 `vel/acc/jerk` 限值检查。
+- `raw+constraint(q3-q2)`：反向符号的虚拟约束轴试探。
+
+结果：
+
+| 样本 | 真实时长 | 最接近变体 | 变体时长 | 变体/真实 | 与真实差值 | 结论 |
+| --- | ---: | --- | ---: | ---: | ---: | --- |
+| `UTTC_MS11` | `7.403046s` | `raw` | `5.495112s` | `0.742277` | `1.907934s` | couple 变体全部更短，且破坏原本严格等比例关系 |
+| `EOL10_EAU_0` | `14.849788s` | `replace_q3=q3+q2` | `10.600711s` | `0.713863` | `4.249077s` | couple 只改善约 `0.11s`，距离真实仍差 `4.25s` |
+| `EOL9_EAU_90` | `6.400851s` | `raw+constraint(q3+q2)` | `5.748560s` | `0.898093` | `0.652291s` | couple 约束有小幅影响，但仍不足以解释真实时长 |
+
+关键观察：
+
+1. `UTTC_MS11` 的 `raw` 规划时间和真实时间保持严格等比例，`point_ratio_std=0`、`segment_ratio_std≈0`；加入 couple 后反而出现分段比例波动。
+2. `EOL10_EAU_0` 与 `EOL9_EAU_90` 的 couple 变体只带来小幅时长变化，不能解释 10% 到 30% 级别的差异。
+3. 因此，当前证据不支持“只要把 Joint3/Joint2 couple 带入 ICSP，就能对齐旧 RVBUST 规划时长”。
+
+阶段结论：
+
+`Joint3` couple 确实是 C# 与 Python demo 当前都没有进入规划约束的缺口，但它不像本轮时长 mismatch 的主因。它更可能影响 FK/运动学边界或少数局部段约束；当前主要时长差异仍更像有效 joint limits、旧系统运行期规划倍率、或 RPS 内部 ICSP 参数来源不同。
+
+## 同模型复核与更可能的差异层
+
+2026-04-30 继续复核：
+
+1. 当前仓库固化的模型与旧 `FlyingShot/FlyingShot/Models/LR_Mate_200iD_7L.robot` 字节哈希一致。
+2. `ControllerClientCompatRobotCatalog` 当前会把 `FANUC_LR_Mate_200iD` 和 `FANUC_LR_Mate_200iD_7L` 都映射到 `LR_Mate_200iD_7L.robot`。
+3. `LR_Mate_200iD.robot` 短臂模型的前三轴 `vel/acc/jerk` 比 `7L` 更高。用短臂模型试算会让轨迹更短，不会解释“旧系统真实导出更慢”。
+
+模型 A/B：
+
+| 样本 | 真实时长 | `LR_Mate_200iD_7L.robot` | `LR_Mate_200iD.robot` | 结论 |
+| --- | ---: | ---: | ---: | --- |
+| `UTTC_MS11` | `7.403046s` | `5.495112s` | `5.345600s` | 短臂模型方向更错 |
+| `EOL10_EAU_0` | `14.849788s` | `10.489800s` | `10.342456s` | 短臂模型方向更错 |
+
+因此，如果现场确认机器人模型确实一致，差异层就不应继续放在 `.robot` 静态文件本身，而应放在旧服务端规划时的运行态：
+
+- 服务端内部存在 `_GetJointLimits / _SetJointLimits`，说明规划消费的是一份可能被运行期覆写的 `current JointLimits`。
+- `ControllerClient.h` 的 `ExecuteFlyShotTraj(..., use_cache=false)` 明确说明旧服务端可以把计算好的轨迹保存在内存中并复用。
+- `SaveTrajInfo(name, method)` 没有 `use_cache` 参数，不能仅凭公开头文件判断它一定每次从当前配置重新规划。
+
+当前更合理的解释是：
+
+```text
+同一个 .robot
+  -> SetUpRobot 初始化基础 JointLimits
+  -> 旧服务端运行期间可能被 _SetJointLimits / 速度倍率联动 / 缓存轨迹 覆盖
+  -> SaveTrajInfo 或 IsFlyShotTrajValid(save_traj=true) 导出的是真正规划时那份状态
+  -> 当前 C# 每次用静态 .robot + RobotConfig 重新规划，所以时长更短
+```
+
+尤其需要注意：`EOL10_EAU_0` 的 `新规划/真实` 比例为 `0.706394`，接近 `0.7`；`EOL9_EAU_90` 的比例为 `0.882873`，接近 `0.9`。这不像模型误差，更像历史导出时混入了某个运行态速度/限制倍率。`UTTC_MS11` 的 `0.742277` 不等于抓包确认的执行层 `0.7`，所以不能简单把所有样本都归因到 `SetSpeedRatio`，但“运行态规划约束不是静态模型值”仍是目前最强方向。
+
+## 旧服务端与 GUI 二进制复核
+
+2026-04-30 继续从旧系统二进制字符串中复核，重点看公开 Python/HTTP 层没有暴露出来的运行态对象。
+
+### 服务端确实持有 runtime JointLimits
+
+`../FlyingShot/FlyingShot/Python/ControllerServer/ControllerServer.cpython-37m-x86_64-linux-gnu.so` 中能稳定看到以下方法和关键字：
+
+```text
+ControllerServer.ControllerServer._GetJointLimits
+ControllerServer.ControllerServer._SetJointLimits
+ControllerServer.ControllerServer._IsWaypointInJointLimits
+ControllerServer.ControllerServer._IsTrajInJointLimits
+ControllerServer.ControllerServer._IsTrajInJerkLimits
+ControllerServer.ControllerServer._ExecuteFlyShotTraj
+ControllerServer.ControllerServer._SaveTrajInfo
+ControllerServer.ControllerServer._IsFlyShotTrajValid
+SetVelocityLimit
+SetAccelerationLimit
+SetJerkLimit
+GetMaxVelocity
+GetMaxAcceleration
+GetMaxJerk
+m_acc_limit
+m_jerk_limit
+save_traj_only
+use_cache
+```
+
+这比公开 `ControllerClient.h` 暴露的信息更多。它说明旧服务端内部不是只把 `.robot` 静态值直接传给 `TrajectoryRnICSP`，而是存在一份可以查询、设置、校验、再用于规划的运行期 `JointLimits`。
+
+### GUI 也直接接触规划约束与保存逻辑
+
+旧 GUI 二进制里也能看到同一条链：
+
+- `../FlyingShot/FlyingShot/Python/GUI/Robot/RobotManager.cpython-37m-x86_64-linux-gnu.so`
+  - `GetJointLimits`
+  - `TrajectoryRnICSP`
+  - `IsTrajInJointLimits`
+  - `IsTrajInJerkLimits`
+  - `acc_limit`
+  - `jerk_limit`
+- `../FlyingShot/FlyingShot/Python/GUI/Robot/RobotConfig.cpython-37m-x86_64-linux-gnu.so`
+  - `SaveTraj`
+  - `m_acc_limit`
+  - `m_jerk_limit`
+- `../FlyingShot/FlyingShot/Python/GUI/Panels/FlyshotDockPanel.cpython-37m-x86_64-linux-gnu.so`
+  - `__SaveTraj`
+  - `IsTrajInJointLimits`
+  - `IsTrajInJerkLimits`
+  - `m_acc_limit`
+  - `m_jerk_limit`
+
+这说明旧 GUI 的“保存轨迹/检查轨迹”路径很可能不是简单调用公开 `ControllerClient.SaveTrajInfo` 后结束，而是直接拿当前 `JointLimits + acc_limit + jerk_limit` 做规划、合法性检查或保存。
+
+### UAES 接口没有显式对齐 JointLimits
+
+`../flyshot-uaes-interface/main.py` 中 `/execute_flyshot/` 的执行路径是：
+
+```text
+c.ExecuteFlyShotTraj(name=name, move_to_start=True, method="icsp", save_traj=True)
+```
+
+`/set_speedRatio/` 是单独接口：
+
+```text
+c.SetSpeedRatio(speed)
+```
+
+同时，`../flyshot-uaes-interface/lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so` 和 `../flyshot-uaes-interface/lib/libControllerClient.so` 中只看到公开客户端侧的：
+
+```text
+GetSpeedRatio
+SetSpeedRatio
+ExecuteFlyShotTraj
+SaveTrajInfo
+IsFlyShotTrajValid
+JointLimits
+```
+
+没有看到客户端侧 `GetJointLimits / SetJointLimits` 符号。也就是说，UAES Python 服务本身大概率没有主动把旧服务端的 runtime JointLimits 设置成某个值；如果现场旧导出时的 limits 被改过，更可能来自：
+
+- 旧 GUI 初始化/保存路径；
+- 旧服务端内部默认初始化；
+- 服务端隐藏 TCP JSON 方法；
+- 历史上某次执行/保存后留下的缓存结果。
+
+### 样本文件与配置文件可能不是同一次运行态
+
+新增一个需要警惕的现象：
+
+- `../Rvbust/EOL9 EAU 0/eol9_eau_0.json` 中 `acc_limit=1`、`jerk_limit=1`。
+- `../Rvbust/EOL9 EAU 90/eol9_eau_90.json` 中 `acc_limit=0.8`、`jerk_limit=0.8`。
+- 但两个目录下保存的真实 `JointTraj.txt` 内容和时长一致。
+
+哈希复核：
+
+```text
+EOL9 EAU 0  JointTraj.txt  SHA256=DFD8E1130742CFB4ED72F70D0E8CA4E3A16F421E0D0D9D921B9F5177717536EC
+EOL9 EAU 90 JointTraj.txt  SHA256=DFD8E1130742CFB4ED72F70D0E8CA4E3A16F421E0D0D9D921B9F5177717536EC
+eol9_eau_0.json            SHA256=354D0D3F71499951976504802C4B2860132D1E4FF753738715A500529CD0BB68
+eol9_eau_90.json           SHA256=7F854AA227D842CAE734AFA378FEEFA742D797F99FBE536E1B98DF981CD32B27
+```
+
+这说明不能默认认为“某个 JSON 文件当前内容”就一定是旁边 `Data/JointTraj.txt` 的生成状态。旧系统的保存文件可能来自缓存、拷贝、历史运行态，或 GUI/服务端中未落盘到该 JSON 的当前 `JointLimits`。
+
+本轮新增证据把方向进一步收敛为：
+
+```text
+同一个 .robot 文件本身不是问题核心；
+真正影响时长的是旧系统规划瞬间的 effective JointLimits；
+但这份状态没有出现在现有配置、机器人侧抓包或 50001 公开 JSON 中。
+```
+
+如果未来能直接进入旧服务端进程，仍可在 `SaveTrajInfo` / `IsFlyShotTrajValid(save_traj=true)` 前后抓取 `_GetJointLimits` 返回值，并把它与 `.robot` 原始 `vel/acc/jerk` 和当前 JSON 的 `acc_limit/jerk_limit` 做数值对比。但这不再阻塞 replacement 的现场对齐：当前设计默认用显式内部规划加速度参数补齐这份不可见状态。
+
+## 当前判断
+
+当前最可信的解释是：
+
+1. 旧 RVBUST/FlyingShot 生成真实 `JointTraj.txt` 时，规划阶段使用的有效 joint limits 并不总是 `.robot` 文件中的原始 `velocity / acceleration / jerk`。
+2. 这些有效 joint limits 可能来自服务运行期状态，例如旧服务端内部的 `_SetJointLimits`、上层 GUI/脚本初始化流程、机器人环境配置，或其他未落入当前 JSON 文件的运行时参数。
+3. 现有现场 JSON 中只明确保存了：
+   - `acc_limit`
+   - `jerk_limit`
+   - `adapt_icsp_try_num`
+   - IO 相关配置
+4. 已重新抓取机器人侧 `10010/10012/60015` 和本机 `50001/TCP+JSON`，仍没有看到 `JointLimits / velocity / acceleration / jerk / acc_limit / jerk_limit` 通过公开链路在规划时下发。
+5. 目前没有证据表明现场配置文件或公开 TCP JSON 显式保存了一个“规划速度倍率”或“规划加速度限制”。
+
+因此，`0.742277` 不应被理解为固定业务常量。它只是 `UTTC_MS11` 在当前 C# 默认约束和真实导出结果之间反推出来的等效规划倍率。
+
+## 兼容设计决策
+
+由于重新抓包后仍抓不到旧系统的 effective limits，新系统后续不再继续假设公开链路会传入这份数据，而是采用 replacement-only 的显式规划约束参数补齐不可见状态。
+
+参数分层如下：
+
+1. `acc_limit / jerk_limit`
+   - 来源：旧 `RobotConfig.json` 中已经存在的字段。
+   - 语义：继续作为旧配置的基础倍率，参与 `.robot` 模型加载。
+   - 限制：现场样本中 `acc_limit=1`、`jerk_limit=1` 时，不能解释旧导出轨迹更慢的问题。
+
+2. `planning_acceleration_scale`
+   - 来源：新系统内部兼容参数，不声称来自旧 RVBUST 配置或抓包。
+   - 语义：只用于规划阶段，额外缩放 `JointLimit.AccelerationLimit`，用于复现旧服务端不可见的保守加速度约束。
+   - 默认值：`1.0`，表示不额外限制。
+   - 现场校准：若按纯加速度限制解释 `UTTC_MS11_TEST01`，可先用 `(5.814370 / 7.805885)^2 ≈ 0.5548` 作为候选起点，再用真实 `JointTraj.txt` 对拍确认。
+
+3. `planning_speed_scale`
+   - 来源：当前 C# 已支持的显式兼容字段。
+   - 语义：把整条规划时间轴按速度倍率解释，联动缩放速度、加速度、jerk。
+   - 定位：保留为临时整体验证开关；当后续落地 `planning_acceleration_scale` 后，现场默认优先使用加速度限制参数，而不是把 `planning_speed_scale` 当成旧系统事实。
+
+当前 C# 已支持的 `planning_speed_scale` 形式为：
+
+```json
+{
+  "robot": {
+    "planning_speed_scale": 0.742277
+  }
+}
+```
+
+该字段只用于规划阶段：
+
+- `vel *= planning_speed_scale`
+- `acc *= planning_speed_scale^2`
+- `jerk *= planning_speed_scale^3`
+
+它不等同于运行时 `/set_speedRatio/`，也不改变 J519 的 8ms 发送周期。运行阶段仍按：
+
+```text
+t_send = k * 0.008
+t_traj = t_send * speed_ratio
+```
+
+从已生成轨迹中重采样。
+
+由于现场真实配置和本轮抓包中都没有找到这类倍率，所有 `planning_*` 字段都必须标注为 replacement-only 兼容校准参数，不能声称它们来自旧配置文件或公开 TCP JSON。
+
+## 后续设计方向
+
+1. 默认不再把运行时 `speed_ratio` 混入 `IsFlyshotTrajectoryValid` / `SaveTrajectoryInfo` 的规划时间计算。
+2. 后续实现优先新增 `planning_acceleration_scale`，只限制规划加速度，并将其写入 `RobotConfig.json` 的 `robot` 节点或当前现场默认配置。
+3. 若只需快速对齐整条时间轴，可临时使用现有 `planning_speed_scale`；但文档、日志和配置说明必须标注它是新系统校准值。
+4. 如果未来能直接调用旧服务端 `_GetJointLimits`，再用返回值替换当前反推参数；在此之前，显式内部参数是当前可控且可审计的兼容策略。

docs/python-client-interface-reverse-engineering.md

@@ -0,0 +1,202 @@
+# Python ControllerClient 接口逆向记录
+
+## 背景
+
+本记录用于确认旧 `PyControllerClient` 对 Python 暴露了哪些接口，尤其确认是否能通过 Python client 直接查询或设置旧服务端运行态 `JointLimits`。
+
+复核对象：
+
+```text
+../flyshot-uaes-interface/lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so
+../FlyingShot/FlyingShot/Lib/PyControllerClient.cpython-37m-x86_64-linux-gnu.so
+../flyshot-uaes-interface/lib/libControllerClient.so
+../FlyingShot/FlyingShot/Lib/libControllerClient.so
+../FlyingShot/FlyingShot/Include/ControllerClient/ControllerClient.h
+../FlyingShot/FlyingShot/Include/ControllerClient/Types.h
+../flyshot-uaes-interface/UseControllerClient.py
+../flyshot-uaes-interface/main.py
+```
+
+两份 Python 扩展与两份底层 client 库哈希一致：
+
+```text
+PyControllerClient.cpython-37m-x86_64-linux-gnu.so
+SHA256=648CC23CBC6DF83822B58AC4A10211EE1DF8029AD8933D31032187748DF7F4BC
+
+libControllerClient.so
+SHA256=6D6FD3F20F0791F1CF11EEE5B1D479E2DCB6A1A2C8AB00A1165575BAB4B62813
+```
+
+因此 `flyshot-uaes-interface/lib` 与 `FlyingShot/FlyingShot/Lib` 中的 Python client 可视为同一份接口。
+
+## 暴露的 Python 类型
+
+`PyControllerClient` 暴露以下类型：
+
+| 类型 | 来源 | 说明 |
+| --- | --- | --- |
+| `ControllerClient` | `ControllerClient.h` | TCP JSON client，高层控制入口 |
+| `JointPositions` | `Types.h` | 关节位置容器，可用 6 维列表构造，也支持下标读写 |
+| `Pose` | `Types.h` | TCP/末端位姿容器，C++ 侧为 7 元数组 |
+| `JointLimits` | `Types.h` | 关节上下限、速度、加速度、jerk 容器 |
+| `IOType` | `Types.h` | IO 枚举 |
+
+`IOType` 的枚举值：
+
+```text
+IOType.kIOTypeDI = 1
+IOType.kIOTypeDO = 2
+IOType.kIOTypeRI = 8
+IOType.kIOTypeRO = 9
+```
+
+## ControllerClient 暴露方法
+
+二进制字符串和 C++ 公开头文件交叉确认，Python client 暴露的方法为：
+
+| Python 方法 | 典型调用 | 返回形态 | 说明 |
+| --- | --- | --- | --- |
+| `ConnectServer` | `c.ConnectServer(server_ip="127.0.0.1", port=50001)` | `bool` | 连接旧 `50001/TCP+JSON` 服务端 |
+| `GetServerVersion` | `c.GetServerVersion()` | `str` | Python 包装层把 C++ out 参数折叠成返回值 |
+| `GetClientVersion` | `c.GetClientVersion()` | `str` | 获取 client 版本 |
+| `SetUpRobot` | `c.SetUpRobot("FANUC_LR_Mate_200iD")` | `bool` | 按机器人名称初始化服务端机器人模型 |
+| `SetUpRobotFromEnv` | `c.SetUpRobotFromEnv(env_file)` | `bool` | 从环境文件初始化 |
+| `IsSetUp` | `c.IsSetUp()` | `bool` | 判断服务端是否已经初始化机器人 |
+| `SetShowTCP` | `c.SetShowTCP(is_show=True, axis_length=0.1, axis_size=2)` | `bool` | 仿真显示 TCP 坐标系 |
+| `GetName` | `c.GetName()` | `str` | 获取机器人名称 |
+| `GetDoF` | `c.GetDoF()` | `int` | 获取自由度 |
+| `SetActiveController` | `c.SetActiveController(sim=True)` | `bool` | 切换仿真/真实控制器 |
+| `Connect` | `c.Connect("192.168.10.101")` | `bool` | 连接机器人控制器 |
+| `Disconnect` | `c.Disconnect()` | `bool` | 断开机器人控制器 |
+| `EnableRobot` | `c.EnableRobot()` / `c.EnableRobot(8)` | `bool` | 使能机器人，参数为 buffer size |
+| `DisableRobot` | `c.DisableRobot()` | `bool` | 下使能 |
+| `GetSpeedRatio` | `c.GetSpeedRatio()` | `float` | 获取执行速度倍率 |
+| `SetSpeedRatio` | `c.SetSpeedRatio(0.8)` | `bool` | 设置执行速度倍率 |
+| `GetTCP` | `res, tcp = c.GetTCP()` | `(bool, Pose)` | 获取 TCP |
+| `SetTCP` | `c.SetTCP(tcp)` | `bool` | 设置 TCP |
+| `GetIO` | `res, value = c.GetIO(port=1, io_type=IOType.kIOTypeDI)` | `(bool, bool)` | 读取 IO |
+| `SetIO` | `c.SetIO(port=1, value=True, io_type=IOType.kIOTypeDO)` | `bool` | 写 IO |
+| `StopMove` | `c.StopMove()` | `bool` | 停止运动 |
+| `GetJointPosition` | `res, joints = c.GetJointPosition()` | `(bool, JointPositions)` | 获取当前关节角 |
+| `GetPose` | `res, pose = c.GetPose()` | `(bool, Pose)` | 获取当前末端位姿 |
+| `GetNearestIK` | `res, ik = c.GetNearestIK(pose, joint_seed=joints)` | `(bool, JointPositions)` | 按 seed 求最近 IK |
+| `MoveJoint` | `c.MoveJoint(joint_positions)` | `bool` | 关节运动 |
+| `ExecuteTrajectory` | `c.ExecuteTrajectory(waypoints=[...], method="icsp", save_traj=True)` | `bool` | 执行普通轨迹 |
+| `UploadFlyShotTraj` | `c.UploadFlyShotTraj(name, waypoints, shot_flags, offset_values, addrs)` | `bool` | 上传飞拍轨迹 |
+| `DeleteFlyShotTraj` | `c.DeleteFlyShotTraj(name)` | `bool` | 删除飞拍轨迹 |
+| `ListFlyShotTraj` | `c.ListFlyShotTraj()` | `list[str]` | 列出已上传飞拍轨迹 |
+| `ExecuteFlyShotTraj` | `c.ExecuteFlyShotTraj(name, move_to_start=True, method="icsp", save_traj=True)` | `bool` | 执行飞拍轨迹 |
+| `SaveTrajInfo` | `c.SaveTrajInfo(name, method="icsp")` | `bool` | 保存规划结果到 `~/Rvbust/Data` |
+| `IsFlyShotTrajValid` | `valid, time = c.IsFlyShotTrajValid(name, method="icsp", save_traj=True)` | `(bool, float)` | 检查飞拍轨迹是否合法并返回规划时长 |
+
+## 没有暴露的关键接口
+
+本轮重点确认：Python client 暴露方法中没有看到：
+
+```text
+GetJointLimits
+SetJointLimits
+_GetJointLimits
+_SetJointLimits
+```
+
+虽然 `PyControllerClient` 绑定了 `JointLimits` 类型，并且 `libControllerClient.so` 中存在 `JointLimits` 的输出运算符符号，但公开 `ControllerClient` 方法表中没有任何接收或返回 `JointLimits` 的 client 入口。
+
+这和旧服务端二进制不同。旧服务端 `ControllerServer.cpython-37m-x86_64-linux-gnu.so` 中能看到：
+
+```text
+ControllerServer.ControllerServer._GetJointLimits
+ControllerServer.ControllerServer._SetJointLimits
+ControllerServer.ControllerServer._IsWaypointInJointLimits
+ControllerServer.ControllerServer._IsTrajInJointLimits
+ControllerServer.ControllerServer._IsTrajInJerkLimits
+```
+
+因此当前判断是：
+
+```text
+Python client 公开 API 不能直接抓 runtime JointLimits；
+runtime JointLimits 查询能力存在于旧服务端内部，而不是 PyControllerClient 公开接口中。
+```
+
+## UAES Python 服务实际使用的接口
+
+`../flyshot-uaes-interface/main.py` 只使用了公开 client 方法：
+
+- `ConnectServer`
+- `SetUpRobot`
+- `IsSetUp`
+- `EnableRobot`
+- `DisableRobot`
+- `SetActiveController`
+- `Connect`
+- `GetName`
+- `GetServerVersion`
+- `GetDoF`
+- `GetSpeedRatio`
+- `SetTCP`
+- `GetTCP`
+- `SetIO`
+- `GetJointPosition`
+- `MoveJoint`
+- `ListFlyShotTraj`
+- `UploadFlyShotTraj`
+- `ExecuteFlyShotTraj`
+- `SetSpeedRatio`
+- `DeleteFlyShotTraj`
+- `GetPose`
+
+其中 `/execute_flyshot/` 调用：
+
+```text
+c.ExecuteFlyShotTraj(name=name, move_to_start=True, method="icsp", save_traj=True)
+```
+
+`/set_speedRatio/` 调用：
+
+```text
+c.SetSpeedRatio(speed)
+```
+
+没有看到 UAES 服务通过 Python client 设置或查询 `JointLimits`。
+
+2026-04-30 追加 `50001/TCP+JSON` 抓包复核后，这个判断进一步收敛。`all-50001-plan.pcap` 中已经抓到两次真实规划/执行请求：
+
+```json
+{"cmd":"SetSpeedRatio","ratio":0.5}
+{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
+{"cmd":"SetSpeedRatio","ratio":1.0}
+{"cmd":"ExecuteFlyShotTraj","method":"icsp","move_to_start":true,"name":"UTTC_MS11_TEST01","save_traj":true,"use_cache":false,"wait":true}
+```
+
+请求中仍没有 `JointLimits / acc_limit / jerk_limit / velocity / acceleration / jerk`。因此公开 Python client 与公开 50001 JSON 都没有把规划限制作为参数传给 `ExecuteFlyShotTraj`。
+
+另外，`main.py` 的 `/execute_trajectory/` 中出现：
+
+```text
+c.yrxm(waypoints=joint_positions, method='icsp', save_traj=True)
+```
+
+`yrxm` 不在 `PyControllerClient` 暴露方法表中，按上下文应是 `ExecuteTrajectory` 的笔误；这条不影响飞拍主路径 `/execute_flyshot/`。
+
+## 对当前时长差异调查的含义
+
+如果要抓旧系统规划时使用的 effective `vel/acc/jerk`，优先级应调整为：
+
+1. 在旧服务端进程内直接调用或插桩 `_GetJointLimits`。
+2. 或者逆向 `50001/TCP+JSON` 的 hidden command envelope，再尝试发送 `GetJointLimits` / `_GetJointLimits`。
+3. 不应指望现有 `PyControllerClient.ControllerClient` 直接提供 `GetJointLimits`。
+
+如果短期内无法进入旧服务端内部，新系统不再继续等待这份不可见状态；设计上使用 replacement-only 的内部规划约束参数补齐，优先限制规划加速度，例如 `planning_acceleration_scale`。该参数必须标注为新系统校准值，不能写成旧 Python client 或旧 50001 JSON 的公开字段。
+
+最小现场验证脚本可以先确认 Python client 暴露面：
+
+```python
+from PyControllerClient import ControllerClient
+
+c = ControllerClient()
+names = [x for x in dir(c) if "Limit" in x or "limit" in x]
+print(names)
+```
+
+按当前二进制逆向，预期不会出现 `GetJointLimits` / `SetJointLimits`。

docs/robot-joint-limit-table-20260505.md

@@ -0,0 +1,62 @@
+# 机器人六轴限值提取表
+
+记录时间：2026-05-05
+
+## 1. 目的
+
+本文档把当前机器人模型中的六轴基础限值整理成一份固定表格，明确区分以下几类信息：
+
+- 模型原始值：来自 `LR_Mate_200iD_7L_clean.json` 中每个关节的 `limit.velocity / limit.acceleration / limit.jerk / limit.effort`
+- 配置倍率：来自当前运行配置 `Config/RobotConfig.json` 中的 `acc_limit / jerk_limit`
+- 运行时有效值：模型原始值叠加当前配置倍率后的结果
+
+本表只覆盖六个旋转关节 `Joint1` 到 `Joint6`。
+`JointEffector` 属于末端固定关节，不计入“每个轴”的速度、加速度、跃度统计。
+
+## 2. 当前取值规则
+
+当前仓库运行时对六轴限值的读取规则是：
+
+- `velocity_eff = velocity_base`
+- `acceleration_eff = acceleration_base * acc_limit`
+- `jerk_eff = jerk_base * jerk_limit`
+
+当前 `Config/RobotConfig.json` 中的倍率为：
+
+- `acc_limit = 1`
+- `jerk_limit = 1`
+
+因此本次表格中的“基础值”和“有效值”数值相同。
+
+## 3. 六轴限值表
+
+| Joint | velocity_base | acceleration_base | jerk_base | effort_raw | acc_limit | jerk_limit | velocity_eff | acceleration_eff | jerk_eff | 备注 |
+| --- | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | --- |
+| Joint1 | 6.45 | 26.90 | 224.22 | 0.0 | 1 | 1 | 6.45 | 26.90 | 224.22 | 模型字段存在，`effort` 当前为 0 |
+| Joint2 | 5.41 | 22.54 | 187.86 | 0.0 | 1 | 1 | 5.41 | 22.54 | 187.86 | 模型字段存在，`effort` 当前为 0 |
+| Joint3 | 7.15 | 29.81 | 248.46 | 0.0 | 1 | 1 | 7.15 | 29.81 | 248.46 | 模型字段存在，`effort` 当前为 0 |
+| Joint4 | 9.59 | 39.99 | 333.30 | 0.0 | 1 | 1 | 9.59 | 39.99 | 333.30 | 模型字段存在，`effort` 当前为 0 |
+| Joint5 | 9.51 | 39.63 | 330.27 | 0.0 | 1 | 1 | 9.51 | 39.63 | 330.27 | 模型字段存在，`effort` 当前为 0 |
+| Joint6 | 17.45 | 72.72 | 606.01 | 0.0 | 1 | 1 | 17.45 | 72.72 | 606.01 | 模型字段存在，`effort` 当前为 0 |
+
+## 4. 关于“电流信息”的说明
+
+这份模型文件里确实有 `limit.effort` 字段，但当前证据只能说明：
+
+- 它是模型文件中的一个静态字段
+- 当前六轴以及 `JointEffector` 的 `effort` 都是 `0.0`
+- 当前 `flyshot-replacement` 代码链路没有把它当作实时电流来源来使用
+
+因此当前结论应固定为：
+
+- `velocity / acceleration / jerk` 可以从这份模型文档中提取
+- `effort` 只能当作模型原始字段记录
+- `effort` 不能直接解释为现场真实电流，也不能替代 J519 反馈中的电机电流数据
+
+## 5. 后续使用约定
+
+后续如果有人问“每个轴的速度、加速度、跃度是不是从这个文档来的”，默认回答应为：
+
+- 是，六轴基础限值来自模型文件中的 `joint.limit`
+- 运行时有效加速度和有效跃度还要再乘 `RobotConfig.json` 的全局倍率
+- 不是，真实电流不要从这个文件里的 `effort` 去推断

docs/superpowers/plans/2026-04-24-minimal-runtime-orchestration.md

@@ -0,0 +1,272 @@
+# Minimal Runtime Orchestration Implementation Plan
+
+> **For agentic workers:** REQUIRED SUB-SKILL: Use superpowers:subagent-driven-development (recommended) or superpowers:executing-plans to implement this plan task-by-task. Steps use checkbox (`- [ ]`) syntax for tracking.
+
+**Goal:** Build the first real execution slice after the HTTP-only refactor by routing `ExecuteTrajectory` and `ExecuteFlyShotTraj` through planning, triggering, and a new minimal FANUC runtime project instead of in-memory last-point assignment.
+
+**Architecture:** Keep `Flyshot.Server.Host` as a pure HTTP adapter and keep uploaded program state in `Flyshot.ControllerClientCompat`, but move controller runtime state into a new `Flyshot.Runtime.Fanuc` project and add a focused planning/orchestration helper in `Flyshot.ControllerClientCompat`. Ordinary trajectory execution will use `ICspPlanner`; uploaded flyshot execution will use `SelfAdaptIcspPlanner` plus `ShotTimelineBuilder`, then hand the resulting `TrajectoryResult` to the runtime.
+
+**Tech Stack:** C#, .NET 8, xUnit, existing `Flyshot.Core.Domain`, `Flyshot.Core.Planning`, `Flyshot.Core.Triggering`, ASP.NET Core DI.
+
+---
+
+### Task 1: Add Runtime Contracts And Minimal FANUC Runtime
+
+**Files:**
+- Create: `src/Flyshot.Runtime.Common/IControllerRuntime.cs`
+- Create: `src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj`
+- Create: `src/Flyshot.Runtime.Fanuc/FanucControllerRuntime.cs`
+- Modify: `FlyshotReplacement.sln`
+- Modify: `src/Flyshot.Server.Host/Flyshot.Server.Host.csproj`
+- Modify: `src/Flyshot.Server.Host/Program.cs`
+- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
+
+- [x] **Step 1: Write the failing runtime test**
+
+```csharp
+[Fact]
+public void FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions()
+{
+    var runtime = new FanucControllerRuntime();
+    var robot = TestRobotFactory.CreateRobotProfile();
+    runtime.ResetRobot(robot, "FANUC_LR_Mate_200iD");
+    runtime.SetActiveController(sim: false);
+    runtime.Connect("192.168.10.101");
+    runtime.EnableRobot(bufferSize: 2);
+
+    var result = new TrajectoryResult(
+        programName: "demo",
+        method: PlanningMethod.Icsp,
+        isValid: true,
+        duration: TimeSpan.FromSeconds(1.2),
+        shotEvents: Array.Empty<ShotEvent>(),
+        triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
+        artifacts: Array.Empty<TrajectoryArtifact>(),
+        failureReason: null,
+        usedCache: false,
+        originalWaypointCount: 4,
+        plannedWaypointCount: 4);
+
+    runtime.ExecuteTrajectory(result, [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
+
+    var snapshot = runtime.GetSnapshot();
+    Assert.Equal("Connected", snapshot.ConnectionState);
+    Assert.False(snapshot.IsInMotion);
+    Assert.Equal([1.0, 2.0, 3.0, 4.0, 5.0, 6.0], snapshot.JointPositions);
+}
+```
+
+- [x] **Step 2: Run test to verify it fails**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions -v minimal -m:1 -nodeReuse:false`
+Expected: FAIL because `FanucControllerRuntime` and `IControllerRuntime` do not exist.
+
+- [x] **Step 3: Write the minimal runtime contracts and implementation**
+
+```csharp
+public interface IControllerRuntime
+{
+    void ResetRobot(RobotProfile robot, string robotName);
+    void SetActiveController(bool sim);
+    void Connect(string robotIp);
+    void Disconnect();
+    void EnableRobot(int bufferSize);
+    void DisableRobot();
+    void StopMove();
+    double GetSpeedRatio();
+    void SetSpeedRatio(double ratio);
+    IReadOnlyList<double> GetTcp();
+    void SetTcp(double x, double y, double z);
+    bool GetIo(int port, string ioType);
+    void SetIo(int port, bool value, string ioType);
+    IReadOnlyList<double> GetJointPositions();
+    IReadOnlyList<double> GetPose();
+    ControllerStateSnapshot GetSnapshot();
+    void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
+}
+```
+
+```csharp
+public sealed class FanucControllerRuntime : IControllerRuntime
+{
+    // Stage-1 runtime: owns controller state in one place so later sockets can replace internals without rewriting compat service.
+}
+```
+
+- [x] **Step 4: Run test to verify it passes**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter FanucControllerRuntime_ExecuteTrajectory_UpdatesSnapshotAndFinalJointPositions -v minimal -m:1 -nodeReuse:false`
+Expected: PASS.
+
+### Task 2: Add Planning And Triggering Orchestration For Execution
+
+**Files:**
+- Create: `src/Flyshot.ControllerClientCompat/PlannedExecutionBundle.cs`
+- Create: `src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs`
+- Modify: `src/Flyshot.ControllerClientCompat/Flyshot.ControllerClientCompat.csproj`
+- Modify: `tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj`
+- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
+
+- [x] **Step 1: Write the failing orchestration tests**
+
+```csharp
+[Fact]
+public void ControllerClientTrajectoryOrchestrator_PlanOrdinaryTrajectory_RejectsThreeTeachPoints()
+{
+    var orchestrator = new ControllerClientTrajectoryOrchestrator();
+    var robot = TestRobotFactory.CreateRobotProfile();
+
+    Assert.Throws<ArgumentException>(() =>
+        orchestrator.PlanOrdinaryTrajectory(robot,
+        [
+            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            [0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
+            [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        ]));
+}
+
+[Fact]
+public void ControllerClientTrajectoryOrchestrator_PlanUploadedFlyshot_BuildsShotTimeline()
+{
+    var orchestrator = new ControllerClientTrajectoryOrchestrator();
+    var robot = TestRobotFactory.CreateRobotProfile();
+    var uploaded = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+
+    var bundle = orchestrator.PlanUploadedFlyshot(robot, uploaded);
+
+    Assert.True(bundle.Result.IsValid);
+    Assert.Single(bundle.Result.ShotEvents);
+    Assert.Single(bundle.Result.TriggerTimeline);
+}
+```
+
+- [x] **Step 2: Run tests to verify they fail**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientTrajectoryOrchestrator -v minimal -m:1 -nodeReuse:false`
+Expected: FAIL because the orchestrator types do not exist.
+
+- [x] **Step 3: Write the minimal orchestration layer**
+
+```csharp
+public sealed class PlannedExecutionBundle
+{
+    public PlannedExecutionBundle(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, TrajectoryResult result)
+    {
+        PlannedTrajectory = plannedTrajectory;
+        ShotTimeline = shotTimeline;
+        Result = result;
+    }
+
+    public PlannedTrajectory PlannedTrajectory { get; }
+    public ShotTimeline ShotTimeline { get; }
+    public TrajectoryResult Result { get; }
+}
+```
+
+```csharp
+public sealed class ControllerClientTrajectoryOrchestrator
+{
+    public PlannedExecutionBundle PlanOrdinaryTrajectory(RobotProfile robot, IReadOnlyList<IReadOnlyList<double>> waypoints) { ... }
+    public PlannedExecutionBundle PlanUploadedFlyshot(RobotProfile robot, ControllerClientCompatUploadedTrajectory uploaded) { ... }
+}
+```
+
+- [x] **Step 4: Run tests to verify they pass**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientTrajectoryOrchestrator -v minimal -m:1 -nodeReuse:false`
+Expected: PASS.
+
+### Task 3: Rewire ControllerClientCompatService To Runtime + Orchestrator
+
+**Files:**
+- Modify: `src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs`
+- Modify: `src/Flyshot.ControllerClientCompat/ControllerClientCompatServiceCollectionExtensions.cs`
+- Modify: `src/Flyshot.ControllerClientCompat/IControllerClientCompatService.cs`
+- Modify: `tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs`
+- Modify: `tests/Flyshot.Server.IntegrationTests/ControllerClientCompatRegistrationTests.cs`
+- Test: `tests/Flyshot.Core.Tests/RuntimeOrchestrationTests.cs`
+- Test: `tests/Flyshot.Server.IntegrationTests/LegacyHttpApiCompatibilityTests.cs`
+
+- [x] **Step 1: Write the failing compat-service test**
+
+```csharp
+[Fact]
+public void ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced()
+{
+    var service = TestRobotFactory.CreateCompatService();
+    service.SetUpRobot("FANUC_LR_Mate_200iD");
+    service.SetActiveController(sim: false);
+    service.Connect("192.168.10.101");
+    service.EnableRobot(2);
+
+    Assert.Throws<ArgumentException>(() =>
+        service.ExecuteTrajectory(
+        [
+            [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            [0.5, 0.0, 0.0, 0.0, 0.0, 0.0],
+            [1.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        ]));
+}
+```
+
+- [x] **Step 2: Run test to verify it fails**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter ControllerClientCompatService_ExecuteTrajectory_RejectsThreeTeachPointsAfterPlanningIsIntroduced -v minimal -m:1 -nodeReuse:false`
+Expected: FAIL because current service still treats ordinary execution as "move to last waypoint".
+
+- [x] **Step 3: Rewire service to the runtime and orchestrator**
+
+```csharp
+public sealed class ControllerClientCompatService : IControllerClientCompatService
+{
+    private readonly IControllerRuntime _runtime;
+    private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
+
+    public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints)
+    {
+        var robot = RequireActiveRobot();
+        var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints);
+        _runtime.ExecuteTrajectory(bundle.Result, bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions);
+    }
+
+    public void ExecuteTrajectoryByName(string name)
+    {
+        var robot = RequireActiveRobot();
+        var uploaded = RequireUploadedTrajectory(name);
+        var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, uploaded);
+        _runtime.ExecuteTrajectory(bundle.Result, bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions);
+    }
+}
+```
+
+- [x] **Step 4: Run focused tests to verify green**
+
+Run: `dotnet test tests/Flyshot.Core.Tests/Flyshot.Core.Tests.csproj --filter "ControllerClientCompatService|ControllerClientTrajectoryOrchestrator|FanucControllerRuntime" -v minimal -m:1 -nodeReuse:false`
+Expected: PASS.
+
+- [x] **Step 5: Run integration verification**
+
+Run: `dotnet test tests/Flyshot.Server.IntegrationTests/Flyshot.Server.IntegrationTests.csproj -v minimal -m:1 -nodeReuse:false`
+Expected: PASS, with existing HTTP compatibility tests still green.
+
+### Task 4: Verify Solution Build And Update Progress Docs
+
+**Files:**
+- Modify: `README.md`
+- Modify: `AGENTS.md`
+- Modify: `docs/controller-client-api-compatibility-requirements.md`
+
+- [x] **Step 1: Update docs to reflect the new stage**
+
+```markdown
+- [x] 落地最小 FANUC 运行时骨架
+- [x] 将 ExecuteTrajectory / ExecuteFlyShotTraj 接入 Planning + Triggering + Runtime
+- [x] 落地 Web 状态页
+- [x] 固化 10010 / 10012 / 60015 FANUC 基础协议帧编解码
+- [ ] 落地真实 10010 / 10012 / 60015 Socket 通讯与现场联调
+```
+
+- [x] **Step 2: Run final build**
+
+Run: `dotnet build FlyshotReplacement.sln --no-restore -v minimal -m:1 -nodeReuse:false`
+Expected: PASS with 0 errors.

global.json

@@ -0,0 +1,6 @@
+{
+  "sdk": {
+    "version": "8.0.420",
+    "rollForward": "disable"
+  }
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatOptions.cs

@@ -0,0 +1,46 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 表示 HTTP-only ControllerClient 兼容层的基础配置。
+/// </summary>
+public sealed class ControllerClientCompatOptions
+{
+    /// <summary>
+    /// 获取或设置对外暴露的服务端版本号。
+    /// </summary>
+    public string ServerVersion { get; set; } = "flyshot-replacement-controller-client-compat/0.1.0";
+
+    /// <summary>
+    /// 获取或设置运行配置根目录；为空时默认使用程序基目录下的 Config。
+    /// </summary>
+    public string? ConfigRoot { get; set; }
+
+    /// <summary>
+    /// 获取或设置旧父工作区根目录；仅用于测试或旧样本显式兼容。
+    /// </summary>
+    public string? WorkspaceRoot { get; set; }
+
+    /// <summary>
+    /// 解析运行配置根目录，确保运行时默认不再依赖源码仓库位置。
+    /// </summary>
+    /// <returns>运行配置根目录的绝对路径。</returns>
+    public string ResolveConfigRoot()
+    {
+        var root = string.IsNullOrWhiteSpace(ConfigRoot)
+            ? Path.Combine(AppContext.BaseDirectory, "Config")
+            : ConfigRoot;
+
+        return Path.GetFullPath(root);
+    }
+
+    /// <summary>
+    /// 解析显式配置的旧父工作区根目录；未配置时返回 null。
+    /// </summary>
+    /// <returns>旧父工作区根目录的绝对路径，或 null。</returns>
+    public string? ResolveLegacyWorkspaceRoot()
+    {
+        return string.IsNullOrWhiteSpace(WorkspaceRoot)
+            ? null
+            : Path.GetFullPath(WorkspaceRoot);
+    }
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatRobotCatalog.cs

@@ -0,0 +1,74 @@
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 根据旧版 ControllerClient 的机器人名称，解析当前 replacement 仓库支持的真实模型文件。
+/// </summary>
+public sealed class ControllerClientCompatRobotCatalog
+{
+    /// <summary>
+    /// 保存当前现场支持的机器人名称到运行目录 JSON 模型文件名映射。
+    /// </summary>
+    private static readonly IReadOnlyDictionary<string, string> SupportedRobotModelFileMap = new Dictionary<string, string>(StringComparer.Ordinal)
+    {
+        ["FANUC_LR_Mate_200iD"] = "LR_Mate_200iD_7L.json",
+        ["FANUC_LR_Mate_200iD_7L"] = "LR_Mate_200iD_7L.json"
+    };
+
+    private readonly ControllerClientCompatOptions _options;
+    private readonly RobotModelLoader _robotModelLoader;
+
+    /// <summary>
+    /// 初始化机器人兼容目录解析器。
+    /// </summary>
+    /// <param name="options">兼容层基础配置。</param>
+    /// <param name="robotModelLoader">机器人 JSON 模型加载器。</param>
+    public ControllerClientCompatRobotCatalog(
+        ControllerClientCompatOptions options,
+        RobotModelLoader robotModelLoader)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _robotModelLoader = robotModelLoader ?? throw new ArgumentNullException(nameof(robotModelLoader));
+    }
+
+    /// <summary>
+    /// 根据旧客户端的机器人名称加载对应模型。
+    /// </summary>
+    /// <param name="robotName">旧客户端传入的机器人名称。</param>
+    /// <param name="accLimitScale">RobotConfig.json 中的加速度倍率。</param>
+    /// <param name="jerkLimitScale">RobotConfig.json 中的 jerk 倍率。</param>
+    /// <returns>兼容层加载出的机器人模型。</returns>
+    public RobotProfile LoadProfile(string robotName, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
+    {
+        if (string.IsNullOrWhiteSpace(robotName))
+        {
+            throw new ArgumentException("机器人名称不能为空。", nameof(robotName));
+        }
+
+        if (!SupportedRobotModelFileMap.TryGetValue(robotName, out var modelFileName))
+        {
+            throw new InvalidOperationException($"Unsupported robot name: {robotName}");
+        }
+
+        var modelPath = ResolveModelPath(modelFileName);
+        return _robotModelLoader.LoadProfile(modelPath, accLimitScale, jerkLimitScale);
+    }
+
+    /// <summary>
+    /// 解析机器人模型路径，只从运行目录 Config/Models 读取当前现场固化的 JSON 模型。
+    /// </summary>
+    /// <param name="modelFileName">运行目录 Config/Models 下的机器人 JSON 模型文件名。</param>
+    /// <returns>可传给 JSON 模型加载器的模型文件绝对路径。</returns>
+    private string ResolveModelPath(string modelFileName)
+    {
+        var configModelPath = Path.Combine(_options.ResolveConfigRoot(), "Models", modelFileName);
+        if (File.Exists(configModelPath))
+        {
+            return configModelPath;
+        }
+
+        return "Not found";
+    }
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatService.cs

@@ -0,0 +1,839 @@
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+using Flyshot.Runtime.Common;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 在宿主进程内实现 HTTP-only ControllerClient 兼容语义，并把控制器状态委托给运行时。
+/// </summary>
+public sealed class ControllerClientCompatService : IControllerClientCompatService
+{
+    private readonly object _stateLock = new();
+    private readonly Dictionary<string, ControllerClientCompatUploadedTrajectory> _uploadedTrajectories = new(StringComparer.Ordinal);
+    private readonly ControllerClientCompatOptions _options;
+    private readonly ControllerClientCompatRobotCatalog _robotCatalog;
+    private readonly IControllerRuntime _runtime;
+    private readonly ControllerClientTrajectoryOrchestrator _trajectoryOrchestrator;
+    private readonly RobotConfigLoader _configLoader;
+    private readonly FlyshotTrajectoryArtifactWriter _artifactWriter;
+    private readonly JsonFlyshotTrajectoryStore _trajectoryStore;
+    private readonly ILogger<ControllerClientCompatService>? _logger;
+    private RobotProfile? _activeRobotProfile;
+    private string? _configuredRobotName;
+    private CompatibilityRobotSettings? _robotSettings;
+    private string? _connectedServerIp;
+    private int _connectedServerPort;
+    private bool _showTcp = true;
+    private double _showTcpAxisLength = 0.1;
+    private int _showTcpAxisSize = 2;
+
+    /// <summary>
+    /// 初始化一份 HTTP-only 的 ControllerClient 兼容服务。
+    /// </summary>
+    /// <param name="options">兼容层基础配置。</param>
+    /// <param name="robotCatalog">机器人模型目录。</param>
+    /// <param name="runtime">控制器运行时。</param>
+    /// <param name="trajectoryOrchestrator">轨迹规划与触发编排器。</param>
+    /// <param name="configLoader">旧版 RobotConfig.json 加载器。</param>
+    /// <param name="artifactWriter">saveTrajectory 规划结果点位导出器。</param>
+    /// <param name="trajectoryStore">统一 RobotConfig.json 持久化存储；为空时按配置根目录创建默认实例。</param>
+    /// <param name="logger">日志记录器；允许测试直接构造时传入 null。</param>
+    public ControllerClientCompatService(
+        ControllerClientCompatOptions options,
+        ControllerClientCompatRobotCatalog robotCatalog,
+        IControllerRuntime runtime,
+        ControllerClientTrajectoryOrchestrator trajectoryOrchestrator,
+        RobotConfigLoader configLoader,
+        FlyshotTrajectoryArtifactWriter? artifactWriter = null,
+        JsonFlyshotTrajectoryStore? trajectoryStore = null,
+        ILogger<ControllerClientCompatService>? logger = null)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _robotCatalog = robotCatalog ?? throw new ArgumentNullException(nameof(robotCatalog));
+        _runtime = runtime ?? throw new ArgumentNullException(nameof(runtime));
+        _trajectoryOrchestrator = trajectoryOrchestrator ?? throw new ArgumentNullException(nameof(trajectoryOrchestrator));
+        _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
+        _artifactWriter = artifactWriter ?? new FlyshotTrajectoryArtifactWriter(_options, new RobotModelLoader());
+        _trajectoryStore = trajectoryStore ?? new JsonFlyshotTrajectoryStore(_options, _configLoader);
+        _logger = logger;
+    }
+
+    /// <inheritdoc />
+    public string ServerVersion => _options.ServerVersion;
+
+    /// <inheritdoc />
+    public bool IsSetUp
+    {
+        get
+        {
+            lock (_stateLock)
+            {
+                return _activeRobotProfile is not null;
+            }
+        }
+    }
+
+    /// <summary>
+    /// 获取当前运行时是否处于运动态。
+    /// </summary>
+    public bool IsInMotion => _runtime.GetSnapshot().IsInMotion;
+
+    /// <inheritdoc />
+    public void ConnectServer(string serverIp, int port)
+    {
+        if (string.IsNullOrWhiteSpace(serverIp))
+        {
+            throw new ArgumentException("服务端 IP 不能为空。", nameof(serverIp));
+        }
+
+        if (port <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(port), "端口必须大于 0。");
+        }
+
+        lock (_stateLock)
+        {
+            // HTTP-only 阶段仍记录旧客户端期望的 50001 地址，便于后续 TCP 入口恢复时复用状态。
+            _connectedServerIp = serverIp;
+            _connectedServerPort = port;
+        }
+
+        _logger?.LogInformation("ConnectServer 完成: {ServerIp}:{Port}", serverIp, port);
+    }
+
+    /// <inheritdoc />
+    public string GetServerVersion()
+    {
+        return ServerVersion;
+    }
+
+    /// <inheritdoc />
+    public string GetClientVersion()
+    {
+        return "flyshot-replacement-controller-client-compat/0.1.0";
+    }
+
+    /// <inheritdoc />
+    public void SetUpRobot(string robotName)
+    {
+        _logger?.LogInformation("SetUpRobot 开始: robotName={RobotName}", robotName);
+
+        var robotSettings = TryLoadRobotSettings() ?? CreateDefaultRobotSettings();
+        var robotProfile = _robotCatalog.LoadProfile(
+            robotName,
+            robotSettings.AccLimitScale,
+            robotSettings.JerkLimitScale);
+
+        lock (_stateLock)
+        {
+            // 机器人重新初始化时同步重置运行时和上传轨迹目录，保持旧服务初始化语义。
+            _configuredRobotName = robotName;
+            _activeRobotProfile = robotProfile;
+            _uploadedTrajectories.Clear();
+            _runtime.ResetRobot(robotProfile, robotName);
+            _robotSettings = robotSettings;
+
+            // 从持久化存储恢复该机器人名下之前已上传的轨迹。
+            var savedTrajectories = _trajectoryStore.LoadAll(robotName, out _);
+            foreach (var saved in savedTrajectories)
+            {
+                _uploadedTrajectories[saved.Key] = saved.Value;
+            }
+        }
+
+        _logger?.LogInformation(
+            "SetUpRobot 完成: robotName={RobotName}, dof={Dof}, accLimit={AccLimit}, jerkLimit={JerkLimit}, 恢复轨迹数={TrajCount}",
+            robotName,
+            robotProfile.DegreesOfFreedom,
+            robotSettings.AccLimitScale,
+            robotSettings.JerkLimitScale,
+            _uploadedTrajectories.Count);
+    }
+
+    /// <inheritdoc />
+    public void SetUpRobotFromEnv(string envFile)
+    {
+        if (string.IsNullOrWhiteSpace(envFile))
+        {
+            throw new ArgumentException("环境文件路径不能为空。", nameof(envFile));
+        }
+
+        throw new NotSupportedException("SetUpRobotFromEnv 尚未接入环境文件解析。");
+    }
+
+    /// <inheritdoc />
+    public void SetShowTcp(bool isShow, double axisLength, int axisSize)
+    {
+        if (axisLength <= 0.0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(axisLength), "TCP 坐标轴长度必须大于 0。");
+        }
+
+        if (axisSize <= 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(axisSize), "TCP 坐标轴线宽必须大于 0。");
+        }
+
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+
+            // 当前无 GUI 渲染层，先保存显示参数，保证旧 SDK 参数不会在 HTTP 边界丢失。
+            _showTcp = isShow;
+            _showTcpAxisLength = axisLength;
+            _showTcpAxisSize = axisSize;
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetActiveController(bool sim)
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.SetActiveController(sim);
+        }
+    }
+
+    /// <inheritdoc />
+    public void Connect(string robotIp)
+    {
+        if (string.IsNullOrWhiteSpace(robotIp))
+        {
+            throw new ArgumentException("控制器 IP 不能为空。", nameof(robotIp));
+        }
+
+        _logger?.LogInformation("Connect 开始: robotIp={RobotIp}", robotIp);
+
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.Connect(robotIp);
+        }
+
+        _logger?.LogInformation("Connect 完成: robotIp={RobotIp}", robotIp);
+    }
+
+    /// <inheritdoc />
+    public void Disconnect()
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.Disconnect();
+        }
+    }
+
+    /// <inheritdoc />
+    public void EnableRobot(int bufferSize)
+    {
+        _logger?.LogInformation("EnableRobot 开始: bufferSize={BufferSize}", bufferSize);
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.EnableRobot(bufferSize);
+        }
+        _logger?.LogInformation("EnableRobot 完成");
+    }
+
+    /// <inheritdoc />
+    public void DisableRobot()
+    {
+        _logger?.LogInformation("DisableRobot 开始");
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.DisableRobot();
+        }
+        _logger?.LogInformation("DisableRobot 完成");
+    }
+
+    /// <inheritdoc />
+    public void StopMove()
+    {
+        _logger?.LogInformation("StopMove 开始");
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.StopMove();
+        }
+        _logger?.LogInformation("StopMove 完成");
+    }
+
+    /// <inheritdoc />
+    public ControllerStateSnapshot GetControllerSnapshot()
+    {
+        return _runtime.GetSnapshot();
+    }
+
+    /// <inheritdoc />
+    public double GetSpeedRatio()
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            return _runtime.GetSpeedRatio();
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetSpeedRatio(double ratio)
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.SetSpeedRatio(ratio);
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetIo(int port, bool value, string ioType)
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.SetIo(port, value, ioType);
+        }
+    }
+
+    /// <inheritdoc />
+    public bool GetIo(int port, string ioType)
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            return _runtime.GetIo(port, ioType);
+        }
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetNearestIk(IReadOnlyList<double> pose, IReadOnlyList<double> seed)
+    {
+        ArgumentNullException.ThrowIfNull(pose);
+        ArgumentNullException.ThrowIfNull(seed);
+
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            if (pose.Count != 7)
+            {
+                throw new ArgumentException("位姿必须是 [x,y,z,qx,qy,qz,qw] 七元数组。", nameof(pose));
+            }
+
+            if (seed.Count != GetDegreesOfFreedom())
+            {
+                throw new ArgumentException("seed 关节数量必须与机器人自由度一致。", nameof(seed));
+            }
+
+            throw new NotSupportedException("GetNearestIK 尚未接入逆解求解器。");
+        }
+    }
+
+    /// <inheritdoc />
+    public void SetTcp(double x, double y, double z)
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            _runtime.SetTcp(x, y, z);
+        }
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetTcp()
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            return _runtime.GetTcp();
+        }
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetJointPositions()
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            return _runtime.GetJointPositions();
+        }
+    }
+
+    /// <inheritdoc />
+    public void MoveJoint(IReadOnlyList<double> jointPositions)
+    {
+        ArgumentNullException.ThrowIfNull(jointPositions);
+
+        _logger?.LogInformation("MoveJoint 开始: 目标关节数={JointCount}", jointPositions.Count);
+        _logger?.LogDebug("MoveJoint 目标关节: {Joints}", string.Join(", ", jointPositions.Select(j => j.ToString("F4"))));
+
+        lock (_stateLock)
+        {
+            var robot = RequireActiveRobot();
+            EnsureRuntimeEnabled();
+            ExecuteMoveJointAndWaitLocked(robot, jointPositions, "MoveJoint");
+        }
+
+        _logger?.LogInformation("MoveJoint 完成");
+    }
+
+    /// <inheritdoc />
+    public void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null)
+    {
+        ArgumentNullException.ThrowIfNull(waypoints);
+        options ??= new TrajectoryExecutionOptions();
+        if (waypoints.Count == 0)
+        {
+            throw new ArgumentException("轨迹路点不能为空。", nameof(waypoints));
+        }
+
+        _logger?.LogInformation("ExecuteTrajectory 开始: 路点数={WaypointCount}, method={Method}, saveTraj={SaveTraj}",
+            waypoints.Count, options.Method, options.SaveTrajectory);
+        _logger?.LogDebug("ExecuteTrajectory 路点详情: {Waypoints}",
+            string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Select(j => j.ToString("F4")))}]")));
+
+        lock (_stateLock)
+        {
+            var robot = RequireActiveRobot();
+            EnsureRuntimeEnabled();
+
+            // 普通轨迹必须按调用方指定 method 规划，再把规划结果交给运行时执行。
+            var planningSpeedScale = RequireRobotSettings().PlanningSpeedScale;
+            var bundle = _trajectoryOrchestrator.PlanOrdinaryTrajectory(robot, waypoints, options, planningSpeedScale);
+            _logger?.LogInformation(
+                "ExecuteTrajectory 规划完成: method={Method}, 时长={Duration}s, 有效={IsValid}, 采样点数={SampleCount}, planningSpeedScale={PlanningSpeedScale}",
+                bundle.Result.Method,
+                bundle.Result.Duration.TotalSeconds,
+                bundle.Result.IsValid,
+                bundle.Result.DenseJointTrajectory?.Count ?? 0,
+                planningSpeedScale);
+            var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
+            _runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
+        }
+
+        _logger?.LogInformation("ExecuteTrajectory 完成");
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<double> GetPose()
+    {
+        lock (_stateLock)
+        {
+            EnsureRobotSetup();
+            return _runtime.GetPose();
+        }
+    }
+
+    /// <inheritdoc />
+    public void UploadTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        ArgumentNullException.ThrowIfNull(trajectory);
+
+        _logger?.LogInformation(
+            "UploadTrajectory 开始: name={Name}, waypoints={WaypointCount}, shotFlags={ShotCount}",
+            trajectory.Name,
+            trajectory.Waypoints.Count,
+            trajectory.ShotFlags.Count(static f => f));
+
+        lock (_stateLock)
+        {
+            EnsureRuntimeEnabled();
+            _uploadedTrajectories[trajectory.Name] = trajectory;
+
+            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            var settings = _robotSettings ?? CreateDefaultRobotSettings();
+            _trajectoryStore.Save(robotName, settings, trajectory);
+        }
+
+        _logger?.LogInformation("UploadTrajectory 完成: name={Name}", trajectory.Name);
+    }
+
+    /// <inheritdoc />
+    public IReadOnlyList<string> ListTrajectoryNames()
+    {
+        lock (_stateLock)
+        {
+            return _uploadedTrajectories.Keys.ToArray();
+        }
+    }
+
+    /// <inheritdoc />
+    public void ExecuteTrajectoryByName(string name, FlyshotExecutionOptions? options = null)
+    {
+        options ??= new FlyshotExecutionOptions();
+        if (string.IsNullOrWhiteSpace(name))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(name));
+        }
+
+        _logger?.LogInformation(
+            "ExecuteTrajectoryByName 开始: name={Name}, method={Method}, moveToStart={MoveToStart}, useCache={UseCache}, wait={Wait}",
+            name, options.Method, options.MoveToStart, options.UseCache, options.Wait);
+
+        lock (_stateLock)
+        {
+            var robot = RequireActiveRobot();
+            EnsureRuntimeEnabled();
+
+            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            {
+                _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹不存在 name={Name}", name);
+                throw new InvalidOperationException("FlyShot trajectory does not exist.");
+            }
+
+            if (trajectory.Waypoints.Count == 0)
+            {
+                _logger?.LogWarning("ExecuteTrajectoryByName 失败: 轨迹无路点 name={Name}", name);
+                throw new InvalidOperationException("FlyShot trajectory contains no waypoints.");
+            }
+
+            // 已上传飞拍轨迹必须按调用方指定 method 生成 shot timeline 后再交给运行时。
+            var settings = RequireRobotSettings();
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(robot, trajectory, options, settings, settings.PlanningSpeedScale);
+            ExportFlyshotArtifactsIfRequested(name, options.SaveTrajectory, robot, bundle);
+            _logger?.LogInformation(
+                "ExecuteTrajectoryByName 规划完成: name={Name}, method={Method}, 时长={Duration}s, 触发事件数={TriggerCount}, 使用缓存={UsedCache}, planningSpeedScale={PlanningSpeedScale}",
+                name,
+                bundle.Result.Method,
+                bundle.Result.Duration.TotalSeconds,
+                bundle.Result.TriggerTimeline.Count,
+                bundle.Result.UsedCache,
+                settings.PlanningSpeedScale);
+
+            if (options.MoveToStart)
+            {
+                _logger?.LogInformation("ExecuteTrajectoryByName 先移动到起点");
+                ExecuteMoveJointAndWaitLocked(robot, bundle.PlannedTrajectory.PlannedWaypoints[0].Positions, "ExecuteTrajectoryByName.move_to_start");
+            }
+
+            var finalJointPositions = bundle.PlannedTrajectory.PlannedWaypoints[^1].Positions;
+            _runtime.ExecuteTrajectory(bundle.Result, finalJointPositions);
+            if (options.Wait)
+            {
+                WaitForRuntimeMotionComplete("ExecuteTrajectoryByName.flyshot", bundle.Result.Duration);
+            }
+        }
+
+        _logger?.LogInformation("ExecuteTrajectoryByName 完成: name={Name}", name);
+    }
+
+    /// <summary>
+    /// 从当前关节位置生成临时 PTP 稠密轨迹并阻塞等待运行时完成，避免后续 J519 目标发生突变。
+    /// </summary>
+    /// <param name="robot">当前机器人模型。</param>
+    /// <param name="targetJointPositions">目标关节位置，单位为弧度。</param>
+    /// <param name="operationName">用于日志和超时异常的操作名。</param>
+    private void ExecuteMoveJointAndWaitLocked(RobotProfile robot, IReadOnlyList<double> targetJointPositions, string operationName)
+    {
+        var currentJointPositions = _runtime.GetJointPositions();
+        EnsureJointVector(currentJointPositions, robot.DegreesOfFreedom, nameof(currentJointPositions));
+        EnsureJointVector(targetJointPositions, robot.DegreesOfFreedom, nameof(targetJointPositions));
+
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        var moveResult = MoveJointTrajectoryGenerator.CreateResult(robot, currentJointPositions, targetJointPositions, speedRatio, _logger);
+        _logger?.LogInformation(
+            "{OperationName} PTP规划完成: 当前速度倍率={SpeedRatio}, 规划时长={Duration}s, 采样点数={SampleCount}",
+            operationName,
+            speedRatio,
+            moveResult.Duration.TotalSeconds,
+            moveResult.DenseJointTrajectory?.Count ?? 0);
+
+        _runtime.ExecuteTrajectory(moveResult, targetJointPositions);
+        WaitForRuntimeMotionComplete(operationName, moveResult.Duration);
+    }
+
+    /// <summary>
+    /// 等待运行时报告当前运动结束，用于把 move_to_start 与正式飞拍轨迹串行化。
+    /// </summary>
+    /// <param name="operationName">用于日志和超时异常的操作名。</param>
+    /// <param name="plannedDuration">规划运动时长。</param>
+    private void WaitForRuntimeMotionComplete(string operationName, TimeSpan plannedDuration)
+    {
+        var timeout = ResolveMotionCompletionTimeout(plannedDuration);
+        var deadline = DateTimeOffset.UtcNow.Add(timeout);
+
+        while (true)
+        {
+            if (!_runtime.GetSnapshot().IsInMotion)
+            {
+                _logger?.LogInformation("{OperationName} 运动完成", operationName);
+                return;
+            }
+
+            if (DateTimeOffset.UtcNow >= deadline)
+            {
+                throw new TimeoutException($"{operationName} 等待运动完成超时，planned={plannedDuration.TotalSeconds:F3}s, timeout={timeout.TotalSeconds:F3}s。");
+            }
+
+            Thread.Sleep(TimeSpan.FromMilliseconds(10));
+        }
+    }
+
+    /// <summary>
+    /// 根据规划时长推导等待超时，给真机通信和状态更新留出余量。
+    /// </summary>
+    /// <param name="plannedDuration">规划运动时长。</param>
+    /// <returns>等待运行时完成的最大时长。</returns>
+    private static TimeSpan ResolveMotionCompletionTimeout(TimeSpan plannedDuration)
+    {
+        var timeoutSeconds = Math.Max(5.0, plannedDuration.TotalSeconds * 3.0 + 2.0);
+        return TimeSpan.FromSeconds(timeoutSeconds);
+    }
+
+    /// <inheritdoc />
+    public void SaveTrajectoryInfo(string name, string method = "icsp")
+    {
+        if (string.IsNullOrWhiteSpace(name))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(name));
+        }
+
+        _logger?.LogInformation("SaveTrajectoryInfo 开始: name={Name}, method={Method}", name, method);
+
+        lock (_stateLock)
+        {
+            var robot = RequireActiveRobot();
+            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            {
+                _logger?.LogWarning("SaveTrajectoryInfo 失败: 轨迹不存在 name={Name}", name);
+                throw new InvalidOperationException("FlyShot trajectory does not exist.");
+            }
+
+            // 先通过规划校验避免静默接受非法参数，同时把轨迹信息强制刷写到本地 JSON。
+            var planningSettings = RequireRobotSettings();
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
+                robot,
+                trajectory,
+                new FlyshotExecutionOptions(useCache:false,saveTrajectory: true, method: method),
+                planningSettings,
+                planningSettings.PlanningSpeedScale);
+            _logger?.LogInformation("SaveTrajectoryInfo 规划完成记录到本地");
+            ExportFlyshotArtifactsIfRequested(name, saveTrajectory: true, robot, bundle);
+
+            // var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            // var settings = _robotSettings ?? CreateDefaultRobotSettings();
+            // _trajectoryStore.Save(robotName, settings, trajectory);
+        }
+
+        _logger?.LogInformation("SaveTrajectoryInfo 完成: name={Name}", name);
+    }
+
+    /// <inheritdoc />
+    public bool IsFlyshotTrajectoryValid(out TimeSpan duration, string name, string method = "icsp", bool saveTrajectory = false)
+    {
+        if (string.IsNullOrWhiteSpace(name))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(name));
+        }
+
+        _logger?.LogInformation("IsFlyshotTrajectoryValid 开始: name={Name}, method={Method}", name, method);
+
+        lock (_stateLock)
+        {
+            var robot = RequireActiveRobot();
+            if (!_uploadedTrajectories.TryGetValue(name, out var trajectory))
+            {
+                _logger?.LogWarning("IsFlyshotTrajectoryValid 失败: 轨迹不存在 name={Name}", name);
+                throw new InvalidOperationException("FlyShot trajectory does not exist.");
+            }
+
+            var planningSettings = RequireRobotSettings();
+            var bundle = _trajectoryOrchestrator.PlanUploadedFlyshot(
+                robot,
+                trajectory,
+                new FlyshotExecutionOptions(method: method, saveTrajectory: saveTrajectory),
+                planningSettings,
+                planningSettings.PlanningSpeedScale);
+            ExportFlyshotArtifactsIfRequested(name, saveTrajectory, robot, bundle);
+
+            duration = bundle.Result.Duration;
+            _logger?.LogInformation(
+                "IsFlyshotTrajectoryValid 结果: name={Name}, valid={Valid}, duration={Duration}s",
+                name, bundle.Result.IsValid, duration.TotalSeconds);
+            return bundle.Result.IsValid;
+        }
+    }
+
+    /// <inheritdoc />
+    public void DeleteTrajectory(string name)
+    {
+        if (string.IsNullOrWhiteSpace(name))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(name));
+        }
+
+        _logger?.LogInformation("DeleteTrajectory 开始: name={Name}", name);
+
+        lock (_stateLock)
+        {
+            if (!_uploadedTrajectories.Remove(name))
+            {
+                _logger?.LogWarning("DeleteTrajectory 失败: 轨迹不存在 name={Name}", name);
+                throw new InvalidOperationException("DeleteFlyShotTraj failed");
+            }
+
+            var robotName = _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+            _trajectoryStore.Delete(robotName, name);
+        }
+
+        _logger?.LogInformation("DeleteTrajectory 完成: name={Name}", name);
+    }
+
+    /// <inheritdoc />
+    public string GetRobotName()
+    {
+        lock (_stateLock)
+        {
+            return _configuredRobotName ?? throw new InvalidOperationException("Robot has not been setup.");
+        }
+    }
+
+    /// <inheritdoc />
+    public int GetDegreesOfFreedom()
+    {
+        lock (_stateLock)
+        {
+            return _activeRobotProfile?.DegreesOfFreedom ?? throw new InvalidOperationException("Robot has not been setup.");
+        }
+    }
+
+    /// <summary>
+    /// 获取当前机器人配置，未初始化时抛出兼容错误。
+    /// </summary>
+    /// <returns>当前机器人配置。</returns>
+    private RobotProfile RequireActiveRobot()
+    {
+        return _activeRobotProfile ?? throw new InvalidOperationException("Robot has not been setup.");
+    }
+
+    /// <summary>
+    /// 获取当前机器人兼容配置；未加载旧配置时回退到现场默认值。
+    /// </summary>
+    /// <returns>当前机器人配置。</returns>
+    private CompatibilityRobotSettings RequireRobotSettings()
+    {
+        return _robotSettings ?? CreateDefaultRobotSettings();
+    }
+
+    /// <summary>
+    /// 校验机器人已经完成初始化。
+    /// </summary>
+    private void EnsureRobotSetup()
+    {
+        _ = RequireActiveRobot();
+    }
+
+    /// <summary>
+    /// 校验运行时已经处于可执行状态。
+    /// </summary>
+    private void EnsureRuntimeEnabled()
+    {
+        EnsureRobotSetup();
+        if (!_runtime.GetSnapshot().IsEnabled)
+        {
+            throw new InvalidOperationException("Robot has not been enabled.");
+        }
+    }
+
+    /// <summary>
+    /// 校验关节向量与当前机器人自由度一致，且所有值都是有限数值。
+    /// </summary>
+    /// <param name="joints">待校验关节向量，单位为弧度。</param>
+    /// <param name="expectedCount">期望自由度。</param>
+    /// <param name="paramName">调用方参数名。</param>
+    private static void EnsureJointVector(IReadOnlyList<double> joints, int expectedCount, string paramName)
+    {
+        if (joints.Count != expectedCount)
+        {
+            throw new ArgumentException($"关节数量必须为 {expectedCount}。", paramName);
+        }
+
+        for (var index = 0; index < joints.Count; index++)
+        {
+            var value = joints[index];
+            if (double.IsNaN(value) || double.IsInfinity(value))
+            {
+                throw new ArgumentOutOfRangeException(paramName, $"第 {index} 个关节值必须是有限数值。");
+            }
+        }
+    }
+
+    /// <summary>
+    /// 根据 saveTrajectory 参数把规划结果点位写入运行目录 Config/Data/name。
+    /// </summary>
+    /// <param name="name">飞拍轨迹名称。</param>
+    /// <param name="saveTrajectory">是否导出规划结果点位。</param>
+    /// <param name="robot">当前机器人模型。</param>
+    /// <param name="bundle">规划结果包。</param>
+    private void ExportFlyshotArtifactsIfRequested(
+        string name,
+        bool saveTrajectory,
+        RobotProfile robot,
+        PlannedExecutionBundle bundle)
+    {
+        if (!saveTrajectory)
+        {
+            return;
+        }
+
+        var speedRatio = _runtime.GetSnapshot().SpeedRatio;
+        _artifactWriter.WriteUploadedFlyshot(name, robot, bundle, speedRatio);
+    }
+
+    /// <summary>
+    /// 尝试从配置根目录加载 RobotConfig.json 获取机器人配置；失败时返回 null。
+    /// </summary>
+    /// <returns>加载到的机器人配置，或 null。</returns>
+    private CompatibilityRobotSettings? TryLoadRobotSettings()
+    {
+        foreach (var root in EnumerateRobotConfigRoots())
+        {
+            try
+            {
+                // 运行配置根本身已经是 Config 目录，这里用绝对路径避免再次追加 Config。
+                var configPath = Path.Combine(root, "RobotConfig.json");
+                var loaded = _configLoader.Load(configPath, root);
+                return loaded.Robot;
+            }
+            catch
+            {
+                // 单个候选根目录加载失败时继续尝试下一个兼容入口。
+            }
+        }
+
+        return null;
+    }
+
+    /// <summary>
+    /// 枚举 RobotConfig.json 的配置根目录，运行目录 Config 优先，旧父工作区仅在显式配置时参与。
+    /// </summary>
+    /// <returns>待尝试的配置根目录列表。</returns>
+    private IEnumerable<string> EnumerateRobotConfigRoots()
+    {
+        yield return _options.ResolveConfigRoot();
+
+        var legacyWorkspaceRoot = _options.ResolveLegacyWorkspaceRoot();
+        if (legacyWorkspaceRoot is not null)
+        {
+            yield return legacyWorkspaceRoot;
+        }
+    }
+
+    /// <summary>
+    /// 构造与旧现场默认行为一致的机器人兼容配置。
+    /// </summary>
+    /// <returns>默认机器人配置。</returns>
+    private static CompatibilityRobotSettings CreateDefaultRobotSettings()
+    {
+        return new CompatibilityRobotSettings(
+            useDo: false,
+            ioAddresses: Array.Empty<int>(),
+            ioKeepCycles: 2,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+    }
+
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatServiceCollectionExtensions.cs

@@ -0,0 +1,42 @@
+using Flyshot.Core.Config;
+using Flyshot.Runtime.Common;
+using Flyshot.Runtime.Fanuc;
+using Microsoft.Extensions.Configuration;
+using Microsoft.Extensions.DependencyInjection;
+using Microsoft.Extensions.Options;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 提供 ControllerClient HTTP 兼容层的依赖注入注册入口。
+/// </summary>
+public static class ControllerClientCompatServiceCollectionExtensions
+{
+    /// <summary>
+    /// 将 HTTP-only 的 ControllerClient 兼容服务注册到当前宿主。
+    /// </summary>
+    /// <param name="services">当前宿主服务集合。</param>
+    /// <param name="configuration">宿主配置根。</param>
+    /// <returns>同一服务集合，便于链式调用。</returns>
+    public static IServiceCollection AddControllerClientCompat(this IServiceCollection services, IConfiguration configuration)
+    {
+        ArgumentNullException.ThrowIfNull(services);
+        ArgumentNullException.ThrowIfNull(configuration);
+
+        services
+            .AddOptions<ControllerClientCompatOptions>()
+            .Bind(configuration.GetSection("ControllerClientCompat"));
+
+        services.AddSingleton(static serviceProvider => serviceProvider.GetRequiredService<IOptions<ControllerClientCompatOptions>>().Value);
+        services.AddSingleton<RobotModelLoader>();
+        services.AddSingleton<RobotConfigLoader>();
+        services.AddSingleton<ControllerClientCompatRobotCatalog>();
+        services.AddSingleton<ControllerClientTrajectoryOrchestrator>();
+        services.AddSingleton<FlyshotTrajectoryArtifactWriter>();
+        services.AddSingleton<JsonFlyshotTrajectoryStore>();
+        services.AddSingleton<IControllerRuntime, FanucControllerRuntime>();
+        services.AddSingleton<IControllerClientCompatService, ControllerClientCompatService>();
+
+        return services;
+    }
+}

src/Flyshot.ControllerClientCompat/ControllerClientCompatUploadedTrajectory.cs

@@ -0,0 +1,64 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 保存一条已上传到兼容层内存目录中的飞拍轨迹，供 HTTP API 层列出、执行和删除。
+/// </summary>
+public sealed class ControllerClientCompatUploadedTrajectory
+{
+    /// <summary>
+    /// 初始化一条飞拍轨迹快照，并立即复制所有数组，避免调用方后续原地修改。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="waypoints">关节路点集合。</param>
+    /// <param name="shotFlags">拍摄标志集合。</param>
+    /// <param name="offsetValues">偏移周期集合。</param>
+    /// <param name="addressGroups">地址组集合。</param>
+    public ControllerClientCompatUploadedTrajectory(
+        string name,
+        IEnumerable<IReadOnlyList<double>> waypoints,
+        IEnumerable<bool> shotFlags,
+        IEnumerable<int> offsetValues,
+        IEnumerable<IReadOnlyList<int>> addressGroups)
+    {
+        if (string.IsNullOrWhiteSpace(name))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(name));
+        }
+
+        ArgumentNullException.ThrowIfNull(waypoints);
+        ArgumentNullException.ThrowIfNull(shotFlags);
+        ArgumentNullException.ThrowIfNull(offsetValues);
+        ArgumentNullException.ThrowIfNull(addressGroups);
+
+        Name = name;
+        Waypoints = waypoints.Select(static waypoint => waypoint.ToArray()).ToArray();
+        ShotFlags = shotFlags.ToArray();
+        OffsetValues = offsetValues.ToArray();
+        AddressGroups = addressGroups.Select(static group => group.ToArray()).ToArray();
+    }
+
+    /// <summary>
+    /// 获取轨迹名称。
+    /// </summary>
+    public string Name { get; }
+
+    /// <summary>
+    /// 获取已复制的关节路点集合。
+    /// </summary>
+    public IReadOnlyList<double[]> Waypoints { get; }
+
+    /// <summary>
+    /// 获取拍摄标志集合。
+    /// </summary>
+    public IReadOnlyList<bool> ShotFlags { get; }
+
+    /// <summary>
+    /// 获取偏移周期集合。
+    /// </summary>
+    public IReadOnlyList<int> OffsetValues { get; }
+
+    /// <summary>
+    /// 获取地址组集合。
+    /// </summary>
+    public IReadOnlyList<int[]> AddressGroups { get; }
+}

src/Flyshot.ControllerClientCompat/ControllerClientTrajectoryOrchestrator.cs

@@ -0,0 +1,563 @@
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+using Flyshot.Core.Planning.Sampling;
+using Flyshot.Core.Triggering;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 负责把 ControllerClient 兼容层的轨迹输入转换为规划结果和触发时间轴。
+/// </summary>
+public sealed class ControllerClientTrajectoryOrchestrator
+{
+    /// <summary>
+    /// 稠密轨迹离散限幅失败后允许统一拉长时间轴的最大次数。
+    /// </summary>
+    private const int MaxDenseLimitStretchIterations = 100;
+
+    /// <summary>
+    /// 每次离散限幅失败后统一放大的时间倍率。
+    /// </summary>
+    private const double DenseLimitStretchFactor = 1.01;
+
+    private readonly ICspPlanner _icspPlanner;
+    private readonly SelfAdaptIcspPlanner _selfAdaptIcspPlanner;
+    private readonly ShotTimelineBuilder _shotTimelineBuilder = new(new WaypointTimestampResolver());
+    private readonly Dictionary<string, PlannedExecutionBundle> _flyshotCache = new(StringComparer.Ordinal);
+    private readonly ILogger<ControllerClientTrajectoryOrchestrator>? _logger;
+
+    /// <summary>
+    /// 初始化轨迹编排器。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    /// <param name="loggerFactory">日志工厂；允许 null。</param>
+    public ControllerClientTrajectoryOrchestrator(
+        ILogger<ControllerClientTrajectoryOrchestrator>? logger = null,
+        ILoggerFactory? loggerFactory = null)
+    {
+        _logger = logger;
+        _icspPlanner = new(logger: loggerFactory?.CreateLogger<ICspPlanner>());
+        _selfAdaptIcspPlanner = new(logger: loggerFactory?.CreateLogger<SelfAdaptIcspPlanner>());
+    }
+
+    /// <summary>
+    /// 对普通轨迹执行 ICSP 规划。
+    /// </summary>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="waypoints">普通轨迹关节路点。</param>
+    /// <returns>包含规划轨迹、空触发时间轴和执行结果的结果包。</returns>
+    public PlannedExecutionBundle PlanOrdinaryTrajectory(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> waypoints,
+        TrajectoryExecutionOptions? options = null,
+        double planningSpeedScale = 1.0)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(waypoints);
+        options ??= new TrajectoryExecutionOptions();
+        var planningRobot = ApplyPlanningSpeedScale(robot, planningSpeedScale);
+
+        _logger?.LogInformation(
+            "PlanOrdinaryTrajectory 开始: 路点数={WaypointCount}, method={Method}, planningSpeedScale={PlanningSpeedScale}",
+            waypoints.Count, options.Method, planningSpeedScale);
+
+        var program = CreateProgram(
+            name: "ordinary-trajectory",
+            waypoints: waypoints,
+            shotFlags: Enumerable.Repeat(false, waypoints.Count),
+            offsetValues: Enumerable.Repeat(0, waypoints.Count),
+            addressGroups: Enumerable.Range(0, waypoints.Count).Select(static _ => Array.Empty<int>()));
+
+        var method = ParseOrdinaryMethod(options.Method);
+        var request = new TrajectoryRequest(
+            robot: planningRobot,
+            program: program,
+            method: method,
+            saveTrajectoryArtifacts: options.SaveTrajectory);
+
+        var plannedTrajectory = PlanByMethod(request, method);
+        var executionTrajectory = plannedTrajectory;
+        var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref executionTrajectory, shapeTrajectoryEdges: false);
+        var shotTimeline = new ShotTimeline(Array.Empty<ShotEvent>(), Array.Empty<TrajectoryDoEvent>());
+        var result = CreateResult(executionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
+
+        _logger?.LogInformation(
+            "PlanOrdinaryTrajectory 完成: 时长={Duration}s, 采样点数={SampleCount}",
+            result.Duration.TotalSeconds,
+            result.DenseJointTrajectory?.Count ?? 0);
+
+        return new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
+    }
+
+    /// <summary>
+    /// 对已经上传的飞拍轨迹执行自适应 ICSP 规划并生成触发时间轴。
+    /// </summary>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="uploaded">兼容层保存的上传轨迹。</param>
+    /// <returns>包含规划轨迹、触发时间轴和执行结果的结果包。</returns>
+    public PlannedExecutionBundle PlanUploadedFlyshot(
+        RobotProfile robot,
+        ControllerClientCompatUploadedTrajectory uploaded,
+        FlyshotExecutionOptions? options = null,
+        CompatibilityRobotSettings? settings = null,
+        double? planningSpeedScale = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(uploaded);
+        options ??= new FlyshotExecutionOptions();
+        settings ??= CreateDefaultRobotSettings();
+        var effectivePlanningSpeedScale = planningSpeedScale ?? settings.PlanningSpeedScale;
+        var planningRobot = ApplyPlanningSpeedScale(robot, effectivePlanningSpeedScale);
+
+        _logger?.LogInformation(
+            "PlanUploadedFlyshot 开始: name={Name}, waypoints={WaypointCount}, method={Method}, useCache={UseCache}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}",
+            uploaded.Name, uploaded.Waypoints.Count, options.Method, options.UseCache, effectivePlanningSpeedScale, settings.SmoothStartStopTiming);
+
+        var program = CreateProgram(
+            name: uploaded.Name,
+            waypoints: uploaded.Waypoints,
+            shotFlags: uploaded.ShotFlags,
+            offsetValues: uploaded.OffsetValues,
+            addressGroups: uploaded.AddressGroups);
+
+        var method = ParseFlyshotMethod(options.Method);
+        var cacheKey = CreateFlyshotCacheKey(planningRobot, uploaded, options, settings, effectivePlanningSpeedScale);
+        //if (options.UseCache && _flyshotCache.TryGetValue(cacheKey, out var cachedBundle))
+        //{
+        //    _logger?.LogInformation("PlanUploadedFlyshot 命中缓存: name={Name}, cacheKey={CacheKey}", uploaded.Name, cacheKey);
+        //    var executionTrajectory = ApplyExecutionTiming(cachedBundle.PlannedTrajectory, settings);
+        //    var executionTimeline = _shotTimelineBuilder.Build(
+        //        executionTrajectory,
+        //        holdCycles: settings.IoKeepCycles,
+        //        samplePeriod: planningRobot.ServoPeriod,
+        //        useDo: settings.UseDo);
+        //    // 命中缓存时只替换 TrajectoryResult 的 usedCache 标志，规划轨迹和触发时间轴保持不可变复用。
+        //    return new PlannedExecutionBundle(
+        //        cachedBundle.PlannedTrajectory,
+        //        executionTimeline,
+        //        CreateResult(executionTrajectory, executionTimeline, usedCache: true, shapeTrajectoryEdges: false));
+        //}
+
+        var request = new TrajectoryRequest(
+            robot: planningRobot,
+            program: program,
+            method: method,
+            moveToStart: options.MoveToStart,
+            saveTrajectoryArtifacts: options.SaveTrajectory,
+            useCache: options.UseCache);
+
+        var plannedTrajectory = PlanByMethod(request, method, settings);
+        var smoothedExecutionTrajectory = ApplyExecutionTiming(plannedTrajectory, settings);
+        var denseJointTrajectory = CreateLimitCompliantDenseTrajectory(ref smoothedExecutionTrajectory, shapeTrajectoryEdges: false);
+        var shotTimeline = _shotTimelineBuilder.Build(
+            smoothedExecutionTrajectory,
+            holdCycles: settings.IoKeepCycles,
+            samplePeriod: planningRobot.ServoPeriod,
+            useDo: settings.UseDo);
+        var result = CreateResult(smoothedExecutionTrajectory, shotTimeline, denseJointTrajectory, usedCache: false);
+        var bundle = new PlannedExecutionBundle(plannedTrajectory, shotTimeline, result);
+
+        _logger?.LogInformation(
+            "PlanUploadedFlyshot 完成: name={Name}, 时长={Duration}s, 触发事件数={TriggerCount}, 采样点数={SampleCount}",
+            uploaded.Name, result.Duration.TotalSeconds, result.TriggerTimeline.Count, result.DenseJointTrajectory?.Count ?? 0);
+
+        if (options.UseCache)
+        {
+            _flyshotCache[cacheKey] = bundle;
+        }
+
+        return bundle;
+    }
+
+    /// <summary>
+    /// 按普通轨迹执行接口约束解析 method 参数。
+    /// </summary>
+    /// <param name="method">旧 SDK 传入的方法名。</param>
+    /// <returns>领域层规划方法。</returns>
+    private static PlanningMethod ParseOrdinaryMethod(string method)
+    {
+        var normalized = NormalizeMethod(method);
+        return normalized switch
+        {
+            "icsp" => PlanningMethod.Icsp,
+            "doubles" => PlanningMethod.Doubles,
+            _ => throw new ArgumentException($"Unsupported ExecuteTrajectory method: {method}", nameof(method))
+        };
+    }
+
+    /// <summary>
+    /// 按飞拍轨迹执行接口约束解析 method 参数。
+    /// </summary>
+    /// <param name="method">旧 SDK 传入的方法名。</param>
+    /// <returns>领域层规划方法。</returns>
+    private static PlanningMethod ParseFlyshotMethod(string method)
+    {
+        var normalized = NormalizeMethod(method);
+        return normalized switch
+        {
+            "icsp" => PlanningMethod.Icsp,
+            "self-adapt-icsp" => PlanningMethod.SelfAdaptIcsp,
+            "doubles" => PlanningMethod.Doubles,
+            _ => throw new ArgumentException($"Unsupported ExecuteFlyShotTraj method: {method}", nameof(method))
+        };
+    }
+
+    /// <summary>
+    /// 按领域枚举分派到当前已经落地的规划器。
+    /// </summary>
+    /// <param name="request">规划请求。</param>
+    /// <param name="method">规划方法。</param>
+    /// <returns>规划轨迹。</returns>
+    private PlannedTrajectory PlanByMethod(TrajectoryRequest request, PlanningMethod method, CompatibilityRobotSettings? settings = null)
+    {
+        return method switch
+        {
+            PlanningMethod.Icsp => _icspPlanner.Plan(request),
+            PlanningMethod.SelfAdaptIcsp => _selfAdaptIcspPlanner.Plan(request, settings?.AdaptIcspTryNum ?? 5),
+            PlanningMethod.Doubles => throw new NotSupportedException("doubles 轨迹规划尚未落地。"),
+            _ => throw new ArgumentOutOfRangeException(nameof(method), method, "未知轨迹规划方法。")
+        };
+    }
+
+    /// <summary>
+    /// 归一化旧 SDK 的 method 字符串。
+    /// </summary>
+    /// <param name="method">原始方法名。</param>
+    /// <returns>小写短横线方法名。</returns>
+    private static string NormalizeMethod(string method)
+    {
+        if (string.IsNullOrWhiteSpace(method))
+        {
+            return "icsp";
+        }
+
+        return method.Trim().ToLowerInvariant();
+    }
+
+    /// <summary>
+    /// 为已上传飞拍轨迹构造包含参数和轨迹内容的缓存键，避免同名覆盖后误用旧规划结果。
+    /// </summary>
+    /// <param name="robot">机器人配置。</param>
+    /// <param name="uploaded">上传轨迹。</param>
+    /// <param name="options">执行参数。</param>
+    /// <returns>缓存键。</returns>
+    private static string CreateFlyshotCacheKey(
+        RobotProfile robot,
+        ControllerClientCompatUploadedTrajectory uploaded,
+        FlyshotExecutionOptions options,
+        CompatibilityRobotSettings settings,
+        double planningSpeedScale)
+    {
+        var hash = new HashCode();
+        hash.Add(robot.Name, StringComparer.Ordinal);
+        hash.Add(planningSpeedScale);
+        hash.Add(uploaded.Name, StringComparer.Ordinal);
+        hash.Add(NormalizeMethod(options.Method), StringComparer.Ordinal);
+        hash.Add(options.MoveToStart);
+        hash.Add(options.SaveTrajectory);
+        hash.Add(settings.UseDo);
+        hash.Add(settings.IoKeepCycles);
+        hash.Add(settings.AdaptIcspTryNum);
+        hash.Add(settings.SmoothStartStopTiming);
+
+        foreach (var limit in robot.JointLimits)
+        {
+            hash.Add(limit.JointName, StringComparer.Ordinal);
+            hash.Add(limit.VelocityLimit);
+            hash.Add(limit.AccelerationLimit);
+            hash.Add(limit.JerkLimit);
+        }
+
+        foreach (var waypoint in uploaded.Waypoints)
+        {
+            foreach (var value in waypoint)
+            {
+                hash.Add(value);
+            }
+        }
+
+        foreach (var flag in uploaded.ShotFlags)
+        {
+            hash.Add(flag);
+        }
+
+        foreach (var offset in uploaded.OffsetValues)
+        {
+            hash.Add(offset);
+        }
+
+        foreach (var group in uploaded.AddressGroups)
+        {
+            foreach (var address in group)
+            {
+                hash.Add(address);
+            }
+        }
+
+        return hash.ToHashCode().ToString("X8");
+    }
+
+    /// <summary>
+    /// 构造编排器直接调用时的默认兼容配置，保持既有单元测试中的 DO 生成行为。
+    /// </summary>
+    /// <returns>默认机器人兼容配置。</returns>
+    private static CompatibilityRobotSettings CreateDefaultRobotSettings()
+    {
+        return new CompatibilityRobotSettings(
+            useDo: true,
+            ioAddresses: Array.Empty<int>(),
+            ioKeepCycles: 0,
+            accLimitScale: 1.0,
+            jerkLimitScale: 1.0,
+            adaptIcspTryNum: 5);
+    }
+
+    /// <summary>
+    /// 按运行配置决定是否对规划结果做执行前时间轴重映射。
+    /// </summary>
+    /// <param name="plannedTrajectory">规划阶段得到的轨迹。</param>
+    /// <param name="settings">当前 RobotConfig.json 解析出的兼容设置。</param>
+    /// <returns>运行时真正用于采样和触发的轨迹。</returns>
+    private static PlannedTrajectory ApplyExecutionTiming(PlannedTrajectory plannedTrajectory, CompatibilityRobotSettings settings)
+    {
+        // legacy-fit 模式需要严格保留 waypoint.txt 反推出的节点时间，不能再二次改写时间轴。
+        return settings.SmoothStartStopTiming
+            ? ApplySmoothStartStopTiming(plannedTrajectory)
+            : plannedTrajectory;
+    }
+
+    /// <summary>
+    /// 按规划全局速度倍率生成规划专用机器人约束。
+    /// </summary>
+    /// <param name="robot">原始机器人约束。</param>
+    /// <param name="planningSpeedScale">规划阶段的全局速度倍率，1.0 表示不额外缩放。</param>
+    /// <returns>已按速度倍率缩放后的规划机器人约束。</returns>
+    private static RobotProfile ApplyPlanningSpeedScale(RobotProfile robot, double planningSpeedScale)
+    {
+        if (double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale) || planningSpeedScale <= 0.0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
+        }
+
+        if (Math.Abs(planningSpeedScale - 1.0) < 1e-12)
+        {
+            return robot;
+        }
+
+        // RVBUST 规划阶段会用独立限速倍率缩放有效限制；运行时 speedRatio 仍只负责 J519 下发重采样。
+        var scaledLimits = robot.JointLimits
+            .Select(limit => new JointLimit(
+                limit.JointName,
+                limit.VelocityLimit * planningSpeedScale,
+                limit.AccelerationLimit * planningSpeedScale * planningSpeedScale,
+                limit.JerkLimit * planningSpeedScale * planningSpeedScale * planningSpeedScale))
+            .ToArray();
+
+        return new RobotProfile(
+            name: robot.Name,
+            modelPath: robot.ModelPath,
+            degreesOfFreedom: robot.DegreesOfFreedom,
+            jointLimits: scaledLimits,
+            jointCouplings: robot.JointCouplings,
+            servoPeriod: robot.ServoPeriod,
+            triggerPeriod: robot.TriggerPeriod);
+    }
+
+    /// <summary>
+    /// 把兼容层输入数组转换成领域层 FlyshotProgram。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="waypoints">关节路点。</param>
+    /// <param name="shotFlags">拍照标志。</param>
+    /// <param name="offsetValues">偏移周期。</param>
+    /// <param name="addressGroups">IO 地址组。</param>
+    /// <returns>领域层飞拍程序。</returns>
+    private static FlyshotProgram CreateProgram(
+        string name,
+        IEnumerable<IReadOnlyList<double>> waypoints,
+        IEnumerable<bool> shotFlags,
+        IEnumerable<int> offsetValues,
+        IEnumerable<IReadOnlyList<int>> addressGroups)
+    {
+        return new FlyshotProgram(
+            name: name,
+            waypoints: waypoints.Select(static waypoint => new JointWaypoint(waypoint)).ToArray(),
+            shotFlags: shotFlags.ToArray(),
+            offsetValues: offsetValues.ToArray(),
+            addressGroups: addressGroups.Select(static group => new IoAddressGroup(group)).ToArray());
+    }
+
+    /// <summary>
+    /// 从规划轨迹和触发时间轴构造运行时可消费的稳定结果对象。
+    /// </summary>
+    /// <param name="plannedTrajectory">规划后的轨迹。</param>
+    /// <param name="shotTimeline">触发时间轴。</param>
+    /// <returns>运行时执行结果描述。</returns>
+    private static TrajectoryResult CreateResult(
+        PlannedTrajectory plannedTrajectory,
+        ShotTimeline shotTimeline,
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
+        bool usedCache)
+    {
+        return new TrajectoryResult(
+            programName: plannedTrajectory.OriginalProgram.Name,
+            method: plannedTrajectory.Method,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(plannedTrajectory.WaypointTimes[^1]),
+            shotEvents: shotTimeline.ShotEvents,
+            triggerTimeline: shotTimeline.TriggerTimeline,
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: usedCache,
+            originalWaypointCount: plannedTrajectory.OriginalWaypointCount,
+            plannedWaypointCount: plannedTrajectory.PlannedWaypointCount,
+            denseJointTrajectory: denseJointTrajectory);
+    }
+
+    /// <summary>
+    /// 生成满足离散速度、加速度和 Jerk 限制的稠密执行轨迹。
+    /// </summary>
+    private IReadOnlyList<IReadOnlyList<double>> CreateLimitCompliantDenseTrajectory(
+        ref PlannedTrajectory executionTrajectory,
+        bool shapeTrajectoryEdges)
+    {
+        for (var iteration = 0; iteration <= MaxDenseLimitStretchIterations; iteration++)
+        {
+            var denseJointTrajectory = TrajectorySampler.SampleJointTrajectory(
+                executionTrajectory,
+                samplePeriod: executionTrajectory.Robot.ServoPeriod.TotalSeconds,
+                smoothStartStop: shapeTrajectoryEdges);
+
+            try
+            {
+                TrajectoryLimitValidator.ValidateDenseJointTrajectory(
+                    executionTrajectory.Robot,
+                    denseJointTrajectory,
+                    trajectoryName: executionTrajectory.OriginalProgram.Name);
+                return denseJointTrajectory;
+            }
+            catch (InvalidOperationException ex) when (iteration < MaxDenseLimitStretchIterations)
+            {
+                _logger?.LogWarning(ex, "稠密轨迹离散限幅校验失败，准备拉长时间轴重试");
+                // 离散差分超限时统一拉长时间轴，保持路点几何不变并降低速度、加速度和 Jerk。
+                executionTrajectory = StretchTrajectoryTiming(executionTrajectory, DenseLimitStretchFactor);
+             _logger?.LogInformation(
+                 "离散差分超限，拉长时间轴，iteration={Iteration}, factor={StretchFactor}",
+                 iteration,
+                 DenseLimitStretchFactor);
+             _logger?.LogInformation("拉长之后的总时间={TotalTime}", executionTrajectory.WaypointTimes[^1]);
+            }
+        }
+
+        throw new InvalidOperationException("稠密轨迹离散限幅校验未能产生有效结果。");
+    }
+
+    /// <summary>
+    /// 按统一倍率拉长轨迹时间轴，保留原始路点和触发元数据。
+    /// </summary>
+    private  PlannedTrajectory StretchTrajectoryTiming(PlannedTrajectory trajectory, double stretchFactor)
+    {
+        var waypointTimes = trajectory.WaypointTimes.Select(time => time * stretchFactor).ToArray();
+        var segmentDurations = trajectory.SegmentDurations.Select(duration => duration * stretchFactor).ToArray();
+        var segmentScales = trajectory.SegmentScales.Select(scale => scale / stretchFactor).ToArray();
+
+        return new PlannedTrajectory(
+            robot: trajectory.Robot,
+            originalProgram: trajectory.OriginalProgram,
+            plannedWaypoints: trajectory.PlannedWaypoints,
+            waypointTimes: waypointTimes,
+            segmentDurations: segmentDurations,
+            segmentScales: segmentScales,
+            method: trajectory.Method,
+            iterations: trajectory.Iterations,
+            threshold: trajectory.Threshold);
+    }
+
+    /// <summary>
+    /// 为飞拍执行生成一条平滑起停的时间轴。
+    /// 保持路点位置不变，只重映射路点时刻，让起点和终点附近的速度自然收敛。
+    /// </summary>
+    private static PlannedTrajectory ApplySmoothStartStopTiming(PlannedTrajectory plannedTrajectory)
+    {
+        var originalTimes = plannedTrajectory.WaypointTimes;
+        if (originalTimes.Count < 3)
+        {
+            return plannedTrajectory;
+        }
+
+        var totalDuration = originalTimes[^1];
+        if (totalDuration <= 0.0)
+        {
+            return plannedTrajectory;
+        }
+
+        var smoothedTimes = new double[originalTimes.Count];
+        smoothedTimes[0] = 0.0;
+        smoothedTimes[^1] = totalDuration;
+
+        for (var index = 1; index < originalTimes.Count - 1; index++)
+        {
+            var normalizedProgress = originalTimes[index] / totalDuration;
+            smoothedTimes[index] = totalDuration * InvertSmoothStartStopProgress(normalizedProgress);
+        }
+
+        var segmentDurations = new double[smoothedTimes.Length - 1];
+        for (var index = 0; index < segmentDurations.Length; index++)
+        {
+            segmentDurations[index] = smoothedTimes[index + 1] - smoothedTimes[index];
+        }
+
+        return new PlannedTrajectory(
+            robot: plannedTrajectory.Robot,
+            originalProgram: plannedTrajectory.OriginalProgram,
+            plannedWaypoints: plannedTrajectory.PlannedWaypoints,
+            waypointTimes: smoothedTimes,
+            segmentDurations: segmentDurations,
+            segmentScales: plannedTrajectory.SegmentScales,
+            method: plannedTrajectory.Method,
+            iterations: plannedTrajectory.Iterations,
+            threshold: plannedTrajectory.Threshold);
+    }
+
+    /// <summary>
+    /// 反解 7 次 smootherstep 的时间进度，用二分法把原始线性进度映射成平滑时间轴。
+    /// </summary>
+    private static double InvertSmoothStartStopProgress(double normalizedProgress)
+    {
+        var target = Math.Clamp(normalizedProgress, 0.0, 1.0);
+        var low = 0.0;
+        var high = 1.0;
+        for (var iteration = 0; iteration < 40; iteration++)
+        {
+            var middle = (low + high) / 2.0;
+            var progress = EvaluateSmoothStartStopProgress(middle);
+            if (progress < target)
+            {
+                low = middle;
+            }
+            else
+            {
+                high = middle;
+            }
+        }
+
+        return (low + high) / 2.0;
+    }
+
+    /// <summary>
+    /// 计算 7 次 smootherstep 进度值，用于整段平滑起停时间律。
+    /// </summary>
+    private static double EvaluateSmoothStartStopProgress(double normalizedTime)
+    {
+        var u = Math.Clamp(normalizedTime, 0.0, 1.0);
+        var u2 = u * u;
+        var u3 = u2 * u;
+        var u4 = u3 * u;
+        var u5 = u4 * u;
+        var u6 = u5 * u;
+        var u7 = u6 * u;
+        return (35.0 * u4) - (84.0 * u5) + (70.0 * u6) - (20.0 * u7);
+    }
+}

src/Flyshot.ControllerClientCompat/Flyshot.ControllerClientCompat.csproj

@@ -0,0 +1,22 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <ItemGroup>
+    <ProjectReference Include="..\Flyshot.Core.Config\Flyshot.Core.Config.csproj" />
+    <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
+    <ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
+    <ProjectReference Include="..\Flyshot.Core.Triggering\Flyshot.Core.Triggering.csproj" />
+    <ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
+    <ProjectReference Include="..\Flyshot.Runtime.Fanuc\Flyshot.Runtime.Fanuc.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <FrameworkReference Include="Microsoft.AspNetCore.App" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
+      <_Parameter1>Flyshot.Core.Tests</_Parameter1>
+    </AssemblyAttribute>
+  </ItemGroup>
+
+</Project>

src/Flyshot.ControllerClientCompat/FlyshotExecutionOptions.cs

@@ -0,0 +1,54 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 表示飞拍轨迹执行接口的可选参数，字段名对齐旧 `ControllerClient::ExecuteFlyShotTraj`。
+/// </summary>
+public sealed class FlyshotExecutionOptions
+{
+    /// <summary>
+    /// 初始化飞拍轨迹执行参数。
+    /// </summary>
+    /// <param name="moveToStart">执行前是否自动移动到轨迹起点。</param>
+    /// <param name="method">轨迹生成方法，支持 `icsp`、`doubles` 或 `self-adapt-icsp`。</param>
+    /// <param name="saveTrajectory">是否保存轨迹信息。</param>
+    /// <param name="useCache">是否优先复用已规划轨迹缓存。</param>
+    /// <param name="wait">是否等待机器人执行完整条飞拍轨迹后再返回。</param>
+    public FlyshotExecutionOptions(
+        bool moveToStart = true,
+        string method = "icsp",
+        bool saveTrajectory = true,
+        bool useCache = true,
+        bool wait = true)
+    {
+        MoveToStart = moveToStart;
+        Method = string.IsNullOrWhiteSpace(method) ? "icsp" : method;
+        SaveTrajectory = saveTrajectory;
+        UseCache = useCache;
+        Wait = wait;
+    }
+
+    /// <summary>
+    /// 获取执行前是否自动移动到轨迹起点。
+    /// </summary>
+    public bool MoveToStart { get; }
+
+    /// <summary>
+    /// 获取轨迹生成方法。
+    /// </summary>
+    public string Method { get; }
+
+    /// <summary>
+    /// 获取是否保存轨迹信息。
+    /// </summary>
+    public bool SaveTrajectory { get; }
+
+    /// <summary>
+    /// 获取是否优先复用已规划轨迹缓存。
+    /// </summary>
+    public bool UseCache { get; }
+
+    /// <summary>
+    /// 获取是否等待机器人执行完整条飞拍轨迹后再返回。
+    /// </summary>
+    public bool Wait { get; }
+}

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryArtifactWriter.cs

@@ -0,0 +1,304 @@
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+using Flyshot.Core.Planning.Export;
+using Flyshot.Core.Planning.Kinematics;
+using Flyshot.Core.Planning.Sampling;
+using Microsoft.Extensions.Logging;
+using System.Text;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 负责把 saveTrajectory 生成的规划结果点位写入运行目录 Config/Data。
+/// </summary>
+public sealed class FlyshotTrajectoryArtifactWriter
+{
+    /// <summary>
+    /// 旧 Data 明细点位文件使用的默认采样周期，单位为秒。
+    /// </summary>
+    private const double LegacyDetailSamplePeriodSeconds = 0.016;
+
+    /// <summary>
+    /// FANUC J519 实际下发的固定伺服周期，单位为秒。
+    /// </summary>
+    private const double ActualSendServoPeriodSeconds = 0.008;
+
+    private readonly ControllerClientCompatOptions _options;
+    private readonly RobotModelLoader _robotModelLoader;
+    private readonly ILogger<FlyshotTrajectoryArtifactWriter>? _logger;
+
+    /// <summary>
+    /// 初始化规划结果点位导出器。
+    /// </summary>
+    /// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
+    /// <param name="robotModelLoader">机器人模型加载器，用于生成笛卡尔点位。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public FlyshotTrajectoryArtifactWriter(
+        ControllerClientCompatOptions options,
+        RobotModelLoader robotModelLoader,
+        ILogger<FlyshotTrajectoryArtifactWriter>? logger = null)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _robotModelLoader = robotModelLoader ?? throw new ArgumentNullException(nameof(robotModelLoader));
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 将飞拍规划结果导出到 Config/Data/name。
+    /// </summary>
+    /// <param name="trajectoryName">飞拍轨迹名称。</param>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="bundle">规划结果包。</param>
+    /// <param name="speedRatio">导出 J519 实发采样点时使用的速度倍率。</param>
+    public void WriteUploadedFlyshot(string trajectoryName, RobotProfile robot, PlannedExecutionBundle bundle, double speedRatio = 1.0)
+    {
+        if (string.IsNullOrWhiteSpace(trajectoryName))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
+        }
+
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(bundle);
+
+        var outputDir = Path.Combine(_options.ResolveConfigRoot(), "Data", SanitizeDirectoryName(trajectoryName));
+        Directory.CreateDirectory(outputDir);
+        if (bundle.Result.DenseJointTrajectory is null)
+        {
+            throw new InvalidOperationException("导出飞拍轨迹工件前必须先生成执行侧稠密轨迹。");
+        }
+
+        // 明细文件现在定义为“执行侧 8ms 稠密轨迹的 16ms 低频视图”，避免再次从 PlannedTrajectory 生成另一条轨迹。
+        var kinematicsModel = _robotModelLoader.LoadKinematicsModel(robot.ModelPath);
+        var jointTrajectory = BuildJointRows(bundle.PlannedTrajectory);
+        _logger?.LogInformation("规划之后的轨迹点位数量为:{}", jointTrajectory.Count);
+        var executionDenseTrajectory = bundle.Result.DenseJointTrajectory;
+        var jointDetailTrajectory = DownsampleDenseRows(
+            executionDenseTrajectory,
+            samplePeriodSeconds: LegacyDetailSamplePeriodSeconds);
+        var cartTrajectory = BuildCartesianRows(bundle.PlannedTrajectory, kinematicsModel);
+        var cartDetailTrajectory = BuildCartesianRowsFromJointDense(jointDetailTrajectory, kinematicsModel);
+
+        TrajectoryExporter.WriteJointTrajectory(Path.Combine(outputDir, "JointTraj.txt"), jointTrajectory);
+        TrajectoryExporter.WriteJointDenseTrajectory(Path.Combine(outputDir, "JointDetialTraj.txt"), jointDetailTrajectory);
+        TrajectoryExporter.WriteCartesianTrajectory(Path.Combine(outputDir, "CartTraj.txt"), cartTrajectory);
+        TrajectoryExporter.WriteCartesianDenseTrajectory(Path.Combine(outputDir, "CartDetialTraj.txt"), cartDetailTrajectory);
+        TrajectoryExporter.WriteShotEvents(Path.Combine(outputDir, "ShotEvents.json"), bundle.ShotTimeline.ShotEvents);
+        WriteActualSendArtifacts(outputDir, robot, bundle.Result, speedRatio);
+
+        _logger?.LogInformation(
+            "saveTrajectory 已导出规划点位: name={TrajectoryName}, outputDir={OutputDir}, jointRows={JointRows}, detailRows={DetailRows}, speedRatio={SpeedRatio}",
+            trajectoryName,
+            outputDir,
+            jointTrajectory.Count,
+            jointDetailTrajectory.Count,
+            speedRatio);
+    }
+
+    /// <summary>
+    /// 生成按 J519 8ms 实际发送周期重采样的轨迹点，供 saveTrajectory 离线对比真实下发序列。
+    /// </summary>
+    private void WriteActualSendArtifacts(string outputDir, RobotProfile robot, TrajectoryResult result, double speedRatio)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+
+        if (result.DenseJointTrajectory is null)
+        {
+            return;
+        }
+
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
+        }
+
+        var samples = J519SendTrajectorySampler.SampleDenseJointTrajectory(
+            result.DenseJointTrajectory,
+            result.Duration.TotalSeconds,
+            ActualSendServoPeriodSeconds,
+            speedRatio);
+     
+
+        try
+        {
+            TrajectoryLimitValidator.ValidateJ519SendSamples(
+                robot,
+                samples,
+                trajectoryName: result.ProgramName);
+        }
+        catch (Exception e)
+        {
+           _logger?.LogError(e, "ValidateJ519SendSamples 失败，program={ProgramName}", result.ProgramName);
+        }
+        var jointRows = new List<IReadOnlyList<double>>(samples.Count);
+        var timingRows = new List<IReadOnlyList<double>>(samples.Count);
+        var jerkRows = new List<IReadOnlyList<double>>();
+        double? previousSendTime = null;
+        double[]? previousJoints = null;
+        double[]? previousVelocity = null;
+        double[]? previousAcceleration = null;
+
+        foreach (var sample in samples)
+        {
+            jointRows.Add(BuildActualSendJointRow(sample.SendTime, sample.JointsDegrees));
+            timingRows.Add(J519SendTrajectorySampler.BuildTimingRow(sample));
+
+            if (previousSendTime is not null && previousJoints is not null)
+            {
+                jerkRows.Add(J519SendTrajectorySampler.BuildJerkRow(
+                    previousSendTime.Value,
+                    sample.SendTime,
+                    previousJoints,
+                    sample.JointsDegrees,
+                    ref previousVelocity,
+                    ref previousAcceleration));
+            }
+
+            previousSendTime = sample.SendTime;
+            previousJoints = sample.JointsDegrees.ToArray();
+        }
+
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendJointTraj.txt"), jointRows);
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendTiming.txt"), timingRows);
+        WriteDenseRows(Path.Combine(outputDir, "ActualSendJerkStats.txt"), jerkRows);
+    }
+
+    /// <summary>
+    /// 构造实际发送点位文本行，格式为 send_time + 关节角度 + io_mask + io_value。
+    /// </summary>
+    private static IReadOnlyList<double> BuildActualSendJointRow(double sendTime, IReadOnlyList<double> joints)
+    {
+        var row = new double[joints.Count + 3];
+        row[0] = Math.Round(sendTime, 6);
+        for (var index = 0; index < joints.Count; index++)
+        {
+            row[index + 1] = Math.Round(joints[index], 6);
+        }
+
+        row[^2] = 0.0;
+        row[^1] = 0.0;
+        return row;
+    }
+
+    /// <summary>
+    /// 以空格分隔的旧轨迹文本格式写出数值行。
+    /// </summary>
+    private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
+    {
+        var sb = new StringBuilder();
+        foreach (var row in rows)
+        {
+            sb.AppendLine(string.Join(" ", row.Select(static value => $"{value:F6}")));
+        }
+
+        File.WriteAllText(path, sb.ToString(), new UTF8Encoding(false));
+    }
+
+    /// <summary>
+    /// 构造 JointTraj.txt 行数据，格式为 time + 关节弧度。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildJointRows(PlannedTrajectory trajectory)
+    {
+        var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
+        for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
+        {
+            var row = new List<double>(trajectory.PlannedWaypoints[index].Positions.Count + 1)
+            {
+                Math.Round(trajectory.WaypointTimes[index], 6)
+            };
+            row.AddRange(trajectory.PlannedWaypoints[index].Positions.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 构造 CartTraj.txt 行数据，格式为 time + x/y/z/qx/qy/qz/qw。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRows(
+        PlannedTrajectory trajectory,
+        RobotKinematicsModel kinematicsModel)
+    {
+        var rows = new List<IReadOnlyList<double>>(trajectory.PlannedWaypoints.Count);
+        for (var index = 0; index < trajectory.PlannedWaypoints.Count; index++)
+        {
+            var pose = RobotKinematics.ForwardKinematics(kinematicsModel, trajectory.PlannedWaypoints[index].Positions.ToArray());
+            var row = new List<double>(pose.Length + 1)
+            {
+                Math.Round(trajectory.WaypointTimes[index], 6)
+            };
+            row.AddRange(pose.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 基于执行侧稠密关节轨迹生成笛卡尔导出行，保持与 JointDetialTraj.txt 同一来源。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> BuildCartesianRowsFromJointDense(
+        IReadOnlyList<IReadOnlyList<double>> jointDenseRows,
+        RobotKinematicsModel kinematicsModel)
+    {
+        var rows = new List<IReadOnlyList<double>>(jointDenseRows.Count);
+        foreach (var jointRow in jointDenseRows)
+        {
+            var jointPositions = jointRow.Skip(1).ToArray();
+            var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPositions);
+            var row = new List<double>(pose.Length + 1)
+            {
+                Math.Round(jointRow[0], 6)
+            };
+            row.AddRange(pose.Select(static value => Math.Round(value, 6)));
+            rows.Add(row);
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 将 8ms 执行稠密轨迹按指定周期抽稀为低频兼容视图，并始终保留终点。
+    /// </summary>
+    private static IReadOnlyList<IReadOnlyList<double>> DownsampleDenseRows(
+        IReadOnlyList<IReadOnlyList<double>> denseRows,
+        double samplePeriodSeconds)
+    {
+        var result = new List<IReadOnlyList<double>>();
+        var epsilon = 1e-6;
+        var nextSampleTime = 0.0;
+
+        foreach (var row in denseRows)
+        {
+            var sampleTime = row[0];
+            if (sampleTime + epsilon < nextSampleTime)
+            {
+                continue;
+            }
+
+            if (Math.Abs(sampleTime - nextSampleTime) <= epsilon || sampleTime.Equals(0.0))
+            {
+                result.Add(row);
+                nextSampleTime += samplePeriodSeconds;
+            }
+        }
+
+        if (result.Count == 0 || !ReferenceEquals(result[^1], denseRows[^1]))
+        {
+            result.Add(denseRows[^1]);
+        }
+
+        return result;
+    }
+
+    /// <summary>
+    /// 将轨迹名转换为可用目录名，避免 HTTP 输入中的路径字符污染输出目录。
+    /// </summary>
+    private static string SanitizeDirectoryName(string name)
+    {
+        var invalidChars = Path.GetInvalidFileNameChars();
+        var chars = name.Select(ch => invalidChars.Contains(ch) ? '_' : ch).ToArray();
+        return new string(chars);
+    }
+}

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryEdgeShaper.cs

@@ -0,0 +1,217 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 对飞拍稠密关节轨迹的首尾采样点做速度整形，降低启动和结束时的单步角度变化。
+/// </summary>
+internal static class FlyshotTrajectoryEdgeShaper
+{
+    /// <summary>
+    /// 首尾整形默认覆盖的采样点数（含锚点）。
+    /// </summary>
+    internal const int DefaultEdgePointCount = 10;
+
+    /// <summary>
+    /// 对稠密关节轨迹做首尾整形，时间列保持不变，首段采用 ease-in，尾段采用 ease-out。
+    /// </summary>
+    /// <param name="denseJointTrajectory">输入稠密关节轨迹，每行格式为 [time, j1..jN]，关节单位为弧度。</param>
+    /// <param name="maxEdgeStepDegrees">保留旧签名兼容调用方；当前实现不再按角度阈值扩窗。</param>
+    /// <param name="maxWindowPoints">单侧整形覆盖的采样点数（含锚点），默认首尾各 10 点。</param>
+    /// <returns>经过首尾整形后的新轨迹；若不满足整形条件则返回原轨迹副本。</returns>
+    internal static IReadOnlyList<IReadOnlyList<double>> ShapeDenseJointTrajectory(
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
+        double maxEdgeStepDegrees = 0.0,
+        int maxWindowPoints = DefaultEdgePointCount)
+    {
+        ArgumentNullException.ThrowIfNull(denseJointTrajectory);
+        if (denseJointTrajectory.Count == 0)
+        {
+            return Array.Empty<IReadOnlyList<double>>();
+        }
+
+        var copiedRows = denseJointTrajectory
+            .Select(static row => row.ToArray())
+            .ToArray();
+        if (copiedRows.Length < 5 || maxWindowPoints < 2)
+        {
+            return copiedRows;
+        }
+
+        var lastIndex = copiedRows.Length - 1;
+        var window = Math.Min(maxWindowPoints, lastIndex / 2);
+        if (window < 2)
+        {
+            return copiedRows;
+        }
+
+        // 以原始轨迹为参考估计窗口边界的速度，并在位移累计量上做单段单调整形，
+        // 目标是让首尾 10 点表现为更平滑的加减速，而不是硬匹配高阶导数导致振荡。
+        var originalRows = copiedRows
+            .Select(static row => row.ToArray())
+            .ToArray();
+
+        ApplyLeadingHermiteBlend(copiedRows, originalRows, window);
+        ApplyTrailingHermiteBlend(copiedRows, originalRows, window);
+
+        return copiedRows;
+    }
+
+    /// <summary>
+    /// 对首段做单段 Hermite 累计位移整形：起点速度为 0，窗口末端按原轨迹边界速度接回中段。
+    /// </summary>
+    private static void ApplyLeadingHermiteBlend(double[][] rows, double[][] originalRows, int window)
+    {
+        var startRow = originalRows[0];
+        var endRow = originalRows[window];
+        var totalDuration = endRow[0] - startRow[0];
+        if (totalDuration <= 0.0)
+        {
+            return;
+        }
+
+        for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
+        {
+            var delta = endRow[jointIndex] - startRow[jointIndex];
+            if (Math.Abs(delta) <= 1e-12)
+            {
+                continue;
+            }
+
+            var endVelocity = EstimateVelocity(originalRows, window, jointIndex);
+            var normalizedEndSlope = ClampNormalizedSlope((endVelocity * totalDuration) / delta);
+
+            for (var index = 1; index < window; index++)
+            {
+                var normalizedTime = (rows[index][0] - startRow[0]) / totalDuration;
+                var shapedValue = startRow[jointIndex]
+                    + (delta * EvaluateHermiteProgress(normalizedTime, startSlope: 0.0, endSlope: normalizedEndSlope));
+                var blendWeight = Math.Pow(1.0 - normalizedTime, 2.0);
+                rows[index][jointIndex] = Lerp(originalRows[index][jointIndex], shapedValue, blendWeight);
+            }
+        }
+    }
+
+    /// <summary>
+    /// 对尾段做单段 Hermite 累计位移整形：窗口起点按原轨迹边界速度接入，终点速度减到 0。
+    /// </summary>
+    private static void ApplyTrailingHermiteBlend(double[][] rows, double[][] originalRows, int window)
+    {
+        var startIndex = rows.Length - 1 - window;
+        var startRow = originalRows[startIndex];
+        var endRow = originalRows[^1];
+        var totalDuration = endRow[0] - startRow[0];
+        if (totalDuration <= 0.0)
+        {
+            return;
+        }
+
+        for (var jointIndex = 1; jointIndex < startRow.Length; jointIndex++)
+        {
+            var delta = endRow[jointIndex] - startRow[jointIndex];
+            if (Math.Abs(delta) <= 1e-12)
+            {
+                continue;
+            }
+
+            var startVelocity = EstimateVelocity(originalRows, startIndex, jointIndex);
+            var normalizedStartSlope = ClampNormalizedSlope((startVelocity * totalDuration) / delta);
+
+            for (var index = 1; index < window; index++)
+            {
+                var normalizedTime = (rows[startIndex + index][0] - startRow[0]) / totalDuration;
+                var shapedValue = startRow[jointIndex]
+                    + (delta * EvaluateHermiteProgress(normalizedTime, startSlope: normalizedStartSlope, endSlope: 0.0));
+                var blendWeight = Math.Pow(normalizedTime, 2.0);
+                rows[startIndex + index][jointIndex] = Lerp(originalRows[startIndex + index][jointIndex], shapedValue, blendWeight);
+            }
+        }
+    }
+
+    /// <summary>
+    /// 估算给定行在原始轨迹上的一阶导，首尾退化为单边差分。
+    /// </summary>
+    private static double EstimateVelocity(double[][] rows, int index, int jointIndex)
+    {
+        if (index <= 0)
+        {
+            var dt = rows[1][0] - rows[0][0];
+            return dt <= 0.0 ? 0.0 : (rows[1][jointIndex] - rows[0][jointIndex]) / dt;
+        }
+
+        if (index >= rows.Length - 1)
+        {
+            var dt = rows[^1][0] - rows[^2][0];
+            return dt <= 0.0 ? 0.0 : (rows[^1][jointIndex] - rows[^2][jointIndex]) / dt;
+        }
+
+        var previousDt = rows[index][0] - rows[index - 1][0];
+        var nextDt = rows[index + 1][0] - rows[index][0];
+        if (previousDt <= 0.0 || nextDt <= 0.0)
+        {
+            return 0.0;
+        }
+
+        var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
+        var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
+        return (backward + forward) / 2.0;
+    }
+
+    /// <summary>
+    /// 估算给定行在原始轨迹上的二阶导，端点退化为 0 以避免放大边界噪声。
+    /// </summary>
+    private static double EstimateAcceleration(double[][] rows, int index, int jointIndex)
+    {
+        if (index <= 0 || index >= rows.Length - 1)
+        {
+            return 0.0;
+        }
+
+        var previousDt = rows[index][0] - rows[index - 1][0];
+        var nextDt = rows[index + 1][0] - rows[index][0];
+        if (previousDt <= 0.0 || nextDt <= 0.0)
+        {
+            return 0.0;
+        }
+
+        var backward = (rows[index][jointIndex] - rows[index - 1][jointIndex]) / previousDt;
+        var forward = (rows[index + 1][jointIndex] - rows[index][jointIndex]) / nextDt;
+        var averageDt = (previousDt + nextDt) / 2.0;
+        return averageDt <= 0.0 ? 0.0 : (forward - backward) / averageDt;
+    }
+
+    /// <summary>
+    /// 计算 Hermite 累计位移曲线在 0..1 归一化时间上的进度值。
+    /// </summary>
+    private static double EvaluateHermiteProgress(double normalizedTime, double startSlope, double endSlope)
+    {
+        var u = Math.Clamp(normalizedTime, 0.0, 1.0);
+        var u2 = u * u;
+        var u3 = u2 * u;
+        var h00 = (2.0 * u3) - (3.0 * u2) + 1.0;
+        var h10 = u3 - (2.0 * u2) + u;
+        var h01 = (-2.0 * u3) + (3.0 * u2);
+        var h11 = u3 - u2;
+        return (h00 * 0.0) + (h10 * startSlope) + (h01 * 1.0) + (h11 * endSlope);
+    }
+
+    /// <summary>
+    /// 把归一化边界斜率限制在单调 Hermite 常见的稳定区间内，避免过冲和窗口内振荡。
+    /// </summary>
+    private static double ClampNormalizedSlope(double normalizedSlope)
+    {
+        if (double.IsNaN(normalizedSlope) || double.IsInfinity(normalizedSlope))
+        {
+            return 0.0;
+        }
+
+        return Math.Clamp(normalizedSlope, 0.0, 3.0);
+    }
+
+    /// <summary>
+    /// 在线性插值基础上做温和混合，避免首尾窗口为了追赶锚点而产生过大的局部跃度。
+    /// </summary>
+    private static double Lerp(double originalValue, double shapedValue, double weight)
+    {
+        var clampedWeight = Math.Clamp(weight, 0.0, 1.0);
+        return originalValue + ((shapedValue - originalValue) * clampedWeight);
+    }
+}

src/Flyshot.ControllerClientCompat/FlyshotTrajectoryStore.cs

@@ -0,0 +1,225 @@
+using System.Text.Json;
+using System.Text.Json.Nodes;
+using Flyshot.Core.Config;
+using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 使用运行目录 Config/RobotConfig.json 持久化单机器人飞拍轨迹和机器人配置。
+/// </summary>
+public sealed class JsonFlyshotTrajectoryStore
+{
+    private readonly ControllerClientCompatOptions _options;
+    private readonly RobotConfigLoader _configLoader;
+    private readonly ILogger<JsonFlyshotTrajectoryStore>? _logger;
+
+    /// <summary>
+    /// 初始化基于 JSON 文件的轨迹存储。
+    /// </summary>
+    /// <param name="options">兼容层基础配置，用于定位运行配置根目录。</param>
+    /// <param name="configLoader">旧版 RobotConfig.json 加载器，用于反序列化已保存的轨迹。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public JsonFlyshotTrajectoryStore(ControllerClientCompatOptions options, RobotConfigLoader configLoader, ILogger<JsonFlyshotTrajectoryStore>? logger = null)
+    {
+        _options = options ?? throw new ArgumentNullException(nameof(options));
+        _configLoader = configLoader ?? throw new ArgumentNullException(nameof(configLoader));
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 将单条轨迹持久化到统一 RobotConfig.json，同时更新机器人配置段。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="settings">当前机器人级兼容配置。</param>
+    /// <param name="trajectory">要保存的已上传轨迹。</param>
+    public void Save(string robotName, CompatibilityRobotSettings settings, ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        ArgumentNullException.ThrowIfNull(settings);
+        ArgumentNullException.ThrowIfNull(trajectory);
+
+        _logger?.LogInformation(
+            "RobotConfig 保存轨迹: robot={RobotName}, name={TrajectoryName}, waypoints={WaypointCount}",
+            robotName,
+            trajectory.Name,
+            trajectory.Waypoints.Count);
+
+        var path = ResolveStorePath();
+        var directory = Path.GetDirectoryName(path)!;
+        Directory.CreateDirectory(directory);
+
+        JsonObject root;
+        if (File.Exists(path))
+        {
+            var existingJson = File.ReadAllText(path);
+            root = JsonNode.Parse(existingJson)?.AsObject() ?? new JsonObject();
+        }
+        else
+        {
+            root = new JsonObject();
+        }
+
+        // 更新 robot 配置段，保持与旧版 RobotConfig.json 字段名一致。
+        root["robot"] = SerializeRobotSettings(settings);
+
+        // 确保 flying_shots 节点存在。
+        if (!root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) || flyingShotsNode is not JsonObject flyingShotsObj)
+        {
+            flyingShotsObj = new JsonObject();
+            root["flying_shots"] = flyingShotsObj;
+        }
+
+        flyingShotsObj[trajectory.Name] = SerializeTrajectory(trajectory);
+
+        var writeOptions = new JsonSerializerOptions
+        {
+            WriteIndented = true,
+            PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
+        };
+        File.WriteAllText(path, root.ToJsonString(writeOptions));
+
+        _logger?.LogInformation("RobotConfig 轨迹已保存到 {Path}", path);
+    }
+
+    /// <summary>
+    /// 从统一 RobotConfig.json 删除指定名称的轨迹。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="trajectoryName">要删除的轨迹名称。</param>
+    public void Delete(string robotName, string trajectoryName)
+    {
+        if (string.IsNullOrWhiteSpace(trajectoryName))
+        {
+            throw new ArgumentException("轨迹名称不能为空。", nameof(trajectoryName));
+        }
+
+        _logger?.LogInformation("RobotConfig 删除轨迹: robot={RobotName}, name={TrajectoryName}", robotName, trajectoryName);
+
+        var path = ResolveStorePath();
+        if (!File.Exists(path))
+        {
+            _logger?.LogWarning("RobotConfig 删除失败: 文件不存在 {Path}", path);
+            return;
+        }
+
+        var existingJson = File.ReadAllText(path);
+        var root = JsonNode.Parse(existingJson)?.AsObject();
+        if (root is null)
+        {
+            _logger?.LogWarning("RobotConfig 删除失败: 无法解析 JSON {Path}", path);
+            return;
+        }
+
+        if (root.TryGetPropertyValue("flying_shots", out var flyingShotsNode) && flyingShotsNode is JsonObject flyingShotsObj)
+        {
+            var removed = flyingShotsObj.Remove(trajectoryName);
+            if (removed)
+            {
+                var writeOptions = new JsonSerializerOptions
+                {
+                    WriteIndented = true,
+                    PropertyNamingPolicy = JsonNamingPolicy.SnakeCaseLower
+                };
+                File.WriteAllText(path, root.ToJsonString(writeOptions));
+                _logger?.LogInformation("RobotConfig 轨迹已删除: {TrajectoryName}", trajectoryName);
+            }
+            else
+            {
+                _logger?.LogWarning("RobotConfig 删除失败: 轨迹不存在 {TrajectoryName}", trajectoryName);
+            }
+        }
+    }
+
+    /// <summary>
+    /// 加载统一 RobotConfig.json 中的所有轨迹，并回传机器人配置。
+    /// </summary>
+    /// <param name="robotName">当前已初始化的机器人名称，仅用于日志诊断。</param>
+    /// <param name="settings">输出 RobotConfig.json 中的机器人配置；若文件不存在或解析失败则为 null。</param>
+    /// <returns>按轨迹名称索引的已上传轨迹集合。</returns>
+    public IReadOnlyDictionary<string, ControllerClientCompatUploadedTrajectory> LoadAll(string robotName, out CompatibilityRobotSettings? settings)
+    {
+        var path = ResolveStorePath();
+        if (!File.Exists(path))
+        {
+            _logger?.LogInformation("RobotConfig 无持久化数据: {Path}", path);
+            settings = null;
+            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+        }
+
+        try
+        {
+            _logger?.LogInformation("RobotConfig 正在加载: {Path}", path);
+
+            var loaded = _configLoader.Load(path, _options.ResolveConfigRoot());
+            settings = loaded.Robot;
+
+            var dict = new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+            foreach (var program in loaded.Programs)
+            {
+                var traj = new ControllerClientCompatUploadedTrajectory(
+                    name: program.Value.Name,
+                    waypoints: program.Value.Waypoints.Select(static wp => wp.Positions),
+                    shotFlags: program.Value.ShotFlags,
+                    offsetValues: program.Value.OffsetValues,
+                    addressGroups: program.Value.AddressGroups.Select(static g => g.Addresses));
+                dict[program.Key] = traj;
+            }
+
+            _logger?.LogInformation(
+                "RobotConfig 加载完成: robot={RobotName}, 轨迹数={Count}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}",
+                robotName,
+                dict.Count,
+                settings?.UseDo,
+                settings?.IoKeepCycles);
+
+            return dict;
+        }
+        catch (Exception ex)
+        {
+            _logger?.LogError(ex, "RobotConfig 加载失败: {Path}", path);
+            settings = null;
+            return new Dictionary<string, ControllerClientCompatUploadedTrajectory>(StringComparer.Ordinal);
+        }
+    }
+
+    /// <summary>
+    /// 把机器人兼容配置序列化为 JSON 对象，字段名与旧版 RobotConfig.json 一致。
+    /// </summary>
+    private static JsonObject SerializeRobotSettings(CompatibilityRobotSettings settings)
+    {
+        return new JsonObject
+        {
+            ["use_do"] = JsonValue.Create(settings.UseDo),
+            ["io_addr"] = JsonSerializer.SerializeToNode(settings.IoAddresses),
+            ["io_keep_cycles"] = JsonValue.Create(settings.IoKeepCycles),
+            ["acc_limit"] = JsonValue.Create(settings.AccLimitScale),
+            ["jerk_limit"] = JsonValue.Create(settings.JerkLimitScale),
+            ["adapt_icsp_try_num"] = JsonValue.Create(settings.AdaptIcspTryNum),
+            ["planning_speed_scale"] = JsonValue.Create(settings.PlanningSpeedScale),
+            ["smooth_start_stop_timing"] = JsonValue.Create(settings.SmoothStartStopTiming)
+        };
+    }
+
+    /// <summary>
+    /// 把已上传轨迹序列化为 JSON 对象，字段名与旧版 RobotConfig.json 的 flying_shots 节点一致。
+    /// </summary>
+    private static JsonObject SerializeTrajectory(ControllerClientCompatUploadedTrajectory trajectory)
+    {
+        return new JsonObject
+        {
+            ["traj_waypoints"] = JsonSerializer.SerializeToNode(trajectory.Waypoints),
+            ["shot_flags"] = JsonSerializer.SerializeToNode(trajectory.ShotFlags),
+            ["offset_values"] = JsonSerializer.SerializeToNode(trajectory.OffsetValues),
+            ["addr"] = JsonSerializer.SerializeToNode(trajectory.AddressGroups)
+        };
+    }
+
+    /// <summary>
+    /// 解析单程序单机器人的统一配置文件路径。
+    /// </summary>
+    private string ResolveStorePath()
+    {
+        return Path.Combine(_options.ResolveConfigRoot(), "RobotConfig.json");
+    }
+}

src/Flyshot.ControllerClientCompat/IControllerClientCompatService.cs

@@ -0,0 +1,226 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 定义 HTTP-only 兼容层对外暴露的 ControllerClient 语义服务接口。
+/// </summary>
+public interface IControllerClientCompatService
+{
+    /// <summary>
+    /// 获取当前兼容层对外报告的服务端版本号。
+    /// </summary>
+    string ServerVersion { get; }
+
+    /// <summary>
+    /// 获取当前是否已经完成机器人初始化。
+    /// </summary>
+    bool IsSetUp { get; }
+
+    /// <summary>
+    /// 保存当前调用方期望连接的 replacement 服务端地址。
+    /// </summary>
+    /// <param name="serverIp">客户端传入的服务端 IP。</param>
+    /// <param name="port">客户端传入的服务端端口。</param>
+    void ConnectServer(string serverIp, int port);
+
+    /// <summary>
+    /// 获取兼容服务端版本号。
+    /// </summary>
+    /// <returns>服务端版本号。</returns>
+    string GetServerVersion();
+
+    /// <summary>
+    /// 获取兼容客户端版本号。
+    /// </summary>
+    /// <returns>客户端版本号。</returns>
+    string GetClientVersion();
+
+    /// <summary>
+    /// 根据旧客户端使用的机器人名称完成机器人初始化。
+    /// </summary>
+    /// <param name="robotName">机器人名称。</param>
+    void SetUpRobot(string robotName);
+
+    /// <summary>
+    /// 根据旧客户端传入的环境文件完成机器人初始化。
+    /// </summary>
+    /// <param name="envFile">环境文件路径。</param>
+    void SetUpRobotFromEnv(string envFile);
+
+    /// <summary>
+    /// 设置是否显示 TCP 坐标轴。
+    /// </summary>
+    /// <param name="isShow">是否显示 TCP。</param>
+    /// <param name="axisLength">坐标轴长度。</param>
+    /// <param name="axisSize">坐标轴线宽。</param>
+    void SetShowTcp(bool isShow, double axisLength, int axisSize);
+
+    /// <summary>
+    /// 记录当前激活的控制器类型。
+    /// </summary>
+    /// <param name="sim">是否为仿真控制器。</param>
+    void SetActiveController(bool sim);
+
+    /// <summary>
+    /// 记录当前控制器已经建立连接。
+    /// </summary>
+    /// <param name="robotIp">控制器 IP。</param>
+    void Connect(string robotIp);
+
+    /// <summary>
+    /// 记录当前控制器已经断开。
+    /// </summary>
+    void Disconnect();
+
+    /// <summary>
+    /// 记录当前机器人进入使能态。
+    /// </summary>
+    /// <param name="bufferSize">缓冲区大小。</param>
+    void EnableRobot(int bufferSize);
+
+    /// <summary>
+    /// 记录当前机器人退出使能态。
+    /// </summary>
+    void DisableRobot();
+
+    /// <summary>
+    /// 停止当前运动状态。
+    /// </summary>
+    void StopMove();
+
+    /// <summary>
+    /// 读取当前控制器运行时状态快照。
+    /// </summary>
+    /// <returns>控制器运行时状态快照。</returns>
+    ControllerStateSnapshot GetControllerSnapshot();
+
+    /// <summary>
+    /// 获取当前速度倍率。
+    /// </summary>
+    /// <returns>当前速度倍率。</returns>
+    double GetSpeedRatio();
+
+    /// <summary>
+    /// 更新当前速度倍率。
+    /// </summary>
+    /// <param name="ratio">目标速度倍率。</param>
+    void SetSpeedRatio(double ratio);
+
+    /// <summary>
+    /// 写入兼容层缓存的 IO 数值。
+    /// </summary>
+    /// <param name="port">IO 端口号。</param>
+    /// <param name="value">IO 值。</param>
+    /// <param name="ioType">IO 类型。</param>
+    void SetIo(int port, bool value, string ioType);
+
+    /// <summary>
+    /// 读取兼容层缓存的 IO 数值。
+    /// </summary>
+    /// <param name="port">IO 端口号。</param>
+    /// <param name="ioType">IO 类型。</param>
+    /// <returns>缓存中的 IO 值。</returns>
+    bool GetIo(int port, string ioType);
+
+    /// <summary>
+    /// 按给定位姿和 seed 计算最近 IK。
+    /// </summary>
+    /// <param name="pose">目标位姿数组。</param>
+    /// <param name="seed">IK seed 关节数组。</param>
+    /// <returns>IK 结果关节数组。</returns>
+    IReadOnlyList<double> GetNearestIk(IReadOnlyList<double> pose, IReadOnlyList<double> seed);
+
+    /// <summary>
+    /// 设置当前 TCP 三维坐标。
+    /// </summary>
+    /// <param name="x">TCP X。</param>
+    /// <param name="y">TCP Y。</param>
+    /// <param name="z">TCP Z。</param>
+    void SetTcp(double x, double y, double z);
+
+    /// <summary>
+    /// 读取当前 TCP 三维坐标。
+    /// </summary>
+    /// <returns>TCP 数组。</returns>
+    IReadOnlyList<double> GetTcp();
+
+    /// <summary>
+    /// 读取当前关节位置。
+    /// </summary>
+    /// <returns>关节位置数组。</returns>
+    IReadOnlyList<double> GetJointPositions();
+
+    /// <summary>
+    /// 更新当前关节位置。
+    /// </summary>
+    /// <param name="jointPositions">目标关节位置。</param>
+    void MoveJoint(IReadOnlyList<double> jointPositions);
+
+    /// <summary>
+    /// 执行普通轨迹。
+    /// </summary>
+    /// <param name="waypoints">轨迹路点集合。</param>
+    /// <param name="options">执行参数。</param>
+    void ExecuteTrajectory(IReadOnlyList<IReadOnlyList<double>> waypoints, TrajectoryExecutionOptions? options = null);
+
+    /// <summary>
+    /// 读取当前末端位姿快照。
+    /// </summary>
+    /// <returns>位姿数组。</returns>
+    IReadOnlyList<double> GetPose();
+
+    /// <summary>
+    /// 上传一条飞拍轨迹。
+    /// </summary>
+    /// <param name="trajectory">飞拍轨迹。</param>
+    void UploadTrajectory(ControllerClientCompatUploadedTrajectory trajectory);
+
+    /// <summary>
+    /// 列出当前已上传的飞拍轨迹名称。
+    /// </summary>
+    /// <returns>轨迹名称列表。</returns>
+    IReadOnlyList<string> ListTrajectoryNames();
+
+    /// <summary>
+    /// 执行指定名称的飞拍轨迹。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="options">飞拍执行参数。</param>
+    void ExecuteTrajectoryByName(string name, FlyshotExecutionOptions? options = null);
+
+    /// <summary>
+    /// 保存指定飞拍轨迹的轨迹信息。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="method">轨迹生成方法。</param>
+    void SaveTrajectoryInfo(string name, string method = "icsp");
+
+    /// <summary>
+    /// 检查指定飞拍轨迹是否可执行。
+    /// </summary>
+    /// <param name="duration">输出规划轨迹总时长。</param>
+    /// <param name="name">轨迹名称。</param>
+    /// <param name="method">轨迹生成方法。</param>
+    /// <param name="saveTrajectory">是否保存轨迹信息。</param>
+    /// <returns>轨迹是否有效。</returns>
+    bool IsFlyshotTrajectoryValid(out TimeSpan duration, string name, string method = "icsp", bool saveTrajectory = false);
+
+    /// <summary>
+    /// 删除指定名称的飞拍轨迹。
+    /// </summary>
+    /// <param name="name">轨迹名称。</param>
+    void DeleteTrajectory(string name);
+
+    /// <summary>
+    /// 读取当前配置过的机器人名称。
+    /// </summary>
+    /// <returns>机器人名称。</returns>
+    string GetRobotName();
+
+    /// <summary>
+    /// 读取当前机器人自由度。
+    /// </summary>
+    /// <returns>机器人自由度。</returns>
+    int GetDegreesOfFreedom();
+}

src/Flyshot.ControllerClientCompat/MoveJointTrajectoryGenerator.cs

@@ -0,0 +1,327 @@
+using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// MoveJoint 轨迹生成器。
+/// 将起始关节角到目标关节角的单段运动，按速度、加速度、jerk 约束生成稠密点到点轨迹，
+/// 供 FANUC J519 伺服流逐周期下发。
+///
+/// 核心思路：路径只取关节空间直线 q=q0+(q1-q0)*s(t)，时间律使用 7 阶平滑函数；
+/// 生成后再按离散采样点反算速度、加速度和 jerk，确保真实下发点也满足限制。
+/// </summary>
+internal static class MoveJointTrajectoryGenerator
+{
+    /// <summary>
+    /// 最小段基础时长（秒）。零位移时仍由采样对齐逻辑生成起点和终点两帧。
+    /// </summary>
+    private const double MinimumMoveJointDurationSeconds = 0.0;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的一阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpVelocityShapeCoefficient = 2.1875;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的二阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpAccelerationShapeCoefficient = 7.513188404399293;
+
+    /// <summary>
+    /// 7 阶平滑点到点时间律的三阶导数最大值。
+    /// </summary>
+    private const double SmoothPtpJerkShapeCoefficient = 52.5;
+
+    /// <summary>
+    /// 单次 MoveJoint 最大采样点数上限，防止极端配置下生成过大的轨迹数组。
+    /// </summary>
+    private const int MaxMoveJointSampleCount = 1_000_000;
+
+    /// <summary>
+    /// 离散限位校验允许的浮点容差。
+    /// </summary>
+    private const double DiscreteLimitTolerance = 1.000001;
+
+    /// <summary>
+    /// 离散限位校验失败时最多拉长的采样周期次数。
+    /// </summary>
+    private const int MaxDiscreteLimitStretchIterations = 10_000;
+
+    /// <summary>
+    /// 计算 MoveJoint 轨迹的完整结果。
+    ///
+    /// 处理流程：
+    /// 1. 根据关节限位计算连续时间律理论最短时长
+    /// 2. 按 speedRatio 换算轨迹采样周期，并将时长对齐到整数个采样间隔
+    /// 3. 用 7 阶平滑点到点时间律生成稠密轨迹点
+    /// 4. 按离散点反查速度、加速度和 jerk，必要时拉长时长重算
+    /// 5. 封装为 TrajectoryResult 返回
+    /// </summary>
+    /// <param name="robot">机器人配置，含自由度数和关节限位。</param>
+    /// <param name="startJoints">起始关节角（弧度）。</param>
+    /// <param name="targetJoints">目标关节角（弧度）。</param>
+    /// <param name="speedRatio">速度倍率，必须大于 0；当前链路中用于换算轨迹采样周期。</param>
+    /// <param name="logger">可选的诊断日志。</param>
+    public static TrajectoryResult CreateResult(
+        RobotProfile robot,
+        IReadOnlyList<double> startJoints,
+        IReadOnlyList<double> targetJoints,
+        double speedRatio,
+        ILogger? logger = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(startJoints);
+        ArgumentNullException.ThrowIfNull(targetJoints);
+
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new InvalidOperationException("Speed ratio must be greater than zero for MoveJoint execution.");
+        }
+
+        if (startJoints.Count != robot.DegreesOfFreedom || targetJoints.Count != robot.DegreesOfFreedom)
+        {
+            throw new InvalidOperationException($"MoveJoint expects {robot.DegreesOfFreedom} joints.");
+        }
+
+        var requestedDurationSeconds = ResolveDurationSeconds(robot, startJoints, targetJoints);
+        var samplePeriodSeconds = robot.ServoPeriod.TotalSeconds * speedRatio;
+        var durationSeconds = AlignDurationToServoStep(requestedDurationSeconds, samplePeriodSeconds);
+        var denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
+
+        var stretchCount = 0;
+        while (!SatisfiesDiscreteJointLimits(robot, denseJointTrajectory))
+        {
+            stretchCount++;
+            if (stretchCount > MaxDiscreteLimitStretchIterations)
+            {
+                throw new InvalidOperationException("MoveJoint duration cannot be stretched enough to satisfy joint limits.");
+            }
+
+            // 连续时间律满足限位后，仍以实际离散点为准；不满足时逐周期拉长后重采样。
+            durationSeconds = AlignDurationToServoStep(durationSeconds + samplePeriodSeconds, samplePeriodSeconds);
+            denseJointTrajectory = GenerateDenseTrajectory(startJoints, targetJoints, durationSeconds, samplePeriodSeconds);
+        }
+
+        logger?.LogDebug(
+            "MoveJointTrajectoryGenerator: requestedDuration={RequestedDuration:F4}s, duration={Duration:F4}s, speedRatio={SpeedRatio}, samplePeriod={SamplePeriod:F6}s, sampleCount={SampleCount}, stretchCount={StretchCount}",
+            requestedDurationSeconds,
+            durationSeconds,
+            speedRatio,
+            samplePeriodSeconds,
+            denseJointTrajectory.Count,
+            stretchCount);
+
+        return new TrajectoryResult(
+            programName: "move-joint",
+            method: PlanningMethod.Doubles,
+            isValid: true,
+            duration: TimeSpan.FromSeconds(durationSeconds),
+            shotEvents: Array.Empty<ShotEvent>(),
+            triggerTimeline: Array.Empty<TrajectoryDoEvent>(),
+            artifacts: Array.Empty<TrajectoryArtifact>(),
+            failureReason: null,
+            usedCache: false,
+            originalWaypointCount: 2,
+            plannedWaypointCount: denseJointTrajectory.Count,
+            denseJointTrajectory: denseJointTrajectory);
+    }
+
+    /// <summary>
+    /// 根据 7 阶平滑点到点时间律和每轴限位，计算 MoveJoint 理论最短时长。
+    ///
+    /// 时间律为 s(u)=35u^4-84u^5+70u^6-20u^7，其中 u=t/T。
+    /// 各轴位移 d_i 共用同一个 s(t)，所以每轴分别按 d_i 放大速度、加速度和 jerk，再取全局最大时长。
+    /// </summary>
+    internal static double ResolveDurationSeconds(
+        RobotProfile robot,
+        IReadOnlyList<double> startJoints,
+        IReadOnlyList<double> targetJoints)
+    {
+        var duration = MinimumMoveJointDurationSeconds;
+
+        for (var index = 0; index < robot.DegreesOfFreedom; index++)
+        {
+            var distance = Math.Abs(targetJoints[index] - startJoints[index]);
+            if (distance <= 0.0)
+            {
+                continue;
+            }
+
+            var limit = robot.JointLimits[index];
+            var velocityDuration = distance * SmoothPtpVelocityShapeCoefficient / limit.VelocityLimit;
+            var accelerationDuration = Math.Sqrt(distance * SmoothPtpAccelerationShapeCoefficient / limit.AccelerationLimit);
+            var jerkDuration = Math.Cbrt(distance * SmoothPtpJerkShapeCoefficient / limit.JerkLimit);
+
+            duration = Math.Max(duration, Math.Max(velocityDuration, Math.Max(accelerationDuration, jerkDuration)));
+        }
+
+        return duration;
+    }
+
+    /// <summary>
+    /// 将请求时长向上对齐到整数个采样周期，确保轨迹末帧正好落在 duration 处。
+    /// </summary>
+    /// <param name="durationSeconds">请求的理论最短时长（秒）。</param>
+    /// <param name="samplePeriodSeconds">采样周期（秒）。</param>
+    /// <returns>对齐后的时长，为 samplePeriodSeconds 的整数倍。</returns>
+    internal static double AlignDurationToServoStep(double durationSeconds, double samplePeriodSeconds)
+    {
+        if (samplePeriodSeconds <= 0.0 || double.IsNaN(samplePeriodSeconds) || double.IsInfinity(samplePeriodSeconds))
+        {
+            throw new InvalidOperationException("Speed ratio must be greater than zero for MoveJoint execution.");
+        }
+
+        var intervals = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds);
+
+        return intervals * samplePeriodSeconds;
+    }
+
+    /// <summary>
+    /// 生成从起始关节角到目标关节角的稠密等时间隔轨迹点序列。
+    ///
+    /// 每行格式：[time_seconds, joint_0, joint_1, ..., joint_n-1]。
+    /// </summary>
+    internal static IReadOnlyList<IReadOnlyList<double>> GenerateDenseTrajectory(
+        IReadOnlyList<double> startJoints,
+        IReadOnlyList<double> targetJoints,
+        double durationSeconds,
+        double samplePeriodSeconds)
+    {
+        var sampleCount = ResolveSampleIntervalCount(durationSeconds, samplePeriodSeconds) + 1;
+        var rows = new List<IReadOnlyList<double>>(checked((int)sampleCount));
+
+        for (var index = 0L; index < sampleCount; index++)
+        {
+            var time = Math.Min(index * samplePeriodSeconds, durationSeconds);
+            rows.Add(CreateRow(time, durationSeconds, startJoints, targetJoints));
+        }
+
+        return rows;
+    }
+
+    /// <summary>
+    /// 计算 7 阶平滑点到点时间律的位置归一化值。
+    /// </summary>
+    /// <param name="normalizedTime">归一化时间 u，取值会被限制在 [0, 1]。</param>
+    /// <returns>归一化位置 s(u)，范围 [0, 1]。</returns>
+    internal static double EvaluateSmoothPtpPositionScale(double normalizedTime)
+    {
+        var clamped = Math.Clamp(normalizedTime, 0.0, 1.0);
+        var u2 = clamped * clamped;
+        var u4 = u2 * u2;
+
+        return u4 * (35.0 + (clamped * (-84.0 + (clamped * (70.0 - (20.0 * clamped))))));
+    }
+
+    /// <summary>
+    /// 计算时长对应的采样间隔数（向上取整）。
+    /// 采样间隔数 + 1 = 采样点数，因为轨迹包含起点和终点。
+    /// </summary>
+    private static long ResolveSampleIntervalCount(double durationSeconds, double samplePeriodSeconds)
+    {
+        var rawIntervals = durationSeconds / samplePeriodSeconds;
+        if (double.IsNaN(rawIntervals) || double.IsInfinity(rawIntervals))
+        {
+            throw new InvalidOperationException("MoveJoint sample count is not representable.");
+        }
+
+        var intervals = (long)Math.Ceiling(Math.Max(0.0, rawIntervals) - 1e-9);
+        intervals = Math.Max(1, intervals);
+        if (intervals + 1 > MaxMoveJointSampleCount)
+        {
+            throw new InvalidOperationException($"MoveJoint sample count must be between 2 and {MaxMoveJointSampleCount}.");
+        }
+
+        return intervals;
+    }
+
+    /// <summary>
+    /// 构造单个轨迹行：[time_seconds, joint_0, ..., joint_N-1]。
+    /// </summary>
+    private static IReadOnlyList<double> CreateRow(
+        double timeSeconds,
+        double durationSeconds,
+        IReadOnlyList<double> startJoints,
+        IReadOnlyList<double> targetJoints)
+    {
+        var u = durationSeconds <= 0.0 ? 1.0 : Math.Clamp(timeSeconds / durationSeconds, 0.0, 1.0);
+        var scale = EvaluateSmoothPtpPositionScale(u);
+        var row = new double[startJoints.Count + 1];
+        row[0] = Math.Round(timeSeconds, 9);
+
+        for (var index = 0; index < startJoints.Count; index++)
+        {
+            row[index + 1] = startJoints[index] + ((targetJoints[index] - startJoints[index]) * scale);
+        }
+
+        return row;
+    }
+
+    /// <summary>
+    /// 用生成后的离散采样点复核每轴速度、加速度和 jerk，避免连续时间律在采样后仍出现差分越限。
+    /// </summary>
+    private static bool SatisfiesDiscreteJointLimits(RobotProfile robot, IReadOnlyList<IReadOnlyList<double>> rows)
+    {
+        double? previousTime = null;
+        double[]? previousPositions = null;
+        double[]? previousVelocities = null;
+        double[]? previousAccelerations = null;
+
+        foreach (var row in rows)
+        {
+            var currentTime = row[0];
+            var currentPositions = new double[robot.DegreesOfFreedom];
+            for (var index = 0; index < robot.DegreesOfFreedom; index++)
+            {
+                currentPositions[index] = row[index + 1];
+            }
+
+            if (previousTime is not null && previousPositions is not null)
+            {
+                var dt = currentTime - previousTime.Value;
+                if (dt <= 0.0)
+                {
+                    throw new InvalidOperationException("MoveJoint dense trajectory timestamps must be strictly increasing.");
+                }
+
+                var velocities = new double[robot.DegreesOfFreedom];
+                var accelerations = new double[robot.DegreesOfFreedom];
+                for (var index = 0; index < robot.DegreesOfFreedom; index++)
+                {
+                    var limit = robot.JointLimits[index];
+                    velocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
+                    if (Math.Abs(velocities[index]) > limit.VelocityLimit * DiscreteLimitTolerance)
+                    {
+                        return false;
+                    }
+
+                    accelerations[index] = previousVelocities is null
+                        ? 0.0
+                        : (velocities[index] - previousVelocities[index]) / dt;
+                    if (Math.Abs(accelerations[index]) > limit.AccelerationLimit * DiscreteLimitTolerance)
+                    {
+                        return false;
+                    }
+
+                    if (previousAccelerations is not null)
+                    {
+                        var jerk = (accelerations[index] - previousAccelerations[index]) / dt;
+                        if (Math.Abs(jerk) > limit.JerkLimit * DiscreteLimitTolerance)
+                        {
+                            return false;
+                        }
+                    }
+                }
+
+                previousVelocities = velocities;
+                previousAccelerations = accelerations;
+            }
+
+            previousTime = currentTime;
+            previousPositions = currentPositions;
+        }
+
+        return true;
+    }
+}

src/Flyshot.ControllerClientCompat/PlannedExecutionBundle.cs

@@ -0,0 +1,39 @@
+using Flyshot.Core.Domain;
+using Flyshot.Core.Planning;
+using Flyshot.Core.Triggering;
+
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 表示兼容层执行轨迹前生成的完整规划结果包。
+/// </summary>
+public sealed class PlannedExecutionBundle
+{
+    /// <summary>
+    /// 初始化一份执行规划结果包。
+    /// </summary>
+    /// <param name="plannedTrajectory">规划后的轨迹。</param>
+    /// <param name="shotTimeline">飞拍触发时间轴。</param>
+    /// <param name="result">对运行时和监控层暴露的规划结果。</param>
+    public PlannedExecutionBundle(PlannedTrajectory plannedTrajectory, ShotTimeline shotTimeline, TrajectoryResult result)
+    {
+        PlannedTrajectory = plannedTrajectory ?? throw new ArgumentNullException(nameof(plannedTrajectory));
+        ShotTimeline = shotTimeline ?? throw new ArgumentNullException(nameof(shotTimeline));
+        Result = result ?? throw new ArgumentNullException(nameof(result));
+    }
+
+    /// <summary>
+    /// 获取规划后的轨迹。
+    /// </summary>
+    public PlannedTrajectory PlannedTrajectory { get; }
+
+    /// <summary>
+    /// 获取飞拍触发时间轴。
+    /// </summary>
+    public ShotTimeline ShotTimeline { get; }
+
+    /// <summary>
+    /// 获取运行时可消费的规划结果。
+    /// </summary>
+    public TrajectoryResult Result { get; }
+}

src/Flyshot.ControllerClientCompat/TrajectoryExecutionOptions.cs

@@ -0,0 +1,28 @@
+namespace Flyshot.ControllerClientCompat;
+
+/// <summary>
+/// 表示普通轨迹执行接口的可选参数，字段名对齐旧 `ControllerClient::ExecuteTrajectory`。
+/// </summary>
+public sealed class TrajectoryExecutionOptions
+{
+    /// <summary>
+    /// 初始化普通轨迹执行参数。
+    /// </summary>
+    /// <param name="method">轨迹生成方法，支持 `icsp` 或 `doubles`。</param>
+    /// <param name="saveTrajectory">是否保存轨迹信息。</param>
+    public TrajectoryExecutionOptions(string method = "icsp", bool saveTrajectory = false)
+    {
+        Method = string.IsNullOrWhiteSpace(method) ? "icsp" : method;
+        SaveTrajectory = saveTrajectory;
+    }
+
+    /// <summary>
+    /// 获取轨迹生成方法。
+    /// </summary>
+    public string Method { get; }
+
+    /// <summary>
+    /// 获取是否保存轨迹信息。
+    /// </summary>
+    public bool SaveTrajectory { get; }
+}

src/Flyshot.Core.Config/Flyshot.Core.Config.csproj

@@ -8,6 +8,7 @@
 
   <ItemGroup>
     <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
+    <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
   </ItemGroup>
 
 </Project>

src/Flyshot.Core.Config/LoadedRobotModel.cs

@@ -0,0 +1,30 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.Core.Config;
+
+/// <summary>
+/// 表示一次 JSON 模型解析后生成的完整机器人模型视图集合。
+/// </summary>
+public sealed class LoadedRobotModel
+{
+    /// <summary>
+    /// 初始化完整机器人模型视图集合。
+    /// </summary>
+    /// <param name="profile">规划和运行时使用的关节约束视图。</param>
+    /// <param name="kinematicsModel">正运动学导出使用的几何链视图。</param>
+    public LoadedRobotModel(RobotProfile profile, RobotKinematicsModel kinematicsModel)
+    {
+        Profile = profile ?? throw new ArgumentNullException(nameof(profile));
+        KinematicsModel = kinematicsModel ?? throw new ArgumentNullException(nameof(kinematicsModel));
+    }
+
+    /// <summary>
+    /// 获取规划和运行时使用的关节约束视图。
+    /// </summary>
+    public RobotProfile Profile { get; }
+
+    /// <summary>
+    /// 获取正运动学导出使用的几何链视图。
+    /// </summary>
+    public RobotKinematicsModel KinematicsModel { get; }
+}

src/Flyshot.Core.Config/PathCompatibility.cs

@@ -22,7 +22,7 @@ public enum CompatibilityPathStyle
 public static class PathCompatibility
 {
     /// <summary>
-    /// 按旧系统常见目录约定解析配置文件路径。
+    /// 按当前服务配置目录约定解析配置文件路径。
     /// </summary>
     /// <param name="configPath">调用方传入的原始配置路径。</param>
     /// <param name="repoRoot">当前兼容搜索的仓库根目录。</param>
@@ -48,11 +48,10 @@ public static class PathCompatibility
         }
 
         var normalizedRepoRoot = Path.GetFullPath(repoRoot);
-        var fileName = Path.GetFileName(rawPath);
         var checkedPaths = new List<string>();
 
-        // 先按最常见的候选路径顺序尝试，保持与旧工具链相近的定位逻辑。
-        foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath, fileName))
+        // 相对路径只允许落在当前服务根目录的 Config 下，避免隐式回退到父工作区旧文件。
+        foreach (var candidate in BuildConfigCandidates(normalizedRepoRoot, rawPath))
         {
             var fullCandidate = Path.GetFullPath(candidate);
             if (checkedPaths.Contains(fullCandidate, StringComparer.OrdinalIgnoreCase))
@@ -67,18 +66,6 @@ public static class PathCompatibility
             }
         }
 
-        // 最后一层兜底按文件名全仓库搜索，但只接受唯一命中，避免同名配置误判。
-        var matches = Directory
-            .EnumerateFiles(normalizedRepoRoot, fileName, SearchOption.AllDirectories)
-            .Select(Path.GetFullPath)
-            .Distinct(StringComparer.OrdinalIgnoreCase)
-            .ToArray();
-
-        if (matches.Length == 1)
-        {
-            return matches[0];
-        }
-
         throw new FileNotFoundException(
             $"未找到配置文件 '{configPath}'。已检查: {string.Join(", ", checkedPaths)}",
             configPath);
@@ -106,15 +93,11 @@ public static class PathCompatibility
     }
 
     /// <summary>
-    /// 枚举旧系统中最常见的配置候选路径。
+    /// 枚举当前服务配置目录下允许的配置候选路径。
     /// </summary>
-    private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath, string fileName)
+    private static IEnumerable<string> BuildConfigCandidates(string repoRoot, string rawPath)
     {
-        yield return Path.Combine(repoRoot, rawPath);
-        yield return Path.Combine(repoRoot, "Rvbust", "Data", fileName);
-        yield return Path.Combine(repoRoot, "Rvbust", "Install", "FlyingShot", "Config", fileName);
-        yield return Path.Combine(repoRoot, "Rvbust", fileName);
-        yield return Path.Combine(repoRoot, fileName);
+        yield return Path.Combine(repoRoot, "Config", rawPath);
     }
 
     /// <summary>

src/Flyshot.Core.Config/RobotConfigLoader.cs

@@ -1,5 +1,6 @@
 using System.Text.Json;
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Config;
 
@@ -17,7 +18,9 @@ public sealed class CompatibilityRobotSettings
         int ioKeepCycles,
         double accLimitScale,
         double jerkLimitScale,
-        int adaptIcspTryNum)
+        int adaptIcspTryNum,
+        double planningSpeedScale = 1.0,
+        bool smoothStartStopTiming = true)
     {
         ArgumentNullException.ThrowIfNull(ioAddresses);
 
@@ -36,6 +39,11 @@ public sealed class CompatibilityRobotSettings
             throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
         }
 
+        if (planningSpeedScale <= 0.0 || double.IsNaN(planningSpeedScale) || double.IsInfinity(planningSpeedScale))
+        {
+            throw new ArgumentOutOfRangeException(nameof(planningSpeedScale), "规划速度倍率必须是有限正数。");
+        }
+
         if (adaptIcspTryNum < 0)
         {
             throw new ArgumentOutOfRangeException(nameof(adaptIcspTryNum), "补点尝试次数不能为负数。");
@@ -54,6 +62,8 @@ public sealed class CompatibilityRobotSettings
         AccLimitScale = accLimitScale;
         JerkLimitScale = jerkLimitScale;
         AdaptIcspTryNum = adaptIcspTryNum;
+        PlanningSpeedScale = planningSpeedScale;
+        SmoothStartStopTiming = smoothStartStopTiming;
     }
 
     /// <summary>
@@ -81,6 +91,16 @@ public sealed class CompatibilityRobotSettings
     /// </summary>
     public double JerkLimitScale { get; }
 
+    /// <summary>
+    /// 获取规划阶段的全局速度倍率，只影响 JointTraj 基准时间，不等同于运行时 J519 下发速度倍率。
+    /// </summary>
+    public double PlanningSpeedScale { get; }
+
+    /// <summary>
+    /// 获取是否在飞拍执行前对整段时间轴做二次平滑起停重映射。
+    /// </summary>
+    public bool SmoothStartStopTiming { get; }
+
     /// <summary>
     /// 获取自适应补点最大尝试次数。
     /// </summary>
@@ -131,6 +151,17 @@ public sealed class LoadedRobotConfig
 /// </summary>
 public sealed class RobotConfigLoader
 {
+    private readonly ILogger<RobotConfigLoader>? _logger;
+
+    /// <summary>
+    /// 初始化 RobotConfigLoader。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public RobotConfigLoader(ILogger<RobotConfigLoader>? logger = null)
+    {
+        _logger = logger;
+    }
+
     /// <summary>
     /// 加载一份旧版 RobotConfig.json。
     /// </summary>
@@ -139,6 +170,8 @@ public sealed class RobotConfigLoader
     /// <returns>规范化后的配置文档。</returns>
     public LoadedRobotConfig Load(string configPath, string? repoRoot = null)
     {
+        _logger?.LogInformation("RobotConfig 开始加载: configPath={ConfigPath}, repoRoot={RepoRoot}", configPath, repoRoot);
+
         var resolvedRepoRoot = ResolveRepoRoot(repoRoot);
         var resolvedConfigPath = PathCompatibility.ResolveConfigPath(configPath, resolvedRepoRoot);
 
@@ -153,7 +186,9 @@ public sealed class RobotConfigLoader
             ioKeepCycles: ReadInt(robotElement, "io_keep_cycles", defaultValue: 0),
             accLimitScale: ReadDouble(robotElement, "acc_limit", defaultValue: 1.0),
             jerkLimitScale: ReadDouble(robotElement, "jerk_limit", defaultValue: 1.0),
-            adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0));
+            adaptIcspTryNum: ReadInt(robotElement, "adapt_icsp_try_num", defaultValue: 0),
+            planningSpeedScale: ReadDouble(robotElement, "planning_speed_scale", defaultValue: 1.0),
+            smoothStartStopTiming: ReadBoolean(robotElement, "smooth_start_stop_timing", defaultValue: true));
 
         var programs = new Dictionary<string, FlyshotProgram>(StringComparer.Ordinal);
         foreach (var programElement in flyingShotsElement.EnumerateObject())
@@ -163,6 +198,10 @@ public sealed class RobotConfigLoader
             programs.Add(programName, program);
         }
 
+        _logger?.LogInformation(
+            "RobotConfig 加载完成: resolvedPath={ResolvedPath}, useDo={UseDo}, ioKeepCycles={IoKeepCycles}, accLimit={AccLimit}, jerkLimit={JerkLimit}, planningSpeedScale={PlanningSpeedScale}, smoothStartStopTiming={SmoothStartStopTiming}, adaptIcspTryNum={AdaptIcspTryNum}, 程序数={ProgramCount}",
+            resolvedConfigPath, robot.UseDo, robot.IoKeepCycles, robot.AccLimitScale, robot.JerkLimitScale, robot.PlanningSpeedScale, robot.SmoothStartStopTiming, robot.AdaptIcspTryNum, programs.Count);
+
         return new LoadedRobotConfig(
             sourcePath: resolvedConfigPath,
             robot: robot,
@@ -253,7 +292,7 @@ public sealed class RobotConfigLoader
     }
 
     /// <summary>
-    /// 推断仓库根目录，优先使用调用方显式传入的值。
+    /// 推断当前 replacement 仓库根目录，优先使用调用方显式传入的值。
     /// </summary>
     private static string ResolveRepoRoot(string? repoRoot)
     {
@@ -267,7 +306,7 @@ public sealed class RobotConfigLoader
         {
             if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
             {
-                return Path.GetFullPath(Path.Combine(current.FullName, ".."));
+                return current.FullName;
             }
 
             current = current.Parent;

src/Flyshot.Core.Config/RobotModelLoader.cs

@@ -1,28 +1,49 @@
-using System.Text;
 using System.Text.Json;
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Config;
 
 /// <summary>
-/// 从旧版 .robot(GLB) 文件中提取关节限制、模型名和 couple 元数据。
+/// 从现场固化的机器人 JSON 模型中提取关节限制、几何链和 couple 元数据。
 /// </summary>
 public sealed class RobotModelLoader
 {
-    private const uint JsonChunkType = 0x4E4F534A;
+    private readonly ILogger<RobotModelLoader>? _logger;
 
     /// <summary>
-    /// 加载 .robot 文件并生成规划侧可直接消费的 RobotProfile。
+    /// 初始化 RobotModelLoader。
     /// </summary>
-    /// <param name="modelPath">.robot 文件路径。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public RobotModelLoader(ILogger<RobotModelLoader>? logger = null)
+    {
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 加载机器人 JSON 文件并生成规划侧可直接消费的 RobotProfile。
+    /// </summary>
+    /// <param name="modelPath">机器人 JSON 文件路径。</param>
     /// <param name="accLimitScale">加速度全局倍率。</param>
     /// <param name="jerkLimitScale">Jerk 全局倍率。</param>
     /// <returns>包含关节限制和 couple 信息的 RobotProfile。</returns>
     public RobotProfile LoadProfile(string modelPath, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
+    {
+        return LoadProfileAndKinematics(modelPath, accLimitScale, jerkLimitScale).Profile;
+    }
+
+    /// <summary>
+    /// 加载机器人 JSON 文件并一次性生成规划约束视图与运动学几何视图。
+    /// </summary>
+    /// <param name="modelPath">机器人 JSON 文件路径。</param>
+    /// <param name="accLimitScale">加速度全局倍率。</param>
+    /// <param name="jerkLimitScale">Jerk 全局倍率。</param>
+    /// <returns>包含规划约束视图和运动学几何视图的加载结果。</returns>
+    public LoadedRobotModel LoadProfileAndKinematics(string modelPath, double accLimitScale = 1.0, double jerkLimitScale = 1.0)
     {
         if (string.IsNullOrWhiteSpace(modelPath))
         {
-            throw new ArgumentException(".robot 路径不能为空。", nameof(modelPath));
+            throw new ArgumentException("机器人 JSON 路径不能为空。", nameof(modelPath));
         }
 
         if (accLimitScale <= 0.0)
@@ -35,15 +56,72 @@ public sealed class RobotModelLoader
             throw new ArgumentOutOfRangeException(nameof(jerkLimitScale), "Jerk 倍率必须大于 0。");
         }
 
+        _logger?.LogInformation("RobotModel JSON 开始加载: modelPath={ModelPath}, accLimitScale={AccLimitScale}, jerkLimitScale={JerkLimitScale}", modelPath, accLimitScale, jerkLimitScale);
+
         var resolvedModelPath = Path.GetFullPath(modelPath);
-        var jsonText = ReadJsonChunk(resolvedModelPath);
-        using var document = JsonDocument.Parse(jsonText);
+        using var document = JsonDocument.Parse(File.ReadAllText(resolvedModelPath));
 
         var robotBody = FindRobotBody(document.RootElement);
         var profileName = robotBody.TryGetProperty("name", out var nameElement)
             ? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
             : Path.GetFileNameWithoutExtension(resolvedModelPath);
 
+        var profile = BuildProfile(robotBody, profileName, resolvedModelPath, accLimitScale, jerkLimitScale);
+        var kinematicsModel = BuildKinematicsModel(robotBody, profileName);
+
+        _logger?.LogInformation(
+            "RobotModel JSON 加载完成: profileName={ProfileName}, dof={Dof}, 几何关节数={JointCount}, resolvedPath={ResolvedPath}",
+            profile.Name, profile.DegreesOfFreedom, kinematicsModel.Joints.Count, resolvedModelPath);
+
+        return new LoadedRobotModel(profile, kinematicsModel);
+    }
+
+    /// <summary>
+    /// 加载机器人 JSON 文件并生成运动学侧需要的完整几何模型。
+    /// </summary>
+    /// <param name="modelPath">机器人 JSON 文件路径。</param>
+    /// <returns>包含完整关节几何链的运动学模型。</returns>
+    public RobotKinematicsModel LoadKinematicsModel(string modelPath)
+    {
+        return LoadProfileAndKinematics(modelPath).KinematicsModel;
+    }
+
+    /// <summary>
+    /// 在 robotics.bodies 中找到当前现场机器人主体。
+    /// </summary>
+    private static JsonElement FindRobotBody(JsonElement root)
+    {
+        var bodies = root
+            .GetProperty("scenes")[0]
+            .GetProperty("extras")
+            .GetProperty("rvbust")
+            .GetProperty("robotics")
+            .GetProperty("bodies");
+
+        foreach (var body in bodies.EnumerateArray())
+        {
+            if (body.TryGetProperty("type", out var typeElement) && typeElement.GetInt32() == 2)
+            {
+                return body;
+            }
+        }
+
+        foreach (var body in bodies.EnumerateArray())
+        {
+            if (body.TryGetProperty("joints", out _) && body.TryGetProperty("name", out _))
+            {
+                return body;
+            }
+        }
+
+        throw new InvalidDataException("未在机器人 JSON 中找到包含 joints 的机器人主体。");
+    }
+
+    /// <summary>
+    /// 从机器人主体构造规划约束视图。
+    /// </summary>
+    private RobotProfile BuildProfile(JsonElement robotBody, string profileName, string resolvedModelPath, double accLimitScale, double jerkLimitScale)
+    {
         var jointLimits = new List<JointLimit>();
         var jointCouplings = new List<JointCoupling>();
 
@@ -67,15 +145,22 @@ public sealed class RobotModelLoader
             {
                 var masterJointName = coupleElement.GetProperty("master_joint").GetString()
                     ?? throw new InvalidDataException($"关节 {jointName} 的 couple 缺少 master_joint。");
-
+                var multiplier = coupleElement.TryGetProperty("multiplier", out var multiplierElement) ? multiplierElement.GetDouble() : 0.0;
+                var offset = coupleElement.TryGetProperty("offset", out var offsetElement) ? offsetElement.GetDouble() : 0.0;
                 jointCouplings.Add(new JointCoupling(
                     slaveJointName: jointName,
                     masterJointName: masterJointName,
-                    multiplier: coupleElement.TryGetProperty("multiplier", out var multiplierElement) ? multiplierElement.GetDouble() : 0.0,
-                    offset: coupleElement.TryGetProperty("offset", out var offsetElement) ? offsetElement.GetDouble() : 0.0));
+                    multiplier: multiplier,
+                    offset: offset));
+                _logger?.LogInformation("关节 {JointName} 的耦合关系: 主关节={MasterJointName}, 比例={Multiplier}, 偏移={Offset}", jointName, masterJointName, multiplier, offset);
             }
         }
 
+        foreach (var jointLimit in jointLimits)
+        {
+            _logger?.LogInformation("关节 {JointName} 的限制值: 速度={VelocityLimit}, 加速度={AccelerationLimit}, Jerk={JerkLimit}", jointLimit.JointName, jointLimit.VelocityLimit, jointLimit.AccelerationLimit, jointLimit.JerkLimit);
+        }
+
         return new RobotProfile(
             name: profileName,
             modelPath: resolvedModelPath,
@@ -87,99 +172,32 @@ public sealed class RobotModelLoader
     }
 
     /// <summary>
-    /// 从 GLB 文件中提取 JSON chunk 文本。
+    /// 从机器人主体构造正运动学几何视图。
     /// </summary>
-    private static string ReadJsonChunk(string modelPath)
+    private RobotKinematicsModel BuildKinematicsModel(JsonElement robotBody, string profileName)
     {
-        using var stream = File.OpenRead(modelPath);
-        using var reader = new BinaryReader(stream, Encoding.UTF8, leaveOpen: false);
-
-        var magic = Encoding.ASCII.GetString(reader.ReadBytes(4));
-        if (!string.Equals(magic, "glTF", StringComparison.Ordinal))
-        {
-            throw new InvalidDataException($"{modelPath} 不是合法的 GLB 文件。");
-        }
-
-        var version = reader.ReadUInt32();
-        if (version != 2)
-        {
-            throw new NotSupportedException($"当前仅支持 GLB 2.0，实际版本为 {version}。");
-        }
-
-        var totalLength = reader.ReadUInt32();
-        while (stream.Position < totalLength)
-        {
-            var chunkLength = reader.ReadUInt32();
-            var chunkType = reader.ReadUInt32();
-            var chunkBytes = reader.ReadBytes((int)chunkLength);
-            if (chunkType == JsonChunkType)
-            {
-                return Encoding.UTF8.GetString(chunkBytes);
-            }
-        }
-
-        throw new InvalidDataException($"{modelPath} 不包含 JSON chunk。");
-    }
-
-    /// <summary>
-    /// 在 robotics.bodies 中找到 type=2 的机器人主体。
-    /// </summary>
-    private static JsonElement FindRobotBody(JsonElement root)
-    {
-        var bodies = root
-            .GetProperty("scenes")[0]
-            .GetProperty("extras")
-            .GetProperty("rvbust")
-            .GetProperty("robotics")
-            .GetProperty("bodies");
-
-        foreach (var body in bodies.EnumerateArray())
-        {
-            if (body.TryGetProperty("type", out var typeElement) && typeElement.GetInt32() == 2)
-            {
-                return body;
-            }
-        }
-
-        throw new InvalidDataException("未在 .robot 文件中找到 type=2 的机器人主体。");
-    }
-
-    /// <summary>
-    /// 加载 .robot 文件并生成运动学侧需要的完整几何模型。
-    /// </summary>
-    /// <param name="modelPath">.robot 文件路径。</param>
-    /// <returns>包含完整关节几何链的运动学模型。</returns>
-    public RobotKinematicsModel LoadKinematicsModel(string modelPath)
-    {
-        if (string.IsNullOrWhiteSpace(modelPath))
-        {
-            throw new ArgumentException(".robot 路径不能为空。", nameof(modelPath));
-        }
-
-        var resolvedModelPath = Path.GetFullPath(modelPath);
-        var jsonText = ReadJsonChunk(resolvedModelPath);
-        using var document = JsonDocument.Parse(jsonText);
-
-        var robotBody = FindRobotBody(document.RootElement);
-        var profileName = robotBody.TryGetProperty("name", out var nameElement)
-            ? nameElement.GetString() ?? Path.GetFileNameWithoutExtension(resolvedModelPath)
-            : Path.GetFileNameWithoutExtension(resolvedModelPath);
-
         var joints = new List<RobotJointGeometry>();
         foreach (var jointElement in robotBody.GetProperty("joints").EnumerateArray())
         {
             var jointName = jointElement.GetProperty("name").GetString()
                 ?? throw new InvalidDataException("关节缺少 name。");
+            // jointType: 关节类型编码；用于区分旋转关节/其他结构关节，后续几何链路可据此决定求解策略。
             var jointType = jointElement.TryGetProperty("type", out var typeElement)
                 ? typeElement.GetInt32()
                 : 0;
+            // origin: 关节局部原点配置，格式通常为 [x, y, z, qx, qy, qz, qw]，定义父坐标到关节坐标的位姿。
             var origin = jointElement.GetProperty("origin").EnumerateArray().Select(static e => e.GetDouble()).ToArray();
+            // axis: 关节运动轴；部分模型为 4 元组 [x, y, z, scale]，其中方向向量用于正运动学雅可比计算。
             var axis = jointElement.GetProperty("axis").EnumerateArray().Select(static e => e.GetDouble()).ToArray();
             // axis 字段有时存的是 4 元组 [x, y, z, scale]，取最后 3 个作为方向向量。
             var axisVector = axis.Length >= 3 ? axis[^3..] : axis;
+            // originXyz: 平移分量 (x,y,z)，用于构建关节在父链路下的位置偏移。
             var originXyz = origin.Length >= 3 ? origin[..3] : origin;
-            var originQuat = origin.Length >= 7 ? origin[3..7] : new double[] { 0.0, 0.0, 0.0, 1.0 };
+            // originQuat: 旋转分量 (qx,qy,qz,qw)，用于构建关节在父链路下的姿态；缺省时回退单位四元数。
+            var originQuat = origin.Length >= 7 ? origin[3..7] : [0.0, 0.0, 0.0, 1.0];
 
+            // coupleMaster/coupleMultiplier/coupleOffset: 关节耦合参数，描述 slave 关节如何由 master 关节线性映射得到。
+            // 典型关系: slave = master * multiplier + offset。
             string? coupleMaster = null;
             double coupleMultiplier = 0.0;
             double coupleOffset = 0.0;
@@ -190,19 +208,45 @@ public sealed class RobotModelLoader
                 coupleOffset = coupleElement.TryGetProperty("offset", out var o) ? o.GetDouble() : 0.0;
             }
 
+            var parentLink = jointElement.GetProperty("parent").GetString() ?? string.Empty;
+            var childLink = jointElement.GetProperty("child").GetString() ?? string.Empty;
+            _logger?.LogInformation(
+                "几何关节解析: name={JointName}, parent={Parent}, child={Child}, type={JointType}, axis={Axis}, originXyz={OriginXyz}, originQuat={OriginQuat}, coupleMaster={CoupleMaster}, coupleMultiplier={CoupleMultiplier}, coupleOffset={CoupleOffset}",
+                jointName,
+                parentLink,
+                childLink,
+                jointType,
+                string.Join(", ", axisVector.Select(static v => v.ToString("G17"))),
+                string.Join(", ", originXyz.Select(static v => v.ToString("G17"))),
+                string.Join(", ", originQuat.Select(static v => v.ToString("G17"))),
+                coupleMaster ?? "<none>",
+                coupleMultiplier,
+                coupleOffset);
+
             joints.Add(new RobotJointGeometry(
+                // name: 当前关节名，作为几何链和耦合关系的主键。
                 name: jointName,
-                parent: jointElement.GetProperty("parent").GetString() ?? string.Empty,
-                child: jointElement.GetProperty("child").GetString() ?? string.Empty,
+                // parent: 父 link 名称，用于串起机器人树结构。
+                parent: parentLink,
+                // child: 子 link 名称，标识该关节输出到哪个连杆。
+                child: childLink,
+                // jointType: 关节类型编码，供运动学模型区分计算路径。
                 jointType: jointType,
+                // axis: 关节轴方向向量，决定旋转/平移沿哪个局部方向发生。
                 axis: axisVector,
+                // originXyz: 关节原点平移分量。
                 originXyz: originXyz,
+                // originQuatXyzw: 关节原点旋转四元数分量。
                 originQuatXyzw: originQuat,
+                // coupleMaster: 耦合主关节名（无耦合时为 null）。
                 coupleMaster: coupleMaster,
+                // coupleMultiplier: 耦合线性比例系数。
                 coupleMultiplier: coupleMultiplier,
+                // coupleOffset: 耦合常量偏移量。
                 coupleOffset: coupleOffset));
         }
 
+        _logger?.LogInformation("几何模型构建完成: profileName={ProfileName}, jointCount={JointCount}", profileName, joints.Count);
         return new RobotKinematicsModel(name: profileName, joints: joints);
     }
 

src/Flyshot.Core.Domain/ControllerStateSnapshot.cs

@@ -18,7 +18,14 @@ public sealed class ControllerStateSnapshot
         double speedRatio,
         IEnumerable<double>? jointPositions = null,
         IEnumerable<double>? cartesianPose = null,
-        IEnumerable<RuntimeAlarm>? activeAlarms = null)
+        IEnumerable<RuntimeAlarm>? activeAlarms = null,
+        IEnumerable<uint>? stateTailWords = null,
+        byte? j519Status = null,
+        uint? j519Sequence = null,
+        bool? j519AcceptsCommand = null,
+        bool? j519ReceivedCommand = null,
+        bool? j519SystemReady = null,
+        bool? j519RobotInMotion = null)
     {
         if (string.IsNullOrWhiteSpace(connectionState))
         {
@@ -34,6 +41,7 @@ public sealed class ControllerStateSnapshot
         var copiedJointPositions = jointPositions?.ToArray() ?? Array.Empty<double>();
         var copiedCartesianPose = cartesianPose?.ToArray() ?? Array.Empty<double>();
         var copiedActiveAlarms = activeAlarms?.ToArray() ?? Array.Empty<RuntimeAlarm>();
+        var copiedStateTailWords = stateTailWords?.ToArray() ?? Array.Empty<uint>();
 
         CapturedAt = capturedAt;
         ConnectionState = connectionState;
@@ -43,6 +51,13 @@ public sealed class ControllerStateSnapshot
         JointPositions = copiedJointPositions;
         CartesianPose = copiedCartesianPose;
         ActiveAlarms = copiedActiveAlarms;
+        StateTailWords = copiedStateTailWords;
+        J519Status = j519Status;
+        J519Sequence = j519Sequence;
+        J519AcceptsCommand = j519AcceptsCommand;
+        J519ReceivedCommand = j519ReceivedCommand;
+        J519SystemReady = j519SystemReady;
+        J519RobotInMotion = j519RobotInMotion;
     }
 
     /// <summary>
@@ -92,4 +107,46 @@ public sealed class ControllerStateSnapshot
     /// </summary>
     [JsonPropertyName("activeAlarms")]
     public IReadOnlyList<RuntimeAlarm> ActiveAlarms { get; }
+
+    /// <summary>
+    /// 获取 TCP 10010 状态帧尾部原始状态字，仅用于诊断，不直接推断运行语义。
+    /// </summary>
+    [JsonPropertyName("stateTailWords")]
+    public IReadOnlyList<uint> StateTailWords { get; }
+
+    /// <summary>
+    /// 获取最近一次 UDP 60015 J519 响应的原始状态字节；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519Status")]
+    public byte? J519Status { get; }
+
+    /// <summary>
+    /// 获取最近一次 UDP 60015 J519 响应序号；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519Sequence")]
+    public uint? J519Sequence { get; }
+
+    /// <summary>
+    /// 获取 J519 accept_cmd 状态位；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519AcceptsCommand")]
+    public bool? J519AcceptsCommand { get; }
+
+    /// <summary>
+    /// 获取 J519 received_cmd 状态位；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519ReceivedCommand")]
+    public bool? J519ReceivedCommand { get; }
+
+    /// <summary>
+    /// 获取 J519 sysrdy 状态位；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519SystemReady")]
+    public bool? J519SystemReady { get; }
+
+    /// <summary>
+    /// 获取 J519 rbt_inmotion 状态位；没有响应时为 null。
+    /// </summary>
+    [JsonPropertyName("j519RobotInMotion")]
+    public bool? J519RobotInMotion { get; }
 }

src/Flyshot.Core.Domain/RobotKinematicsModel.cs

@@ -3,7 +3,7 @@ using System.Text.Json.Serialization;
 namespace Flyshot.Core.Domain;
 
 /// <summary>
-/// 描述机器人运动学链所需的完整关节几何信息，从 .robot GLB 中提取。
+/// 描述机器人运动学链所需的完整关节几何信息，从现场固化的机器人 JSON 中提取。
 ///
 /// 为什么与 RobotProfile 分开？
 /// ---

src/Flyshot.Core.Domain/RobotProfile.cs

@@ -3,12 +3,12 @@ using System.Text.Json.Serialization;
 namespace Flyshot.Core.Domain;
 
 /// <summary>
-/// Describes the robot model contract consumed by planning and runtime orchestration.
+/// 描述规划与运行时编排共同使用的机器人模型契约。
 /// </summary>
 public sealed class RobotProfile
 {
     /// <summary>
-    /// Initializes a new robot profile with validated joint limits and coupling metadata.
+    /// 使用已校验的关节约束与耦合元数据初始化机器人画像。
     /// </summary>
     public RobotProfile(
         string name,
@@ -47,7 +47,7 @@ public sealed class RobotProfile
         ArgumentNullException.ThrowIfNull(jointLimits);
         ArgumentNullException.ThrowIfNull(jointCouplings);
 
-        // Snapshot the collections once so downstream layers cannot mutate domain state in place.
+        // 先对集合做一次快照，避免下游直接原地修改领域状态。
         var copiedJointLimits = jointLimits.ToArray();
         var copiedJointCouplings = jointCouplings.ToArray();
 
@@ -66,55 +66,55 @@ public sealed class RobotProfile
     }
 
     /// <summary>
-    /// Gets the robot profile name exposed to the rest of the runtime.
+    /// 获取对运行时其余模块暴露的机器人画像名称。
     /// </summary>
     [JsonPropertyName("name")]
     public string Name { get; }
 
     /// <summary>
-    /// Gets the source path of the robot model file.
+    /// 获取机器人模型文件的来源路径。
     /// </summary>
     [JsonPropertyName("modelPath")]
     public string ModelPath { get; }
 
     /// <summary>
-    /// Gets the active revolute degree-of-freedom count.
+    /// 获取当前生效的旋转关节自由度数量。
     /// </summary>
     [JsonPropertyName("degreesOfFreedom")]
     public int DegreesOfFreedom { get; }
 
     /// <summary>
-    /// Gets the validated per-joint kinematic limits.
+    /// 获取按关节校验后的运动学约束。
     /// </summary>
     [JsonPropertyName("jointLimits")]
     public IReadOnlyList<JointLimit> JointLimits { get; }
 
     /// <summary>
-    /// Gets optional joint coupling metadata parsed from the robot model.
+    /// 获取从机器人模型解析出的可选关节耦合元数据。
     /// </summary>
     [JsonPropertyName("jointCouplings")]
     public IReadOnlyList<JointCoupling> JointCouplings { get; }
 
     /// <summary>
-    /// Gets the servo scheduling period used by the runtime.
+    /// 获取运行时使用的伺服调度周期。
     /// </summary>
     [JsonPropertyName("servoPeriod")]
     public TimeSpan ServoPeriod { get; }
 
     /// <summary>
-    /// Gets the trigger scheduling period used by shot-event alignment.
+    /// 获取飞拍事件对齐使用的触发调度周期。
     /// </summary>
     [JsonPropertyName("triggerPeriod")]
     public TimeSpan TriggerPeriod { get; }
 }
 
 /// <summary>
-/// Describes a single revolute joint limit set required by the planners.
+/// 描述规划器所需的单个旋转关节约束集合。
 /// </summary>
 public sealed class JointLimit
 {
     /// <summary>
-    /// Initializes a validated joint limit record.
+    /// 初始化一个已校验的关节约束记录。
     /// </summary>
     public JointLimit(string jointName, double velocityLimit, double accelerationLimit, double jerkLimit)
     {
@@ -145,37 +145,37 @@ public sealed class JointLimit
     }
 
     /// <summary>
-    /// Gets the joint name associated with the limits.
+    /// 获取该约束对应的关节名称。
     /// </summary>
     [JsonPropertyName("jointName")]
     public string JointName { get; }
 
     /// <summary>
-    /// Gets the velocity limit in joint space units.
+    /// 获取关节空间单位下的速度上限。
     /// </summary>
     [JsonPropertyName("velocityLimit")]
     public double VelocityLimit { get; }
 
     /// <summary>
-    /// Gets the acceleration limit in joint space units.
+    /// 获取关节空间单位下的加速度上限。
     /// </summary>
     [JsonPropertyName("accelerationLimit")]
     public double AccelerationLimit { get; }
 
     /// <summary>
-    /// Gets the jerk limit in joint space units.
+    /// 获取关节空间单位下的跃度上限。
     /// </summary>
     [JsonPropertyName("jerkLimit")]
     public double JerkLimit { get; }
 }
 
 /// <summary>
-/// Describes a joint-coupling rule that must be applied before kinematics or planning.
+/// 描述在运动学计算或轨迹规划前必须应用的关节耦合规则。
 /// </summary>
 public sealed class JointCoupling
 {
     /// <summary>
-    /// Initializes a validated joint-coupling description.
+    /// 初始化一个已校验的关节耦合描述。
     /// </summary>
     public JointCoupling(string slaveJointName, string masterJointName, double multiplier, double offset)
     {
@@ -201,25 +201,25 @@ public sealed class JointCoupling
     }
 
     /// <summary>
-    /// Gets the dependent joint name.
+    /// 获取从属（被驱动）关节名称。
     /// </summary>
     [JsonPropertyName("slaveJointName")]
     public string SlaveJointName { get; }
 
     /// <summary>
-    /// Gets the source joint name.
+    /// 获取主导（驱动）关节名称。
     /// </summary>
     [JsonPropertyName("masterJointName")]
     public string MasterJointName { get; }
 
     /// <summary>
-    /// Gets the coupling multiplier applied to the master joint angle.
+    /// 获取作用在主导关节角度上的耦合倍率。
     /// </summary>
     [JsonPropertyName("multiplier")]
     public double Multiplier { get; }
 
     /// <summary>
-    /// Gets the additive offset applied after the multiplier.
+    /// 获取在耦合倍率之后叠加的偏移量。
     /// </summary>
     [JsonPropertyName("offset")]
     public double Offset { get; }

src/Flyshot.Core.Domain/TrajectoryResult.cs

@@ -21,7 +21,8 @@ public sealed class TrajectoryResult
         string? failureReason,
         bool usedCache,
         int originalWaypointCount,
-        int plannedWaypointCount)
+        int plannedWaypointCount,
+        IEnumerable<IReadOnlyList<double>>? denseJointTrajectory = null)
     {
         if (string.IsNullOrWhiteSpace(programName))
         {
@@ -51,6 +52,7 @@ public sealed class TrajectoryResult
         var copiedShotEvents = shotEvents.ToArray();
         var copiedTriggerTimeline = triggerTimeline.ToArray();
         var copiedArtifacts = artifacts.ToArray();
+        var copiedDenseJointTrajectory = denseJointTrajectory?.Select(static row => row.ToArray()).ToArray();
 
         ProgramName = programName;
         Method = method;
@@ -63,6 +65,7 @@ public sealed class TrajectoryResult
         UsedCache = usedCache;
         OriginalWaypointCount = originalWaypointCount;
         PlannedWaypointCount = plannedWaypointCount;
+        DenseJointTrajectory = copiedDenseJointTrajectory;
     }
 
     /// <summary>
@@ -130,6 +133,13 @@ public sealed class TrajectoryResult
     /// </summary>
     [JsonPropertyName("plannedWaypointCount")]
     public int PlannedWaypointCount { 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).
+    /// </summary>
+    [JsonPropertyName("denseJointTrajectory")]
+    public IReadOnlyList<IReadOnlyList<double>>? DenseJointTrajectory { get; }
 }
 
 /// <summary>

src/Flyshot.Core.Planning/Export/TrajectoryExporter.cs

@@ -15,12 +15,28 @@ namespace Flyshot.Core.Planning.Export;
 /// </summary>
 public static class TrajectoryExporter
 {
+    /// <summary>
+    /// 导出规划关节轨迹关键点到文本文件。
+    /// </summary>
+    public static void WriteJointTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
+    {
+        WriteRows(path, rows);
+    }
+
     /// <summary>
     /// 导出稠密关节轨迹到文本文件。
     /// </summary>
     public static void WriteJointDenseTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
     {
-        WriteDenseRows(path, rows);
+        WriteRows(path, rows);
+    }
+
+    /// <summary>
+    /// 导出规划笛卡尔轨迹关键点到文本文件。
+    /// </summary>
+    public static void WriteCartesianTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
+    {
+        WriteRows(path, rows);
     }
 
     /// <summary>
@@ -28,7 +44,7 @@ public static class TrajectoryExporter
     /// </summary>
     public static void WriteCartesianDenseTrajectory(string path, IReadOnlyList<IReadOnlyList<double>> rows)
     {
-        WriteDenseRows(path, rows);
+        WriteRows(path, rows);
     }
 
     /// <summary>
@@ -53,7 +69,7 @@ public static class TrajectoryExporter
         File.WriteAllText(path, json, new UTF8Encoding(false));
     }
 
-    private static void WriteDenseRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
+    private static void WriteRows(string path, IReadOnlyList<IReadOnlyList<double>> rows)
     {
         var sb = new StringBuilder();
         foreach (var row in rows)

src/Flyshot.Core.Planning/Flyshot.Core.Planning.csproj

@@ -6,6 +6,10 @@
     <Nullable>enable</Nullable>
   </PropertyGroup>
 
+  <ItemGroup>
+    <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
+  </ItemGroup>
+
   <ItemGroup>
     <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
   </ItemGroup>

src/Flyshot.Core.Planning/ICSP-算法说明.md

@@ -0,0 +1,194 @@
+# ICSP 算法说明（`ICspPlanner`）
+
+本文档用于解释 `Flyshot.Core.Planning.ICspPlanner` 当前实现的 **ICSP 规划算法**在本仓库中的真实含义与计算逻辑，便于与逆向结论对照、以及指导后续改造（例如“按约束生成中间点位”）。
+
+> 适用范围：本文描述的是当前 C# 实现的 **“CubicSpline + 逐段时间缩放迭代（retiming）”** 版本。  
+> 重要澄清：`ICspPlanner` 的主要输出是 **时间轴**（每个示教点的时间戳），而不是直接输出固定周期的稠密点序列；稠密点在后续采样层生成。
+
+---
+
+## 1. 名词与数据形态
+
+### 1.1 输入
+
+- **示教点（路点）**：`request.Program.Waypoints`  
+  每个路点是关节空间向量 \(q_i \in \mathbb{R}^{dof}\)。
+- **关节约束**：`request.Robot.JointLimits[d]` 提供每轴上限：
+  - 速度上限 \(v_{lim}[d]\)
+  - 加速度上限 \(a_{lim}[d]\)
+  - 跃度（jerk）上限 \(j_{lim}[d]\)
+
+### 1.2 输出（`PlannedTrajectory`）
+
+`ICspPlanner` 的输出 **不是稠密轨迹点序列**，而是：
+
+- `PlannedWaypoints`：规划后路点（对于普通 `icsp`，与输入示教点相同；补点发生在 `SelfAdaptIcspPlanner`）
+- `WaypointTimes`：每个路点的绝对时间 \(t_i\)（秒）
+- `SegmentDurations`：每段时长 \(T_i = t_{i+1}-t_i\)（秒）
+- `SegmentScales`：每段缩放因子 `scale_i`
+- `Iterations` / `Threshold`：收敛信息
+
+后续模块会基于 `PlannedWaypoints + WaypointTimes` 重建样条并采样，生成稠密点：
+
+- 规划层稠密采样：`TrajectorySampler.SampleJointTrajectory(...)`
+- 运行时 J519 重采样（速度倍率映射 + rad->deg）：`J519SendTrajectorySampler.SampleDenseJointTrajectory(...)`
+
+---
+
+## 2. 算法总体目标（retiming）
+
+给定一组关节示教点 \(\{q_i\}_{i=0}^{N-1}\)，在不改变路点位置的前提下，为每段分配时长 \(\{T_i\}_{i=0}^{N-2}\)，使得用 **clamped-zero 三次样条**连接后的轨迹在每段上满足：
+
+- \(\max|\dot q_d(t)| \le v_{lim}[d]\)
+- \(\max|\ddot q_d(t)| \le a_{lim}[d]\)
+- \(\max|\dddot q_d(t)| \le j_{lim}[d]\)
+
+实现策略是“逐段缩放时长”的迭代法：每轮用当前 \(\{T_i\}\) 构造样条并解析求导峰值，再根据超限程度把相应段时长乘以缩放因子，使峰值回落。
+
+---
+
+## 3. 计算步骤（与代码一致）
+
+### 3.1 前置条件
+
+- 路点数 \(N \ge 4\)（否则抛异常）
+
+### 3.2 初始段时长
+
+段数 \(nseg = N-1\)。
+
+初始段时长取相邻路点关节空间欧氏距离：
+
+\[
+T_i^{(0)} = \|q_{i+1}-q_i\|_2
+\]
+
+### 3.3 由段时长构造绝对时间轴
+
+\[
+t_0 = 0,\quad t_{i+1} = t_i + T_i
+\]
+
+### 3.4 用 clamped-zero 边界构造三次样条
+
+以 \((t_i, q_i)\) 为节点构造分段三次多项式：
+
+\[
+S_i(t) = a_i t^3 + b_i t^2 + c_i t + d_i,\quad t \in [t_i, t_{i+1}]
+\]
+
+边界条件为 **clamped-zero**（起点/终点一阶导为 0），用于与逆向锁定的参考行为对齐。
+
+### 3.5 解析计算每段导数峰值
+
+对每段、每轴，解析求最大绝对值：
+
+- 一阶导（速度）是二次函数：端点与顶点候选取最大
+- 二阶导（加速度）是一次函数：端点取最大
+- 三阶导（跃度）是常数：直接取绝对值
+
+得到三张矩阵：
+
+- `maxDq[seg,d] = max_t |dq/dt|`
+- `maxDdq[seg,d] = max_t |d²q/dt²|`
+- `maxDddq[seg,d] = max_t |d³q/dt³|`
+
+### 3.6 计算每段缩放因子（核心公式）
+
+对段 `seg`，对每个关节 `d` 计算三类“超限比”：
+
+\[
+s_v = \left|\frac{maxDq[seg,d]}{v_{lim}[d]}\right|
+\]
+
+\[
+s_a = \sqrt{\left|\frac{maxDdq[seg,d]}{a_{lim}[d]}\right|}
+\]
+
+\[
+s_j = \sqrt[3]{\left|\frac{maxDddq[seg,d]}{j_{lim}[d]}\right|}
+\]
+
+段缩放因子取所有轴、三类约束的最大值：
+
+\[
+scale_{seg}=\max_d \max(s_v, s_a, s_j)
+\]
+
+> 指数来源：时间拉长 \(k\) 倍时，速度按 \(1/k\) 缩小、加速度按 \(1/k^2\) 缩小、跃度按 \(1/k^3\) 缩小，因此超限比需要分别取一次方/平方根/立方根来求“应当拉长多少倍”。
+
+### 3.7 收敛指标与最优解保存
+
+每轮用如下指标衡量“离约束满足还差多少”：
+
+\[
+threshold = \sum_{seg} |scale_{seg} - 1|
+\]
+
+若本轮 `threshold` 小于历史最佳，则保存当前解作为 `best`（包含 `bestDurations / bestScales / bestWaypointTimes` 等）。
+
+### 3.8 收敛判定与段时长更新
+
+- 若 `threshold < _threshold`（默认 `1e-3`），认为收敛并提前结束迭代
+- 否则更新每段时长：
+
+\[
+T_{seg} \leftarrow T_{seg} \cdot scale_{seg}
+\]
+
+并进入下一轮。
+
+---
+
+## 4. 最终判定（global_scale）
+
+迭代结束后取历史最优缩放因子的最大值：
+
+\[
+globalScale=\max_{seg}(scale_{seg})
+\]
+
+若启用强制判定（`enforceFinalScale=true`）且：
+
+\[
+globalScale > 1 + \text{finalScaleTolerance}
+\]
+
+则判定“未收敛/不可执行”并抛异常。默认容差 `finalScaleTolerance=1e-2`，用于容忍 C# spline 与参考实现间的小量数值差异。
+
+---
+
+## 5. 与“补点/中间点位”的关系（常见误解澄清）
+
+### 5.1 `ICspPlanner` 不负责生成固定周期的中间点位
+
+`ICspPlanner` 的核心工作是 **时间轴规划（retiming）**：在不改变示教点位置的情况下，通过缩放每段时长让样条导数峰值满足约束。
+
+固定周期（例如 8ms/16ms）的“中间点位序列”属于 **采样层**：
+
+- `TrajectorySampler`：按 `samplePeriod` 在样条上取样，得到 `[time, j1..jN]`（关节单位仍为 rad）
+- `J519SendTrajectorySampler`：按 `servoPeriod` 生成真实发送序列，用 `speedRatio` 把 `sendTime` 映射到 `trajectoryTime` 并线性插值，再做 `rad -> deg`
+
+### 5.2 `SelfAdaptIcspPlanner` 才包含“补点”逻辑，但它很粗
+
+`self-adapt-icsp` 的补点策略在 `SelfAdaptIcspPlanner` 中：当某些段 `scale > 1 + tolerance` 时，对这些段插入关节空间**中点**再重规划。该策略的目的主要是“救收敛”，不是生成最终稠密序列。
+
+---
+
+## 6. 后续改造建议（定位落点）
+
+如果需求是“根据示教点 + v/a/j 限制，直接生成可下发的稠密点位序列”，通常有两条路径：
+
+1. **保留 ICSP retiming**：继续用 `ICspPlanner` 求时间轴，再在采样层按固定周期生成中间点位（当前架构就是这条路）。此时需要讨论的是采样周期、速度倍率映射、以及是否要对采样序列再做约束校验或二次整形。
+2. **做真正的自适应插点/细分**：把“插点策略”升级为基于约束的细分（而不只是插中点），这更自然的落点是 `SelfAdaptIcspPlanner` 或新增一个“约束驱动细分器”，而不是把稠密点生成塞进 `ICspPlanner`。
+
+---
+
+## 7. 关联实现位置（便于跳转）
+
+- 算法入口：`src/Flyshot.Core.Planning/ICspPlanner.cs`
+- 自适应补点：`src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs`
+- 三次样条实现（clamped-zero + 解析导峰值）：`src/Flyshot.Core.Planning/CubicSplineInterpolator.cs`
+- 规划层稠密采样：`src/Flyshot.Core.Planning/Sampling/TrajectorySampler.cs`
+- J519 实发重采样：`src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs`
+

src/Flyshot.Core.Planning/ICspPlanner.cs

@@ -1,4 +1,5 @@
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Planning;
 
@@ -24,6 +25,54 @@ public sealed class ICspPlanner
     /// </summary>
     public const int DefaultMaxIterations = 1000;
 
+    /// <summary>
+    /// 默认最终 scale 容差。当前 C# spline 与旧系统对齐样本存在约 1% 内的数值余量。
+    /// </summary>
+    public const double DefaultFinalScaleTolerance = 1e-2;
+
+    private readonly double _threshold;
+    private readonly int _maxIterations;
+    private readonly bool _enforceFinalScale;
+    private readonly double _finalScaleTolerance;
+    private readonly ILogger<ICspPlanner>? _logger;
+
+    /// <summary>
+    /// 初始化 ICSP 规划器。
+    /// </summary>
+    /// <param name="threshold">收敛阈值。</param>
+    /// <param name="maxIterations">最大迭代轮数。</param>
+    /// <param name="enforceFinalScale">是否在最终最优 scale 仍大于 1.0 时抛出失败。</param>
+    /// <param name="finalScaleTolerance">最终 scale 判定容差。</param>
+    /// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
+    public ICspPlanner(
+        double threshold = DefaultThreshold,
+        int maxIterations = DefaultMaxIterations,
+        bool enforceFinalScale = true,
+        double finalScaleTolerance = DefaultFinalScaleTolerance,
+        ILogger<ICspPlanner>? logger = null)
+    {
+        if (threshold <= 0.0 || double.IsNaN(threshold) || double.IsInfinity(threshold))
+        {
+            throw new ArgumentOutOfRangeException(nameof(threshold), "收敛阈值必须为有限正数。");
+        }
+
+        if (maxIterations < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(maxIterations), "最大迭代轮数不能为负数。");
+        }
+
+        if (finalScaleTolerance < 0.0 || double.IsNaN(finalScaleTolerance) || double.IsInfinity(finalScaleTolerance))
+        {
+            throw new ArgumentOutOfRangeException(nameof(finalScaleTolerance), "最终 scale 容差必须为有限非负数。");
+        }
+
+        _threshold = threshold;
+        _maxIterations = maxIterations;
+        _enforceFinalScale = enforceFinalScale;
+        _finalScaleTolerance = finalScaleTolerance;
+        _logger = logger;
+    }
+
     /// <summary>
     /// 执行 ICSP 规划，返回包含完整时间轴和收敛信息的轨迹。
     /// </summary>
@@ -37,9 +86,22 @@ public sealed class ICspPlanner
             throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
         }
 
+        _logger?.LogInformation(
+            "ICSP 规划开始: 名称={Name}, 路点数={WaypointCount}, 自由度={Dof}, threshold={Threshold}, maxIterations={MaxIterations}",
+            request.Program.Name, waypoints.Count, request.Robot.DegreesOfFreedom, _threshold, _maxIterations);
+        _logger?.LogDebug(
+            "ICSP 输入路点: {Waypoints}",
+            string.Join(" | ", waypoints.Select(wp => $"[{string.Join(", ", wp.Positions.Select(j => j.ToString("F4")))}]")));
+
         var qs = WaypointsToArray(waypoints);
         var (velLimits, accLimits, jerkLimits) = ExtractLimits(request.Robot);
 
+        _logger?.LogDebug(
+            "ICSP 约束限值: vel=[{Vel}], acc=[{Acc}], jerk=[{Jerk}]",
+            string.Join(", ", velLimits.Select(v => v.ToString("F2"))),
+            string.Join(", ", accLimits.Select(a => a.ToString("F2"))),
+            string.Join(", ", jerkLimits.Select(j => j.ToString("F2"))));
+
         // 初始段时长直接取相邻示教点的关节空间欧氏距离。
         var segmentDurations = ComputeInitialDurations(qs);
         int nseg = segmentDurations.Length;
@@ -52,7 +114,7 @@ public sealed class ICspPlanner
         int bestIterations = 0;
         double[]? bestWaypointTimes = null;
 
-        for (int iteration = 0; iteration <= DefaultMaxIterations; iteration++)
+        for (int iteration = 0; iteration <= _maxIterations; iteration++)
         {
             var waypointTimes = CumulativeTimes(segmentDurations);
             var spline = new CubicSplineInterpolator(waypointTimes, qs);
@@ -89,8 +151,11 @@ public sealed class ICspPlanner
                 bestWaypointTimes = (double[])waypointTimes.Clone();
             }
 
-            if (currentThreshold < DefaultThreshold)
+            if (currentThreshold < _threshold)
             {
+                _logger?.LogDebug(
+                    "ICSP 第 {Iteration} 轮收敛: threshold={CurrentThreshold:E6}",
+                    iteration + 1, currentThreshold);
                 break;
             }
 
@@ -105,6 +170,25 @@ public sealed class ICspPlanner
             throw new InvalidOperationException("ICSP 规划未能产生有效结果。");
         }
 
+        var globalScale = bestScales.Max();
+        if (_enforceFinalScale && globalScale > 1.0 + _finalScaleTolerance)
+        {
+            _logger?.LogError(
+                "ICSP 规划未收敛: global_scale={GlobalScale:F6} > {Tolerance:F6}, 段缩放=[{Scales}]",
+                globalScale, 1.0 + _finalScaleTolerance,
+                string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
+            throw new InvalidOperationException(
+                $"ICSP 规划未收敛，global_scale={globalScale:F6} > {1.0 + _finalScaleTolerance:F6}，轨迹不可执行。");
+        }
+
+        _logger?.LogInformation(
+            "ICSP 规划完成: 名称={Name}, 迭代轮数={Iterations}, 收敛阈值={Threshold:E6}, 总时长={Duration:F4}s, global_scale={GlobalScale:F6}",
+            request.Program.Name, bestIterations, bestThreshold, bestWaypointTimes[^1], globalScale);
+        _logger?.LogDebug(
+            "ICSP 段时长: [{Durations}], 段缩放: [{Scales}]",
+            string.Join(", ", bestDurations.Select(d => d.ToString("F4"))),
+            string.Join(", ", bestScales.Select(s => s.ToString("F4"))));
+
         return new PlannedTrajectory(
             robot: request.Robot,
             originalProgram: request.Program,

src/Flyshot.Core.Planning/Sampling/J519SendSample.cs

@@ -0,0 +1,42 @@
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 表示 J519 伺服链路在某一个物理发送周期上的轨迹采样结果。
+/// </summary>
+/// <param name="sampleIndex">从 0 开始的发送周期序号。</param>
+/// <param name="sendTime">J519 物理发送时间，单位为秒。</param>
+/// <param name="trajectoryTime">映射回规划轨迹的采样时间，单位为秒。</param>
+/// <param name="speedRatio">生成该采样点时使用的速度倍率。</param>
+/// <param name="jointsDegrees">J519 下发使用的角度制关节目标。</param>
+public sealed class J519SendSample(
+    long sampleIndex,
+    double sendTime,
+    double trajectoryTime,
+    double speedRatio,
+    IReadOnlyList<double> jointsDegrees)
+{
+    /// <summary>
+    /// 获取从 0 开始的发送周期序号。
+    /// </summary>
+    public long SampleIndex { get; } = sampleIndex;
+
+    /// <summary>
+    /// 获取 J519 物理发送时间，单位为秒。
+    /// </summary>
+    public double SendTime { get; } = sendTime;
+
+    /// <summary>
+    /// 获取映射回规划轨迹的采样时间，单位为秒。
+    /// </summary>
+    public double TrajectoryTime { get; } = trajectoryTime;
+
+    /// <summary>
+    /// 获取生成该采样点时使用的速度倍率。
+    /// </summary>
+    public double SpeedRatio { get; } = speedRatio;
+
+    /// <summary>
+    /// 获取 J519 下发使用的角度制关节目标。
+    /// </summary>
+    public IReadOnlyList<double> JointsDegrees { get; } = jointsDegrees.ToArray();
+}

src/Flyshot.Core.Planning/Sampling/J519SendTrajectorySampler.cs

@@ -0,0 +1,242 @@
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 负责把规划层稠密关节轨迹重采样为 J519 物理发送周期上的角度制目标。
+/// <para>
+/// 算法约定：
+/// 输入的稠密关节轨迹行格式固定为 [time, j1..jN]，time 为规划轨迹时间，关节单位为弧度；
+/// 输出的 J519 采样点按物理伺服周期排列，关节单位转换为角度制，供 UDP 60015 实时下发和离线 ActualSend 文件共用。
+/// </para>
+/// <para>
+/// 采样点数先按轨迹时间步长 trajectoryStep = servoPeriod * speedRatio 计算：
+/// sampleCount = ceil(max(0, duration / trajectoryStep - 1e-9)) + 1。
+/// 末尾额外保留一个终点钳制周期，确保轨迹时长不是周期整数倍时仍会输出最终点。
+/// </para>
+/// <para>
+/// 第 k 个采样点的物理发送时间为 sendTime = k * servoPeriod；
+/// speedRatio 不改变物理发送周期，只用于把发送时间映射回规划轨迹时间：
+/// trajectoryTime = min(sendTime * speedRatio, duration)。
+/// 之后在原始稠密关节轨迹上按 trajectoryTime 做线性插值，并把每个关节从 rad 转为 deg。
+/// </para>
+/// <para>
+/// 诊断行也在这里统一生成：Timing 行格式为 sample_index + send_time + trajectory_time + speed_ratio；
+/// Jerk 行使用相邻发送点上的角度制关节目标做后向差分，依次近似速度、加速度和跃度，格式为
+/// start_time + end_time + dt + max_abs_jerk + jerk[j1..jN]。
+/// </para>
+/// </summary>
+public static class J519SendTrajectorySampler
+{
+    /// <summary>
+    /// 根据 J519 伺服周期和 speed_ratio 生成完整实发采样序列。
+    /// </summary>
+    /// <param name="denseJointTrajectory">规划层稠密关节轨迹，每行格式为 [time, j1..jN]，关节单位为弧度。</param>
+    /// <param name="durationSeconds">规划轨迹总时长，单位为秒。</param>
+    /// <param name="servoPeriodSeconds">J519 物理发送周期，单位为秒。</param>
+    /// <param name="speedRatio">速度倍率；只缩放轨迹采样时间，不改变物理发送周期。</param>
+    /// <returns>按 J519 发送周期排列的角度制采样序列。</returns>
+    public static IReadOnlyList<J519SendSample> SampleDenseJointTrajectory(
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
+        double durationSeconds,
+        double servoPeriodSeconds,
+        double speedRatio)
+    {
+        ArgumentNullException.ThrowIfNull(denseJointTrajectory);
+        ValidateInputs(denseJointTrajectory, durationSeconds, servoPeriodSeconds, speedRatio);
+
+        var trajectoryStepSeconds = servoPeriodSeconds * speedRatio;
+        var sampleCount = CalculateSampleCount(durationSeconds, trajectoryStepSeconds);
+        var samples = new List<J519SendSample>((int)Math.Min(sampleCount, int.MaxValue));
+        var segmentIndex = 0;
+
+        for (long sampleIndex = 0; sampleIndex < sampleCount; sampleIndex++)
+        {
+            // J519 物理周期固定，speed_ratio 只用于把发送时间映射回原始轨迹时间。
+            var sendTime = sampleIndex * servoPeriodSeconds;
+            var trajectoryTime = Math.Min(sendTime * speedRatio, durationSeconds);
+            var joints = SampleDenseJointTrajectoryDegrees(denseJointTrajectory, trajectoryTime, ref segmentIndex);
+            samples.Add(new J519SendSample(sampleIndex, sendTime, trajectoryTime, speedRatio, joints));
+        }
+
+        return samples;
+    }
+
+    /// <summary>
+    /// 按原始轨迹时长和 speed_ratio 后的轨迹时间步长计算 J519 实发采样数。
+    /// </summary>
+    /// <param name="durationSeconds">规划轨迹总时长，单位为秒。</param>
+    /// <param name="trajectoryStepSeconds">每个物理发送周期对应的轨迹时间步长，单位为秒。</param>
+    /// <returns>包含终点钳制周期的采样点数量。</returns>
+    public static long CalculateSampleCount(double durationSeconds, double trajectoryStepSeconds)
+    {
+        if (durationSeconds < 0.0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(durationSeconds), "轨迹时长不能为负数。");
+        }
+
+        if (trajectoryStepSeconds <= 0.0 || double.IsNaN(trajectoryStepSeconds) || double.IsInfinity(trajectoryStepSeconds))
+        {
+            throw new ArgumentOutOfRangeException(nameof(trajectoryStepSeconds), "轨迹采样步长必须是有限正数。");
+        }
+
+        // 非周期整数倍时多保留一个终点钳制周期，和真实 J519 下发序列保持一致。
+        return (long)Math.Ceiling(Math.Max(0.0, (durationSeconds / trajectoryStepSeconds) - 1e-9)) + 1;
+    }
+
+    /// <summary>
+    /// 构造实发时间映射文本行，格式为 sample_index + send_time + trajectory_time + speed_ratio。
+    /// </summary>
+    /// <param name="sample">待写出的 J519 实发采样点。</param>
+    /// <returns>与 ActualSendTiming.txt 兼容的数值行。</returns>
+    public static IReadOnlyList<double> BuildTimingRow(J519SendSample sample)
+    {
+        ArgumentNullException.ThrowIfNull(sample);
+        return
+        [
+            sample.SampleIndex,
+            Math.Round(sample.SendTime, 6),
+            Math.Round(sample.TrajectoryTime, 6),
+            Math.Round(sample.SpeedRatio, 6)
+        ];
+    }
+
+    /// <summary>
+    /// 构造相邻发送点之间的角度制跃度统计行。
+    /// </summary>
+    /// <param name="previousTime">上一帧发送时间，单位为秒。</param>
+    /// <param name="currentTime">当前帧发送时间，单位为秒。</param>
+    /// <param name="previousJoints">上一帧角度制关节目标。</param>
+    /// <param name="currentJoints">当前帧角度制关节目标。</param>
+    /// <param name="previousVelocity">上一帧关节速度，调用后更新为当前帧速度。</param>
+    /// <param name="previousAcceleration">上一帧关节加速度，调用后更新为当前帧加速度。</param>
+    /// <returns>与 ActualSendJerkStats.txt 兼容的数值行。</returns>
+    public static IReadOnlyList<double> BuildJerkRow(
+        double previousTime,
+        double currentTime,
+        IReadOnlyList<double> previousJoints,
+        IReadOnlyList<double> currentJoints,
+        ref double[]? previousVelocity,
+        ref double[]? previousAcceleration)
+    {
+        ArgumentNullException.ThrowIfNull(previousJoints);
+        ArgumentNullException.ThrowIfNull(currentJoints);
+
+        var dt = currentTime - previousTime;
+        if (dt <= 0.0)
+        {
+            dt = 1e-9;
+        }
+
+        var jointCount = currentJoints.Count;
+        var currentVelocity = new double[jointCount];
+        var currentAcceleration = new double[jointCount];
+        var currentJerk = new double[jointCount];
+        var maxAbsJerk = 0.0;
+
+        for (var index = 0; index < jointCount; index++)
+        {
+            currentVelocity[index] = (currentJoints[index] - previousJoints[index]) / dt;
+            if (previousVelocity is not null)
+            {
+                currentAcceleration[index] = (currentVelocity[index] - previousVelocity[index]) / dt;
+            }
+
+            if (previousAcceleration is not null)
+            {
+                currentJerk[index] = (currentAcceleration[index] - previousAcceleration[index]) / dt;
+                maxAbsJerk = Math.Max(maxAbsJerk, Math.Abs(currentJerk[index]));
+            }
+        }
+
+        previousVelocity = currentVelocity;
+        previousAcceleration = currentAcceleration;
+
+        var row = new double[jointCount + 4];
+        row[0] = Math.Round(previousTime, 6);
+        row[1] = Math.Round(currentTime, 6);
+        row[2] = Math.Round(dt, 6);
+        row[3] = Math.Round(maxAbsJerk, 6);
+        for (var index = 0; index < jointCount; index++)
+        {
+            row[index + 4] = Math.Round(currentJerk[index], 6);
+        }
+
+        return row;
+    }
+
+    /// <summary>
+    /// 在稠密关节轨迹上按时间线性插值，并转换成 J519 下发使用的角度制目标。
+    /// </summary>
+    private static double[] SampleDenseJointTrajectoryDegrees(
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
+        double trajectoryTime,
+        ref int segmentIndex)
+    {
+        if (denseJointTrajectory.Count == 1 || trajectoryTime <= denseJointTrajectory[0][0])
+        {
+            return denseJointTrajectory[0].Skip(1).Select(RadiansToDegrees).ToArray();
+        }
+
+        var lastIndex = denseJointTrajectory.Count - 1;
+        if (trajectoryTime >= denseJointTrajectory[lastIndex][0])
+        {
+            return denseJointTrajectory[lastIndex].Skip(1).Select(RadiansToDegrees).ToArray();
+        }
+
+        while (segmentIndex < lastIndex - 1 && denseJointTrajectory[segmentIndex + 1][0] < trajectoryTime)
+        {
+            segmentIndex++;
+        }
+
+        var start = denseJointTrajectory[segmentIndex];
+        var end = denseJointTrajectory[segmentIndex + 1];
+        var startTime = start[0];
+        var endTime = end[0];
+        var segmentDuration = endTime - startTime;
+        var alpha = segmentDuration <= 0.0 ? 0.0 : (trajectoryTime - startTime) / segmentDuration;
+        var joints = new double[start.Count - 1];
+        for (var index = 0; index < joints.Length; index++)
+        {
+            joints[index] = RadiansToDegrees(start[index + 1] + ((end[index + 1] - start[index + 1]) * alpha));
+        }
+
+        return joints;
+    }
+
+    /// <summary>
+    /// 校验 J519 实发采样的基础输入，避免错误时间轴进入运行时链路。
+    /// </summary>
+    private static void ValidateInputs(
+        IReadOnlyList<IReadOnlyList<double>> denseJointTrajectory,
+        double durationSeconds,
+        double servoPeriodSeconds,
+        double speedRatio)
+    {
+        if (denseJointTrajectory.Count == 0)
+        {
+            throw new InvalidOperationException("稠密关节轨迹为空。");
+        }
+
+        if (durationSeconds < 0.0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(durationSeconds), "轨迹时长不能为负数。");
+        }
+
+        if (servoPeriodSeconds <= 0.0 || double.IsNaN(servoPeriodSeconds) || double.IsInfinity(servoPeriodSeconds))
+        {
+            throw new ArgumentOutOfRangeException(nameof(servoPeriodSeconds), "J519 伺服周期必须是有限正数。");
+        }
+
+        if (speedRatio <= 0.0 || double.IsNaN(speedRatio) || double.IsInfinity(speedRatio))
+        {
+            throw new ArgumentOutOfRangeException(nameof(speedRatio), "speed_ratio 必须是有限正数。");
+        }
+    }
+
+    /// <summary>
+    /// 角度单位转换：rad -> deg。
+    /// </summary>
+    private static double RadiansToDegrees(double radians)
+    {
+        return radians * 180.0 / Math.PI;
+    }
+}

src/Flyshot.Core.Planning/Sampling/TrajectoryLimitValidator.cs

@@ -0,0 +1,206 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.Core.Planning.Sampling;
+
+/// <summary>
+/// 对最终生成的关节轨迹点做速度、加速度和 Jerk 离散复核。
+/// </summary>
+public static class TrajectoryLimitValidator
+{
+    /// <summary>
+    /// 离散差分校验允许的默认浮点容差倍率。
+    /// </summary>
+    public const double DefaultLimitTolerance = 1.000001;
+
+    /// <summary>
+    /// 校验弧度制稠密关节轨迹是否满足机器人关节限制。
+    /// </summary>
+    /// <param name="robot">机器人约束配置。</param>
+    /// <param name="rows">稠密轨迹行，格式为 time + 关节弧度。</param>
+    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
+    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    public static void ValidateDenseJointTrajectory(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> rows,
+        double toleranceMultiplier = DefaultLimitTolerance,
+        string? trajectoryName = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(rows);
+        ValidateTolerance(toleranceMultiplier);
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "dense-joint-trajectory");
+    }
+
+    /// <summary>
+    /// 校验 J519 实际发送采样点是否满足机器人关节限制。
+    /// </summary>
+    /// <param name="robot">机器人约束配置。</param>
+    /// <param name="samples">J519 发送采样点，关节单位为角度。</param>
+    /// <param name="toleranceMultiplier">限值容差倍率，用于过滤浮点舍入误差。</param>
+    /// <param name="trajectoryName">诊断用轨迹名称。</param>
+    public static void ValidateJ519SendSamples(
+        RobotProfile robot,
+        IReadOnlyList<J519SendSample> samples,
+        double toleranceMultiplier = DefaultLimitTolerance,
+        string? trajectoryName = null)
+    {
+        ArgumentNullException.ThrowIfNull(robot);
+        ArgumentNullException.ThrowIfNull(samples);
+        ValidateTolerance(toleranceMultiplier);
+
+        var rows = new List<IReadOnlyList<double>>(samples.Count);
+        foreach (var sample in samples)
+        {
+            var row = new double[robot.DegreesOfFreedom + 1];
+            row[0] = sample.SendTime;
+            for (var index = 0; index < robot.DegreesOfFreedom; index++)
+            {
+                row[index + 1] = DegreesToRadians(sample.JointsDegrees[index]);
+            }
+
+            rows.Add(row);
+        }
+
+        ValidateRows(robot, rows, toleranceMultiplier, trajectoryName ?? "j519-send-trajectory");
+    }
+
+    /// <summary>
+    /// 校验容差倍率必须为有限正数。
+    /// </summary>
+    private static void ValidateTolerance(double toleranceMultiplier)
+    {
+        if (toleranceMultiplier <= 0.0 || double.IsNaN(toleranceMultiplier) || double.IsInfinity(toleranceMultiplier))
+        {
+            throw new ArgumentOutOfRangeException(nameof(toleranceMultiplier), "限值容差倍率必须是有限正数。");
+        }
+    }
+
+    /// <summary>
+    /// 对弧度制轨迹行执行统一的离散差分限幅校验。
+    /// </summary>
+    private static void ValidateRows(
+        RobotProfile robot,
+        IReadOnlyList<IReadOnlyList<double>> rows,
+        double toleranceMultiplier,
+        string trajectoryName)
+    {
+        double? previousTime = null;
+        double[]? previousPositions = null;
+        double[]? previousVelocities = null;
+        double[]? previousAccelerations = null;
+
+        for (var rowIndex = 0; rowIndex < rows.Count; rowIndex++)
+        {
+            var row = rows[rowIndex];
+            if (row.Count < robot.DegreesOfFreedom + 1)
+            {
+                throw new InvalidOperationException(
+                    $"轨迹 {trajectoryName} 第 {rowIndex + 1} 行关节列数量不足，期望至少 {robot.DegreesOfFreedom + 1} 列，实际 {row.Count} 列。");
+            }
+
+            var currentTime = row[0];
+            var currentPositions = new double[robot.DegreesOfFreedom];
+            for (var index = 0; index < robot.DegreesOfFreedom; index++)
+            {
+                currentPositions[index] = row[index + 1];
+            }
+
+            if (previousTime is not null && previousPositions is not null)
+            {
+                var dt = currentTime - previousTime.Value;
+                if (dt <= 0.0)
+                {
+                    throw new InvalidOperationException(
+                        $"轨迹 {trajectoryName} 时间戳必须严格递增，第 {rowIndex + 1} 行 dt={dt:F9}s。");
+                }
+
+                var currentVelocities = new double[robot.DegreesOfFreedom];
+                var currentAccelerations = new double[robot.DegreesOfFreedom];
+                for (var index = 0; index < robot.DegreesOfFreedom; index++)
+                {
+                    var jointLimit = robot.JointLimits[index];
+                    currentVelocities[index] = (currentPositions[index] - previousPositions[index]) / dt;
+                    ThrowIfExceeded(
+                        trajectoryName,
+                        rowIndex,
+                        previousTime.Value,
+                        currentTime,
+                        jointLimit.JointName,
+                        "速度",
+                        currentVelocities[index],
+                        jointLimit.VelocityLimit,
+                        toleranceMultiplier);
+
+                    currentAccelerations[index] = previousVelocities is null
+                        ? 0.0
+                        : (currentVelocities[index] - previousVelocities[index]) / dt;
+                    ThrowIfExceeded(
+                        trajectoryName,
+                        rowIndex,
+                        previousTime.Value,
+                        currentTime,
+                        jointLimit.JointName,
+                        "加速度",
+                        currentAccelerations[index],
+                        jointLimit.AccelerationLimit,
+                        toleranceMultiplier);
+
+                    if (previousAccelerations is not null)
+                    {
+                        var jerk = (currentAccelerations[index] - previousAccelerations[index]) / dt;
+                        ThrowIfExceeded(
+                            trajectoryName,
+                            rowIndex,
+                            previousTime.Value,
+                            currentTime,
+                            jointLimit.JointName,
+                            "Jerk",
+                            jerk,
+                            jointLimit.JerkLimit,
+                            toleranceMultiplier*4);
+                    }
+                }
+
+                previousVelocities = currentVelocities;
+                previousAccelerations = currentAccelerations;
+            }
+
+            previousTime = currentTime;
+            previousPositions = currentPositions;
+        }
+    }
+
+    /// <summary>
+    /// 当某个差分指标超过限制时抛出包含关节和时间窗的诊断异常。
+    /// </summary>
+    private static void ThrowIfExceeded(
+        string trajectoryName,
+        int rowIndex,
+        double previousTime,
+        double currentTime,
+        string jointName,
+        string metricName,
+        double actual,
+        double limit,
+        double toleranceMultiplier)
+    {
+        var absActual = Math.Abs(actual);
+        var effectiveLimit = limit * toleranceMultiplier;
+        if (absActual <= effectiveLimit)
+        {
+            return;
+        }
+
+        throw new InvalidOperationException(
+            $"轨迹 {trajectoryName} 第 {rowIndex + 1} 行 {jointName} {metricName}超限: " +
+            $"time={previousTime:F6}->{currentTime:F6}s, actual={actual:F6}, limit={limit:F6}, ratio={absActual / limit:F4}。");
+    }
+
+    /// <summary>
+    /// 角度单位转换：deg -> rad。
+    /// </summary>
+    private static double DegreesToRadians(double degrees)
+    {
+        return degrees * Math.PI / 180.0;
+    }
+}

src/Flyshot.Core.Planning/Sampling/TrajectorySampler.cs

@@ -19,7 +19,8 @@ public static class TrajectorySampler
     public static IReadOnlyList<IReadOnlyList<double>> SampleJointTrajectory(
         PlannedTrajectory trajectory,
         double samplePeriod = 0.016,
-        int decimals = 6)
+        int decimals = 6,
+        bool smoothStartStop = false)
     {
         var spline = RebuildSpline(trajectory);
         double duration = trajectory.WaypointTimes[^1];
@@ -28,7 +29,10 @@ public static class TrajectorySampler
 
         foreach (var t in times)
         {
-            var pos = spline.Evaluate(t);
+            var evaluationTime = smoothStartStop
+                ? MapSmoothStartStopEvaluationTime(t, duration)
+                : t;
+            var pos = spline.Evaluate(evaluationTime);
             var row = new List<double>(pos.Length + 1);
             row.Add(Math.Round(t, decimals));
             foreach (var value in pos)
@@ -49,7 +53,8 @@ public static class TrajectorySampler
         PlannedTrajectory trajectory,
         RobotKinematicsModel kinematicsModel,
         double samplePeriod = 0.016,
-        int decimals = 6)
+        int decimals = 6,
+        bool smoothStartStop = false)
     {
         var spline = RebuildSpline(trajectory);
         double duration = trajectory.WaypointTimes[^1];
@@ -58,7 +63,10 @@ public static class TrajectorySampler
 
         foreach (var t in times)
         {
-            var jointPos = spline.Evaluate(t);
+            var evaluationTime = smoothStartStop
+                ? MapSmoothStartStopEvaluationTime(t, duration)
+                : t;
+            var jointPos = spline.Evaluate(evaluationTime);
             var pose = RobotKinematics.ForwardKinematics(kinematicsModel, jointPos);
             var row = new List<double>(pose.Length + 1);
             row.Add(Math.Round(t, decimals));
@@ -103,4 +111,26 @@ public static class TrajectorySampler
 
         return times;
     }
+
+    /// <summary>
+    /// 把线性采样时间映射为整段平滑起停的评估时间。
+    /// 使用 7 次 smootherstep 时间律，让起点和终点的一到三阶导都自然收敛到 0。
+    /// </summary>
+    private static double MapSmoothStartStopEvaluationTime(double sampleTime, double duration)
+    {
+        if (duration <= 0.0)
+        {
+            return 0.0;
+        }
+
+        var normalizedTime = Math.Clamp(sampleTime / duration, 0.0, 1.0);
+        var u2 = normalizedTime * normalizedTime;
+        var u3 = u2 * normalizedTime;
+        var u4 = u3 * normalizedTime;
+        var u5 = u4 * normalizedTime;
+        var u6 = u5 * normalizedTime;
+        var u7 = u6 * normalizedTime;
+        var progress = (35.0 * u4) - (84.0 * u5) + (70.0 * u6) - (20.0 * u7);
+        return duration * progress;
+    }
 }

src/Flyshot.Core.Planning/SelfAdaptIcspPlanner.cs

@@ -1,4 +1,5 @@
 using Flyshot.Core.Domain;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Planning;
 
@@ -8,7 +9,7 @@ namespace Flyshot.Core.Planning;
 /// 为什么需要这层？
 /// ---
 /// 逆向分析已经指出：原系统里普通 icsp 若仍有段 scale > 1，不会直接返回未收敛结果；
-/// 配置中还明确存在 adapt_icsp_try_num。本层把“超限段统一插入中点后再重规划”的逻辑显式落地，
+/// 配置中还明确存在 adapt_icsp_try_num。本层把"超限段统一插入中点后再重规划"的逻辑显式落地，
 /// 补上 demo 缺失的失败恢复路径。
 ///
 /// 补点策略：
@@ -24,7 +25,18 @@ public sealed class SelfAdaptIcspPlanner
     /// </summary>
     public const double ScaleTolerance = 5e-4;
 
-    private readonly ICspPlanner _innerPlanner = new();
+    private readonly ICspPlanner _innerPlanner;
+    private readonly ILogger<SelfAdaptIcspPlanner>? _logger;
+
+    /// <summary>
+    /// 初始化 SelfAdaptIcspPlanner。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public SelfAdaptIcspPlanner(ILogger<SelfAdaptIcspPlanner>? logger = null)
+    {
+        _innerPlanner = new ICspPlanner(enforceFinalScale: false, logger: null);
+        _logger = logger;
+    }
 
     /// <summary>
     /// 执行自适应 ICSP 规划，允许在超限段插入中点后重试。
@@ -48,6 +60,10 @@ public sealed class SelfAdaptIcspPlanner
             throw new ArgumentException("ICSP 至少需要 4 个示教点。", nameof(request));
         }
 
+        _logger?.LogInformation(
+            "SelfAdaptICSP 规划开始: 名称={Name}, 原始路点数={WaypointCount}, 最大补点次数={MaxAttempts}",
+            request.Program.Name, originalWaypointCount, adaptIcspTryNum);
+
         var currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
         var currentRequest = new TrajectoryRequest(
             robot: request.Robot,
@@ -76,6 +92,9 @@ public sealed class SelfAdaptIcspPlanner
 
             if (badSegments.Count == 0)
             {
+                _logger?.LogInformation(
+                    "SelfAdaptICSP 规划完成: 名称={Name}, 补点轮数={Attempts}, 最终路点数={WaypointCount}, 迭代次数={Iterations}, 总时长={Duration:F4}s",
+                    request.Program.Name, attempt, currentWaypoints.Length, trajectory.Iterations, trajectory.WaypointTimes[^1]);
                 // 所有段都满足约束，收敛成功。返回包含补中点后路点的轨迹。
                 return new PlannedTrajectory(
                     robot: trajectory.Robot,
@@ -89,15 +108,24 @@ public sealed class SelfAdaptIcspPlanner
                     threshold: trajectory.Threshold);
             }
 
+            _logger?.LogWarning(
+                "SelfAdaptICSP 第 {Attempt} 轮存在超限段: 超限段数={BadCount}, 段索引=[{Segments}], 最大缩放={MaxScale:F4}",
+                attempt, badSegments.Count, string.Join(", ", badSegments), trajectory.SegmentScales.Max());
+
             if (attempt >= maxAttempts)
             {
                 break;
             }
 
             // 对超限段插入中点，并同步扩展 shot 元数据。
+            int waypointCountBefore = currentWaypoints.Length;
             (currentWaypoints, currentShotFlags, currentOffsets, currentAddrs) =
                 InsertSegmentMidpoints(currentWaypoints, currentShotFlags, currentOffsets, currentAddrs, badSegments);
 
+            _logger?.LogDebug(
+                "SelfAdaptICSP 补中点: 路点数 {Before} -> {After}, 插入段=[{Segments}]",
+                waypointCountBefore, currentWaypoints.Length, string.Join(", ", badSegments));
+
             currentProgram = BuildProgram(request.Program.Name, currentWaypoints, currentShotFlags, currentOffsets, currentAddrs);
             currentRequest = new TrajectoryRequest(
                 robot: request.Robot,
@@ -109,6 +137,9 @@ public sealed class SelfAdaptIcspPlanner
         }
 
         double maxScale = lastTrajectory?.SegmentScales.Max() ?? double.NaN;
+        _logger?.LogError(
+            "SelfAdaptICSP 规划失败: 名称={Name}, 在 {Attempts} 轮补点后仍未收敛, 最大段缩放因子={MaxScale:F6}",
+            request.Program.Name, adaptIcspTryNum, maxScale);
         throw new InvalidOperationException(
             $"self-adapt ICSP 在 {adaptIcspTryNum} 轮补点后仍未收敛，最大段缩放因子={maxScale:F6}。");
     }

src/Flyshot.Core.Triggering/Flyshot.Core.Triggering.csproj

@@ -9,6 +9,7 @@
   <ItemGroup>
     <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
     <ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
+    <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
   </ItemGroup>
 
 </Project>

src/Flyshot.Core.Triggering/ShotTimelineBuilder.cs

@@ -1,5 +1,6 @@
 using Flyshot.Core.Domain;
 using Flyshot.Core.Planning;
+using Microsoft.Extensions.Logging;
 
 namespace Flyshot.Core.Triggering;
 
@@ -10,13 +11,17 @@ namespace Flyshot.Core.Triggering;
 public sealed class ShotTimelineBuilder
 {
     private readonly WaypointTimestampResolver _resolver;
+    private readonly ILogger<ShotTimelineBuilder>? _logger;
 
     /// <summary>
     /// 初始化 ShotTimelineBuilder，依赖一个时间戳解析器来对齐补中点后的轨迹与原始示教点。
     /// </summary>
-    public ShotTimelineBuilder(WaypointTimestampResolver resolver)
+    /// <param name="resolver">时间戳解析器。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public ShotTimelineBuilder(WaypointTimestampResolver resolver, ILogger<ShotTimelineBuilder>? logger = null)
     {
         _resolver = resolver ?? throw new ArgumentNullException(nameof(resolver));
+        _logger = logger;
     }
 
     /// <summary>
@@ -25,8 +30,9 @@ public sealed class ShotTimelineBuilder
     /// <param name="trajectory">规划后的轨迹（含补中点信息和机器人配置）。</param>
     /// <param name="holdCycles">IO 保持周期数（对应原系统的 io_keep_cycles）。</param>
     /// <param name="samplePeriod">稠密采样周期，用于离散化 sample_index 和 sample_time。</param>
+    /// <param name="useDo">是否生成可注入伺服流的 DO 事件。</param>
     /// <returns>包含 ShotEvent 和 TrajectoryDoEvent 的触发时间轴。</returns>
-    public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod)
+    public ShotTimeline Build(PlannedTrajectory trajectory, int holdCycles, TimeSpan samplePeriod, bool useDo = true)
     {
         ArgumentNullException.ThrowIfNull(trajectory);
 
@@ -69,14 +75,25 @@ public sealed class ShotTimelineBuilder
                 sampleTime: sampleTime,
                 addressGroup: addressGroup));
 
-            triggerTimeline.Add(new TrajectoryDoEvent(
-                waypointIndex: i,
-                triggerTime: triggerTime,
-                offsetCycles: program.OffsetValues[i],
-                holdCycles: holdCycles,
-                addressGroup: addressGroup));
+            if (useDo)
+            {
+                // use_do=false 时保留 ShotEvent 诊断信息，但不向运行时下发 IO 脉冲。
+                triggerTimeline.Add(new TrajectoryDoEvent(
+                    waypointIndex: i,
+                    triggerTime: triggerTime,
+                    offsetCycles: program.OffsetValues[i],
+                    holdCycles: holdCycles,
+                    addressGroup: addressGroup));
+            }
         }
 
+        _logger?.LogInformation(
+            "ShotTimeline 构建完成: shotFlags总数={ShotFlagCount}, 触发事件数={TriggerCount}, useDo={UseDo}, holdCycles={HoldCycles}",
+            program.ShotFlags.Count(static f => f),
+            triggerTimeline.Count,
+            useDo,
+            holdCycles);
+
         return new ShotTimeline(shotEvents, triggerTimeline);
     }
 }

src/Flyshot.Runtime.Common/Flyshot.Runtime.Common.csproj

@@ -6,4 +6,8 @@
     <Nullable>enable</Nullable>
   </PropertyGroup>
 
+  <ItemGroup>
+    <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
+  </ItemGroup>
+
 </Project>

src/Flyshot.Runtime.Common/IControllerRuntime.cs

@@ -0,0 +1,116 @@
+using Flyshot.Core.Domain;
+
+namespace Flyshot.Runtime.Common;
+
+/// <summary>
+/// 定义控制器运行时的最小状态与执行契约，供兼容层在不关心底层 Socket 细节的情况下调度轨迹。
+/// </summary>
+public interface IControllerRuntime
+{
+    /// <summary>
+    /// 重置当前机器人模型并清空控制器运行时状态。
+    /// </summary>
+    /// <param name="robot">当前机器人配置。</param>
+    /// <param name="robotName">兼容层传入的机器人名称。</param>
+    void ResetRobot(RobotProfile robot, string robotName);
+
+    /// <summary>
+    /// 选择当前活动控制器类型。
+    /// </summary>
+    /// <param name="sim">是否使用仿真控制器。</param>
+    void SetActiveController(bool sim);
+
+    /// <summary>
+    /// 建立到控制器 IP 的连接。
+    /// </summary>
+    /// <param name="robotIp">控制器 IP。</param>
+    void Connect(string robotIp);
+
+    /// <summary>
+    /// 断开当前控制器连接。
+    /// </summary>
+    void Disconnect();
+
+    /// <summary>
+    /// 使能机器人并记录底层缓冲区大小。
+    /// </summary>
+    /// <param name="bufferSize">运行时缓冲区大小。</param>
+    void EnableRobot(int bufferSize);
+
+    /// <summary>
+    /// 关闭机器人使能。
+    /// </summary>
+    void DisableRobot();
+
+    /// <summary>
+    /// 停止当前运动。
+    /// </summary>
+    void StopMove();
+
+    /// <summary>
+    /// 获取当前速度倍率。
+    /// </summary>
+    /// <returns>速度倍率。</returns>
+    double GetSpeedRatio();
+
+    /// <summary>
+    /// 设置当前速度倍率。
+    /// </summary>
+    /// <param name="ratio">目标速度倍率。</param>
+    void SetSpeedRatio(double ratio);
+
+    /// <summary>
+    /// 获取当前 TCP 坐标。
+    /// </summary>
+    /// <returns>TCP 三维坐标。</returns>
+    IReadOnlyList<double> GetTcp();
+
+    /// <summary>
+    /// 设置当前 TCP 坐标。
+    /// </summary>
+    /// <param name="x">TCP X。</param>
+    /// <param name="y">TCP Y。</param>
+    /// <param name="z">TCP Z。</param>
+    void SetTcp(double x, double y, double z);
+
+    /// <summary>
+    /// 读取指定 IO 端口。
+    /// </summary>
+    /// <param name="port">IO 端口。</param>
+    /// <param name="ioType">IO 类型。</param>
+    /// <returns>IO 当前值。</returns>
+    bool GetIo(int port, string ioType);
+
+    /// <summary>
+    /// 写入指定 IO 端口。
+    /// </summary>
+    /// <param name="port">IO 端口。</param>
+    /// <param name="value">目标 IO 值。</param>
+    /// <param name="ioType">IO 类型。</param>
+    void SetIo(int port, bool value, string ioType);
+
+    /// <summary>
+    /// 获取当前关节位置。
+    /// </summary>
+    /// <returns>当前关节位置。</returns>
+    IReadOnlyList<double> GetJointPositions();
+
+    /// <summary>
+    /// 获取当前末端位姿。
+    /// </summary>
+    /// <returns>当前末端位姿。</returns>
+    IReadOnlyList<double> GetPose();
+
+    /// <summary>
+    /// 获取当前运行时状态快照。
+    /// </summary>
+    /// <returns>控制器状态快照。</returns>
+    ControllerStateSnapshot GetSnapshot();
+
+    /// <summary>
+    /// 执行一条已经完成规划的轨迹，并更新最终关节位置。
+    /// </summary>
+    /// <param name="result">规划结果。</param>
+    /// <param name="finalJointPositions">轨迹执行结束后的关节位置。</param>
+    void ExecuteTrajectory(TrajectoryResult result, IReadOnlyList<double> finalJointPositions);
+}

src/Flyshot.Runtime.Fanuc/Flyshot.Runtime.Fanuc.csproj

@@ -0,0 +1,25 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Microsoft.Extensions.Logging.Abstractions" Version="8.0.1" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <AssemblyAttribute Include="System.Runtime.CompilerServices.InternalsVisibleTo">
+      <_Parameter1>Flyshot.Core.Tests</_Parameter1>
+    </AssemblyAttribute>
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
+    <ProjectReference Include="..\Flyshot.Core.Planning\Flyshot.Core.Planning.csproj" />
+    <ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
+  </ItemGroup>
+
+</Project>

src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandClient.cs

@@ -0,0 +1,454 @@
+using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// FANUC TCP 10012 命令通道客户端，提供 Req/Res 同步命令下发能力。
+/// </summary>
+public sealed class FanucCommandClient : IDisposable
+{
+    private readonly SemaphoreSlim _sendLock = new(1, 1);
+    private readonly ILogger<FanucCommandClient>? _logger;
+    private TcpClient? _tcpClient;
+    private NetworkStream? _stream;
+    private bool _disposed;
+
+    /// <summary>
+    /// 获取当前是否已建立连接。
+    /// </summary>
+    public bool IsConnected => _tcpClient?.Connected ?? false;
+
+    /// <summary>
+    /// 初始化 FANUC 命令通道客户端。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public FanucCommandClient(ILogger<FanucCommandClient>? logger = null)
+    {
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 建立到 FANUC 控制柜 TCP 10012 命令通道的连接。
+    /// </summary>
+    /// <param name="ip">控制柜 IP 地址。</param>
+    /// <param name="port">命令通道端口，默认 10012。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    public async Task ConnectAsync(string ip, int port = 10012, CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (string.IsNullOrWhiteSpace(ip))
+        {
+            throw new ArgumentException("IP 不能为空。", nameof(ip));
+        }
+
+        if (_tcpClient is not null)
+        {
+            throw new InvalidOperationException("命令通道已经连接，请先 Disconnect。");
+        }
+
+        _logger?.LogInformation("CommandClient ConnectAsync: {Ip}:{Port}", ip, port);
+
+        _tcpClient = new TcpClient { NoDelay = true };
+        await _tcpClient.ConnectAsync(ip, port, cancellationToken).ConfigureAwait(false);
+        _stream = _tcpClient.GetStream();
+
+        _logger?.LogInformation("CommandClient 已连接: {Ip}:{Port}", ip, port);
+    }
+
+    /// <summary>
+    /// 断开命令通道并释放资源。
+    /// </summary>
+    public void Disconnect()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        _logger?.LogInformation("CommandClient Disconnect");
+
+        _stream?.Dispose();
+        _stream = null;
+        _tcpClient?.Dispose();
+        _tcpClient = null;
+    }
+
+    /// <summary>
+    /// 发送通用命令并等待响应。
+    /// </summary>
+    /// <param name="messageId">命令消息号。</param>
+    /// <param name="body">命令业务体。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>原始响应帧。</returns>
+    public async Task<byte[]> SendCommandAsync(uint messageId, ReadOnlyMemory<byte> body, CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (_stream is null)
+        {
+            throw new InvalidOperationException("命令通道未连接。");
+        }
+
+        await _sendLock.WaitAsync(cancellationToken).ConfigureAwait(false);
+        try
+        {
+            var frame = FanucCommandProtocol.PackFrame(messageId, body.Span);
+            await _stream.WriteAsync(frame, cancellationToken).ConfigureAwait(false);
+
+            return await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
+        }
+        finally
+        {
+            _sendLock.Release();
+        }
+    }
+
+    /// <summary>
+    /// 发送携带程序名的命令并等待响应。
+    /// </summary>
+    /// <param name="messageId">命令消息号。</param>
+    /// <param name="programName">程序名。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> SendProgramCommandAsync(uint messageId, string programName, CancellationToken cancellationToken = default)
+    {
+        var frame = FanucCommandProtocol.PackProgramCommand(messageId, programName);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
+    }
+
+    /// <summary>
+    /// 停止指定程序。
+    /// </summary>
+    /// <param name="programName">程序名。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> StopProgramAsync(string programName, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient StopProgram: {ProgramName}", programName);
+        var result = await SendProgramCommandAsync(FanucCommandMessageIds.StopProgram, programName, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient StopProgram 成功: {ProgramName}", programName);
+        return result;
+    }
+
+    /// <summary>
+    /// 复位控制器。
+    /// </summary>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> ResetRobotAsync(CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient ResetRobot");
+        var frame = FanucCommandProtocol.PackEmptyCommand(FanucCommandMessageIds.ResetRobot);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient ResetRobot 成功");
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
+    }
+
+    /// <summary>
+    /// 查询指定程序状态。
+    /// </summary>
+    /// <param name="programName">程序名。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>程序状态响应。</returns>
+    public async Task<FanucProgramStatusResponse> GetProgramStatusAsync(string programName, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient GetProgramStatus: {ProgramName}", programName);
+        var frame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, programName);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient GetProgramStatus 成功: {ProgramName}", programName);
+        return EnsureSuccess(FanucCommandProtocol.ParseProgramStatusResponse(response));
+    }
+
+    /// <summary>
+    /// 启动指定程序。
+    /// </summary>
+    /// <param name="programName">程序名。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> StartProgramAsync(string programName, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient StartProgram: {ProgramName}", programName);
+        var result = await SendProgramCommandAsync(FanucCommandMessageIds.StartProgram, programName, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient StartProgram 成功: {ProgramName}", programName);
+        return result;
+    }
+
+    /// <summary>
+    /// 读取控制器速度倍率。
+    /// </summary>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>速度倍率响应。</returns>
+    public async Task<FanucSpeedRatioResponse> GetSpeedRatioAsync(CancellationToken cancellationToken = default)
+    {
+        _logger?.LogDebug("CommandClient GetSpeedRatio");
+        var frame = FanucCommandProtocol.PackGetSpeedRatioCommand();
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        var result = EnsureSuccess(FanucCommandProtocol.ParseSpeedRatioResponse(response));
+        _logger?.LogDebug("CommandClient GetSpeedRatio 成功: ratio={Ratio}", result.Ratio);
+        return result;
+    }
+
+    /// <summary>
+    /// 设置控制器速度倍率。
+    /// </summary>
+    /// <param name="ratio">目标速度倍率。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> SetSpeedRatioAsync(double ratio, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient SetSpeedRatio: ratio={Ratio}", ratio);
+        var frame = FanucCommandProtocol.PackSetSpeedRatioCommand(ratio);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient SetSpeedRatio 成功: ratio={Ratio}", ratio);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
+    }
+
+    /// <summary>
+    /// 读取控制器 TCP 位姿。
+    /// </summary>
+    /// <param name="tcpId">TCP ID。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>TCP 位姿响应。</returns>
+    public async Task<FanucTcpResponse> GetTcpAsync(uint tcpId = 1, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogDebug("CommandClient GetTcp: tcpId={TcpId}", tcpId);
+        var frame = FanucCommandProtocol.PackGetTcpCommand(tcpId);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        var result = EnsureSuccess(FanucCommandProtocol.ParseTcpResponse(response));
+        _logger?.LogDebug("CommandClient GetTcp 成功: tcpId={TcpId}, pose=[{Pose}]", tcpId, string.Join(", ", result.Pose.Select(v => v.ToString("F2"))));
+        return result;
+    }
+
+    /// <summary>
+    /// 设置控制器 TCP 位姿。
+    /// </summary>
+    /// <param name="tcpId">TCP ID。</param>
+    /// <param name="pose">7 维 TCP 位姿。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> SetTcpAsync(uint tcpId, IReadOnlyList<double> pose, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient SetTcp: tcpId={TcpId}, pose=[{Pose}]", tcpId, string.Join(", ", pose.Take(3).Select(v => v.ToString("F2"))));
+        var frame = FanucCommandProtocol.PackSetTcpCommand(tcpId, pose);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient SetTcp 成功: tcpId={TcpId}", tcpId);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
+    }
+
+    /// <summary>
+    /// 读取控制器 IO。
+    /// </summary>
+    /// <param name="port">IO 索引。</param>
+    /// <param name="ioType">IO 类型字符串。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>IO 读取响应。</returns>
+    public async Task<FanucIoResponse> GetIoAsync(int port, string ioType, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogDebug("CommandClient GetIo: port={Port}, ioType={IoType}", port, ioType);
+        var frame = FanucCommandProtocol.PackGetIoCommand(FanucIoTypes.FromName(ioType), port);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        var result = EnsureSuccess(FanucCommandProtocol.ParseIoResponse(response));
+        _logger?.LogDebug("CommandClient GetIo 成功: port={Port}, value={Value}", port, result.Value);
+        return result;
+    }
+
+    /// <summary>
+    /// 设置控制器 IO。
+    /// </summary>
+    /// <param name="port">IO 索引。</param>
+    /// <param name="value">目标 IO 值。</param>
+    /// <param name="ioType">IO 类型字符串。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>结果响应。</returns>
+    public async Task<FanucCommandResultResponse> SetIoAsync(int port, bool value, string ioType, CancellationToken cancellationToken = default)
+    {
+        _logger?.LogInformation("CommandClient SetIo: port={Port}, value={Value}, ioType={IoType}", port, value, ioType);
+        var frame = FanucCommandProtocol.PackSetIoCommand(FanucIoTypes.FromName(ioType), port, value);
+        var response = await SendRawFrameAsync(frame, cancellationToken).ConfigureAwait(false);
+        _logger?.LogDebug("CommandClient SetIo 成功: port={Port}, value={Value}", port, value);
+        return EnsureSuccess(FanucCommandProtocol.ParseResultResponse(response));
+    }
+
+    /// <summary>
+    /// 释放客户端资源。
+    /// </summary>
+    public void Dispose()
+    {
+        if (_disposed)
+        {
+            return;
+        }
+
+        _disposed = true;
+        _stream?.Dispose();
+        _stream = null;
+        _tcpClient?.Dispose();
+        _tcpClient = null;
+        _sendLock.Dispose();
+    }
+
+    /// <summary>
+    /// 直接发送已封装的帧并读取响应。
+    /// </summary>
+    private async Task<byte[]> SendRawFrameAsync(byte[] frame, CancellationToken cancellationToken)
+    {
+        if (_stream is null)
+        {
+            throw new InvalidOperationException("命令通道未连接。");
+        }
+
+        await _sendLock.WaitAsync(cancellationToken).ConfigureAwait(false);
+        try
+        {
+            await _stream.WriteAsync(frame, cancellationToken).ConfigureAwait(false);
+            var response = await ReadResponseFrameAsync(cancellationToken).ConfigureAwait(false);
+            _logger?.LogDebug("CommandClient 发送帧成功: 帧长度={FrameLength}, 响应长度={ResponseLength}", frame.Length, response.Length);
+            return response;
+        }
+        finally
+        {
+            _sendLock.Release();
+        }
+    }
+
+    /// <summary>
+    /// 校验普通命令响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private FanucCommandResultResponse EnsureSuccess(FanucCommandResultResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 校验程序状态响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private FanucProgramStatusResponse EnsureSuccess(FanucProgramStatusResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 校验速度倍率响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private FanucSpeedRatioResponse EnsureSuccess(FanucSpeedRatioResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 校验 TCP 位姿响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private FanucTcpResponse EnsureSuccess(FanucTcpResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 校验 IO 读取响应结果码，失败时抛出包含消息号和结果码的诊断异常。
+    /// </summary>
+    private FanucIoResponse EnsureSuccess(FanucIoResponse response)
+    {
+        if (!response.IsSuccess)
+        {
+            _logger?.LogError("FANUC 命令失败: msgId=0x{MessageId:X4}, resultCode={ResultCode}", response.MessageId, response.ResultCode);
+            throw CreateCommandFailureException(response.MessageId, response.ResultCode);
+        }
+
+        return response;
+    }
+
+    /// <summary>
+    /// 构造包含 FANUC 命令上下文的失败异常。
+    /// </summary>
+    private static InvalidOperationException CreateCommandFailureException(uint messageId, uint resultCode)
+    {
+        return new InvalidOperationException(
+            $"FANUC command 0x{messageId:X4} failed with result_code {resultCode}.");
+    }
+
+    /// <summary>
+    /// 从流中读取一条完整的 doz/zod 响应帧。
+    /// </summary>
+    private async Task<byte[]> ReadResponseFrameAsync(CancellationToken cancellationToken)
+    {
+        if (_stream is null)
+        {
+            throw new InvalidOperationException("命令通道未连接。");
+        }
+
+        // 先读取 11 字节头：doz(3) + length(4) + msg_id(4)
+        var header = new byte[11];
+        await ReadExactAsync(header, cancellationToken).ConfigureAwait(false);
+
+        if (header[0] != (byte)'d' || header[1] != (byte)'o' || header[2] != (byte)'z')
+        {
+            throw new InvalidDataException("响应帧头 magic 不正确。");
+        }
+
+        var declaredLength = System.Buffers.Binary.BinaryPrimitives.ReadUInt32BigEndian(header.AsSpan(3, 4));
+        if (declaredLength < 14)
+        {
+            throw new InvalidDataException("响应帧声明长度过短。");
+        }
+
+        var remaining = (int)declaredLength - 11;
+        var frame = new byte[declaredLength];
+        header.CopyTo(frame, 0);
+        await ReadExactAsync(frame.AsMemory(11, remaining), cancellationToken).ConfigureAwait(false);
+
+        // 校验帧尾
+        if (frame[^3] != (byte)'z' || frame[^2] != (byte)'o' || frame[^1] != (byte)'d')
+        {
+            throw new InvalidDataException("响应帧尾 magic 不正确。");
+        }
+
+        return frame;
+    }
+
+    /// <summary>
+    /// 从流中精确读取指定长度的字节。
+    /// </summary>
+    private async Task ReadExactAsync(Memory<byte> buffer, CancellationToken cancellationToken)
+    {
+        if (_stream is null)
+        {
+            throw new InvalidOperationException("命令通道未连接。");
+        }
+
+        var totalRead = 0;
+        while (totalRead < buffer.Length)
+        {
+            var read = await _stream.ReadAsync(buffer.Slice(totalRead), cancellationToken).ConfigureAwait(false);
+            if (read == 0)
+            {
+                throw new IOException("命令通道已断开，读取到 EOF。");
+            }
+
+            totalRead += read;
+        }
+    }
+}

src/Flyshot.Runtime.Fanuc/Protocol/FanucCommandProtocol.cs

@@ -0,0 +1,621 @@
+using System.Buffers.Binary;
+using System.Text;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// 定义 FANUC TCP 10012 命令通道已经由抓包和逆向资料确认的消息号。
+/// </summary>
+public static class FanucCommandMessageIds
+{
+    /// <summary>
+    /// 获取控制器程序状态的消息号。
+    /// </summary>
+    public const uint GetProgramStatus = 0x2003;
+
+    /// <summary>
+    /// 复位控制器的消息号。
+    /// </summary>
+    public const uint ResetRobot = 0x2100;
+
+    /// <summary>
+    /// 启动控制器程序的消息号。
+    /// </summary>
+    public const uint StartProgram = 0x2102;
+
+    /// <summary>
+    /// 停止控制器程序的消息号。
+    /// </summary>
+    public const uint StopProgram = 0x2103;
+
+    /// <summary>
+    /// 读取控制器 TCP 的消息号。
+    /// </summary>
+    public const uint GetTcp = 0x2200;
+
+    /// <summary>
+    /// 设置控制器 TCP 的消息号。
+    /// </summary>
+    public const uint SetTcp = 0x2201;
+
+    /// <summary>
+    /// 读取控制器速度倍率的消息号。
+    /// </summary>
+    public const uint GetSpeedRatio = 0x2206;
+
+    /// <summary>
+    /// 设置控制器速度倍率的消息号。
+    /// </summary>
+    public const uint SetSpeedRatio = 0x2207;
+
+    /// <summary>
+    /// 读取控制器 IO 的消息号。
+    /// </summary>
+    public const uint GetIo = 0x2208;
+
+    /// <summary>
+    /// 设置控制器 IO 的消息号。
+    /// </summary>
+    public const uint SetIo = 0x2209;
+}
+
+/// <summary>
+/// 定义旧 ControllerClient 公开的 FANUC IO 类型枚举值。
+/// </summary>
+public static class FanucIoTypes
+{
+    /// <summary>
+    /// FANUC 数字输入 DI。
+    /// </summary>
+    public const uint DigitalInput = 1;
+
+    /// <summary>
+    /// FANUC 数字输出 DO。
+    /// </summary>
+    public const uint DigitalOutput = 2;
+
+    /// <summary>
+    /// FANUC 机器人输入 RI。
+    /// </summary>
+    public const uint RobotInput = 8;
+
+    /// <summary>
+    /// FANUC 机器人输出 RO。
+    /// </summary>
+    public const uint RobotOutput = 9;
+
+    /// <summary>
+    /// 将 HTTP/兼容层传入的 IO 类型字符串转换为 FANUC 命令通道枚举值。
+    /// </summary>
+    /// <param name="ioType">IO 类型字符串，例如 DI、DO、RI、RO。</param>
+    /// <returns>命令通道使用的 IO 类型数值。</returns>
+    public static uint FromName(string ioType)
+    {
+        if (string.IsNullOrWhiteSpace(ioType))
+        {
+            throw new ArgumentException("IO 类型不能为空。", nameof(ioType));
+        }
+
+        return ioType.Trim().ToUpperInvariant() switch
+        {
+            "DI" or "KIOTYPEDI" => DigitalInput,
+            "DO" or "KIOTYPEDO" => DigitalOutput,
+            "RI" or "KIOTYPERI" => RobotInput,
+            "RO" or "KIOTYPERO" => RobotOutput,
+            _ => throw new ArgumentOutOfRangeException(nameof(ioType), ioType, "未知 IO 类型。")
+        };
+    }
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10012 命令通道中只携带结果码的响应。
+/// </summary>
+public sealed class FanucCommandResultResponse
+{
+    /// <summary>
+    /// 初始化命令结果响应。
+    /// </summary>
+    /// <param name="messageId">响应对应的消息号。</param>
+    /// <param name="resultCode">控制器返回的结果码。</param>
+    public FanucCommandResultResponse(uint messageId, uint resultCode)
+    {
+        MessageId = messageId;
+        ResultCode = resultCode;
+    }
+
+    /// <summary>
+    /// 获取响应对应的消息号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器返回的结果码。
+    /// </summary>
+    public uint ResultCode { get; }
+
+    /// <summary>
+    /// 获取当前响应是否表示成功。
+    /// </summary>
+    public bool IsSuccess => ResultCode == 0;
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10012 速度倍率响应。
+/// </summary>
+public sealed class FanucSpeedRatioResponse
+{
+    /// <summary>
+    /// 初始化速度倍率响应。
+    /// </summary>
+    /// <param name="messageId">响应对应的消息号。</param>
+    /// <param name="ratioInt">控制器返回的整数百分比。</param>
+    /// <param name="resultCode">控制器返回的结果码。</param>
+    public FanucSpeedRatioResponse(uint messageId, uint ratioInt, uint resultCode)
+    {
+        MessageId = messageId;
+        RatioInt = ratioInt;
+        ResultCode = resultCode;
+    }
+
+    /// <summary>
+    /// 获取响应对应的消息号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器返回的整数百分比。
+    /// </summary>
+    public uint RatioInt { get; }
+
+    /// <summary>
+    /// 获取控制器返回的结果码。
+    /// </summary>
+    public uint ResultCode { get; }
+
+    /// <summary>
+    /// 获取转换后的 0.0 到 1.0 速度倍率。
+    /// </summary>
+    public double Ratio => RatioInt / 100.0;
+
+    /// <summary>
+    /// 获取当前响应是否表示成功。
+    /// </summary>
+    public bool IsSuccess => ResultCode == 0;
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10012 TCP 位姿响应。
+/// </summary>
+public sealed class FanucTcpResponse
+{
+    /// <summary>
+    /// 初始化 TCP 位姿响应。
+    /// </summary>
+    /// <param name="messageId">响应对应的消息号。</param>
+    /// <param name="resultCode">控制器返回的结果码。</param>
+    /// <param name="tcpId">控制器返回的 TCP ID。</param>
+    /// <param name="pose">7 维 TCP 位姿。</param>
+    public FanucTcpResponse(uint messageId, uint resultCode, uint tcpId, IReadOnlyList<double> pose)
+    {
+        MessageId = messageId;
+        ResultCode = resultCode;
+        TcpId = tcpId;
+        Pose = pose.ToArray();
+    }
+
+    /// <summary>
+    /// 获取响应对应的消息号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器返回的结果码。
+    /// </summary>
+    public uint ResultCode { get; }
+
+    /// <summary>
+    /// 获取控制器返回的 TCP ID。
+    /// </summary>
+    public uint TcpId { get; }
+
+    /// <summary>
+    /// 获取 7 维 TCP 位姿。
+    /// </summary>
+    public IReadOnlyList<double> Pose { get; }
+
+    /// <summary>
+    /// 获取当前响应是否表示成功。
+    /// </summary>
+    public bool IsSuccess => ResultCode == 0;
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10012 IO 读取响应。
+/// </summary>
+public sealed class FanucIoResponse
+{
+    /// <summary>
+    /// 初始化 IO 读取响应。
+    /// </summary>
+    /// <param name="messageId">响应对应的消息号。</param>
+    /// <param name="resultCode">控制器返回的结果码。</param>
+    /// <param name="numericValue">控制器返回的 float IO 数值。</param>
+    public FanucIoResponse(uint messageId, uint resultCode, double numericValue)
+    {
+        MessageId = messageId;
+        ResultCode = resultCode;
+        NumericValue = numericValue;
+    }
+
+    /// <summary>
+    /// 获取响应对应的消息号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器返回的结果码。
+    /// </summary>
+    public uint ResultCode { get; }
+
+    /// <summary>
+    /// 获取控制器返回的原始数值。
+    /// </summary>
+    public double NumericValue { get; }
+
+    /// <summary>
+    /// 获取按布尔 IO 解释后的值。
+    /// </summary>
+    public bool Value => Math.Abs(NumericValue) > double.Epsilon;
+
+    /// <summary>
+    /// 获取当前响应是否表示成功。
+    /// </summary>
+    public bool IsSuccess => ResultCode == 0;
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10012 程序状态响应。
+/// </summary>
+public sealed class FanucProgramStatusResponse
+{
+    /// <summary>
+    /// 初始化程序状态响应。
+    /// </summary>
+    /// <param name="messageId">响应对应的消息号。</param>
+    /// <param name="resultCode">控制器返回的结果码。</param>
+    /// <param name="programStatus">控制器程序状态。</param>
+    public FanucProgramStatusResponse(uint messageId, uint resultCode, uint programStatus)
+    {
+        MessageId = messageId;
+        ResultCode = resultCode;
+        ProgramStatus = programStatus;
+    }
+
+    /// <summary>
+    /// 获取响应对应的消息号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器返回的结果码。
+    /// </summary>
+    public uint ResultCode { get; }
+
+    /// <summary>
+    /// 获取控制器程序状态值。
+    /// </summary>
+    public uint ProgramStatus { get; }
+
+    /// <summary>
+    /// 获取当前响应是否表示成功。
+    /// </summary>
+    public bool IsSuccess => ResultCode == 0;
+}
+
+/// <summary>
+/// 提供 FANUC TCP 10012 命令通道的基础封包与响应解析能力。
+/// </summary>
+public static class FanucCommandProtocol
+{
+    /// <summary>
+    /// 将无业务体命令封装为 TCP 10012 二进制帧。
+    /// </summary>
+    /// <param name="messageId">命令消息号。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackEmptyCommand(uint messageId)
+    {
+        return PackFrame(messageId, ReadOnlySpan<byte>.Empty);
+    }
+
+    /// <summary>
+    /// 将程序名命令封装为 TCP 10012 二进制帧。
+    /// </summary>
+    /// <param name="messageId">命令消息号。</param>
+    /// <param name="programName">控制器程序名。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackProgramCommand(uint messageId, string programName)
+    {
+        if (string.IsNullOrWhiteSpace(programName))
+        {
+            throw new ArgumentException("程序名不能为空。", nameof(programName));
+        }
+
+        var programNameBytes = Encoding.ASCII.GetBytes(programName);
+        var body = new byte[sizeof(uint) + programNameBytes.Length];
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(0, sizeof(uint)), (uint)programNameBytes.Length);
+        programNameBytes.CopyTo(body.AsSpan(sizeof(uint)));
+
+        return PackFrame(messageId, body);
+    }
+
+    /// <summary>
+    /// 封装读取速度倍率命令。
+    /// </summary>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackGetSpeedRatioCommand()
+    {
+        return PackEmptyCommand(FanucCommandMessageIds.GetSpeedRatio);
+    }
+
+    /// <summary>
+    /// 封装设置速度倍率命令，按旧系统逻辑转换为 0..100 的整数百分比。
+    /// </summary>
+    /// <param name="ratio">目标速度倍率。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackSetSpeedRatioCommand(double ratio)
+    {
+        if (double.IsNaN(ratio) || double.IsInfinity(ratio))
+        {
+            throw new ArgumentOutOfRangeException(nameof(ratio), "ratio 必须是有限数值。");
+        }
+
+        var ratioInt = (uint)Math.Clamp((int)(ratio * 100.0), 0, 100);
+        var body = new byte[sizeof(uint)];
+        BinaryPrimitives.WriteUInt32BigEndian(body, ratioInt);
+        return PackFrame(FanucCommandMessageIds.SetSpeedRatio, body);
+    }
+
+    /// <summary>
+    /// 封装读取 TCP 位姿命令。
+    /// </summary>
+    /// <param name="tcpId">目标 TCP ID。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackGetTcpCommand(uint tcpId)
+    {
+        var body = new byte[sizeof(uint)];
+        BinaryPrimitives.WriteUInt32BigEndian(body, tcpId);
+        return PackFrame(FanucCommandMessageIds.GetTcp, body);
+    }
+
+    /// <summary>
+    /// 封装设置 TCP 位姿命令。
+    /// </summary>
+    /// <param name="tcpId">目标 TCP ID。</param>
+    /// <param name="pose">7 维 TCP 位姿。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackSetTcpCommand(uint tcpId, IReadOnlyList<double> pose)
+    {
+        ArgumentNullException.ThrowIfNull(pose);
+        if (pose.Count != 7)
+        {
+            throw new ArgumentException("TCP 位姿必须包含 7 个数值。", nameof(pose));
+        }
+
+        var body = new byte[sizeof(uint) + sizeof(float) * 7];
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(0, sizeof(uint)), tcpId);
+        for (int i = 0; i < 7; i++)
+        {
+            BinaryPrimitives.WriteSingleBigEndian(body.AsSpan(sizeof(uint) + i * sizeof(float), sizeof(float)), (float)pose[i]);
+        }
+
+        return PackFrame(FanucCommandMessageIds.SetTcp, body);
+    }
+
+    /// <summary>
+    /// 封装读取 IO 命令，字段顺序为 io_type 后接 io_index。
+    /// </summary>
+    /// <param name="ioType">IO 类型数值。</param>
+    /// <param name="ioIndex">IO 索引。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackGetIoCommand(uint ioType, int ioIndex)
+    {
+        if (ioIndex < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(ioIndex), "IO 索引不能为负数。");
+        }
+
+        var body = new byte[sizeof(uint) * 2];
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(0, sizeof(uint)), ioType);
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(sizeof(uint), sizeof(uint)), (uint)ioIndex);
+        return PackFrame(FanucCommandMessageIds.GetIo, body);
+    }
+
+    /// <summary>
+    /// 封装设置 IO 命令，字段顺序为 io_type、io_index、float io_value。
+    /// </summary>
+    /// <param name="ioType">IO 类型数值。</param>
+    /// <param name="ioIndex">IO 索引。</param>
+    /// <param name="value">目标 IO 布尔值。</param>
+    /// <returns>可直接写入命令通道 Socket 的完整帧。</returns>
+    public static byte[] PackSetIoCommand(uint ioType, int ioIndex, bool value)
+    {
+        if (ioIndex < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(ioIndex), "IO 索引不能为负数。");
+        }
+
+        var body = new byte[sizeof(uint) * 2 + sizeof(float)];
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(0, sizeof(uint)), ioType);
+        BinaryPrimitives.WriteUInt32BigEndian(body.AsSpan(sizeof(uint), sizeof(uint)), (uint)ioIndex);
+        BinaryPrimitives.WriteSingleBigEndian(body.AsSpan(sizeof(uint) * 2, sizeof(float)), value ? 1.0f : 0.0f);
+        return PackFrame(FanucCommandMessageIds.SetIo, body);
+    }
+
+    /// <summary>
+    /// 解析只携带结果码的 TCP 10012 响应帧。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>命令结果响应。</returns>
+    public static FanucCommandResultResponse ParseResultResponse(ReadOnlySpan<byte> frame)
+    {
+        var messageId = ValidateAndReadMessageId(frame);
+        var body = GetBody(frame);
+        if (body.Length < sizeof(uint))
+        {
+            throw new InvalidDataException("FANUC 命令响应体长度不足。");
+        }
+
+        return new FanucCommandResultResponse(
+            messageId,
+            BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]));
+    }
+
+    /// <summary>
+    /// 解析 GetSpeedRatio 的 TCP 10012 响应帧。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>速度倍率响应。</returns>
+    public static FanucSpeedRatioResponse ParseSpeedRatioResponse(ReadOnlySpan<byte> frame)
+    {
+        var messageId = ValidateAndReadMessageId(frame);
+        var body = GetBody(frame);
+        if (body.Length < sizeof(uint) * 2)
+        {
+            throw new InvalidDataException("FANUC 速度倍率响应体长度不足。");
+        }
+
+        // GetSpeedRatio 的字段顺序特殊：ratio_int 在前，result_code 在后。
+        var ratioInt = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
+        var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
+        return new FanucSpeedRatioResponse(messageId, ratioInt, resultCode);
+    }
+
+    /// <summary>
+    /// 解析 GetTCP 的 TCP 10012 响应帧。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>TCP 位姿响应。</returns>
+    public static FanucTcpResponse ParseTcpResponse(ReadOnlySpan<byte> frame)
+    {
+        var messageId = ValidateAndReadMessageId(frame);
+        var body = GetBody(frame);
+        if (body.Length < sizeof(uint) * 2 + sizeof(float) * 7)
+        {
+            throw new InvalidDataException("FANUC TCP 响应体长度不足。");
+        }
+
+        var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
+        var tcpId = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
+        var pose = new double[7];
+        for (int i = 0; i < pose.Length; i++)
+        {
+            pose[i] = BinaryPrimitives.ReadSingleBigEndian(body.Slice(sizeof(uint) * 2 + i * sizeof(float), sizeof(float)));
+        }
+
+        return new FanucTcpResponse(messageId, resultCode, tcpId, pose);
+    }
+
+    /// <summary>
+    /// 解析 GetIO 的 TCP 10012 响应帧。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>IO 读取响应。</returns>
+    public static FanucIoResponse ParseIoResponse(ReadOnlySpan<byte> frame)
+    {
+        var messageId = ValidateAndReadMessageId(frame);
+        var body = GetBody(frame);
+        if (body.Length < sizeof(uint) + sizeof(float))
+        {
+            throw new InvalidDataException("FANUC IO 响应体长度不足。");
+        }
+
+        var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
+        var ioValue = BinaryPrimitives.ReadSingleBigEndian(body.Slice(sizeof(uint), sizeof(float)));
+        return new FanucIoResponse(messageId, resultCode, ioValue);
+    }
+
+    /// <summary>
+    /// 解析 GetProgStatus 的 TCP 10012 响应帧。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>程序状态响应。</returns>
+    public static FanucProgramStatusResponse ParseProgramStatusResponse(ReadOnlySpan<byte> frame)
+    {
+        var messageId = ValidateAndReadMessageId(frame);
+        var body = GetBody(frame);
+        if (body.Length < sizeof(uint) * 2)
+        {
+            throw new InvalidDataException("FANUC 程序状态响应体长度不足。");
+        }
+
+        // all-reconnect.pcap 中字段顺序为 prog_status 后接 result_code。
+        var programStatus = BinaryPrimitives.ReadUInt32BigEndian(body[..sizeof(uint)]);
+        var resultCode = BinaryPrimitives.ReadUInt32BigEndian(body.Slice(sizeof(uint), sizeof(uint)));
+        return new FanucProgramStatusResponse(messageId, resultCode, programStatus);
+    }
+
+    /// <summary>
+    /// 按 FANUC 命令通道 framing 规则封装完整帧。
+    /// </summary>
+    /// <param name="messageId">命令消息号。</param>
+    /// <param name="body">业务体。</param>
+    /// <returns>完整命令帧。</returns>
+    internal static byte[] PackFrame(uint messageId, ReadOnlySpan<byte> body)
+    {
+        var frameLength = 3 + sizeof(uint) + sizeof(uint) + body.Length + 3;
+        var frame = new byte[frameLength];
+
+        frame[0] = (byte)'d';
+        frame[1] = (byte)'o';
+        frame[2] = (byte)'z';
+        BinaryPrimitives.WriteUInt32BigEndian(frame.AsSpan(3, sizeof(uint)), (uint)frameLength);
+        BinaryPrimitives.WriteUInt32BigEndian(frame.AsSpan(7, sizeof(uint)), messageId);
+        body.CopyTo(frame.AsSpan(11));
+        frame[^3] = (byte)'z';
+        frame[^2] = (byte)'o';
+        frame[^1] = (byte)'d';
+
+        return frame;
+    }
+
+    /// <summary>
+    /// 校验完整帧并读取消息号。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>响应消息号。</returns>
+    private static uint ValidateAndReadMessageId(ReadOnlySpan<byte> frame)
+    {
+        if (frame.Length < 14)
+        {
+            throw new InvalidDataException("FANUC 命令帧长度不足。");
+        }
+
+        if (frame[0] != (byte)'d' || frame[1] != (byte)'o' || frame[2] != (byte)'z')
+        {
+            throw new InvalidDataException("FANUC 命令帧头 magic 不正确。");
+        }
+
+        if (frame[^3] != (byte)'z' || frame[^2] != (byte)'o' || frame[^1] != (byte)'d')
+        {
+            throw new InvalidDataException("FANUC 命令帧尾 magic 不正确。");
+        }
+
+        var declaredLength = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(3, sizeof(uint)));
+        if (declaredLength != frame.Length)
+        {
+            throw new InvalidDataException("FANUC 命令帧长度字段与实际长度不一致。");
+        }
+
+        return BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(7, sizeof(uint)));
+    }
+
+    /// <summary>
+    /// 获取完整帧中的业务体切片。
+    /// </summary>
+    /// <param name="frame">完整响应帧。</param>
+    /// <returns>业务体切片。</returns>
+    private static ReadOnlySpan<byte> GetBody(ReadOnlySpan<byte> frame)
+    {
+        return frame.Slice(11, frame.Length - 14);
+    }
+}

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Client.cs

@@ -0,0 +1,654 @@
+using System.Diagnostics;
+using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// FANUC UDP 60015 J519/ICSP 伺服运动客户端，提供状态包驱动的命令发送与响应接收能力。
+/// </summary>
+public sealed class FanucJ519Client : IDisposable
+{
+    private readonly object _commandLock = new();
+    private readonly object _responseLock = new();
+    private readonly ILogger<FanucJ519Client>? _logger;
+    private UdpClient? _udpClient;
+    private CancellationTokenSource? _cts;
+    private Thread? _receiveThread;
+    private FanucJ519Command? _currentCommand;
+    private FanucJ519Command? _lastSentCommand;
+    // 稠密轨迹执行时预装的命令队列，由机器人状态包节拍逐帧出队。
+    private Queue<FanucJ519Command>? _commandQueue;
+    private TaskCompletionSource? _commandQueueDrainedCompletion;
+    private List<FanucJ519Command>? _commandHistoryForTests;
+    private FanucJ519Response? _latestResponse;
+    private long _slowSendCount;
+    private long _maxReceiveToSendTicks;
+    private uint _sequenceBufferSize;
+    // 标记 StartMotion 前是否刚装载过新目标，用于区分新命令和上次运动残留目标。
+    private bool _hasPendingCommandForStart;
+    private bool _motionStarted;
+    private bool _disposed;
+
+    /// <summary>
+    /// 获取当前是否已创建 UDP 套接字。
+    /// </summary>
+    public bool IsConnected => _udpClient is not null;
+
+    /// <summary>
+    /// 初始化 FANUC J519 客户端。
+    /// </summary>
+    /// <param name="logger">日志记录器；允许 null，供无日志场景使用。</param>
+    public FanucJ519Client(ILogger<FanucJ519Client>? logger = null)
+    {
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 建立到 FANUC 控制柜 UDP 60015 运动通道的连接并启动接收循环。
+    /// </summary>
+    /// <param name="ip">控制柜 IP 地址。</param>
+    /// <param name="port">运动通道端口，默认 60015。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    public async Task ConnectAsync(string ip, int port = 60015, CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (string.IsNullOrWhiteSpace(ip))
+        {
+            throw new ArgumentException("IP 不能为空。", nameof(ip));
+        }
+
+        if (_udpClient is not null)
+        {
+            throw new InvalidOperationException("J519 通道已经连接，请先 Disconnect。");
+        }
+
+        _logger?.LogInformation("J519 ConnectAsync: {Ip}:{Port}", ip, port);
+
+        _udpClient = new UdpClient();
+        _udpClient.Connect(ip, port);
+        ConfigureRealtimeSocket(_udpClient.Client);
+        ConfigureProcessPriority();
+
+        // 发送初始化包。
+        await _udpClient.SendAsync(FanucJ519Protocol.PackInitPacket(), cancellationToken).ConfigureAwait(false);
+        _logger?.LogInformation("J519 初始化包已发送");
+
+        _cts = new CancellationTokenSource();
+        _receiveThread = new Thread(ReceiveLoop)
+        {
+            IsBackground = true,
+            Name = "J519 UDP realtime loop",
+            Priority = ThreadPriority.Highest
+        };
+        _receiveThread.Start();
+    }
+
+    /// <summary>
+    /// 启动 J519 命令发送许可；实际发包由机器人状态包节拍驱动。
+    /// </summary>
+    public void StartMotion()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (_udpClient is null)
+        {
+            throw new InvalidOperationException("J519 通道未连接。");
+        }
+
+        lock (_commandLock)
+        {
+            _lastSentCommand = null;
+            if (_motionStarted)
+            {
+                _logger?.LogDebug("J519 StartMotion: 状态包驱动发送已启用");
+                return;
+            }
+
+            if (!_hasPendingCommandForStart)
+            {
+                _currentCommand = null;
+                CompleteCommandQueueLocked();
+            }
+
+            _hasPendingCommandForStart = false;
+            _motionStarted = true;
+            
+        }
+
+        _logger?.LogInformation("J519 StartMotion: 已启用状态包驱动发送");
+    }
+
+    /// <summary>
+    /// 配置状态包驱动回发时附加到机器人 sequence 的前视缓冲深度。
+    /// </summary>
+    /// <param name="bufferSize">要附加到状态序号上的缓冲深度。</param>
+    public void SetSequenceBufferSize(int bufferSize)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (bufferSize < 0)
+        {
+            throw new ArgumentOutOfRangeException(nameof(bufferSize), "J519 sequence buffer size 不能为负数。");
+        }
+
+        lock (_commandLock)
+        {
+            _sequenceBufferSize = (uint)bufferSize;
+        }
+    }
+
+    /// <summary>
+    /// 发送状态输出停止包并停止 J519 命令发送。
+    /// </summary>
+    public async Task StopMotionAsync(CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (_udpClient is null)
+        {
+            return;
+        }
+
+        _logger?.LogInformation("J519 StopMotionAsync: 停止状态包驱动发送");
+        lock (_commandLock)
+        {
+            _motionStarted = false;
+            _hasPendingCommandForStart = false;
+            CompleteCommandQueueLocked();
+        }
+
+        // FANUC 手册中 packet type=2 表示停止状态包输出；当前保留现场抓包兼容行为。
+        await _udpClient.SendAsync(FanucJ519Protocol.PackEndPacket(), cancellationToken).ConfigureAwait(false);
+        _logger?.LogInformation("J519 StopMotionAsync: 状态输出停止包已发送");
+    }
+
+    /// <summary>
+    /// 原子更新下一周期要发送的 J519 命令。
+    /// </summary>
+    /// <param name="command">新的 J519 命令。</param>
+    public void UpdateCommand(FanucJ519Command command)
+    {
+        ArgumentNullException.ThrowIfNull(command);
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            CompleteCommandQueueLocked();
+            _currentCommand = command;
+            _hasPendingCommandForStart = true;
+            _commandHistoryForTests?.Add(command);
+        }
+
+        if (_logger?.IsEnabled(LogLevel.Debug) == true)
+        {
+            //_logger.LogDebug(
+            //    "J519 UpdateCommand: joints={Joints}, ioMask={IoMask}, ioValue={IoValue}",
+            //    command.TargetJoints,
+            //    command.WriteIoMask,
+            //    command.WriteIoValue);
+        }
+    }
+
+    /// <summary>
+    /// 装载一整段 J519 命令队列；后续每个可接收命令的机器人状态包会自动取出下一帧。
+    /// </summary>
+    /// <param name="commands">按执行顺序排列的 J519 命令列表，至少包含一帧。</param>
+    public void LoadCommandQueue(IReadOnlyList<FanucJ519Command> commands)
+    {
+        ArgumentNullException.ThrowIfNull(commands);
+        ObjectDisposedException.ThrowIf(_disposed, this);
+        if (commands.Count == 0)
+        {
+            throw new ArgumentException("J519 命令队列至少需要包含一帧。", nameof(commands));
+        }
+
+        lock (_commandLock)
+        {
+            CompleteCommandQueueLocked();
+            _commandQueue = new Queue<FanucJ519Command>(commands);
+            // 队列耗尽后继续保持最后一帧目标，避免运动结束后回落到旧目标或空目标。
+            _currentCommand = commands[^1];
+            _hasPendingCommandForStart = true;
+            _commandQueueDrainedCompletion = new TaskCompletionSource(TaskCreationOptions.RunContinuationsAsynchronously);
+            _commandHistoryForTests?.AddRange(commands);
+        }
+        _logger?.LogInformation("J519 命令队列已装载: count={Count}", commands.Count);
+        _logger?.LogInformation("开始运动前向机器人发送的sequence={Sequence}",_lastSentCommand?.Sequence ?? 0);
+    }
+
+    /// <summary>
+    /// 等待当前预装命令队列被状态包全部取出；无队列时立即完成。
+    /// </summary>
+    /// <param name="cancellationToken">取消令牌。</param>
+    /// <returns>表示等待过程的任务。</returns>
+    internal Task WaitForCommandQueueDrainedAsync(CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        Task waitTask;
+        lock (_commandLock)
+        {
+            waitTask = _commandQueueDrainedCompletion?.Task ?? Task.CompletedTask;
+        }
+
+        return waitTask.WaitAsync(cancellationToken);
+    }
+
+    /// 判断当前是否没有等待出队的命令；仅供单元测试断言。
+    /// </summary>
+    /// <returns>如果队列为空或尚未装载队列，则返回 true。</returns>
+    internal bool IsCommandQueueDrainedForTests()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            return _commandQueue is null || _commandQueue.Count == 0;
+        }
+    }
+
+    /// <summary>
+    /// 打开命令历史记录，仅供单元测试验证运行时生成的命令序列。
+    /// </summary>
+    internal void EnableCommandHistoryForTests()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            _commandHistoryForTests = [];
+        }
+    }
+
+    /// <summary>
+    /// 获取测试记录的命令历史。
+    /// </summary>
+    /// <returns>命令历史快照。</returns>
+    internal IReadOnlyList<FanucJ519Command> GetCommandHistoryForTests()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            return _commandHistoryForTests?.ToArray() ?? Array.Empty<FanucJ519Command>();
+        }
+    }
+
+    /// <summary>
+    /// 获取最近一次通过 UpdateCommand 设置的 J519 命令；供测试断言使用。
+    /// </summary>
+    /// <returns>当前 J519 命令或 null。</returns>
+    internal FanucJ519Command? GetCurrentCommand()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_commandLock)
+        {
+            return _currentCommand;
+        }
+    }
+
+    /// <summary>
+    /// 获取最近一次解析的 J519 响应；若尚未收到任何响应则返回 null。
+    /// </summary>
+    /// <returns>最新 J519 响应或 null。</returns>
+    public FanucJ519Response? GetLatestResponse()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_responseLock)
+        {
+            return _latestResponse;
+        }
+    }
+
+    /// <summary>
+    /// 断开 J519 通道并释放资源。
+    /// </summary>
+    public void Disconnect()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        _cts?.Cancel();
+
+        try
+        {
+            _udpClient?.Dispose();
+            _receiveThread?.Join(TimeSpan.FromSeconds(1));
+        }
+        catch (ObjectDisposedException)
+        {
+            // 忽略释放期间的套接字关闭异常。
+        }
+
+        _receiveThread = null;
+
+        _cts?.Dispose();
+        _cts = null;
+
+        _udpClient = null;
+
+        lock (_commandLock)
+        {
+            _currentCommand = null;
+            _lastSentCommand = null;
+            CompleteCommandQueueLocked();
+            _commandHistoryForTests = null;
+            _hasPendingCommandForStart = false;
+            _motionStarted = false;
+        }
+
+        lock (_responseLock)
+        {
+            _latestResponse = null;
+        }
+    }
+
+    /// <summary>
+    /// 释放客户端资源。
+    /// </summary>
+    public void Dispose()
+    {
+        if (_disposed)
+        {
+            return;
+        }
+
+        _disposed = true;
+        _cts?.Cancel();
+
+        try
+        {
+            _udpClient?.Dispose();
+            _receiveThread?.Join(TimeSpan.FromSeconds(1));
+        }
+        catch (ObjectDisposedException)
+        {
+            // 忽略释放期间的套接字关闭异常。
+        }
+
+        _cts?.Dispose();
+
+        lock (_commandLock)
+        {
+            CompleteCommandQueueLocked();
+            _hasPendingCommandForStart = false;
+        }
+    }
+
+    private static void ConfigureProcessPriority()
+    {
+        try
+        {
+            var process = Process.GetCurrentProcess();
+            if (process.PriorityClass < ProcessPriorityClass.High)
+            {
+                process.PriorityClass = ProcessPriorityClass.High;
+            }
+        }
+        catch (Exception)
+        {
+            // 某些部署环境不允许提升进程优先级；实时链路仍按普通优先级运行。
+        }
+    }
+
+    /// <summary>
+    /// 配置 J519 UDP 套接字的低延迟参数。
+    /// </summary>
+    /// <param name="socket">已连接 FANUC 60015 的 UDP 套接字。</param>
+    private void ConfigureRealtimeSocket(Socket socket)
+    {
+        socket.ReceiveBufferSize = 1024 * 1024;
+        socket.SendBufferSize = 1024 * 1024;
+
+        try
+        {
+            // DSCP EF(46) 标记低延迟流量，是否生效取决于现场网卡、交换机和控制柜网络策略。
+            socket.SetSocketOption(SocketOptionLevel.IP, SocketOptionName.TypeOfService, 0xB8);
+        }
+        catch (SocketException ex)
+        {
+            _logger?.LogWarning(ex, "J519 UDP 套接字无法设置 DSCP EF 优先级标记");
+        }
+    }
+
+    /// <summary>
+    /// 后台接收循环：在专用高优先级线程中同步接收 132B 响应并立即回发命令。
+    /// </summary>
+    private void ReceiveLoop()
+    {
+        var udpClient = _udpClient;
+        var cancellationToken = _cts?.Token ?? CancellationToken.None;
+        if (udpClient is null)
+        {
+            return;
+        }
+
+        _logger?.LogInformation("J519 ReceiveLoop 启动");
+        long receiveCount = 0;
+        FanucJ519Response? lastLoggedResponse = null;
+        var receiveBuffer = new byte[FanucJ519Protocol.ResponsePacketLength];
+        var commandBuffer = new byte[FanucJ519Protocol.CommandPacketLength];
+
+        try
+        {
+            while (!cancellationToken.IsCancellationRequested)
+            {
+                var received = udpClient.Client.Receive(receiveBuffer);
+                if (received == FanucJ519Protocol.ResponsePacketLength)
+                {
+                    var receiveTicks = Stopwatch.GetTimestamp();
+                    var response = FanucJ519Protocol.ParseResponse(receiveBuffer);
+
+                    // 先按状态包节拍回发命令，再做低频日志处理，减少受信周期内的非必要工作。
+                    if (response.AcceptsCommand)
+                    {
+                        SendCommandForStatus(udpClient.Client, response, commandBuffer, receiveTicks);
+                    }
+
+                    lock (_responseLock)
+                    {
+                        _latestResponse = response;
+                    }
+
+                    receiveCount++;
+
+                    // 仅在状态变化时记录 Info，避免高频日志。
+                    if (lastLoggedResponse is null
+                        || lastLoggedResponse.Status != response.Status
+                        || lastLoggedResponse.RobotInMotion != response.RobotInMotion
+                        || lastLoggedResponse.SystemReady != response.SystemReady
+                        || lastLoggedResponse.AcceptsCommand != response.AcceptsCommand)
+                    {
+                        _logger?.LogInformation(
+                            "J519 响应: status=0x{Status:X2}, seq={Seq}, accept={Accept}, received={received}, SystemReady={SystemReady}, RobotInMotion={RobotInMotion}, pose=[{Pose}], joints=[{Joints}]",
+                            response.Status,
+                            response.Sequence,
+                            response.AcceptsCommand,
+                            response.ReceivedCommand,
+                            response.SystemReady,
+                            response.RobotInMotion,
+                            string.Join(", ", response.Pose.Select(v => v.ToString("F3"))),
+                            string.Join(", ", response.JointDegrees.Take(6).Select(v => v.ToString("F3"))));
+
+                        var lastSentTargetJoints = GetLastSentTargetJointsLogText();
+                        _logger?.LogInformation("J519 最后一条发送目标关节轴: joints=[{Joints}]", lastSentTargetJoints);
+                        lastLoggedResponse = response;
+
+                        // 如果状态从AcceptsCommand true 变为false,说明机器人报错,清空队列
+                        if (!response.AcceptsCommand)
+                        {
+                            lock (_commandLock)
+                            {
+                                _currentCommand = null;
+                                CompleteCommandQueueLocked();
+                            }
+                            _logger?.LogWarning("J519 接收状态包显示机器人不可接受命令，已清空命令队列");
+                        }
+
+                    }
+                    else if (receiveCount % 1000 == 0)
+                    {
+                        var maxReceiveToSendMs = Stopwatch.GetElapsedTime(0, Interlocked.Read(ref _maxReceiveToSendTicks)).TotalMilliseconds;
+                        _logger?.LogDebug(
+                            "J519 已接收 {Count} 个响应包，receive-to-send 最大耗时约 {MaxMs:F3}ms，超过 0.5ms 次数 {SlowCount}",
+                            receiveCount,
+                            maxReceiveToSendMs,
+                            Interlocked.Read(ref _slowSendCount));
+                    }
+                }
+            }
+        }
+        catch (OperationCanceledException)
+        {
+            _logger?.LogInformation("J519 ReceiveLoop 正常取消，共接收 {Count} 个包", receiveCount);
+        }
+        catch (ObjectDisposedException)
+        {
+            _logger?.LogInformation("J519 ReceiveLoop 因 UDP 释放退出，共接收 {Count} 个包", receiveCount);
+        }
+        catch (SocketException ex) when (cancellationToken.IsCancellationRequested)
+        {
+            _logger?.LogInformation(ex, "J519 ReceiveLoop 因取消关闭套接字退出，共接收 {Count} 个包", receiveCount);
+        }
+    }
+
+    /// <summary>
+    /// 按机器人状态包的 sequence 立即回发当前 J519 命令。
+    /// </summary>
+    /// <param name="socket">已连接的 UDP 套接字。</param>
+    /// <param name="response">刚收到的机器人状态包。</param>
+    /// <param name="commandBuffer">可复用的 64B 命令包缓冲区。</param>
+    /// <param name="receiveTicks">收到状态包后的时间戳。</param>
+    private void SendCommandForStatus(Socket socket, FanucJ519Response response, byte[] commandBuffer, long receiveTicks)
+    {
+        FanucJ519Command? command;
+        var willDrainQueue = false;
+        lock (_commandLock)
+        {
+            if (!_motionStarted)
+            {
+                command = null;
+            }
+            else if (_commandQueue is { Count: > 0 } queue)
+            {
+                // 状态包是唯一节拍源：每收到一帧可接收状态，才取出下一条目标。
+                var queuedCommand = queue.Dequeue();
+                _currentCommand = queuedCommand;
+                willDrainQueue = queue.Count == 0;
+                command = queuedCommand;
+            }
+            else
+            {
+                command = _currentCommand;
+            }
+        }
+
+        if (command is null)
+        {
+            command = TryBuildHoldCommandFromLatestResponse(response);
+        }
+
+        if (command is null)
+        {
+            return;
+        }
+
+        uint sequenceToSend;
+        lock (_commandLock)
+        {
+            sequenceToSend = response.Sequence + _sequenceBufferSize;
+        }
+
+        FanucJ519Protocol.PackCommandPacket(command, sequenceToSend, commandBuffer);
+        socket.Send(commandBuffer);
+        TrackReceiveToSendLatency(receiveTicks);
+        // _logger?.LogDebug("J519 已回发命令包，seq={Seq}", sequence);
+        // _logger?.LogDebug(
+        //     "J519 回发命令详情: joints={Joints}, ioMask={IoMask}, ioValue={IoValue}",
+        //     command.TargetJoints,
+        //     command.WriteIoMask,
+        //     command.WriteIoValue);
+        lock (_commandLock)
+        {
+            _lastSentCommand = command;
+            if (willDrainQueue && _commandQueue is { Count: 0 })
+            {
+                CompleteCommandQueueLocked();
+            }
+        }
+    }
+
+    /// <summary>
+    /// 当当前没有显式目标时，使用最近一帧状态反馈关节角构造保姿命令，维持机器人当前位置。
+    /// </summary>
+    /// <param name="response">当前收到的机器人状态包。</param>
+    /// <returns>可用于保姿的临时 J519 命令；若反馈关节不足则返回 null。</returns>
+    private static FanucJ519Command? TryBuildHoldCommandFromLatestResponse(FanucJ519Response response)
+    {
+        if (response.JointDegrees.Count < 6)
+        {
+            return null;
+        }
+
+        // 无运动目标时，持续回发机器人当前反馈关节，保持伺服流与机器人当前位置一致。
+        return new FanucJ519Command(
+            sequence: response.Sequence,
+            targetJoints:
+            [
+                response.JointDegrees[0],
+                response.JointDegrees[1],
+                response.JointDegrees[2],
+                response.JointDegrees[3],
+                response.JointDegrees[4],
+                response.JointDegrees[5]
+            ]);
+    }
+
+    /// <summary>
+    /// 记录状态包到命令包发出的最大耗时和慢发送次数，供低频诊断日志观察调度抖动。
+    /// </summary>
+    /// <param name="receiveTicks">收到状态包后的时间戳。</param>
+    private void TrackReceiveToSendLatency(long receiveTicks)
+    {
+        var elapsedTicks = Stopwatch.GetTimestamp() - receiveTicks;
+        var currentMax = Interlocked.Read(ref _maxReceiveToSendTicks);
+        while (elapsedTicks > currentMax
+            && Interlocked.CompareExchange(ref _maxReceiveToSendTicks, elapsedTicks, currentMax) != currentMax)
+        {
+            currentMax = Interlocked.Read(ref _maxReceiveToSendTicks);
+        }
+
+        if (Stopwatch.GetElapsedTime(0, elapsedTicks) > TimeSpan.FromMilliseconds(0.5))
+        {
+            Interlocked.Increment(ref _slowSendCount);
+        }
+    }
+
+    /// <summary>
+    /// 清空当前命令队列，并唤醒等待队列结束的运行时任务。
+    /// </summary>
+    private void CompleteCommandQueueLocked()
+    {
+        _commandQueue?.Clear();
+        _commandQueue = null;
+        _commandQueueDrainedCompletion?.TrySetResult();
+        _commandQueueDrainedCompletion = null;
+    }
+
+    /// <summary>
+    /// 读取最近一次已成功发送命令的目标关节轴文本，便于状态日志直接对照控制目标。
+    /// </summary>
+    /// <returns>格式化后的目标关节轴文本；如果尚未发送命令则返回占位符。</returns>
+    private string GetLastSentTargetJointsLogText()
+    {
+        lock (_commandLock)
+        {
+            return _lastSentCommand is null
+                ? "n/a"
+                : string.Join(", ", _lastSentCommand.TargetJoints.Take(6).Select(v => v.ToString("F5")));
+        }
+    }
+}

src/Flyshot.Runtime.Fanuc/Protocol/FanucJ519Protocol.cs

@@ -0,0 +1,403 @@
+using System.Buffers.Binary;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// 表示 FANUC UDP 60015 J519/ICSP 伺服流中的一帧命令数据。
+/// </summary>
+public sealed class FanucJ519Command
+{
+    private readonly double[] _targetJoints;
+
+    /// <summary>
+    /// 初始化 J519 命令数据。
+    /// </summary>
+    /// <param name="sequence">命令序号。</param>
+    /// <param name="targetJoints">目标关节或扩展轴数据，最多 9 个槽位。</param>
+    /// <param name="lastData">是否为最后一帧数据。</param>
+    /// <param name="readIoType">读取 IO 类型。</param>
+    /// <param name="readIoIndex">读取 IO 起始索引。</param>
+    /// <param name="readIoMask">读取 IO 掩码。</param>
+    /// <param name="dataStyle">目标数据类型。</param>
+    /// <param name="writeIoType">写入 IO 类型。</param>
+    /// <param name="writeIoIndex">写入 IO 起始索引。</param>
+    /// <param name="writeIoMask">写入 IO 掩码。</param>
+    /// <param name="writeIoValue">写入 IO 数值。</param>
+    public FanucJ519Command(
+        uint sequence,
+        IReadOnlyList<double> targetJoints,
+        byte lastData = 0,
+        byte readIoType = 2,
+        ushort readIoIndex = 1,
+        ushort readIoMask = 255,
+        byte dataStyle = 1,
+        byte writeIoType = 2,
+        ushort writeIoIndex = 1,
+        ushort writeIoMask = 0,
+        ushort writeIoValue = 0)
+    {
+        ArgumentNullException.ThrowIfNull(targetJoints);
+        if (targetJoints.Count is <= 0 or > 9)
+        {
+            throw new ArgumentOutOfRangeException(nameof(targetJoints), "J519 目标数据必须包含 1 到 9 个槽位。");
+        }
+
+        Sequence = sequence;
+        LastData = lastData;
+        ReadIoType = readIoType;
+        ReadIoIndex = readIoIndex;
+        ReadIoMask = readIoMask;
+        DataStyle = dataStyle;
+        WriteIoType = writeIoType;
+        WriteIoIndex = writeIoIndex;
+        WriteIoMask = writeIoMask;
+        WriteIoValue = writeIoValue;
+        _targetJoints = targetJoints.ToArray();
+    }
+
+    /// <summary>
+    /// 获取命令序号。
+    /// </summary>
+    public uint Sequence { get; }
+
+    /// <summary>
+    /// 获取是否为最后一帧数据。
+    /// </summary>
+    public byte LastData { get; }
+
+    /// <summary>
+    /// 获取读取 IO 类型。
+    /// </summary>
+    public byte ReadIoType { get; }
+
+    /// <summary>
+    /// 获取读取 IO 起始索引。
+    /// </summary>
+    public ushort ReadIoIndex { get; }
+
+    /// <summary>
+    /// 获取读取 IO 掩码。
+    /// </summary>
+    public ushort ReadIoMask { get; }
+
+    /// <summary>
+    /// 获取目标数据类型。
+    /// </summary>
+    public byte DataStyle { get; }
+
+    /// <summary>
+    /// 获取写入 IO 类型。
+    /// </summary>
+    public byte WriteIoType { get; }
+
+    /// <summary>
+    /// 获取写入 IO 起始索引。
+    /// </summary>
+    public ushort WriteIoIndex { get; }
+
+    /// <summary>
+    /// 获取写入 IO 掩码。
+    /// </summary>
+    public ushort WriteIoMask { get; }
+
+    /// <summary>
+    /// 获取写入 IO 数值。
+    /// </summary>
+    public ushort WriteIoValue { get; }
+
+    /// <summary>
+    /// 获取目标关节或扩展轴数据。
+    /// </summary>
+    public IReadOnlyList<double> TargetJoints => _targetJoints;
+}
+
+/// <summary>
+/// 表示 FANUC UDP 60015 J519/ICSP 伺服流中的一帧响应数据。
+/// </summary>
+public sealed class FanucJ519Response
+{
+    private readonly double[] _pose;
+    private readonly double[] _externalAxes;
+    private readonly double[] _jointDegrees;
+    private readonly double[] _motorCurrents;
+
+    /// <summary>
+    /// 初始化 J519 响应数据。
+    /// </summary>
+    /// <param name="messageType">响应类型。</param>
+    /// <param name="version">协议版本。</param>
+    /// <param name="sequence">响应序号。</param>
+    /// <param name="status">状态位集合。</param>
+    /// <param name="readIoType">读取 IO 类型。</param>
+    /// <param name="readIoIndex">读取 IO 起始索引。</param>
+    /// <param name="readIoMask">读取 IO 掩码。</param>
+    /// <param name="readIoValue">读取 IO 数值。</param>
+    /// <param name="timestamp">控制器时间戳。</param>
+    /// <param name="pose">TCP 笛卡尔位姿。</param>
+    /// <param name="externalAxes">扩展轴反馈。</param>
+    /// <param name="jointDegrees">关节角度反馈。</param>
+    /// <param name="motorCurrents">电机电流反馈。</param>
+    public FanucJ519Response(
+        uint messageType,
+        uint version,
+        uint sequence,
+        byte status,
+        byte readIoType,
+        ushort readIoIndex,
+        ushort readIoMask,
+        ushort readIoValue,
+        uint timestamp,
+        IEnumerable<double> pose,
+        IEnumerable<double> externalAxes,
+        IEnumerable<double> jointDegrees,
+        IEnumerable<double> motorCurrents)
+    {
+        MessageType = messageType;
+        Version = version;
+        Sequence = sequence;
+        Status = status;
+        ReadIoType = readIoType;
+        ReadIoIndex = readIoIndex;
+        ReadIoMask = readIoMask;
+        ReadIoValue = readIoValue;
+        Timestamp = timestamp;
+        _pose = pose?.ToArray() ?? throw new ArgumentNullException(nameof(pose));
+        _externalAxes = externalAxes?.ToArray() ?? throw new ArgumentNullException(nameof(externalAxes));
+        _jointDegrees = jointDegrees?.ToArray() ?? throw new ArgumentNullException(nameof(jointDegrees));
+        _motorCurrents = motorCurrents?.ToArray() ?? throw new ArgumentNullException(nameof(motorCurrents));
+    }
+
+    /// <summary>
+    /// 获取响应类型。
+    /// </summary>
+    public uint MessageType { get; }
+
+    /// <summary>
+    /// 获取协议版本。
+    /// </summary>
+    public uint Version { get; }
+
+    /// <summary>
+    /// 获取响应序号。
+    /// </summary>
+    public uint Sequence { get; }
+
+    /// <summary>
+    /// 获取状态位集合。
+    /// </summary>
+    public byte Status { get; }
+
+    /// <summary>
+    /// 获取读取 IO 类型。
+    /// </summary>
+    public byte ReadIoType { get; }
+
+    /// <summary>
+    /// 获取读取 IO 起始索引。
+    /// </summary>
+    public ushort ReadIoIndex { get; }
+
+    /// <summary>
+    /// 获取读取 IO 掩码。
+    /// </summary>
+    public ushort ReadIoMask { get; }
+
+    /// <summary>
+    /// 获取读取 IO 数值。
+    /// </summary>
+    public ushort ReadIoValue { get; }
+
+    /// <summary>
+    /// 获取控制器时间戳。
+    /// </summary>
+    public uint Timestamp { get; }
+
+    /// <summary>
+    /// 获取 TCP 笛卡尔位姿。
+    /// </summary>
+    public IReadOnlyList<double> Pose => _pose;
+
+    /// <summary>
+    /// 获取扩展轴反馈。
+    /// </summary>
+    public IReadOnlyList<double> ExternalAxes => _externalAxes;
+
+    /// <summary>
+    /// 获取关节角度反馈。
+    /// </summary>
+    public IReadOnlyList<double> JointDegrees => _jointDegrees;
+
+    /// <summary>
+    /// 获取电机电流反馈。
+    /// </summary>
+    public IReadOnlyList<double> MotorCurrents => _motorCurrents;
+
+    /// <summary>
+    /// 获取控制器是否接受命令。
+    /// </summary>
+    public bool AcceptsCommand => (Status & 0b0001) != 0;
+
+    /// <summary>
+    /// 获取控制器是否已收到命令。
+    /// </summary>
+    public bool ReceivedCommand => (Status & 0b0010) != 0;
+
+    /// <summary>
+    /// 获取控制器系统是否就绪。
+    /// </summary>
+    public bool SystemReady => (Status & 0b0100) != 0;
+
+    /// <summary>
+    /// 获取机器人是否处于运动中。
+    /// </summary>
+    public bool RobotInMotion => (Status & 0b1000) != 0;
+}
+
+/// <summary>
+/// 提供 FANUC UDP 60015 J519/ICSP 伺服流的基础封包与响应解析能力。
+/// </summary>
+public static class FanucJ519Protocol
+{
+    /// <summary>
+    /// J519 初始化和结束控制包长度。
+    /// </summary>
+    public const int ControlPacketLength = 8;
+
+    /// <summary>
+    /// J519 命令包长度。
+    /// </summary>
+    public const int CommandPacketLength = 64;
+
+    /// <summary>
+    /// J519 响应包长度。
+    /// </summary>
+    public const int ResponsePacketLength = 132;
+
+    /// <summary>
+    /// 封装 J519 初始化包。
+    /// </summary>
+    /// <returns>初始化包。</returns>
+    public static byte[] PackInitPacket()
+    {
+        return PackControlPacket(0);
+    }
+
+    /// <summary>
+    /// 封装 J519 结束包。
+    /// </summary>
+    /// <returns>结束包。</returns>
+    public static byte[] PackEndPacket()
+    {
+        return PackControlPacket(2);
+    }
+
+    /// <summary>
+    /// 封装 J519 64 字节命令包。
+    /// </summary>
+    /// <param name="command">命令数据。</param>
+    /// <returns>命令包。</returns>
+    public static byte[] PackCommandPacket(FanucJ519Command command)
+    {
+        ArgumentNullException.ThrowIfNull(command);
+
+        var packet = new byte[CommandPacketLength];
+        PackCommandPacket(command, command.Sequence, packet);
+        return packet;
+    }
+
+    /// <summary>
+    /// 将 J519 64 字节命令包写入调用方提供的缓冲区。
+    /// </summary>
+    /// <param name="command">命令数据。</param>
+    /// <param name="sequence">本次出包使用的机器人状态包序号。</param>
+    /// <param name="packet">长度至少为 64 字节的命令包缓冲区。</param>
+    public static void PackCommandPacket(FanucJ519Command command, uint sequence, Span<byte> packet)
+    {
+        ArgumentNullException.ThrowIfNull(command);
+        if (packet.Length < CommandPacketLength)
+        {
+            throw new ArgumentException("J519 命令包缓冲区长度不足。", nameof(packet));
+        }
+
+        packet.Slice(0, CommandPacketLength).Clear();
+        BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x00, sizeof(uint)), 1);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x04, sizeof(uint)), 1);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.Slice(0x08, sizeof(uint)), sequence);
+        packet[0x0c] = command.LastData;
+        packet[0x0d] = command.ReadIoType;
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x0e, sizeof(ushort)), command.ReadIoIndex);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x10, sizeof(ushort)), command.ReadIoMask);
+        packet[0x12] = command.DataStyle;
+        packet[0x13] = command.WriteIoType;
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x14, sizeof(ushort)), command.WriteIoIndex);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x16, sizeof(ushort)), command.WriteIoMask);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x18, sizeof(ushort)), command.WriteIoValue);
+        BinaryPrimitives.WriteUInt16BigEndian(packet.Slice(0x1a, sizeof(ushort)), 0);
+
+        // J519 命令包固定保留 9 个 f32 目标槽位，少于 9 个时剩余槽位补零。
+        for (var index = 0; index < 9; index++)
+        {
+            var value = index < command.TargetJoints.Count ? command.TargetJoints[index] : 0.0;
+            BinaryPrimitives.WriteSingleBigEndian(packet.Slice(0x1c + (index * sizeof(float)), sizeof(float)), (float)value);
+        }
+    }
+
+    /// <summary>
+    /// 解析 J519 132 字节响应包。
+    /// </summary>
+    /// <param name="packet">响应包。</param>
+    /// <returns>响应解析结果。</returns>
+    public static FanucJ519Response ParseResponse(ReadOnlySpan<byte> packet)
+    {
+        if (packet.Length != ResponsePacketLength)
+        {
+            throw new InvalidDataException("FANUC J519 响应包长度不正确。");
+        }
+
+        return new FanucJ519Response(
+            BinaryPrimitives.ReadUInt32BigEndian(packet.Slice(0x00, sizeof(uint))),
+            BinaryPrimitives.ReadUInt32BigEndian(packet.Slice(0x04, sizeof(uint))),
+            BinaryPrimitives.ReadUInt32BigEndian(packet.Slice(0x08, sizeof(uint))),
+            packet[0x0c],
+            packet[0x0d],
+            BinaryPrimitives.ReadUInt16BigEndian(packet.Slice(0x0e, sizeof(ushort))),
+            BinaryPrimitives.ReadUInt16BigEndian(packet.Slice(0x10, sizeof(ushort))),
+            BinaryPrimitives.ReadUInt16BigEndian(packet.Slice(0x12, sizeof(ushort))),
+            BinaryPrimitives.ReadUInt32BigEndian(packet.Slice(0x14, sizeof(uint))),
+            ReadFloatArray(packet, 0x18, 6),
+            ReadFloatArray(packet, 0x30, 3),
+            ReadFloatArray(packet, 0x3c, 9),
+            ReadFloatArray(packet, 0x60, 9));
+    }
+
+    /// <summary>
+    /// 封装 J519 控制包。
+    /// </summary>
+    /// <param name="packetType">控制包类型。</param>
+    /// <returns>控制包。</returns>
+    private static byte[] PackControlPacket(uint packetType)
+    {
+        var packet = new byte[ControlPacketLength];
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(0, sizeof(uint)), packetType);
+        BinaryPrimitives.WriteUInt32BigEndian(packet.AsSpan(sizeof(uint), sizeof(uint)), 1);
+        return packet;
+    }
+
+    /// <summary>
+    /// 从响应包中读取固定长度 f32 数组。
+    /// </summary>
+    /// <param name="packet">响应包。</param>
+    /// <param name="offset">数组起始偏移。</param>
+    /// <param name="count">数组元素数量。</param>
+    /// <returns>转换成 double 的数值数组。</returns>
+    private static double[] ReadFloatArray(ReadOnlySpan<byte> packet, int offset, int count)
+    {
+        var values = new double[count];
+        for (var index = 0; index < count; index++)
+        {
+            values[index] = BinaryPrimitives.ReadSingleBigEndian(packet.Slice(offset + (index * sizeof(float)), sizeof(float)));
+        }
+
+        return values;
+    }
+}

src/Flyshot.Runtime.Fanuc/Protocol/FanucStateClient.cs

@@ -0,0 +1,632 @@
+using System.Net.Sockets;
+using Microsoft.Extensions.Logging;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// 表示 FANUC TCP 10010 状态通道客户端的连接阶段。
+/// </summary>
+public enum FanucStateConnectionState
+{
+    /// <summary>
+    /// 状态通道未连接。
+    /// </summary>
+    Disconnected,
+
+    /// <summary>
+    /// 状态通道正在建立连接。
+    /// </summary>
+    Connecting,
+
+    /// <summary>
+    /// 状态通道已连接并由后台循环接收状态帧。
+    /// </summary>
+    Connected,
+
+    /// <summary>
+    /// 状态通道在限定时间内没有收到完整状态帧。
+    /// </summary>
+    TimedOut,
+
+    /// <summary>
+    /// 状态通道正在按退避策略重新连接。
+    /// </summary>
+    Reconnecting,
+}
+
+/// <summary>
+/// 定义 FANUC TCP 10010 状态通道的超时和重连参数。
+/// </summary>
+public sealed class FanucStateClientOptions
+{
+    /// <summary>
+    /// 获取或设置接收一帧完整 90B 状态帧允许的最长时间。
+    /// </summary>
+    public TimeSpan FrameTimeout { get; init; } = TimeSpan.FromMilliseconds(250);
+
+    /// <summary>
+    /// 获取或设置初始重连等待时间。
+    /// </summary>
+    public TimeSpan ReconnectInitialDelay { get; init; } = TimeSpan.FromMilliseconds(100);
+
+    /// <summary>
+    /// 获取或设置重连等待时间的上限。
+    /// </summary>
+    public TimeSpan ReconnectMaxDelay { get; init; } = TimeSpan.FromSeconds(5);
+
+    /// <summary>
+    /// 获取或设置单次 TCP 建连允许的最长时间。
+    /// </summary>
+    public TimeSpan ConnectTimeout { get; init; } = TimeSpan.FromSeconds(5);
+}
+
+/// <summary>
+/// 表示 FANUC TCP 10010 状态通道客户端的当前诊断状态。
+/// </summary>
+public sealed class FanucStateClientStatus
+{
+    /// <summary>
+    /// 初始化状态通道诊断状态。
+    /// </summary>
+    public FanucStateClientStatus(
+        FanucStateConnectionState state,
+        bool isFrameStale,
+        DateTimeOffset? lastFrameAt,
+        long reconnectAttemptCount,
+        string? lastErrorMessage)
+    {
+        State = state;
+        IsFrameStale = isFrameStale;
+        LastFrameAt = lastFrameAt;
+        ReconnectAttemptCount = reconnectAttemptCount;
+        LastErrorMessage = lastErrorMessage;
+    }
+
+    /// <summary>
+    /// 获取状态通道当前连接阶段。
+    /// </summary>
+    public FanucStateConnectionState State { get; }
+
+    /// <summary>
+    /// 获取最近缓存状态帧是否已经超过状态帧超时窗口。
+    /// </summary>
+    public bool IsFrameStale { get; }
+
+    /// <summary>
+    /// 获取最近一次成功解析状态帧的 UTC 时间。
+    /// </summary>
+    public DateTimeOffset? LastFrameAt { get; }
+
+    /// <summary>
+    /// 获取后台循环发起重连的累计次数。
+    /// </summary>
+    public long ReconnectAttemptCount { get; }
+
+    /// <summary>
+    /// 获取最近一次状态通道异常的诊断文本。
+    /// </summary>
+    public string? LastErrorMessage { get; }
+}
+
+/// <summary>
+/// FANUC TCP 10010 状态通道客户端，持续接收状态帧并缓存最新快照。
+/// </summary>
+public sealed class FanucStateClient : IDisposable
+{
+    private readonly object _stateLock = new();
+    private readonly FanucStateClientOptions _options;
+    private readonly ILogger<FanucStateClient>? _logger;
+    private TcpClient? _tcpClient;
+    private NetworkStream? _stream;
+    private CancellationTokenSource? _receiveCts;
+    private Task? _receiveTask;
+    private FanucStateFrame? _latestFrame;
+    private FanucStateConnectionState _connectionState = FanucStateConnectionState.Disconnected;
+    private DateTimeOffset? _lastConnectedAt;
+    private DateTimeOffset? _lastFrameAt;
+    private long _reconnectAttemptCount;
+    private string? _lastErrorMessage;
+    private bool _disposed;
+
+    /// <summary>
+    /// 使用默认状态通道参数初始化客户端。
+    /// </summary>
+    public FanucStateClient()
+        : this(new FanucStateClientOptions(), null)
+    {
+    }
+
+    /// <summary>
+    /// 使用指定状态通道参数初始化客户端。
+    /// </summary>
+    /// <param name="options">超时和重连参数。</param>
+    public FanucStateClient(FanucStateClientOptions options)
+        : this(options, null)
+    {
+    }
+
+    /// <summary>
+    /// 使用指定状态通道参数和日志记录器初始化客户端。
+    /// </summary>
+    /// <param name="options">超时和重连参数。</param>
+    /// <param name="logger">日志记录器；允许 null。</param>
+    public FanucStateClient(FanucStateClientOptions options, ILogger<FanucStateClient>? logger)
+    {
+        ArgumentNullException.ThrowIfNull(options);
+        ValidateOptions(options);
+        _options = options;
+        _logger = logger;
+    }
+
+    /// <summary>
+    /// 获取当前是否已建立连接。
+    /// </summary>
+    public bool IsConnected => GetStatus().State == FanucStateConnectionState.Connected;
+
+    /// <summary>
+    /// 建立到 FANUC 控制柜 TCP 10010 状态通道的连接并启动后台接收循环。
+    /// </summary>
+    /// <param name="ip">控制柜 IP 地址。</param>
+    /// <param name="port">状态通道端口，默认 10010。</param>
+    /// <param name="cancellationToken">取消令牌。</param>
+    public async Task ConnectAsync(string ip, int port = 10010, CancellationToken cancellationToken = default)
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        if (string.IsNullOrWhiteSpace(ip))
+        {
+            throw new ArgumentException("IP 不能为空。", nameof(ip));
+        }
+
+        if (_receiveTask is not null)
+        {
+            throw new InvalidOperationException("状态通道已经连接，请先 Disconnect。");
+        }
+
+        _logger?.LogInformation("StateClient ConnectAsync: {Ip}:{Port}", ip, port);
+
+        _receiveCts = new CancellationTokenSource();
+        using var linkedCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken, _receiveCts.Token);
+
+        lock (_stateLock)
+        {
+            _connectionState = FanucStateConnectionState.Connecting;
+            _latestFrame = null;
+            _lastConnectedAt = null;
+            _lastFrameAt = null;
+            _reconnectAttemptCount = 0;
+            _lastErrorMessage = null;
+        }
+
+        try
+        {
+            await OpenConnectionAsync(ip, port, linkedCts.Token).ConfigureAwait(false);
+        }
+        catch (Exception exception)
+        {
+            _logger?.LogError(exception, "StateClient 连接失败: {Ip}:{Port}", ip, port);
+            CloseCurrentConnection();
+            lock (_stateLock)
+            {
+                _connectionState = FanucStateConnectionState.Disconnected;
+            }
+
+            _receiveCts.Dispose();
+            _receiveCts = null;
+            throw;
+        }
+
+        _receiveTask = Task.Run(
+            () => ReceiveAndReconnectLoopAsync(ip, port, _receiveCts.Token),
+            _receiveCts.Token);
+
+        _logger?.LogInformation("StateClient 已连接并启动接收循环: {Ip}:{Port}", ip, port);
+    }
+
+    /// <summary>
+    /// 断开状态通道并停止后台接收循环。
+    /// </summary>
+    public void Disconnect()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        _logger?.LogInformation("StateClient Disconnect");
+        Shutdown(clearLatestFrame: true);
+    }
+
+    /// <summary>
+    /// 获取最近一次解析的状态帧；若尚未收到任何帧则返回 null。
+    /// </summary>
+    /// <returns>最新状态帧或 null。</returns>
+    public FanucStateFrame? GetLatestFrame()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_stateLock)
+        {
+            return _latestFrame;
+        }
+    }
+
+    /// <summary>
+    /// 获取状态通道当前诊断状态。
+    /// </summary>
+    /// <returns>状态通道诊断快照。</returns>
+    public FanucStateClientStatus GetStatus()
+    {
+        ObjectDisposedException.ThrowIf(_disposed, this);
+
+        lock (_stateLock)
+        {
+            return new FanucStateClientStatus(
+                _connectionState,
+                IsFrameStaleLocked(DateTimeOffset.UtcNow),
+                _lastFrameAt,
+                _reconnectAttemptCount,
+                _lastErrorMessage);
+        }
+    }
+
+    /// <summary>
+    /// 释放客户端资源。
+    /// </summary>
+    public void Dispose()
+    {
+        if (_disposed)
+        {
+            return;
+        }
+
+        _disposed = true;
+        Shutdown(clearLatestFrame: true);
+    }
+
+    /// <summary>
+    /// 后台循环：持续接收状态帧；断线、超时或坏帧后进入退避重连。
+    /// </summary>
+    private async Task ReceiveAndReconnectLoopAsync(string ip, int port, CancellationToken cancellationToken)
+    {
+        var reconnectDelay = _options.ReconnectInitialDelay;
+        _logger?.LogInformation("StateClient 接收循环启动: {Ip}:{Port}", ip, port);
+
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            try
+            {
+                await ReceiveCurrentConnectionAsync(cancellationToken).ConfigureAwait(false);
+                reconnectDelay = _options.ReconnectInitialDelay;
+            }
+            catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
+            {
+                _logger?.LogInformation("StateClient 接收循环正常取消");
+                return;
+            }
+            catch (TimeoutException ex)
+            {
+                _logger?.LogWarning(ex, "StateClient 接收超时");
+                MarkReceiveFailure(FanucStateConnectionState.TimedOut, ex.Message);
+            }
+            catch (Exception ex) when (ex is IOException or InvalidDataException or SocketException or ObjectDisposedException)
+            {
+                _logger?.LogWarning(ex, "StateClient 连接异常，准备重连");
+                MarkReceiveFailure(FanucStateConnectionState.Reconnecting, ex.Message);
+            }
+
+            CloseCurrentConnection();
+
+            if (cancellationToken.IsCancellationRequested)
+            {
+                return;
+            }
+
+            reconnectDelay = await ReconnectWithBackoffAsync(ip, port, reconnectDelay, cancellationToken).ConfigureAwait(false);
+        }
+    }
+
+    /// <summary>
+    /// 从当前连接中持续读取状态帧，直到连接异常或被取消。
+    /// </summary>
+    private async Task ReceiveCurrentConnectionAsync(CancellationToken cancellationToken)
+    {
+        NetworkStream stream;
+        lock (_stateLock)
+        {
+            stream = _stream ?? throw new IOException("状态通道未连接。");
+        }
+
+        var buffer = new byte[FanucStateProtocol.StateFrameLength];
+        long frameCount = 0;
+        FanucStateFrame? lastLoggedFrame = null;
+
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            await ReadExactAsync(stream, buffer, cancellationToken).ConfigureAwait(false);
+
+            var frame = FanucStateProtocol.ParseFrame(buffer);
+            lock (_stateLock)
+            {
+                _latestFrame = frame;
+                _lastFrameAt = DateTimeOffset.UtcNow;
+                _connectionState = FanucStateConnectionState.Connected;
+                _lastErrorMessage = null;
+            }
+
+            frameCount++;
+
+            // 仅在状态变化或首次接收时记录 Info，避免高频日志。
+            if (lastLoggedFrame is null
+                || lastLoggedFrame.CartesianPose[0] != frame.CartesianPose[0]
+                || !lastLoggedFrame.RawTailWords.SequenceEqual(frame.RawTailWords))
+            {
+                _logger?.LogInformation(
+                    "StateClient 收到状态帧: pose=[{X:F1}, {Y:F1}, {Z:F1}], tail=[{Tail}]",
+                    frame.CartesianPose[0],
+                    frame.CartesianPose[1],
+                    frame.CartesianPose[2],
+                    string.Join(", ", frame.RawTailWords));
+                lastLoggedFrame = frame;
+            }
+            else if (frameCount % 1000 == 0)
+            {
+                _logger?.LogDebug("StateClient 已接收 {Count} 个状态帧", frameCount);
+            }
+        }
+    }
+
+    /// <summary>
+    /// 从流中精确读取固定长度字节，超过帧超时窗口则抛出超时异常。
+    /// </summary>
+    private async Task ReadExactAsync(NetworkStream stream, byte[] buffer, CancellationToken cancellationToken)
+    {
+        using var timeoutCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
+        timeoutCts.CancelAfter(_options.FrameTimeout);
+
+        var totalRead = 0;
+        try
+        {
+            while (totalRead < buffer.Length)
+            {
+                var read = await stream.ReadAsync(
+                    buffer.AsMemory(totalRead, buffer.Length - totalRead),
+                    timeoutCts.Token).ConfigureAwait(false);
+
+                if (read == 0)
+                {
+                    throw new IOException("状态通道已断开，读取到 EOF。");
+                }
+
+                totalRead += read;
+            }
+        }
+        catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
+        {
+            throw new TimeoutException("状态通道接收超时，未在限定时间内收到完整 90B 状态帧。");
+        }
+    }
+
+    /// <summary>
+    /// 打开 TCP 状态通道并更新连接状态。
+    /// </summary>
+    private async Task OpenConnectionAsync(string ip, int port, CancellationToken cancellationToken)
+    {
+        var tcpClient = new TcpClient { NoDelay = true };
+        try
+        {
+            _logger?.LogInformation("StateClient 正在连接 {Ip}:{Port}...", ip, port);
+
+            using var timeoutCts = CancellationTokenSource.CreateLinkedTokenSource(cancellationToken);
+            timeoutCts.CancelAfter(_options.ConnectTimeout);
+            await tcpClient.ConnectAsync(ip, port, timeoutCts.Token).ConfigureAwait(false);
+
+            lock (_stateLock)
+            {
+                _tcpClient = tcpClient;
+                _stream = tcpClient.GetStream();
+                _lastConnectedAt = DateTimeOffset.UtcNow;
+                _connectionState = FanucStateConnectionState.Connected;
+            }
+
+            _logger?.LogInformation("StateClient 已连接到 {Ip}:{Port}", ip, port);
+        }
+        catch (OperationCanceledException) when (!cancellationToken.IsCancellationRequested)
+        {
+            _logger?.LogWarning("StateClient 连接 {Ip}:{Port} 超时", ip, port);
+            tcpClient.Dispose();
+            throw new TimeoutException("状态通道建连超时。");
+        }
+        catch (Exception ex)
+        {
+            _logger?.LogWarning(ex, "StateClient 连接 {Ip}:{Port} 失败", ip, port);
+            tcpClient.Dispose();
+            throw;
+        }
+    }
+
+    /// <summary>
+    /// 按退避策略循环尝试重新连接，并返回下一次异常后的退避时间。
+    /// </summary>
+    private async Task<TimeSpan> ReconnectWithBackoffAsync(
+        string ip,
+        int port,
+        TimeSpan reconnectDelay,
+        CancellationToken cancellationToken)
+    {
+        var nextDelay = reconnectDelay;
+
+        while (!cancellationToken.IsCancellationRequested)
+        {
+            lock (_stateLock)
+            {
+                _connectionState = FanucStateConnectionState.Reconnecting;
+            }
+
+            _logger?.LogInformation(
+                "StateClient 将在 {Delay}ms 后尝试重连 {Ip}:{Port}...",
+                nextDelay.TotalMilliseconds,
+                ip,
+                port);
+
+            await Task.Delay(nextDelay, cancellationToken).ConfigureAwait(false);
+
+            lock (_stateLock)
+            {
+                _reconnectAttemptCount++;
+            }
+
+            try
+            {
+                await OpenConnectionAsync(ip, port, cancellationToken).ConfigureAwait(false);
+                _logger?.LogInformation(
+                    "StateClient 重连成功: {Ip}:{Port}, 累计重连次数={Count}",
+                    ip,
+                    port,
+                    _reconnectAttemptCount);
+                return _options.ReconnectInitialDelay;
+            }
+            catch (OperationCanceledException) when (cancellationToken.IsCancellationRequested)
+            {
+                throw;
+            }
+            catch (Exception ex) when (ex is SocketException or IOException or TimeoutException)
+            {
+                CloseCurrentConnection();
+                lock (_stateLock)
+                {
+                    _connectionState = FanucStateConnectionState.Reconnecting;
+                    _lastErrorMessage = ex.Message;
+                }
+
+                _logger?.LogWarning(
+                    ex,
+                    "StateClient 重连失败: {Ip}:{Port}, 下次等待={NextDelay}ms",
+                    ip,
+                    port,
+                    nextDelay.TotalMilliseconds * 2);
+
+                nextDelay = IncreaseReconnectDelay(nextDelay);
+            }
+        }
+
+        return nextDelay;
+    }
+
+    /// <summary>
+    /// 关闭当前 TCP 连接，不清除最新状态帧，供重连路径保留诊断数据。
+    /// </summary>
+    private void CloseCurrentConnection()
+    {
+        NetworkStream? stream;
+        TcpClient? tcpClient;
+        lock (_stateLock)
+        {
+            stream = _stream;
+            tcpClient = _tcpClient;
+            _stream = null;
+            _tcpClient = null;
+        }
+
+        stream?.Dispose();
+        tcpClient?.Dispose();
+    }
+
+    /// <summary>
+    /// 记录接收异常并更新状态通道连接阶段。
+    /// </summary>
+    private void MarkReceiveFailure(FanucStateConnectionState state, string message)
+    {
+        lock (_stateLock)
+        {
+            _connectionState = state;
+            _lastErrorMessage = message;
+        }
+
+        _logger?.LogWarning("StateClient 接收失败: state={State}, message={Message}", state, message);
+    }
+
+    /// <summary>
+    /// 关闭后台循环和 socket 资源。
+    /// </summary>
+    private void Shutdown(bool clearLatestFrame)
+    {
+        _receiveCts?.Cancel();
+        CloseCurrentConnection();
+
+        try
+        {
+            _receiveTask?.Wait(TimeSpan.FromSeconds(2));
+        }
+        catch (AggregateException)
+        {
+            // 后台循环可能因取消而抛出 OperationCanceledException，忽略即可。
+        }
+
+        _receiveTask = null;
+        _receiveCts?.Dispose();
+        _receiveCts = null;
+
+        lock (_stateLock)
+        {
+            _connectionState = FanucStateConnectionState.Disconnected;
+            _lastConnectedAt = null;
+            _lastErrorMessage = null;
+            _reconnectAttemptCount = 0;
+            if (clearLatestFrame)
+            {
+                _latestFrame = null;
+                _lastFrameAt = null;
+            }
+        }
+    }
+
+    /// <summary>
+    /// 判断缓存帧是否已经不能代表当前控制柜状态。
+    /// </summary>
+    private bool IsFrameStaleLocked(DateTimeOffset now)
+    {
+        if (_latestFrame is null)
+        {
+            return _connectionState is FanucStateConnectionState.TimedOut or FanucStateConnectionState.Reconnecting
+                || _reconnectAttemptCount > 0
+                || (_lastConnectedAt.HasValue && now - _lastConnectedAt.Value > _options.FrameTimeout);
+        }
+
+        return _lastFrameAt.HasValue && now - _lastFrameAt.Value > _options.FrameTimeout;
+    }
+
+    /// <summary>
+    /// 计算下一轮重连等待时间。
+    /// </summary>
+    private TimeSpan IncreaseReconnectDelay(TimeSpan currentDelay)
+    {
+        var doubledMilliseconds = Math.Max(currentDelay.TotalMilliseconds * 2.0, _options.ReconnectInitialDelay.TotalMilliseconds);
+        var cappedMilliseconds = Math.Min(doubledMilliseconds, _options.ReconnectMaxDelay.TotalMilliseconds);
+        return TimeSpan.FromMilliseconds(cappedMilliseconds);
+    }
+
+    /// <summary>
+    /// 校验状态通道参数，避免后台循环使用无效时间窗口。
+    /// </summary>
+    private static void ValidateOptions(FanucStateClientOptions options)
+    {
+        ValidatePositive(options.FrameTimeout, nameof(options.FrameTimeout));
+        ValidatePositive(options.ReconnectInitialDelay, nameof(options.ReconnectInitialDelay));
+        ValidatePositive(options.ReconnectMaxDelay, nameof(options.ReconnectMaxDelay));
+        ValidatePositive(options.ConnectTimeout, nameof(options.ConnectTimeout));
+
+        if (options.ReconnectMaxDelay < options.ReconnectInitialDelay)
+        {
+            throw new ArgumentOutOfRangeException(nameof(options), "最大重连等待时间不能小于初始重连等待时间。");
+        }
+    }
+
+    /// <summary>
+    /// 校验时间参数必须为正值。
+    /// </summary>
+    private static void ValidatePositive(TimeSpan value, string parameterName)
+    {
+        if (value <= TimeSpan.Zero)
+        {
+            throw new ArgumentOutOfRangeException(parameterName, "时间参数必须大于 0。");
+        }
+    }
+}

src/Flyshot.Runtime.Fanuc/Protocol/FanucStateProtocol.cs

@@ -0,0 +1,187 @@
+using System.Buffers.Binary;
+
+namespace Flyshot.Runtime.Fanuc.Protocol;
+
+/// <summary>
+/// 表示 FANUC TCP 10010 状态通道中的单个状态帧。
+/// </summary>
+public sealed class FanucStateFrame
+{
+    private readonly double[] _pose;
+    private readonly double[] _jointOrExtensionValues;
+    private readonly double[] _jointRadians;
+    private readonly double[] _externalAxes;
+    private readonly uint[] _tailWords;
+
+    /// <summary>
+    /// 初始化状态帧解析结果。
+    /// </summary>
+    /// <param name="messageId">状态帧消息号或序号。</param>
+    /// <param name="pose">控制器回传的笛卡尔位姿。</param>
+    /// <param name="jointOrExtensionValues">控制器回传的关节或扩展轴状态。</param>
+    /// <param name="tailWords">状态帧尾部状态槽位。</param>
+    public FanucStateFrame(
+        uint messageId,
+        IEnumerable<double> pose,
+        IEnumerable<double> jointOrExtensionValues,
+        IEnumerable<uint> tailWords)
+    {
+        MessageId = messageId;
+        _pose = pose?.ToArray() ?? throw new ArgumentNullException(nameof(pose));
+        _jointOrExtensionValues = jointOrExtensionValues?.ToArray() ?? throw new ArgumentNullException(nameof(jointOrExtensionValues));
+        _tailWords = tailWords?.ToArray() ?? throw new ArgumentNullException(nameof(tailWords));
+
+        if (_pose.Length != 6)
+        {
+            throw new ArgumentException("状态帧位姿必须包含 6 个 float。", nameof(pose));
+        }
+
+        if (_jointOrExtensionValues.Length != 9)
+        {
+            throw new ArgumentException("状态帧关节/扩展轴必须包含 9 个 float。", nameof(jointOrExtensionValues));
+        }
+
+        if (_tailWords.Length != 4)
+        {
+            throw new ArgumentException("状态帧尾部状态字必须包含 4 个 u32。", nameof(tailWords));
+        }
+
+        _jointRadians = _jointOrExtensionValues.Take(6).ToArray();
+        _externalAxes = _jointOrExtensionValues.Skip(6).ToArray();
+    }
+
+    /// <summary>
+    /// 获取状态帧消息号或序号。
+    /// </summary>
+    public uint MessageId { get; }
+
+    /// <summary>
+    /// 获取控制器回传的笛卡尔位姿。
+    /// </summary>
+    public IReadOnlyList<double> Pose => _pose;
+
+    /// <summary>
+    /// 获取控制器回传的笛卡尔位姿 X/Y/Z/W/P/R，单位来自 FANUC 状态服务器。
+    /// </summary>
+    public IReadOnlyList<double> CartesianPose => _pose;
+
+    /// <summary>
+    /// 获取控制器回传的关节或扩展轴状态。
+    /// </summary>
+    public IReadOnlyList<double> JointOrExtensionValues => _jointOrExtensionValues;
+
+    /// <summary>
+    /// 获取前 6 个机器人关节角度，当前现场抓包更支持按弧度制理解。
+    /// </summary>
+    public IReadOnlyList<double> JointRadians => _jointRadians;
+
+    /// <summary>
+    /// 获取后 3 个扩展轴槽位。当前现场样本中这些值通常为 0。
+    /// </summary>
+    public IReadOnlyList<double> ExternalAxes => _externalAxes;
+
+    /// <summary>
+    /// 获取状态帧尾部状态槽位。
+    /// </summary>
+    public IReadOnlyList<uint> TailWords => _tailWords;
+
+    /// <summary>
+    /// 获取原始尾部状态字。当前抓包中恒为 [2,0,0,1]，语义暂不强行推断。
+    /// </summary>
+    public IReadOnlyList<uint> RawTailWords => _tailWords;
+
+    /// <summary>
+    /// 获取第 0 个原始尾部状态字。
+    /// </summary>
+    public uint StatusWord0 => _tailWords[0];
+
+    /// <summary>
+    /// 获取第 1 个原始尾部状态字。
+    /// </summary>
+    public uint StatusWord1 => _tailWords[1];
+
+    /// <summary>
+    /// 获取第 2 个原始尾部状态字。
+    /// </summary>
+    public uint StatusWord2 => _tailWords[2];
+
+    /// <summary>
+    /// 获取第 3 个原始尾部状态字。
+    /// </summary>
+    public uint StatusWord3 => _tailWords[3];
+}
+
+/// <summary>
+/// 提供 FANUC TCP 10010 状态通道固定帧解析能力。
+/// </summary>
+public static class FanucStateProtocol
+{
+    /// <summary>
+    /// FANUC 状态通道抓包确认的完整帧长度。
+    /// </summary>
+    public const int StateFrameLength = 90;
+
+    /// <summary>
+    /// 解析 TCP 10010 状态通道中的单个完整状态帧。
+    /// </summary>
+    /// <param name="frame">完整状态帧。</param>
+    /// <returns>状态帧解析结果。</returns>
+    public static FanucStateFrame ParseFrame(ReadOnlySpan<byte> frame)
+    {
+        ValidateFrame(frame);
+
+        var pose = new double[6];
+        var jointOrExtensionValues = new double[9];
+        var tailWords = new uint[4];
+
+        // 状态帧采用固定布局，偏移来自抓包与 StateServer 逆向结论。
+        for (var index = 0; index < pose.Length; index++)
+        {
+            pose[index] = BinaryPrimitives.ReadSingleBigEndian(frame.Slice(11 + (index * sizeof(float)), sizeof(float)));
+        }
+
+        for (var index = 0; index < jointOrExtensionValues.Length; index++)
+        {
+            jointOrExtensionValues[index] = BinaryPrimitives.ReadSingleBigEndian(frame.Slice(35 + (index * sizeof(float)), sizeof(float)));
+        }
+
+        for (var index = 0; index < tailWords.Length; index++)
+        {
+            tailWords[index] = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(71 + (index * sizeof(uint)), sizeof(uint)));
+        }
+
+        return new FanucStateFrame(
+            BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(7, sizeof(uint))),
+            pose,
+            jointOrExtensionValues,
+            tailWords);
+    }
+
+    /// <summary>
+    /// 校验状态帧的长度、magic 和长度字段。
+    /// </summary>
+    /// <param name="frame">完整状态帧。</param>
+    private static void ValidateFrame(ReadOnlySpan<byte> frame)
+    {
+        if (frame.Length != StateFrameLength)
+        {
+            throw new InvalidDataException("FANUC 状态帧长度不符合 TCP 10010 固定帧布局。");
+        }
+
+        if (frame[0] != (byte)'d' || frame[1] != (byte)'o' || frame[2] != (byte)'z')
+        {
+            throw new InvalidDataException("FANUC 状态帧头 magic 不正确。");
+        }
+
+        if (frame[^3] != (byte)'z' || frame[^2] != (byte)'o' || frame[^1] != (byte)'d')
+        {
+            throw new InvalidDataException("FANUC 状态帧尾 magic 不正确。");
+        }
+
+        var declaredLength = BinaryPrimitives.ReadUInt32BigEndian(frame.Slice(3, sizeof(uint)));
+        if (declaredLength != frame.Length)
+        {
+            throw new InvalidDataException("FANUC 状态帧长度字段与实际长度不一致。");
+        }
+    }
+}

src/Flyshot.Server.Host/Controllers/DebugConsoleController.cs

@@ -0,0 +1,64 @@
+using Flyshot.Server.Host;
+using Microsoft.AspNetCore.Mvc;
+using Microsoft.Extensions.Options;
+
+namespace Flyshot.Server.Host.Controllers;
+
+/// <summary>
+/// 提供浏览器调试页所需的运行时配置 API。
+/// </summary>
+/// <remarks>
+/// 本控制器自身不进入 Swagger 文档（<see cref="ApiExplorerSettingsAttribute.IgnoreApi"/>）。
+/// 调试页静态资源位于 wwwroot，Swagger 地址由配置 API 下发。
+/// </remarks>
+[ApiController]
+[ApiExplorerSettings(IgnoreApi = true)]
+[Tags("基础与状态")]
+public sealed class DebugConsoleController : ControllerBase
+{
+    /// <summary>
+    /// Swagger 配置项，用于决定调试页是否对外暴露以及拼接 OpenAPI JSON 地址。
+    /// </summary>
+    private readonly HostSwaggerOptions _swaggerOptions;
+
+    /// <summary>
+    /// 初始化在线调试页控制器。
+    /// </summary>
+    /// <param name="swaggerOptions">来自 <c>Swagger</c> 配置节的标准选项。</param>
+    public DebugConsoleController(IOptions<HostSwaggerOptions> swaggerOptions)
+    {
+        ArgumentNullException.ThrowIfNull(swaggerOptions);
+        _swaggerOptions = swaggerOptions.Value ?? new HostSwaggerOptions();
+    }
+
+    /// <summary>
+    /// 返回静态调试页启动时所需的 Swagger 文档地址。
+    /// </summary>
+    /// <returns>当 Swagger 启用时返回配置；否则返回 404，与 Swagger UI 保持一致的可见性策略。</returns>
+    [HttpGet("/api/debug/config")]
+    public IActionResult GetDebugConfig()
+    {
+        if (!_swaggerOptions.Enabled)
+        {
+            return NotFound();
+        }
+
+        return Ok(new
+        {
+            SwaggerJsonUrl = ResolveSwaggerJsonUrl(_swaggerOptions)
+        });
+    }
+
+    /// <summary>
+    /// 根据 <see cref="HostSwaggerOptions.JsonRouteTemplate"/> 与 <see cref="HostSwaggerOptions.DocumentName"/> 解析出 Swagger JSON 实际地址。
+    /// </summary>
+    /// <param name="options">Swagger 配置选项。</param>
+    /// <returns>形如 <c>/swagger/v1/swagger.json</c> 的绝对路径。</returns>
+    private static string ResolveSwaggerJsonUrl(HostSwaggerOptions options)
+    {
+        // Swashbuckle 的 RouteTemplate 不带前导斜杠，这里统一加上保证前端 fetch 走绝对路径。
+        var template = options.JsonRouteTemplate ?? "swagger/{documentName}/swagger.json";
+        var path = template.Replace("{documentName}", options.DocumentName ?? "v1", StringComparison.Ordinal);
+        return path.StartsWith('/') ? path : "/" + path;
+    }
+}

src/Flyshot.Server.Host/Controllers/HealthController.cs

@@ -0,0 +1,25 @@
+using Microsoft.AspNetCore.Mvc;
+
+namespace Flyshot.Server.Host.Controllers;
+
+/// <summary>
+/// 提供宿主基础探活与诊断接口。
+/// </summary>
+[ApiController]
+[Tags("基础与状态")]
+public sealed class HealthController : ControllerBase
+{
+    /// <summary>
+    /// 返回宿主健康状态。
+    /// </summary>
+    /// <returns>固定的健康检查 JSON。</returns>
+    [HttpGet("/healthz")]
+    public IActionResult GetHealth()
+    {
+        return Ok(new
+        {
+            status = "ok",
+            service = "flyshot-server-host"
+        });
+    }
+}

src/Flyshot.Server.Host/Controllers/StatusController.cs

@@ -0,0 +1,72 @@
+using Flyshot.ControllerClientCompat;
+using Microsoft.AspNetCore.Mvc;
+
+namespace Flyshot.Server.Host.Controllers;
+
+/// <summary>
+/// 提供控制器状态快照 API，状态监控页面由 wwwroot 静态资源承载。
+/// </summary>
+[ApiController]
+[Tags("基础与状态")]
+public sealed class StatusController : ControllerBase
+{
+    private readonly IControllerClientCompatService _compatService;
+
+    /// <summary>
+    /// 初始化状态监控控制器。
+    /// </summary>
+    /// <param name="compatService">ControllerClient 兼容层服务。</param>
+    public StatusController(IControllerClientCompatService compatService)
+    {
+        _compatService = compatService ?? throw new ArgumentNullException(nameof(compatService));
+    }
+
+    /// <summary>
+    /// 提供短路由 `/status`，跳转到静态状态页。
+    /// </summary>
+    /// <returns>重定向到 <c>/status.html</c>。</returns>
+    [HttpGet("/status")]
+    public IActionResult StatusPage()
+    {
+        return Redirect("/status.html");
+    }
+
+    /// <summary>
+    /// 提供短路由 `/debug`，跳转到静态调试页。
+    /// </summary>
+    /// <returns>重定向到 <c>/debug.html</c>。</returns>
+    [HttpGet("/debug")]
+    public IActionResult DebugPage()
+    {
+        return Redirect("/debug.html");
+    }
+
+    /// <summary>
+    /// 返回当前 ControllerClient 兼容层与控制器运行时状态快照。
+    /// </summary>
+    /// <returns>面向状态页和外部诊断的 JSON 快照。</returns>
+    [HttpGet("/api/status/snapshot")]
+    public IActionResult GetSnapshot()
+    {
+        var snapshot = _compatService.GetControllerSnapshot();
+        var isSetup = _compatService.IsSetUp;
+
+        // 状态页需要在机器人未初始化时仍能打开，因此只有初始化后才读取机器人元数据。
+        var robotName = isSetup ? _compatService.GetRobotName() : null;
+        var degreesOfFreedom = isSetup ? _compatService.GetDegreesOfFreedom() : 0;
+        var uploadedTrajectories = isSetup ? _compatService.ListTrajectoryNames() : Array.Empty<string>();
+
+        return Ok(new
+        {
+            Status = "ok",
+            Service = "flyshot-server-host",
+            ServerVersion = _compatService.GetServerVersion(),
+            ClientVersion = _compatService.GetClientVersion(),
+            IsSetup = isSetup,
+            RobotName = robotName,
+            DegreesOfFreedom = degreesOfFreedom,
+            UploadedTrajectories = uploadedTrajectories,
+            Snapshot = snapshot
+        });
+    }
+}

src/Flyshot.Server.Host/Flyshot.Server.Host.csproj

@@ -1,6 +1,31 @@
 <Project Sdk="Microsoft.NET.Sdk.Web">
+  <PropertyGroup>
+    <!-- 生成 XML 文档以便 Swashbuckle 把控制器/DTO 上的 /// summary 注释注入 OpenAPI 文档，
+         调试页和 Swagger UI 的端点标题都依赖这一份文档。1591 抑制掉 “缺失 XML 注释” 的噪音。 -->
+    <GenerateDocumentationFile>true</GenerateDocumentationFile>
+    <NoWarn>$(NoWarn);1591</NoWarn>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="NLog.Web.AspNetCore" Version="5.3.11" />
+    <PackageReference Include="Swashbuckle.AspNetCore" Version="6.6.2" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <!-- 运行时需要把仓库根目录的 NLog.config 带到 Host 输出目录，确保控制台和文件日志目标生效。 -->
+    <Content Include="..\..\NLog.config" Link="NLog.config" CopyToOutputDirectory="PreserveNewest" />
+    <!-- 运行时配置根目录固定为输出目录 Config，调试和发布都复制仓库内固化配置。 -->
+    <Content Include="..\..\Config\**\*" Link="Config\%(RecursiveDir)%(Filename)%(Extension)" CopyToOutputDirectory="PreserveNewest" CopyToPublishDirectory="PreserveNewest" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <!-- 让静态调试页在构建和发布时都物理复制到输出目录，避免运行时只依赖源码树中的 wwwroot。 -->
+    <Content Update="wwwroot\**\*" CopyToOutputDirectory="PreserveNewest" CopyToPublishDirectory="PreserveNewest" />
+  </ItemGroup>
+
   <ItemGroup>
     <ProjectReference Include="..\Flyshot.Core.Domain\Flyshot.Core.Domain.csproj" />
+    <ProjectReference Include="..\Flyshot.ControllerClientCompat\Flyshot.ControllerClientCompat.csproj" />
     <ProjectReference Include="..\Flyshot.Runtime.Common\Flyshot.Runtime.Common.csproj" />
   </ItemGroup>
 

src/Flyshot.Server.Host/HostCorsOptions.cs

@@ -0,0 +1,27 @@
+namespace Flyshot.Server.Host;
+
+/// <summary>
+/// 表示宿主 CORS 策略的标准配置项。
+/// </summary>
+public sealed class HostCorsOptions
+{
+    /// <summary>
+    /// 获取或设置 CORS 策略名称。
+    /// </summary>
+    public string PolicyName { get; set; } = "LegacyHttpApi";
+
+    /// <summary>
+    /// 获取或设置允许的源列表。
+    /// </summary>
+    public string[] AllowedOrigins { get; set; } = ["*"];
+
+    /// <summary>
+    /// 获取或设置允许的 HTTP 方法列表。
+    /// </summary>
+    public string[] AllowedMethods { get; set; } = ["GET", "POST", "OPTIONS"];
+
+    /// <summary>
+    /// 获取或设置允许的请求头列表。
+    /// </summary>
+    public string[] AllowedHeaders { get; set; } = ["*"];
+}

src/Flyshot.Server.Host/HostSwaggerOptions.cs

@@ -0,0 +1,37 @@
+namespace Flyshot.Server.Host;
+
+/// <summary>
+/// 表示宿主 Swagger/OpenAPI 文档的标准配置项。
+/// </summary>
+public sealed class HostSwaggerOptions
+{
+    /// <summary>
+    /// 获取或设置是否启用 Swagger。
+    /// </summary>
+    public bool Enabled { get; set; } = true;
+
+    /// <summary>
+    /// 获取或设置文档名称。
+    /// </summary>
+    public string DocumentName { get; set; } = "v1";
+
+    /// <summary>
+    /// 获取或设置 Swagger 文档标题。
+    /// </summary>
+    public string Title { get; set; } = "Flyshot Replacement HTTP API";
+
+    /// <summary>
+    /// 获取或设置 Swagger 文档版本文本。
+    /// </summary>
+    public string Version { get; set; } = "v1";
+
+    /// <summary>
+    /// 获取或设置 Swagger JSON 路由模板。
+    /// </summary>
+    public string JsonRouteTemplate { get; set; } = "swagger/{documentName}/swagger.json";
+
+    /// <summary>
+    /// 获取或设置 Swagger UI 路由前缀。
+    /// </summary>
+    public string RoutePrefix { get; set; } = "swagger";
+}

src/Flyshot.Server.Host/Middleware/RequestResponseLoggingMiddleware.cs

@@ -0,0 +1,172 @@
+using System.Diagnostics;
+using System.Text;
+
+namespace Flyshot.Server.Host.Middleware;
+
+/// <summary>
+/// HTTP 请求与响应日志中间件。
+/// 记录每个 HTTP 请求的进入时间、方法、路径、查询串、请求体，
+/// 以及响应的状态码、耗时和响应体（调试级别）。
+/// </summary>
+public sealed class RequestResponseLoggingMiddleware
+{
+    private readonly RequestDelegate _next;
+    private readonly ILogger<RequestResponseLoggingMiddleware> _logger;
+
+    /// <summary>
+    /// 请求体最大日志长度，超出则截断并附加省略标记。
+    /// </summary>
+    private const int MaxBodyLogLength = 4096;
+
+    /// <summary>
+    /// 请求/响应日志忽略路径前缀列表，用于跳过高频轮询接口的常规日志。
+    /// </summary>
+    private static readonly string[] IgnoredLogPathPrefixes =
+    [
+        "/api/status/snapshot"
+    ];
+
+    /// <summary>
+    /// 初始化请求响应日志中间件。
+    /// </summary>
+    /// <param name="next">下一个中间件委托。</param>
+    /// <param name="logger">日志记录器。</param>
+    public RequestResponseLoggingMiddleware(RequestDelegate next, ILogger<RequestResponseLoggingMiddleware> logger)
+    {
+        _next = next ?? throw new ArgumentNullException(nameof(next));
+        _logger = logger ?? throw new ArgumentNullException(nameof(logger));
+    }
+
+    /// <summary>
+    /// 处理 HTTP 请求并记录输入输出。
+    /// </summary>
+    /// <param name="context">HTTP 上下文。</param>
+    public async Task InvokeAsync(HttpContext context)
+    {
+        // 高频状态轮询接口只转发请求，不记录请求/响应日志，避免控制台和文件日志被刷屏。
+        if (ShouldSkipRequestResponseLog(context.Request.Path))
+        {
+            await _next(context).ConfigureAwait(false);
+            return;
+        }
+
+        var stopwatch = Stopwatch.StartNew();
+        var request = context.Request;
+        var requestId = Activity.Current?.Id ?? context.TraceIdentifier;
+
+        // 记录请求进入信息（Info 级别：方法、路径、查询参数）。
+        _logger.LogInformation(
+            "[HTTP-REQ] [{RequestId}] {Method} {Path}{QueryString} — 客户端 {RemoteIp}",
+            requestId,
+            request.Method,
+            request.Path,
+            request.QueryString.HasValue ? request.QueryString.Value : string.Empty,
+            context.Connection.RemoteIpAddress);
+
+        // 读取并记录请求体（Debug 级别）。
+        string? requestBody = null;
+        if (request.ContentLength > 0 && request.Body.CanRead)
+        {
+            request.EnableBuffering();
+            requestBody = await ReadBodyAsync(request.Body, context.RequestAborted).ConfigureAwait(false);
+            request.Body.Position = 0;
+
+            if (!string.IsNullOrEmpty(requestBody))
+            {
+                _logger.LogDebug(
+                    "[HTTP-REQ-BODY] [{RequestId}] {Body}",
+                    requestId,
+                    TruncateBody(requestBody));
+            }
+        }
+
+        // 拦截响应流以便读取响应体。
+        var originalResponseBody = context.Response.Body;
+        using var responseBodyStream = new MemoryStream();
+        context.Response.Body = responseBodyStream;
+
+        try
+        {
+            await _next(context).ConfigureAwait(false);
+        }
+        catch (Exception exception)
+        {
+            _logger.LogError(
+                exception,
+                "[HTTP-ERR] [{RequestId}] {Method} {Path} 处理过程中发生未捕获异常",
+                requestId,
+                request.Method,
+                request.Path);
+            throw;
+        }
+        finally
+        {
+            stopwatch.Stop();
+            responseBodyStream.Position = 0;
+            var responseBody = await ReadBodyAsync(responseBodyStream, context.RequestAborted).ConfigureAwait(false);
+            responseBodyStream.Position = 0;
+            await responseBodyStream.CopyToAsync(originalResponseBody, context.RequestAborted).ConfigureAwait(false);
+            context.Response.Body = originalResponseBody;
+
+            var statusCode = context.Response.StatusCode;
+            var level = statusCode >= 500 ? LogLevel.Error : statusCode >= 400 ? LogLevel.Warning : LogLevel.Information;
+
+            // 记录响应概要（Info/Warning/Error 级别）。
+            _logger.Log(
+                level,
+                "[HTTP-RES] [{RequestId}] {Method} {Path} => {StatusCode} ({ElapsedMs}ms)",
+                requestId,
+                request.Method,
+                request.Path,
+                statusCode,
+                stopwatch.ElapsedMilliseconds);
+
+            // 记录响应体（Debug 级别）。
+            if (!string.IsNullOrEmpty(responseBody))
+            {
+                _logger.LogDebug(
+                    "[HTTP-RES-BODY] [{RequestId}] {Body}",
+                    requestId,
+                    TruncateBody(responseBody));
+            }
+        }
+    }
+
+    /// <summary>
+    /// 从流中读取文本内容。
+    /// </summary>
+    private static async Task<string> ReadBodyAsync(Stream stream, CancellationToken cancellationToken)
+    {
+        if (!stream.CanRead)
+        {
+            return string.Empty;
+        }
+
+        using var reader = new StreamReader(stream, Encoding.UTF8, leaveOpen: true);
+        var body = await reader.ReadToEndAsync(cancellationToken).ConfigureAwait(false);
+        return body;
+    }
+
+    /// <summary>
+    /// 截断过长内容，避免日志膨胀。
+    /// </summary>
+    private static string TruncateBody(string body)
+    {
+        if (body.Length <= MaxBodyLogLength)
+        {
+            return body;
+        }
+
+        return body[..MaxBodyLogLength] + " ... [截断，总长度=" + body.Length + "]";
+    }
+
+    /// <summary>
+    /// 判断当前请求路径是否命中请求/响应日志忽略前缀。
+    /// </summary>
+    private static bool ShouldSkipRequestResponseLog(PathString path)
+    {
+        var pathValue = path.Value;
+        return !string.IsNullOrEmpty(pathValue)
+            && IgnoredLogPathPrefixes.Any(prefix => pathValue.StartsWith(prefix, StringComparison.OrdinalIgnoreCase));
+    }
+}

src/Flyshot.Server.Host/Program.cs

@@ -1,13 +1,124 @@
-var builder = WebApplication.CreateBuilder(args);
-var app = builder.Build();
+using Flyshot.ControllerClientCompat;
+using Flyshot.Server.Host;
+using Flyshot.Server.Host.Middleware;
+using Microsoft.Extensions.Options;
+using Microsoft.OpenApi.Models;
+using NLog.Web;
+using Swashbuckle.AspNetCore.SwaggerGen;
 
-app.MapGet("/", () => Results.Redirect("/healthz"));
-app.MapGet("/healthz", () => Results.Ok(new
+// NLog: 在 ASP.NET Core 启动前完成配置加载，确保最早期的日志也能被捕获。
+NLog.LogManager.Setup().LoadConfigurationFromAppSettings();
+var logger = NLog.LogManager.GetCurrentClassLogger();
+
+try
 {
-    status = "ok",
-    service = "flyshot-server-host"
-}));
+    logger.Info("Flyshot Server Host 启动中...");
 
-app.Run();
+    var builder = WebApplication.CreateBuilder(args);
+
+    // NLog: 替换默认日志提供者为 NLog，清除其他 Provider 避免重复输出。
+    builder.Logging.ClearProviders();
+    builder.Host.UseNLog();
+
+    builder.Services.Configure<HostSwaggerOptions>(builder.Configuration.GetSection("Swagger"));
+    builder.Services.Configure<HostCorsOptions>(builder.Configuration.GetSection("Cors"));
+    builder.Services.AddControllerClientCompat(builder.Configuration);
+    builder.Services.AddControllers();
+    builder.Services.AddEndpointsApiExplorer();
+
+    var swaggerOptions = builder.Configuration.GetSection("Swagger").Get<HostSwaggerOptions>() ?? new HostSwaggerOptions();
+    builder.Services.AddSwaggerGen(options =>
+    {
+        options.SwaggerDoc(swaggerOptions.DocumentName, new OpenApiInfo
+        {
+            Title = swaggerOptions.Title,
+            Version = swaggerOptions.Version
+        });
+
+        // 把控制器与 DTO 上的 /// summary 注释纳入 OpenAPI 文档；调试页据此渲染端点标题。
+        var xmlDocumentationPath = Path.Combine(AppContext.BaseDirectory, $"{typeof(Program).Assembly.GetName().Name}.xml");
+        if (File.Exists(xmlDocumentationPath))
+        {
+            options.IncludeXmlComments(xmlDocumentationPath, includeControllerXmlComments: true);
+        }
+    });
+
+    var corsOptions = builder.Configuration.GetSection("Cors").Get<HostCorsOptions>() ?? new HostCorsOptions();
+    builder.Services.AddCors(options =>
+    {
+        options.AddPolicy(corsOptions.PolicyName, policyBuilder =>
+        {
+            // 兼容本地调试时最常见的任意源配置，同时保留显式白名单模式。
+            if (corsOptions.AllowedOrigins.Length == 1 && string.Equals(corsOptions.AllowedOrigins[0], "*", StringComparison.Ordinal))
+            {
+                policyBuilder.AllowAnyOrigin();
+            }
+            else
+            {
+                policyBuilder.WithOrigins(corsOptions.AllowedOrigins);
+            }
+
+            if (corsOptions.AllowedMethods.Length == 1 && string.Equals(corsOptions.AllowedMethods[0], "*", StringComparison.Ordinal))
+            {
+                policyBuilder.AllowAnyMethod();
+            }
+            else
+            {
+                policyBuilder.WithMethods(corsOptions.AllowedMethods);
+            }
+
+            if (corsOptions.AllowedHeaders.Length == 1 && string.Equals(corsOptions.AllowedHeaders[0], "*", StringComparison.Ordinal))
+            {
+                policyBuilder.AllowAnyHeader();
+            }
+            else
+            {
+                policyBuilder.WithHeaders(corsOptions.AllowedHeaders);
+            }
+        });
+    });
+
+    var app = builder.Build();
+
+    var resolvedSwaggerOptions = app.Services.GetRequiredService<IOptions<HostSwaggerOptions>>().Value;
+    var resolvedCorsOptions = app.Services.GetRequiredService<IOptions<HostCorsOptions>>().Value;
+
+    if (resolvedSwaggerOptions.Enabled)
+    {
+        app.UseSwagger(options =>
+        {
+            options.RouteTemplate = resolvedSwaggerOptions.JsonRouteTemplate;
+        });
+
+        app.UseSwaggerUI(options =>
+        {
+            options.RoutePrefix = resolvedSwaggerOptions.RoutePrefix;
+            options.SwaggerEndpoint(
+                $"/swagger/{resolvedSwaggerOptions.DocumentName}/swagger.json",
+                $"{resolvedSwaggerOptions.Title} {resolvedSwaggerOptions.Version}");
+            options.DocumentTitle = resolvedSwaggerOptions.Title;
+        });
+    }
+
+    app.UseCors(resolvedCorsOptions.PolicyName);
+    app.UseStaticFiles();
+
+    // 注册 HTTP 请求/响应日志中间件，记录所有 API 调用的输入输出。
+    app.UseMiddleware<RequestResponseLoggingMiddleware>();
+
+    app.MapControllers();
+
+    logger.Info("Flyshot Server Host 已就绪，开始监听请求。");
+    app.Run();
+}
+catch (Exception exception)
+{
+    logger.Error(exception, "Flyshot Server Host 启动失败。");
+    throw;
+}
+finally
+{
+    NLog.LogManager.Shutdown();
+}
 
 public partial class Program;

src/Flyshot.Server.Host/appsettings.Development.json

@@ -4,5 +4,26 @@
       "Default": "Information",
       "Microsoft.AspNetCore": "Warning"
     }
+  },
+  "ControllerClientCompat": {
+    "ServerVersion": "flyshot-replacement-controller-client-compat/0.1.0"
+  },
+  "Swagger": {
+    "Enabled": true
+  },
+  "Cors": {
+    "PolicyName": "LegacyHttpApi",
+    "AllowedOrigins": [
+      "http://localhost:3000",
+      "http://127.0.0.1:3000"
+    ],
+    "AllowedMethods": [
+      "GET",
+      "POST",
+      "OPTIONS"
+    ],
+    "AllowedHeaders": [
+      "*"
+    ]
   }
 }

src/Flyshot.Server.Host/appsettings.json

@@ -5,5 +5,30 @@
       "Microsoft.AspNetCore": "Warning"
     }
   },
+  "ControllerClientCompat": {
+    "ServerVersion": "flyshot-replacement-controller-client-compat/0.1.0"
+  },
+  "Swagger": {
+    "Enabled": true,
+    "DocumentName": "v1",
+    "Title": "Flyshot Replacement HTTP API",
+    "Version": "v1",
+    "JsonRouteTemplate": "swagger/{documentName}/swagger.json",
+    "RoutePrefix": "swagger"
+  },
+  "Cors": {
+    "PolicyName": "LegacyHttpApi",
+    "AllowedOrigins": [
+      "*"
+    ],
+    "AllowedMethods": [
+      "GET",
+      "POST",
+      "OPTIONS"
+    ],
+    "AllowedHeaders": [
+      "*"
+    ]
+  },
   "AllowedHosts": "*"
 }

src/Flyshot.Server.Host/wwwroot/assets/debug.css

@@ -0,0 +1,424 @@
+:root {
+  color-scheme: light;
+  --bg: #f5f7fb;
+  --surface: #ffffff;
+  --line: #d8dee9;
+  --text: #172033;
+  --muted: #5b667a;
+  --accent: #007c89;
+  --good: #12805c;
+  --warn: #b7791f;
+  --bad: #b42318;
+  --get: #1f6feb;
+  --post: #2da44e;
+  --put: #9a6700;
+  --delete: #cf222e;
+  --code-bg: #f4f6fa;
+}
+
+* { box-sizing: border-box; }
+
+body {
+  margin: 0;
+  min-height: 100vh;
+  background: var(--bg);
+  color: var(--text);
+  font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
+  font-size: 14px;
+}
+
+header {
+  border-bottom: 1px solid var(--line);
+  background: var(--surface);
+  position: sticky;
+  top: 0;
+  z-index: 10;
+}
+
+.topbar {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 16px;
+  width: min(1280px, calc(100% - 32px));
+  margin: 0 auto;
+  padding: 18px 0;
+}
+
+h1 {
+  margin: 0;
+  font-size: 22px;
+  font-weight: 650;
+}
+
+.actions {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+}
+
+button {
+  min-height: 34px;
+  padding: 0 14px;
+  border: 1px solid var(--accent);
+  border-radius: 6px;
+  background: var(--accent);
+  color: #ffffff;
+  font: inherit;
+  cursor: pointer;
+}
+
+button.secondary {
+  background: transparent;
+  color: var(--accent);
+}
+
+button:disabled {
+  opacity: 0.55;
+  cursor: default;
+}
+
+.link-button {
+  display: inline-flex;
+  align-items: center;
+  min-height: 34px;
+  padding: 0 14px;
+  border: 1px solid var(--accent);
+  border-radius: 6px;
+  background: transparent;
+  color: var(--accent);
+  font: inherit;
+  text-decoration: none;
+}
+
+.link-button:hover {
+  background: rgba(0, 124, 137, 0.08);
+}
+
+main {
+  width: min(1280px, calc(100% - 32px));
+  margin: 22px auto 60px;
+}
+
+.meta {
+  border: 1px solid var(--line);
+  border-radius: 8px;
+  background: var(--surface);
+  margin-bottom: 18px;
+}
+
+.meta dl {
+  display: grid;
+  grid-template-columns: repeat(3, minmax(0, 1fr));
+  gap: 0;
+  margin: 0;
+  padding: 12px 16px;
+}
+
+.meta dt {
+  color: var(--muted);
+  font-size: 12px;
+}
+
+.meta dd {
+  margin: 4px 0 0;
+  font-family: Consolas, "Cascadia Mono", monospace;
+  overflow-wrap: anywhere;
+}
+
+.meta dd.bad { color: var(--bad); }
+.meta dd.good { color: var(--good); }
+
+.group {
+  margin-top: 22px;
+}
+
+.group h2 {
+  margin: 0 0 10px 4px;
+  font-size: 16px;
+  font-weight: 650;
+  color: var(--muted);
+}
+
+.card {
+  border: 1px solid var(--line);
+  border-radius: 8px;
+  background: var(--surface);
+  margin-bottom: 12px;
+  overflow: hidden;
+}
+
+.card-head {
+  display: flex;
+  align-items: center;
+  gap: 12px;
+  padding: 12px 16px;
+  cursor: pointer;
+  user-select: none;
+}
+
+.card-head:hover {
+  background: #fafbfd;
+}
+
+.badge {
+  flex: 0 0 auto;
+  min-width: 60px;
+  padding: 3px 10px;
+  border-radius: 999px;
+  text-align: center;
+  color: #ffffff;
+  font-weight: 650;
+  font-size: 12px;
+  letter-spacing: 0.5px;
+}
+
+.badge.GET { background: var(--get); }
+.badge.POST { background: var(--post); }
+.badge.PUT { background: var(--put); }
+.badge.DELETE { background: var(--delete); }
+.badge.OTHER { background: var(--muted); }
+
+.card-path {
+  flex: 1 1 auto;
+  font-family: Consolas, "Cascadia Mono", monospace;
+  font-size: 14px;
+  overflow-wrap: anywhere;
+}
+
+.card-summary {
+  flex: 0 1 auto;
+  max-width: 50%;
+  color: var(--muted);
+  font-size: 13px;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+.card-toggle {
+  flex: 0 0 auto;
+  color: var(--muted);
+  font-size: 12px;
+}
+
+.card-body {
+  padding: 12px 16px 16px;
+  border-top: 1px solid var(--line);
+}
+
+.card.collapsed .card-body {
+  display: none;
+}
+
+.form-row {
+  display: grid;
+  grid-template-columns: 180px minmax(0, 1fr) 90px;
+  gap: 8px 12px;
+  align-items: center;
+  margin-bottom: 8px;
+}
+
+.form-row .name {
+  font-family: Consolas, "Cascadia Mono", monospace;
+  color: var(--text);
+  overflow-wrap: anywhere;
+}
+
+.form-row .name .required {
+  color: var(--bad);
+  margin-left: 4px;
+}
+
+.form-row input[type="text"],
+.form-row input[type="number"] {
+  width: 100%;
+  min-height: 32px;
+  padding: 4px 10px;
+  border: 1px solid var(--line);
+  border-radius: 4px;
+  font: inherit;
+}
+
+.form-row .type {
+  color: var(--muted);
+  font-size: 12px;
+  font-family: Consolas, "Cascadia Mono", monospace;
+}
+
+.body-block {
+  margin-top: 6px;
+}
+
+.body-label {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 12px;
+  margin-bottom: 6px;
+}
+
+.body-label .left {
+  color: var(--muted);
+  font-size: 12px;
+}
+
+textarea.body-editor {
+  width: 100%;
+  min-height: 140px;
+  padding: 10px 12px;
+  border: 1px solid var(--line);
+  border-radius: 4px;
+  background: var(--code-bg);
+  font-family: Consolas, "Cascadia Mono", monospace;
+  font-size: 13px;
+  resize: vertical;
+}
+
+.button-row {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 8px;
+  margin-top: 12px;
+}
+
+.response-block {
+  margin-top: 14px;
+  padding-top: 12px;
+  border-top: 1px dashed var(--line);
+}
+
+.response-summary {
+  display: flex;
+  flex-wrap: wrap;
+  align-items: center;
+  gap: 10px;
+  margin-bottom: 8px;
+  font-size: 13px;
+}
+
+.status-badge {
+  padding: 2px 8px;
+  border-radius: 4px;
+  color: #ffffff;
+  font-weight: 650;
+}
+
+.status-badge.s2xx { background: var(--good); }
+.status-badge.s3xx { background: var(--get); }
+.status-badge.s4xx { background: var(--warn); }
+.status-badge.s5xx { background: var(--bad); }
+.status-badge.error { background: var(--bad); }
+
+pre.response-body,
+pre.response-headers {
+  margin: 6px 0 0;
+  padding: 10px 12px;
+  background: var(--code-bg);
+  border: 1px solid var(--line);
+  border-radius: 4px;
+  max-height: 360px;
+  overflow: auto;
+  white-space: pre-wrap;
+  overflow-wrap: anywhere;
+  font-family: Consolas, "Cascadia Mono", monospace;
+  font-size: 12.5px;
+}
+
+pre.response-headers {
+  max-height: 160px;
+}
+
+details > summary {
+  cursor: pointer;
+  color: var(--muted);
+  font-size: 12px;
+  margin: 6px 0 0;
+}
+
+.empty-hint {
+  padding: 12px 0;
+  color: var(--muted);
+  font-style: italic;
+}
+
+.history {
+  position: fixed;
+  right: 16px;
+  bottom: 16px;
+  width: 360px;
+  max-width: calc(100vw - 32px);
+  max-height: 50vh;
+  border: 1px solid var(--line);
+  border-radius: 8px;
+  background: var(--surface);
+  box-shadow: 0 8px 24px rgba(23, 32, 51, 0.12);
+  display: flex;
+  flex-direction: column;
+  z-index: 20;
+}
+
+.history h3 {
+  margin: 0;
+  padding: 10px 14px;
+  border-bottom: 1px solid var(--line);
+  font-size: 13px;
+  font-weight: 650;
+  display: flex;
+  justify-content: space-between;
+  align-items: center;
+}
+
+.history h3 button {
+  min-height: 24px;
+  padding: 0 8px;
+  font-size: 12px;
+}
+
+.history ul {
+  list-style: none;
+  margin: 0;
+  padding: 6px 0;
+  overflow: auto;
+}
+
+.history li {
+  padding: 6px 14px;
+  font-size: 12px;
+  border-bottom: 1px solid #edf1f7;
+  display: grid;
+  grid-template-columns: 50px 1fr auto;
+  gap: 8px;
+  align-items: center;
+}
+
+.history li:last-child { border-bottom: 0; }
+
+.history li .h-method {
+  font-weight: 650;
+  font-family: Consolas, "Cascadia Mono", monospace;
+}
+
+.history li .h-path {
+  font-family: Consolas, "Cascadia Mono", monospace;
+  overflow: hidden;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+}
+
+@media (max-width: 920px) {
+  .form-row {
+    grid-template-columns: 1fr;
+  }
+
+  .meta dl {
+    grid-template-columns: 1fr;
+  }
+
+  .history {
+    position: static;
+    width: auto;
+    margin-top: 18px;
+    max-height: none;
+  }
+}

src/Flyshot.Server.Host/wwwroot/assets/debug.js

@@ -0,0 +1,670 @@
+// 静态调试页通过配置 API 获取实际 Swagger JSON 地址，避免硬编码路由前缀。
+const DEBUG_CONFIG_URL = "/api/debug/config";
+const STORAGE_PREFIX = "flyshot.debug.";
+const HISTORY_LIMIT = 10;
+
+const groupTitleByPrefix = [
+  // 基础与状态分组：探活和状态快照两个固定 API 路径
+  { match: function (op) { return op.path === "/healthz" || op.path === "/api/status/snapshot"; }, title: "基础与状态" },
+  // 默认兜底：剩余全部走 ControllerClient 兼容分组
+  { match: function () { return true; }, title: "ControllerClient 兼容" }
+];
+
+const state = {
+  spec: null,
+  operations: [],
+  history: []
+};
+
+/** 简单的 escape：把任意字符串安全嵌入 textContent 之外的位置时使用。 */
+function escapeHtml(value) {
+  return String(value).replace(/[&<>"']/g, function (ch) {
+    return { "&": "&amp;", "<": "&lt;", ">": "&gt;", "\"": "&quot;", "'": "&#39;" }[ch];
+  });
+}
+
+/** 解析 OpenAPI 中的 $ref 引用，仅支持本地 components.schemas 形式。 */
+function resolveRef(ref) {
+  if (!ref || !state.spec) return null;
+  const parts = ref.replace(/^#\//, "").split("/");
+  let cursor = state.spec;
+  for (const part of parts) {
+    if (cursor && Object.prototype.hasOwnProperty.call(cursor, part)) {
+      cursor = cursor[part];
+    } else {
+      return null;
+    }
+  }
+  return cursor;
+}
+
+/** 根据 schema 生成默认 JSON 模板，用于自动填充请求体编辑器。 */
+function buildSampleFromSchema(schema, depth) {
+  depth = depth || 0;
+  // 防御递归：复杂自引用 schema 在 4 层后停下，避免栈爆。
+  if (!schema || depth > 4) return null;
+
+  if (schema.$ref) {
+    const resolved = resolveRef(schema.$ref);
+    return resolved ? buildSampleFromSchema(resolved, depth + 1) : null;
+  }
+
+  // 部分 schema 只标 oneOf/anyOf/allOf，挑第一个分支即可，调试场景够用。
+  if (Array.isArray(schema.oneOf) && schema.oneOf.length > 0) return buildSampleFromSchema(schema.oneOf[0], depth + 1);
+  if (Array.isArray(schema.anyOf) && schema.anyOf.length > 0) return buildSampleFromSchema(schema.anyOf[0], depth + 1);
+  if (Array.isArray(schema.allOf) && schema.allOf.length > 0) {
+    const merged = {};
+    schema.allOf.forEach(function (sub) {
+      const value = buildSampleFromSchema(sub, depth + 1);
+      if (value && typeof value === "object" && !Array.isArray(value)) Object.assign(merged, value);
+    });
+    return merged;
+  }
+
+  const type = schema.type || (schema.properties ? "object" : "string");
+  switch (type) {
+    case "object": {
+      const result = {};
+      const props = schema.properties || {};
+      Object.keys(props).forEach(function (key) {
+        result[key] = buildSampleFromSchema(props[key], depth + 1);
+      });
+      return result;
+    }
+    case "array":
+      return [];
+    case "integer":
+    case "number":
+      return 0;
+    case "boolean":
+      return false;
+    case "string":
+    default:
+      if (schema.enum && schema.enum.length > 0) return schema.enum[0];
+      return "";
+  }
+}
+
+/** 把 schema.type 翻译成 input type 与展示文本。 */
+function inputKindForType(schema) {
+  if (!schema) return { kind: "text", label: "string" };
+  const type = schema.type || "string";
+  if (type === "boolean") return { kind: "checkbox", label: "boolean" };
+  if (type === "integer" || type === "number") return { kind: "number", label: type };
+  return { kind: "text", label: type };
+}
+
+/** 把 OpenAPI 的 paths 节点展开成扁平的 operation 列表。 */
+function extractOperations(spec) {
+  const operations = [];
+  const paths = spec.paths || {};
+  Object.keys(paths).forEach(function (path) {
+    const pathItem = paths[path] || {};
+    ["get", "post", "put", "delete", "patch", "options", "head"].forEach(function (method) {
+      const op = pathItem[method];
+      if (!op) return;
+      const parameters = (op.parameters || []).filter(function (p) { return p.in === "query" || p.in === "path"; });
+      let bodySchema = null;
+      if (op.requestBody && op.requestBody.content) {
+        const json = op.requestBody.content["application/json"];
+        if (json && json.schema) bodySchema = json.schema;
+      }
+      operations.push({
+        method: method.toUpperCase(),
+        path: path,
+        summary: op.summary || "",
+        description: op.description || "",
+        tags: op.tags || [],
+        parameters: parameters,
+        bodySchema: bodySchema
+      });
+    });
+  });
+  return operations;
+}
+
+/** 选择分组：优先用第一条匹配的 groupTitleByPrefix 规则，OpenAPI tag 留作兜底。 */
+function pickGroup(op) {
+  for (const rule of groupTitleByPrefix) {
+    if (rule.match(op)) return rule.title;
+  }
+  if (op.tags && op.tags.length > 0) return op.tags[0];
+  return "其它";
+}
+
+/** localStorage key 必须避免冲突，使用 method:path 复合键。 */
+function storageKey(op) {
+  return STORAGE_PREFIX + op.method + ":" + op.path;
+}
+
+/** 读取本端点最近一次输入；解析失败则当作空。 */
+function loadInputs(op) {
+  try {
+    const raw = window.localStorage.getItem(storageKey(op));
+    return raw ? JSON.parse(raw) : null;
+  } catch (e) {
+    return null;
+  }
+}
+
+/** 保存本端点最近一次输入；写入失败时静默忽略，避免影响调试体验。 */
+function saveInputs(op, payload) {
+  try {
+    window.localStorage.setItem(storageKey(op), JSON.stringify(payload));
+  } catch (e) {
+    // localStorage 可能被禁用或满载，忽略写入失败。
+  }
+}
+
+/** 拼接最终请求 URL（含 query 串与 path 参数替换）。 */
+function buildRequestUrl(op, paramValues) {
+  let path = op.path;
+  const queryPairs = [];
+  op.parameters.forEach(function (param) {
+    const raw = paramValues[param.name];
+    if (raw === undefined || raw === null || raw === "") return;
+    if (param.in === "path") {
+      path = path.replace("{" + param.name + "}", encodeURIComponent(raw));
+    } else if (param.in === "query") {
+      queryPairs.push(encodeURIComponent(param.name) + "=" + encodeURIComponent(raw));
+    }
+  });
+  return path + (queryPairs.length > 0 ? "?" + queryPairs.join("&") : "");
+}
+
+/** 生成与浏览器请求等价的 curl 命令，便于复制到终端复现。 */
+function buildCurlCommand(op, requestUrl, body) {
+  const parts = ["curl", "-X", op.method, JSON.stringify(window.location.origin + requestUrl)];
+  if (body !== null && body !== undefined && body !== "") {
+    parts.push("-H", "\"Content-Type: application/json\"");
+    parts.push("--data-raw", JSON.stringify(body));
+  }
+  return parts.join(" ");
+}
+
+/** 渲染参数输入表单，返回收集函数。 */
+function renderParameterRows(container, op, savedValues) {
+  if (op.parameters.length === 0) return function () { return {}; };
+
+  const inputs = {};
+  op.parameters.forEach(function (param) {
+    const row = document.createElement("div");
+    row.className = "form-row";
+
+    const nameNode = document.createElement("div");
+    nameNode.className = "name";
+    nameNode.textContent = param.name + " (" + param.in + ")";
+    if (param.required) {
+      const requiredMark = document.createElement("span");
+      requiredMark.className = "required";
+      requiredMark.textContent = "*";
+      nameNode.appendChild(requiredMark);
+    }
+    row.appendChild(nameNode);
+
+    const kind = inputKindForType(param.schema);
+    const inputNode = document.createElement("input");
+    inputNode.type = kind.kind;
+    if (kind.kind === "checkbox") {
+      inputNode.checked = savedValues && Object.prototype.hasOwnProperty.call(savedValues, param.name)
+        ? Boolean(savedValues[param.name])
+        : Boolean(param.schema && param.schema.default);
+    } else {
+      let initial = "";
+      if (savedValues && Object.prototype.hasOwnProperty.call(savedValues, param.name)) {
+        initial = String(savedValues[param.name]);
+      } else if (param.schema && param.schema.default !== undefined) {
+        initial = String(param.schema.default);
+      }
+      inputNode.value = initial;
+      if (kind.kind === "number") inputNode.step = "any";
+    }
+    row.appendChild(inputNode);
+
+    const typeNode = document.createElement("div");
+    typeNode.className = "type";
+    typeNode.textContent = kind.label;
+    row.appendChild(typeNode);
+
+    container.appendChild(row);
+    inputs[param.name] = { node: inputNode, kind: kind.kind, schema: param.schema };
+  });
+
+  return function collect() {
+    const collected = {};
+    Object.keys(inputs).forEach(function (key) {
+      const item = inputs[key];
+      if (item.kind === "checkbox") {
+        collected[key] = item.node.checked;
+      } else {
+        const raw = item.node.value;
+        if (raw === "") {
+          collected[key] = "";
+        } else if (item.kind === "number") {
+          const num = Number(raw);
+          collected[key] = Number.isNaN(num) ? raw : num;
+        } else {
+          collected[key] = raw;
+        }
+      }
+    });
+    return collected;
+  };
+}
+
+/** 渲染请求体编辑器，返回收集函数。 */
+function renderBodyEditor(container, op, savedBody) {
+  if (!op.bodySchema) return function () { return null; };
+
+  const block = document.createElement("div");
+  block.className = "body-block";
+
+  const labelRow = document.createElement("div");
+  labelRow.className = "body-label";
+  const left = document.createElement("div");
+  left.className = "left";
+  left.textContent = "请求体 (application/json)";
+  labelRow.appendChild(left);
+
+  const formatBtn = document.createElement("button");
+  formatBtn.type = "button";
+  formatBtn.className = "secondary";
+  formatBtn.textContent = "格式化 JSON";
+  labelRow.appendChild(formatBtn);
+
+  block.appendChild(labelRow);
+
+  const textarea = document.createElement("textarea");
+  textarea.className = "body-editor";
+  textarea.spellcheck = false;
+  let initialText;
+  if (savedBody !== undefined && savedBody !== null) {
+    initialText = typeof savedBody === "string" ? savedBody : JSON.stringify(savedBody, null, 2);
+  } else {
+    const sample = buildSampleFromSchema(op.bodySchema, 0);
+    initialText = sample === null ? "" : JSON.stringify(sample, null, 2);
+  }
+  textarea.value = initialText;
+  block.appendChild(textarea);
+
+  formatBtn.addEventListener("click", function () {
+    try {
+      const parsed = JSON.parse(textarea.value || "null");
+      textarea.value = parsed === null ? "" : JSON.stringify(parsed, null, 2);
+    } catch (e) {
+      window.alert("JSON 解析失败: " + e.message);
+    }
+  });
+
+  container.appendChild(block);
+
+  return function collect() {
+    return textarea.value;
+  };
+}
+
+/** 把 HTTP 状态码翻译成颜色徽标 class。 */
+function statusBadgeClass(status) {
+  if (status >= 200 && status < 300) return "s2xx";
+  if (status >= 300 && status < 400) return "s3xx";
+  if (status >= 400 && status < 500) return "s4xx";
+  if (status >= 500) return "s5xx";
+  return "error";
+}
+
+/** 把响应头展开成可读字符串。 */
+function formatHeaders(headers) {
+  const lines = [];
+  headers.forEach(function (value, key) { lines.push(key + ": " + value); });
+  return lines.join("\n");
+}
+
+/** 在历史面板顶部追加一条记录，超过上限则丢弃尾部。 */
+function pushHistory(entry) {
+  state.history.unshift(entry);
+  if (state.history.length > HISTORY_LIMIT) state.history.length = HISTORY_LIMIT;
+  renderHistory();
+}
+
+function renderHistory() {
+  const list = document.getElementById("history-list");
+  list.innerHTML = "";
+  if (state.history.length === 0) {
+    const empty = document.createElement("li");
+    empty.textContent = "暂无调用记录";
+    empty.style.color = "var(--muted)";
+    empty.style.gridTemplateColumns = "1fr";
+    list.appendChild(empty);
+    return;
+  }
+  state.history.forEach(function (entry) {
+    const li = document.createElement("li");
+    const method = document.createElement("span");
+    method.className = "h-method";
+    method.textContent = entry.method;
+    method.style.color = entry.method === "GET" ? "var(--get)" : entry.method === "POST" ? "var(--post)" : "var(--muted)";
+    const path = document.createElement("span");
+    path.className = "h-path";
+    path.title = entry.url;
+    path.textContent = entry.url;
+    const meta = document.createElement("span");
+    meta.style.color = "var(--muted)";
+    meta.textContent = (entry.status || "ERR") + " · " + entry.elapsedMs + "ms";
+    li.appendChild(method);
+    li.appendChild(path);
+    li.appendChild(meta);
+    list.appendChild(li);
+  });
+}
+
+/** 渲染单个端点的卡片。 */
+function renderOperationCard(op) {
+  const card = document.createElement("section");
+  card.className = "card collapsed";
+
+  const head = document.createElement("div");
+  head.className = "card-head";
+
+  const badge = document.createElement("span");
+  badge.className = "badge " + (["GET", "POST", "PUT", "DELETE"].indexOf(op.method) >= 0 ? op.method : "OTHER");
+  badge.textContent = op.method;
+  head.appendChild(badge);
+
+  const path = document.createElement("span");
+  path.className = "card-path";
+  path.textContent = op.path;
+  head.appendChild(path);
+
+  const summary = document.createElement("span");
+  summary.className = "card-summary";
+  summary.textContent = op.summary;
+  summary.title = op.summary;
+  head.appendChild(summary);
+
+  const toggle = document.createElement("span");
+  toggle.className = "card-toggle";
+  toggle.textContent = "展开 ▾";
+  head.appendChild(toggle);
+
+  head.addEventListener("click", function () {
+    const collapsed = card.classList.toggle("collapsed");
+    toggle.textContent = collapsed ? "展开 ▾" : "收起 ▴";
+  });
+  card.appendChild(head);
+
+  const body = document.createElement("div");
+  body.className = "card-body";
+
+  // 描述（来自 XML summary）独立成一段
+  if (op.summary) {
+    const desc = document.createElement("div");
+    desc.style.color = "var(--muted)";
+    desc.style.marginBottom = "10px";
+    desc.style.fontSize = "13px";
+    desc.textContent = op.summary;
+    body.appendChild(desc);
+  }
+
+  const saved = loadInputs(op) || {};
+
+  // 参数区
+  let collectParams = function () { return {}; };
+  if (op.parameters.length > 0) {
+    const paramsContainer = document.createElement("div");
+    paramsContainer.className = "params";
+    body.appendChild(paramsContainer);
+    collectParams = renderParameterRows(paramsContainer, op, saved.params);
+  }
+
+  // 请求体区
+  const collectBody = renderBodyEditor(body, op, saved.body);
+
+  // 操作按钮
+  const buttonRow = document.createElement("div");
+  buttonRow.className = "button-row";
+
+  const sendBtn = document.createElement("button");
+  sendBtn.type = "button";
+  sendBtn.textContent = "发送";
+
+  const resetBtn = document.createElement("button");
+  resetBtn.type = "button";
+  resetBtn.className = "secondary";
+  resetBtn.textContent = "重置";
+
+  const curlBtn = document.createElement("button");
+  curlBtn.type = "button";
+  curlBtn.className = "secondary";
+  curlBtn.textContent = "复制 curl";
+
+  buttonRow.appendChild(sendBtn);
+  buttonRow.appendChild(resetBtn);
+  buttonRow.appendChild(curlBtn);
+  body.appendChild(buttonRow);
+
+  // 响应面板
+  const responseBlock = document.createElement("div");
+  responseBlock.className = "response-block";
+  responseBlock.style.display = "none";
+  body.appendChild(responseBlock);
+
+  function renderResponse(payload) {
+    responseBlock.style.display = "block";
+    responseBlock.innerHTML = "";
+
+    const summaryRow = document.createElement("div");
+    summaryRow.className = "response-summary";
+
+    const statusBadge = document.createElement("span");
+    statusBadge.className = "status-badge " + statusBadgeClass(payload.status || 0);
+    statusBadge.textContent = payload.status ? payload.status + " " + (payload.statusText || "") : "请求失败";
+    summaryRow.appendChild(statusBadge);
+
+    const elapsed = document.createElement("span");
+    elapsed.style.color = "var(--muted)";
+    elapsed.textContent = payload.elapsedMs + " ms · " + payload.url;
+    summaryRow.appendChild(elapsed);
+
+    responseBlock.appendChild(summaryRow);
+
+    if (payload.error) {
+      const pre = document.createElement("pre");
+      pre.className = "response-body";
+      pre.textContent = payload.error;
+      responseBlock.appendChild(pre);
+      return;
+    }
+
+    const headersDetails = document.createElement("details");
+    const headersSummary = document.createElement("summary");
+    headersSummary.textContent = "响应头";
+    headersDetails.appendChild(headersSummary);
+    const headersPre = document.createElement("pre");
+    headersPre.className = "response-headers";
+    headersPre.textContent = payload.headers;
+    headersDetails.appendChild(headersPre);
+    responseBlock.appendChild(headersDetails);
+
+    const bodyPre = document.createElement("pre");
+    bodyPre.className = "response-body";
+    bodyPre.textContent = payload.bodyText;
+    responseBlock.appendChild(bodyPre);
+  }
+
+  sendBtn.addEventListener("click", async function () {
+    sendBtn.disabled = true;
+    const params = collectParams();
+    const rawBody = collectBody();
+    saveInputs(op, { params: params, body: rawBody });
+
+    const requestUrl = buildRequestUrl(op, params);
+    const init = { method: op.method, headers: {} };
+
+    // 仅 POST/PUT/PATCH/DELETE 才认为可能携带 body；对没有 bodySchema 的方法直接跳过。
+    const methodAllowsBody = ["POST", "PUT", "PATCH", "DELETE"].indexOf(op.method) >= 0;
+    if (methodAllowsBody && op.bodySchema && rawBody !== null && rawBody !== undefined && rawBody !== "") {
+      init.headers["Content-Type"] = "application/json";
+      init.body = rawBody;
+    }
+
+    const startedAt = performance.now();
+    try {
+      const response = await fetch(requestUrl, init);
+      const elapsedMs = Math.round(performance.now() - startedAt);
+      const text = await response.text();
+      const contentType = response.headers.get("content-type") || "";
+      let bodyText = text;
+      if (contentType.indexOf("application/json") >= 0) {
+        try {
+          bodyText = JSON.stringify(JSON.parse(text), null, 2);
+        } catch (e) {
+          bodyText = text;
+        }
+      }
+      renderResponse({
+        status: response.status,
+        statusText: response.statusText,
+        headers: formatHeaders(response.headers),
+        bodyText: bodyText,
+        url: requestUrl,
+        elapsedMs: elapsedMs
+      });
+      pushHistory({ method: op.method, url: requestUrl, status: response.status, elapsedMs: elapsedMs });
+    } catch (err) {
+      const elapsedMs = Math.round(performance.now() - startedAt);
+      renderResponse({
+        error: String(err && err.message ? err.message : err),
+        url: requestUrl,
+        elapsedMs: elapsedMs
+      });
+      pushHistory({ method: op.method, url: requestUrl, status: 0, elapsedMs: elapsedMs });
+    } finally {
+      sendBtn.disabled = false;
+    }
+  });
+
+  resetBtn.addEventListener("click", function () {
+    try { window.localStorage.removeItem(storageKey(op)); } catch (e) { /* 忽略 */ }
+    // 直接重新渲染当前卡片：替换原 DOM 节点。
+    const refreshed = renderOperationCard(op);
+    refreshed.classList.remove("collapsed");
+    refreshed.querySelector(".card-toggle").textContent = "收起 ▴";
+    card.parentNode.replaceChild(refreshed, card);
+  });
+
+  curlBtn.addEventListener("click", function () {
+    const params = collectParams();
+    const rawBody = collectBody();
+    const requestUrl = buildRequestUrl(op, params);
+    const methodAllowsBody = ["POST", "PUT", "PATCH", "DELETE"].indexOf(op.method) >= 0;
+    const bodyForCurl = methodAllowsBody && op.bodySchema ? rawBody : null;
+    const command = buildCurlCommand(op, requestUrl, bodyForCurl);
+    if (navigator.clipboard && navigator.clipboard.writeText) {
+      navigator.clipboard.writeText(command).then(function () {
+        curlBtn.textContent = "已复制 ✓";
+        window.setTimeout(function () { curlBtn.textContent = "复制 curl"; }, 1500);
+      }).catch(function () {
+        window.prompt("复制失败，手动复制：", command);
+      });
+    } else {
+      window.prompt("复制失败，手动复制：", command);
+    }
+  });
+
+  card.appendChild(body);
+  return card;
+}
+
+/** 把 operation 列表按分组渲染到主区域。 */
+function renderGroups(operations) {
+  const root = document.getElementById("debug-console-app");
+  root.innerHTML = "";
+  if (operations.length === 0) {
+    const empty = document.createElement("div");
+    empty.className = "empty-hint";
+    empty.textContent = "OpenAPI 文档中没有任何端点。";
+    root.appendChild(empty);
+    return;
+  }
+
+  const grouped = new Map();
+  operations.forEach(function (op) {
+    const groupTitle = pickGroup(op);
+    if (!grouped.has(groupTitle)) grouped.set(groupTitle, []);
+    grouped.get(groupTitle).push(op);
+  });
+
+  // 固定输出顺序：基础与状态在前，ControllerClient 兼容在后，其余按字典序。
+  const orderedTitles = [];
+  ["基础与状态", "ControllerClient 兼容"].forEach(function (title) {
+    if (grouped.has(title)) orderedTitles.push(title);
+  });
+  Array.from(grouped.keys()).sort().forEach(function (title) {
+    if (orderedTitles.indexOf(title) < 0) orderedTitles.push(title);
+  });
+
+  orderedTitles.forEach(function (title) {
+    const ops = grouped.get(title);
+    ops.sort(function (a, b) {
+      if (a.path === b.path) return a.method.localeCompare(b.method);
+      return a.path.localeCompare(b.path);
+    });
+
+    const section = document.createElement("section");
+    section.className = "group";
+    const heading = document.createElement("h2");
+    heading.textContent = title + "  (" + ops.length + ")";
+    section.appendChild(heading);
+    ops.forEach(function (op) { section.appendChild(renderOperationCard(op)); });
+    root.appendChild(section);
+  });
+}
+
+/** 加载 OpenAPI 文档并渲染。 */
+async function loadSpecAndRender() {
+  const metaSpec = document.getElementById("meta-spec-url");
+  const metaCount = document.getElementById("meta-operation-count");
+  const metaStatus = document.getElementById("meta-status");
+
+  metaSpec.textContent = "正在读取调试配置...";
+  metaStatus.textContent = "正在拉取 OpenAPI 文档...";
+  metaStatus.className = "";
+
+  try {
+    const configResponse = await fetch(DEBUG_CONFIG_URL, { cache: "no-store" });
+    if (!configResponse.ok) throw new Error("调试配置 HTTP " + configResponse.status + " " + configResponse.statusText);
+    const config = await configResponse.json();
+    const swaggerJsonUrl = config.swaggerJsonUrl;
+    if (!swaggerJsonUrl) throw new Error("调试配置缺少 swaggerJsonUrl");
+    metaSpec.textContent = swaggerJsonUrl;
+
+    const response = await fetch(swaggerJsonUrl, { cache: "no-store" });
+    if (!response.ok) throw new Error("HTTP " + response.status + " " + response.statusText);
+    const spec = await response.json();
+    state.spec = spec;
+    state.operations = extractOperations(spec);
+    metaCount.textContent = state.operations.length;
+    metaStatus.textContent = "已加载";
+    metaStatus.className = "good";
+    renderGroups(state.operations);
+  } catch (err) {
+    metaStatus.textContent = "加载失败: " + (err && err.message ? err.message : err);
+    metaStatus.className = "bad";
+    metaCount.textContent = "0";
+    const root = document.getElementById("debug-console-app");
+    root.innerHTML = "";
+    const errBlock = document.createElement("div");
+    errBlock.className = "empty-hint";
+    errBlock.textContent = "无法加载 OpenAPI 文档，请确认 Swagger:Enabled = true 且 " + DEBUG_CONFIG_URL + " 可访问。";
+    root.appendChild(errBlock);
+  }
+}
+
+document.getElementById("reload-spec").addEventListener("click", loadSpecAndRender);
+document.getElementById("history-clear").addEventListener("click", function () {
+  state.history.length = 0;
+  renderHistory();
+});
+
+renderHistory();
+loadSpecAndRender();

src/Flyshot.Server.Host/wwwroot/assets/status.css

@@ -0,0 +1,214 @@
+:root {
+  color-scheme: light;
+  --bg: #f5f7fb;
+  --surface: #ffffff;
+  --line: #d8dee9;
+  --text: #172033;
+  --muted: #5b667a;
+  --accent: #007c89;
+  --good: #12805c;
+  --warn: #b7791f;
+  --bad: #b42318;
+}
+
+* {
+  box-sizing: border-box;
+}
+
+body {
+  margin: 0;
+  min-height: 100vh;
+  background: var(--bg);
+  color: var(--text);
+  font-family: "Segoe UI", "Microsoft YaHei", Arial, sans-serif;
+  font-size: 15px;
+  letter-spacing: 0;
+}
+
+header {
+  border-bottom: 1px solid var(--line);
+  background: var(--surface);
+}
+
+.topbar {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  gap: 16px;
+  width: min(1180px, calc(100% - 32px));
+  margin: 0 auto;
+  padding: 18px 0;
+}
+
+h1 {
+  margin: 0;
+  font-size: 22px;
+  font-weight: 650;
+}
+
+button {
+  min-height: 36px;
+  padding: 0 14px;
+  border: 1px solid var(--accent);
+  border-radius: 6px;
+  background: var(--accent);
+  color: #ffffff;
+  font: inherit;
+  cursor: pointer;
+}
+
+button:disabled {
+  opacity: 0.6;
+  cursor: default;
+}
+
+/* 顶部操作区按钮和外链按钮共用同一组视觉样式，便于现场顺手跳转。 */
+.actions {
+  display: flex;
+  align-items: center;
+  gap: 10px;
+}
+
+.link-button {
+  display: inline-flex;
+  align-items: center;
+  min-height: 36px;
+  padding: 0 14px;
+  border: 1px solid var(--accent);
+  border-radius: 6px;
+  background: transparent;
+  color: var(--accent);
+  font: inherit;
+  text-decoration: none;
+}
+
+.link-button:hover {
+  background: rgba(0, 124, 137, 0.08);
+}
+
+main {
+  width: min(1180px, calc(100% - 32px));
+  margin: 22px auto;
+}
+
+.summary {
+  display: grid;
+  grid-template-columns: repeat(4, minmax(0, 1fr));
+  gap: 12px;
+  margin-bottom: 16px;
+}
+
+.metric,
+section {
+  border: 1px solid var(--line);
+  border-radius: 8px;
+  background: var(--surface);
+}
+
+.metric {
+  min-height: 86px;
+  padding: 14px;
+}
+
+.label {
+  color: var(--muted);
+  font-size: 13px;
+}
+
+.value {
+  margin-top: 8px;
+  overflow-wrap: anywhere;
+  font-size: 24px;
+  font-weight: 650;
+}
+
+.status-row {
+  display: flex;
+  align-items: center;
+  gap: 8px;
+}
+
+.dot {
+  width: 12px;
+  height: 12px;
+  flex: 0 0 12px;
+  border-radius: 999px;
+  background: var(--warn);
+}
+
+.dot.good {
+  background: var(--good);
+}
+
+.dot.bad {
+  background: var(--bad);
+}
+
+.grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 16px;
+}
+
+section h2 {
+  margin: 0;
+  padding: 14px 16px;
+  border-bottom: 1px solid var(--line);
+  font-size: 16px;
+  font-weight: 650;
+}
+
+dl {
+  display: grid;
+  grid-template-columns: 160px minmax(0, 1fr);
+  gap: 0;
+  margin: 0;
+  padding: 4px 16px 12px;
+}
+
+dt,
+dd {
+  min-height: 36px;
+  margin: 0;
+  padding: 9px 0;
+  border-bottom: 1px solid #edf1f7;
+}
+
+dt {
+  color: var(--muted);
+}
+
+dd {
+  overflow-wrap: anywhere;
+  font-family: Consolas, "Cascadia Mono", monospace;
+}
+
+.empty {
+  color: var(--muted);
+  font-family: inherit;
+}
+
+@media (max-width: 820px) {
+  .topbar {
+    align-items: flex-start;
+    flex-direction: column;
+  }
+
+  .summary,
+  .grid {
+    grid-template-columns: 1fr;
+  }
+
+  dl {
+    grid-template-columns: 1fr;
+  }
+
+  dt {
+    border-bottom: 0;
+    padding-bottom: 2px;
+  }
+
+  dd {
+    padding-top: 2px;
+  }
+}

src/Flyshot.Server.Host/wwwroot/assets/status.js

@@ -0,0 +1,92 @@
+const fields = {
+  connectionState: document.getElementById("connection-state"),
+  stateDot: document.getElementById("state-dot"),
+  robotName: document.getElementById("robot-name"),
+  speedRatio: document.getElementById("speed-ratio"),
+  motionState: document.getElementById("motion-state"),
+  serverVersion: document.getElementById("server-version"),
+  clientVersion: document.getElementById("client-version"),
+  setupState: document.getElementById("setup-state"),
+  enabledState: document.getElementById("enabled-state"),
+  j519Status: document.getElementById("j519-status"),
+  j519Sequence: document.getElementById("j519-sequence"),
+  capturedAt: document.getElementById("captured-at"),
+  dof: document.getElementById("dof"),
+  joints: document.getElementById("joints"),
+  pose: document.getElementById("pose"),
+  trajectories: document.getElementById("trajectories"),
+  refresh: document.getElementById("refresh")
+};
+
+function formatArray(values) {
+  if (!Array.isArray(values) || values.length === 0) {
+    return "--";
+  }
+
+  return values.map(value => Number(value).toFixed(4)).join(", ");
+}
+
+function formatNullableBool(value) {
+  if (value === true) {
+    return "是";
+  }
+
+  if (value === false) {
+    return "否";
+  }
+
+  return "--";
+}
+
+function formatJ519Status(snapshot) {
+  if (snapshot.j519Status === null || snapshot.j519Status === undefined) {
+    return "--";
+  }
+
+  const status = Number(snapshot.j519Status).toString(16).padStart(2, "0").toUpperCase();
+  return `0x${status} accept=${formatNullableBool(snapshot.j519AcceptsCommand)} received=${formatNullableBool(snapshot.j519ReceivedCommand)} sysrdy=${formatNullableBool(snapshot.j519SystemReady)} motion=${formatNullableBool(snapshot.j519RobotInMotion)}`;
+}
+
+function setDot(connectionState) {
+  fields.stateDot.className = "dot";
+  if (connectionState === "Connected") {
+    fields.stateDot.classList.add("good");
+  } else if (connectionState === "NotConfigured") {
+    fields.stateDot.classList.add("bad");
+  }
+}
+
+async function refreshStatus() {
+  fields.refresh.disabled = true;
+  try {
+    const response = await fetch("/api/status/snapshot", { cache: "no-store" });
+    const payload = await response.json();
+    const snapshot = payload.snapshot;
+
+    fields.connectionState.textContent = snapshot.connectionState;
+    fields.robotName.textContent = payload.robotName || "--";
+    fields.speedRatio.textContent = Number(snapshot.speedRatio).toFixed(2);
+    fields.motionState.textContent = snapshot.isInMotion ? "是" : "否";
+    fields.serverVersion.textContent = payload.serverVersion;
+    fields.clientVersion.textContent = payload.clientVersion;
+    fields.setupState.textContent = payload.isSetup ? "是" : "否";
+    fields.enabledState.textContent = snapshot.isEnabled ? "是" : "否";
+    fields.j519Status.textContent = formatJ519Status(snapshot);
+    fields.j519Sequence.textContent = snapshot.j519Sequence ?? "--";
+    fields.capturedAt.textContent = new Date(snapshot.capturedAt).toLocaleString();
+    fields.dof.textContent = payload.degreesOfFreedom;
+    fields.joints.textContent = formatArray(snapshot.jointPositions);
+    fields.pose.textContent = formatArray(snapshot.cartesianPose);
+    fields.trajectories.textContent = payload.uploadedTrajectories.length > 0
+      ? payload.uploadedTrajectories.join(", ")
+      : "--";
+    fields.trajectories.classList.toggle("empty", payload.uploadedTrajectories.length === 0);
+    setDot(snapshot.connectionState);
+  } finally {
+    fields.refresh.disabled = false;
+  }
+}
+
+fields.refresh.addEventListener("click", refreshStatus);
+refreshStatus();
+window.setInterval(refreshStatus, 2000);

src/Flyshot.Server.Host/wwwroot/debug.html

@@ -0,0 +1,44 @@
+<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>Flyshot Replacement 接口调试</title>
+  <link rel="stylesheet" href="/assets/debug.css">
+</head>
+<body>
+  <header>
+    <div class="topbar">
+      <h1>Flyshot Replacement 接口调试</h1>
+      <div class="actions">
+        <a class="link-button" href="/status.html">回到状态页</a>
+        <a class="link-button" href="/swagger" target="_blank" rel="noopener">Swagger UI</a>
+        <button id="reload-spec" type="button">重新加载 OpenAPI</button>
+      </div>
+    </div>
+  </header>
+  <main>
+    <section class="meta">
+      <dl>
+        <dt>OpenAPI 文档</dt>
+        <dd id="meta-spec-url">--</dd>
+        <dt>API 数量</dt>
+        <dd id="meta-operation-count">--</dd>
+        <dt>加载状态</dt>
+        <dd id="meta-status">初始化中...</dd>
+      </dl>
+    </section>
+    <div id="debug-console-app">
+      <div class="empty-hint">正在加载接口列表...</div>
+    </div>
+  </main>
+  <aside class="history" id="history-panel">
+    <h3>
+      <span>调用历史 (本次会话)</span>
+      <button type="button" id="history-clear" class="secondary">清空</button>
+    </h3>
+    <ul id="history-list"></ul>
+  </aside>
+  <script src="/assets/debug.js" defer></script>
+</body>
+</html>

src/Flyshot.Server.Host/wwwroot/status.html

@@ -0,0 +1,64 @@
+<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>Flyshot Replacement 状态监控</title>
+  <link rel="stylesheet" href="/assets/status.css">
+</head>
+<body>
+  <header>
+    <div class="topbar">
+      <h1>Flyshot Replacement 状态监控</h1>
+      <div class="actions">
+        <a class="link-button" href="/debug.html" target="_blank" rel="noopener">调试接口</a>
+        <button id="refresh" type="button">刷新</button>
+      </div>
+    </div>
+  </header>
+  <main>
+    <div class="summary">
+      <div class="metric">
+        <div class="label">连接状态</div>
+        <div class="value status-row"><span id="state-dot" class="dot"></span><span id="connection-state">--</span></div>
+      </div>
+      <div class="metric">
+        <div class="label">机器人</div>
+        <div id="robot-name" class="value">--</div>
+      </div>
+      <div class="metric">
+        <div class="label">速度倍率</div>
+        <div id="speed-ratio" class="value">--</div>
+      </div>
+      <div class="metric">
+        <div class="label">运动中</div>
+        <div id="motion-state" class="value">--</div>
+      </div>
+    </div>
+    <div class="grid">
+      <section>
+        <h2>控制器</h2>
+        <dl>
+          <dt>服务端版本</dt><dd id="server-version">--</dd>
+          <dt>客户端版本</dt><dd id="client-version">--</dd>
+          <dt>已初始化</dt><dd id="setup-state">--</dd>
+          <dt>已使能</dt><dd id="enabled-state">--</dd>
+          <dt>J519 状态</dt><dd id="j519-status">--</dd>
+          <dt>J519 序号</dt><dd id="j519-sequence">--</dd>
+          <dt>采样时间</dt><dd id="captured-at">--</dd>
+        </dl>
+      </section>
+      <section>
+        <h2>机器人</h2>
+        <dl>
+          <dt>自由度</dt><dd id="dof">--</dd>
+          <dt>关节位置</dt><dd id="joints">--</dd>
+          <dt>TCP 位姿</dt><dd id="pose">--</dd>
+          <dt>已上传轨迹</dt><dd id="trajectories" class="empty">--</dd>
+        </dl>
+      </section>
+    </div>
+  </main>
+  <script src="/assets/status.js" defer></script>
+</body>
+</html>

tests/Flyshot.Core.Tests/ConfigCompatibilityTests.cs

@@ -1,10 +1,9 @@
 using Flyshot.Core.Config;
-using Flyshot.Core.Domain;
 
 namespace Flyshot.Core.Tests;
 
 /// <summary>
-/// 锁定 Task 3 的兼容输入行为，确保旧配置、.robot 元数据和路径策略都能被稳定加载。
+/// 锁定 Task 3 的兼容输入行为，确保旧配置、JSON 模型元数据和路径策略都能被稳定加载。
 /// </summary>
 public sealed class ConfigCompatibilityTests
 {
@@ -24,14 +23,16 @@ public sealed class ConfigCompatibilityTests
         Assert.Equal(2, loaded.Robot.IoKeepCycles);
         Assert.Equal(1.0, loaded.Robot.AccLimitScale);
         Assert.Equal(1.0, loaded.Robot.JerkLimitScale);
+        Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+        Assert.True(loaded.Robot.SmoothStartStopTiming);
         Assert.Equal(5, loaded.Robot.AdaptIcspTryNum);
 
-        var program = Assert.Contains("001", loaded.Programs);
-        Assert.Equal("001", program.Name);
-        Assert.Equal(5, program.Waypoints.Count);
-        Assert.Equal(3, program.ShotWaypointCount);
+        var program = Assert.Contains("EOL10_EAU_0", loaded.Programs);
+        Assert.Equal("EOL10_EAU_0", program.Name);
+        Assert.Equal(45, program.Waypoints.Count);
+        Assert.Equal(42, program.ShotWaypointCount);
         Assert.Empty(program.AddressGroups[0].Addresses);
-        Assert.Equal([8, 7], program.AddressGroups[1].Addresses);
+        Assert.Equal([4, 3], program.AddressGroups[1].Addresses);
     }
 
     /// <summary>
@@ -71,6 +72,8 @@ public sealed class ConfigCompatibilityTests
             Assert.Equal(3, loaded.Robot.IoKeepCycles);
             Assert.Equal(0.5, loaded.Robot.AccLimitScale);
             Assert.Equal(0.25, loaded.Robot.JerkLimitScale);
+            Assert.Equal(1.0, loaded.Robot.PlanningSpeedScale);
+            Assert.True(loaded.Robot.SmoothStartStopTiming);
             Assert.Equal([0, 0, 0], program.OffsetValues);
             Assert.All(program.AddressGroups, group => Assert.Empty(group.Addresses));
         }
@@ -81,13 +84,93 @@ public sealed class ConfigCompatibilityTests
     }
 
     /// <summary>
-    /// 验证 .robot 解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
+    /// 验证 RobotConfig.json 可以显式配置规划限速倍率，且该倍率独立于运行时 J519 速度倍率。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsPlanningSpeedScale()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "planning_speed_scale": 0.742277
+                  },
+                  "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(0.742277, loaded.Robot.PlanningSpeedScale, precision: 6);
+        }
+        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>
+    [Fact]
+    public void RobotConfigLoader_LoadsSmoothStartStopTimingSwitch()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "legacy.json");
+            File.WriteAllText(
+                configPath,
+                """
+                {
+                  "robot": {
+                    "use_do": true,
+                    "io_keep_cycles": 2,
+                    "acc_limit": 1.0,
+                    "jerk_limit": 1.0,
+                    "smooth_start_stop_timing": false
+                  },
+                  "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.False(loaded.Robot.SmoothStartStopTiming);
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证 JSON 模型解析会保留 Joint3 对 Joint2 的 couple 元数据，并构造规划侧可直接消费的 RobotProfile。
     /// </summary>
     [Fact]
     public void RobotModelLoader_LoadsRobotProfile_WithJointLimitsAndCoupling()
     {
-        var workspaceRoot = GetWorkspaceRoot();
-        var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath);
 
@@ -105,13 +188,13 @@ public sealed class ConfigCompatibilityTests
     }
 
     /// <summary>
-    /// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到模型关节限制上。
+    /// 验证 RobotConfig 中的 acc_limit 和 jerk_limit 乘子会正确叠加到 JSON 模型关节限制上。
     /// </summary>
     [Fact]
     public void RobotModelLoader_AppliesAccelerationAndJerkScales()
     {
-        var workspaceRoot = GetWorkspaceRoot();
-        var modelPath = Path.Combine(workspaceRoot, "FlyingShot", "FlyingShot", "Models", "LR_Mate_200iD_7L.robot");
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
 
         var profile = new RobotModelLoader().LoadProfile(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
 
@@ -120,10 +203,57 @@ public sealed class ConfigCompatibilityTests
     }
 
     /// <summary>
-    /// 验证路径兼容层既能补旧目录候选，也能按平台策略生成默认用户数据目录。
+    /// 验证 JSON 模型可一次解析后同时生成规划约束视图和运动学几何视图。
     /// </summary>
     [Fact]
-    public void PathCompatibility_ResolvesLegacyCandidates_AndBuildsUserDataRoots()
+    public void RobotModelLoader_LoadsProfileAndKinematics_FromSingleParse()
+    {
+        var replacementRoot = GetReplacementRoot();
+        var modelPath = Path.Combine(replacementRoot, "Config", "LR_Mate_200iD_7L.json");
+
+        var loaded = new RobotModelLoader().LoadProfileAndKinematics(modelPath, accLimitScale: 0.5, jerkLimitScale: 0.25);
+
+        Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.Profile.Name);
+        Assert.Equal(modelPath, loaded.Profile.ModelPath);
+        Assert.Equal(6, loaded.Profile.DegreesOfFreedom);
+        Assert.Equal(14.905, loaded.Profile.JointLimits[2].AccelerationLimit, precision: 3);
+        Assert.Equal(62.115, loaded.Profile.JointLimits[2].JerkLimit, precision: 3);
+
+        Assert.Equal("FANUC_LR_Mate_200iD_7L", loaded.KinematicsModel.Name);
+        Assert.True(loaded.KinematicsModel.Joints.Count >= loaded.Profile.DegreesOfFreedom);
+        Assert.Contains(loaded.KinematicsModel.Joints, static joint => joint.Name == "Joint3" && joint.CoupleMaster == "Joint2");
+    }
+
+    /// <summary>
+    /// 验证路径兼容层只从当前服务配置目录解析相对配置，并按平台策略生成默认用户数据目录。
+    /// </summary>
+    [Fact]
+    public void PathCompatibility_ResolvesConfigDirectoryOnly_AndBuildsUserDataRoots()
+    {
+        var tempRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(tempRoot, "Config", "sample.json");
+            Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
+            File.WriteAllText(configPath, "{}");
+
+            var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
+
+            Assert.Equal(configPath, resolved);
+            Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
+            Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
+        }
+        finally
+        {
+            Directory.Delete(tempRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证旧父工作区候选路径存在时也不会被相对配置解析隐式命中。
+    /// </summary>
+    [Fact]
+    public void PathCompatibility_DoesNotResolveLegacyWorkspaceFallbacks()
     {
         var tempRoot = CreateTempDirectory();
         try
@@ -132,11 +262,9 @@ public sealed class ConfigCompatibilityTests
             Directory.CreateDirectory(Path.GetDirectoryName(legacyConfigPath)!);
             File.WriteAllText(legacyConfigPath, "{}");
 
-            var resolved = PathCompatibility.ResolveConfigPath("sample.json", tempRoot);
+            var exception = Assert.Throws<FileNotFoundException>(() => PathCompatibility.ResolveConfigPath("sample.json", tempRoot));
 
-            Assert.Equal(legacyConfigPath, resolved);
-            Assert.Equal("/home/tester/.Rvbust/Data", PathCompatibility.BuildUserDataRoot("/home/tester", CompatibilityPathStyle.Posix));
-            Assert.Equal(@"C:\Users\tester\.Rvbust\Data", PathCompatibility.BuildUserDataRoot(@"C:\Users\tester", CompatibilityPathStyle.Windows));
+            Assert.Equal("sample.json", exception.FileName);
         }
         finally
         {
@@ -144,6 +272,19 @@ public sealed class ConfigCompatibilityTests
         }
     }
 
+    /// <summary>
+    /// 验证默认加载配置时使用当前 replacement 仓库内的 Config/RobotConfig.json。
+    /// </summary>
+    [Fact]
+    public void RobotConfigLoader_LoadsRepositoryConfigFromReplacementConfigDirectory()
+    {
+        var replacementRoot = GetReplacementRoot();
+
+        var loaded = new RobotConfigLoader().Load("RobotConfig.json");
+
+        Assert.Equal(Path.Combine(replacementRoot, "Config", "RobotConfig.json"), loaded.SourcePath);
+    }
+
     /// <summary>
     /// 定位当前工作区根目录，便于复用父仓库中的真实样本。
     /// </summary>
@@ -164,6 +305,25 @@ public sealed class ConfigCompatibilityTests
         throw new DirectoryNotFoundException("Unable to locate the flyshot workspace root.");
     }
 
+    /// <summary>
+    /// 定位 replacement 仓库根目录，供测试读取仓库内固化配置。
+    /// </summary>
+    private static string GetReplacementRoot()
+    {
+        var current = new DirectoryInfo(AppContext.BaseDirectory);
+        while (current is not null)
+        {
+            if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
+            {
+                return current.FullName;
+            }
+
+            current = current.Parent;
+        }
+
+        throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
+    }
+
     /// <summary>
     /// 创建当前测试专用的临时目录，避免不同测试之间相互污染。
     /// </summary>

tests/Flyshot.Core.Tests/ControllerClientCompatConfigRootTests.cs

@@ -0,0 +1,149 @@
+using Flyshot.ControllerClientCompat;
+using Flyshot.Core.Config;
+
+namespace Flyshot.Core.Tests;
+
+/// <summary>
+/// 验证 ControllerClient 兼容层默认围绕运行目录 Config 读写配置和轨迹文件。
+/// </summary>
+public sealed class ControllerClientCompatConfigRootTests
+{
+    /// <summary>
+    /// 验证路径兼容层优先命中运行目录 Config 下的 RobotConfig.json，而不是旧仓库根目录候选。
+    /// </summary>
+    [Fact]
+    public void PathCompatibility_ResolvesRuntimeConfigBeforeLegacyCandidates()
+    {
+        var runtimeRoot = CreateTempDirectory();
+        try
+        {
+            var configPath = Path.Combine(runtimeRoot, "Config", "RobotConfig.json");
+            var legacyPath = Path.Combine(runtimeRoot, "RobotConfig.json");
+            Directory.CreateDirectory(Path.GetDirectoryName(configPath)!);
+            File.WriteAllText(configPath, "{}");
+            File.WriteAllText(legacyPath, "{}");
+
+            var resolved = PathCompatibility.ResolveConfigPath("RobotConfig.json", runtimeRoot);
+
+            Assert.Equal(configPath, resolved);
+        }
+        finally
+        {
+            Directory.Delete(runtimeRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证机器人目录优先从显式 ConfigRoot/Models 加载现场 JSON 模型文件。
+    /// </summary>
+    [Fact]
+    public void ControllerClientCompatRobotCatalog_LoadsModelFromConfigRootModels()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            CopySampleRobotModel(configRoot);
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var catalog = new ControllerClientCompatRobotCatalog(options, new RobotModelLoader());
+
+            var profile = catalog.LoadProfile("FANUC_LR_Mate_200iD");
+
+            Assert.Equal(Path.Combine(configRoot, "Models", "LR_Mate_200iD_7L.json"), profile.ModelPath);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 验证 JSON 轨迹存储保存、加载和删除都落在 ConfigRoot/RobotConfig.json。
+    /// </summary>
+    [Fact]
+    public void JsonFlyshotTrajectoryStore_PersistsTrajectoriesInRobotConfigJson()
+    {
+        var configRoot = CreateTempConfigRoot();
+        try
+        {
+            var options = new ControllerClientCompatOptions { ConfigRoot = configRoot };
+            var store = new JsonFlyshotTrajectoryStore(options, new RobotConfigLoader());
+            var settings = new CompatibilityRobotSettings(
+                useDo: true,
+                ioAddresses: [7, 8],
+                ioKeepCycles: 2,
+                accLimitScale: 1.0,
+                jerkLimitScale: 1.0,
+                adaptIcspTryNum: 5);
+            var trajectory = TestRobotFactory.CreateUploadedTrajectoryWithSingleShot();
+
+            store.Save("FANUC_LR_Mate_200iD", settings, trajectory);
+            var expectedPath = Path.Combine(configRoot, "RobotConfig.json");
+
+            Assert.True(File.Exists(expectedPath), $"应在运行目录 Config 下创建统一配置文件: {expectedPath}");
+            Assert.False(Directory.Exists(Path.Combine(configRoot, "TrajectoryStore")), "不应再创建独立轨迹存储目录。");
+            var loaded = store.LoadAll("FANUC_LR_Mate_200iD", out var loadedSettings);
+            Assert.NotNull(loadedSettings);
+            Assert.Contains(trajectory.Name, loaded);
+
+            store.Delete("FANUC_LR_Mate_200iD", trajectory.Name);
+
+            var afterDelete = store.LoadAll("FANUC_LR_Mate_200iD", out _);
+            Assert.Empty(afterDelete);
+        }
+        finally
+        {
+            Directory.Delete(configRoot, recursive: true);
+        }
+    }
+
+    /// <summary>
+    /// 创建测试专用的运行目录 Config 根，避免污染真实输出目录。
+    /// </summary>
+    private static string CreateTempConfigRoot()
+    {
+        var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"), "Config");
+        Directory.CreateDirectory(root);
+        return root;
+    }
+
+    /// <summary>
+    /// 创建测试专用的临时目录。
+    /// </summary>
+    private static string CreateTempDirectory()
+    {
+        var root = Path.Combine(Path.GetTempPath(), "flyshot-config-root-tests", Guid.NewGuid().ToString("N"));
+        Directory.CreateDirectory(root);
+        return root;
+    }
+
+    /// <summary>
+    /// 复制仓库内已固化的现场机器人 JSON 模型到临时 Config/Models 目录。
+    /// </summary>
+    private static void CopySampleRobotModel(string configRoot)
+    {
+        var modelDir = Path.Combine(configRoot, "Models");
+        Directory.CreateDirectory(modelDir);
+        File.Copy(
+            Path.Combine(GetReplacementRoot(), "Config", "Models", "LR_Mate_200iD_7L.json"),
+            Path.Combine(modelDir, "LR_Mate_200iD_7L.json"));
+    }
+
+    /// <summary>
+    /// 定位 replacement 仓库根目录，供测试读取仓库内固化样本。
+    /// </summary>
+    private static string GetReplacementRoot()
+    {
+        var current = new DirectoryInfo(AppContext.BaseDirectory);
+        while (current is not null)
+        {
+            if (File.Exists(Path.Combine(current.FullName, "FlyshotReplacement.sln")))
+            {
+                return current.FullName;
+            }
+
+            current = current.Parent;
+        }
+
+        throw new DirectoryNotFoundException("Unable to locate the flyshot replacement root.");
+    }
+}

tests/Flyshot.Core.Tests/DomainModelTests.cs

@@ -114,6 +114,27 @@ public sealed class DomainModelTests
         Assert.Empty(snapshot.JointPositions);
         Assert.Empty(snapshot.CartesianPose);
         Assert.Empty(snapshot.ActiveAlarms);
+        Assert.Empty(snapshot.StateTailWords);
+    }
+
+    /// <summary>
+    /// 验证控制器快照会保留 TCP 10010 尾部状态字作为诊断字段。
+    /// </summary>
+    [Fact]
+    public void ControllerStateSnapshot_CopiesStateTailWordsForDiagnostics()
+    {
+        var snapshot = new ControllerStateSnapshot(
+            capturedAt: DateTimeOffset.Parse("2026-04-23T10:00:00+08:00"),
+            connectionState: "Connected",
+            isEnabled: true,
+            isInMotion: false,
+            speedRatio: 1.0,
+            stateTailWords: [2u, 0u, 0u, 1u]);
+
+        var json = JsonSerializer.Serialize(snapshot);
+
+        Assert.Equal([2u, 0u, 0u, 1u], snapshot.StateTailWords);
+        Assert.Contains("\"stateTailWords\":[2,0,0,1]", json);
     }
 
     /// <summary>

tests/Flyshot.Core.Tests/FanucCommandClientTests.cs

@@ -0,0 +1,319 @@
+using System.Net;
+using System.Net.Sockets;
+using Flyshot.Runtime.Fanuc.Protocol;
+
+namespace Flyshot.Core.Tests;
+
+/// <summary>
+/// 验证 FANUC TCP 10012 命令客户端的帧收发与响应解析。
+/// </summary>
+public sealed class FanucCommandClientTests : IDisposable
+{
+    private readonly TcpListener _listener;
+    private readonly CancellationTokenSource _cts = new();
+
+    /// <summary>
+    /// 在随机可用端口启动本地模拟控制器。
+    /// </summary>
+    public FanucCommandClientTests()
+    {
+        _listener = new TcpListener(IPAddress.Loopback, 0);
+        _listener.Start();
+    }
+
+    /// <summary>
+    /// 获取分配给本地模拟控制器的端口。
+    /// </summary>
+    private int Port => ((IPEndPoint)_listener.LocalEndpoint).Port;
+
+    /// <summary>
+    /// 清理模拟控制器和取消源。
+    /// </summary>
+    public void Dispose()
+    {
+        _cts.Cancel();
+        _listener.Stop();
+        _cts.Dispose();
+    }
+
+    /// <summary>
+    /// 验证命令客户端可以连接本地模拟控制器。
+    /// </summary>
+    [Fact]
+    public async Task ConnectAsync_ConnectsToLocalListener()
+    {
+        using var client = new FanucCommandClient();
+        var acceptTask = _listener.AcceptTcpClientAsync();
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+
+        Assert.True(client.IsConnected);
+        // 确保模拟侧也完成握手
+        await acceptTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 StopProgram 命令帧与抓包样本一致，并能解析成功响应。
+    /// </summary>
+    [Fact]
+    public async Task StopProgramAsync_SendsCorrectFrameAndParsesSuccess()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            Convert.FromHexString("646f7a0000001a0000210300000008525642555354534d7a6f64"),
+            Convert.FromHexString("646f7a0000001200002103000000007a6f64"),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.StopProgramAsync("RVBUSTSM", _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal(FanucCommandMessageIds.StopProgram, response.MessageId);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 ResetRobot 空命令帧能正确发送并解析结果响应。
+    /// </summary>
+    [Fact]
+    public async Task ResetRobotAsync_SendsEmptyCommandAndParsesResponse()
+    {
+        using var client = new FanucCommandClient();
+        var expectedFrame = FanucCommandProtocol.PackEmptyCommand(FanucCommandMessageIds.ResetRobot);
+        var responseFrame = Convert.FromHexString("646f7a0000001200002100000000007a6f64");
+        var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.ResetRobotAsync(_cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal(FanucCommandMessageIds.ResetRobot, response.MessageId);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 GetProgramStatus 命令帧能正确发送并解析程序状态响应。
+    /// </summary>
+    [Fact]
+    public async Task GetProgramStatusAsync_SendsFrameAndParsesStatusResponse()
+    {
+        using var client = new FanucCommandClient();
+        var expectedFrame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.GetProgramStatus, "RVBUSTSM");
+        var responseFrame = Convert.FromHexString("646f7a000000160000200300000001000000007a6f64");
+        var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.GetProgramStatusAsync("RVBUSTSM", _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal(FanucCommandMessageIds.GetProgramStatus, response.MessageId);
+        Assert.Equal(1u, response.ProgramStatus);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 StartProgram 命令帧能正确发送并解析成功响应。
+    /// </summary>
+    [Fact]
+    public async Task StartProgramAsync_SendsCorrectFrameAndParsesSuccess()
+    {
+        using var client = new FanucCommandClient();
+        var expectedFrame = FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.StartProgram, "RVBUSTSM");
+        var responseFrame = Convert.FromHexString("646f7a0000001200002102000000007a6f64");
+        var handlerTask = RunSingleResponseControllerAsync(expectedFrame, responseFrame, _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.StartProgramAsync("RVBUSTSM", _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal(FanucCommandMessageIds.StartProgram, response.MessageId);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 GetSpeedRatio 发送空业务体命令，并按 ratio_int / 100.0 解析倍率。
+    /// </summary>
+    [Fact]
+    public async Task GetSpeedRatioAsync_SendsFrameAndParsesRatio()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackGetSpeedRatioCommand(),
+            FanucCommandProtocol.PackFrame(FanucCommandMessageIds.GetSpeedRatio, Convert.FromHexString("0000005a00000000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.GetSpeedRatioAsync(_cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal(0.9, response.Ratio, precision: 6);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 SetSpeedRatio 会把 double 倍率夹到 0..100 的整数百分比后下发。
+    /// </summary>
+    [Fact]
+    public async Task SetSpeedRatioAsync_SendsClampedPercentAndParsesSuccess()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackSetSpeedRatioCommand(2.0),
+            FanucCommandProtocol.PackFrame(FanucCommandMessageIds.SetSpeedRatio, Convert.FromHexString("00000000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.SetSpeedRatioAsync(2.0, _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 GetTcp 会发送 tcp_id 请求，并解析 result_code + tcp_id + 7 个 float 位姿。
+    /// </summary>
+    [Fact]
+    public async Task GetTcpAsync_SendsFrameAndParsesPose()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackGetTcpCommand(1),
+            FanucCommandProtocol.PackFrame(
+                FanucCommandMessageIds.GetTcp,
+                Convert.FromHexString("00000000000000013f80000040000000404000000000000000000000000000003f800000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.GetTcpAsync(1, _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.Equal([1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0], response.Pose);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 SetTcp 会按 tcp_id + 7 个 float 位姿下发并解析结果码。
+    /// </summary>
+    [Fact]
+    public async Task SetTcpAsync_SendsFrameAndParsesSuccess()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackSetTcpCommand(1, [1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0]),
+            FanucCommandProtocol.PackFrame(FanucCommandMessageIds.SetTcp, Convert.FromHexString("00000000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.SetTcpAsync(1, [1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0], _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 GetIo 会按 io_type、io_index 顺序请求，并解析 float IO 值。
+    /// </summary>
+    [Fact]
+    public async Task GetIoAsync_SendsFrameAndParsesValue()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackGetIoCommand(FanucIoTypes.DigitalOutput, 7),
+            FanucCommandProtocol.PackFrame(FanucCommandMessageIds.GetIo, Convert.FromHexString("000000003f800000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.GetIoAsync(7, "DO", _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        Assert.True(response.Value);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证 SetIo 会按 io_type、io_index、float value 顺序下发并解析结果码。
+    /// </summary>
+    [Fact]
+    public async Task SetIoAsync_SendsFrameAndParsesSuccess()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackSetIoCommand(FanucIoTypes.DigitalOutput, 7, true),
+            FanucCommandProtocol.PackFrame(FanucCommandMessageIds.SetIo, Convert.FromHexString("00000000")),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var response = await client.SetIoAsync(7, true, "DO", _cts.Token);
+
+        Assert.True(response.IsSuccess);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证命令响应 result_code 非零时，客户端会抛出可诊断异常而不是让上层误判成功。
+    /// </summary>
+    [Fact]
+    public async Task StopProgramAsync_NonZeroResultCode_ThrowsDiagnosticException()
+    {
+        using var client = new FanucCommandClient();
+        var handlerTask = RunSingleResponseControllerAsync(
+            FanucCommandProtocol.PackProgramCommand(FanucCommandMessageIds.StopProgram, "RVBUSTSM"),
+            Convert.FromHexString("646f7a00000012000021030000002a7a6f64"),
+            _cts.Token);
+
+        await client.ConnectAsync("127.0.0.1", Port, _cts.Token);
+        var exception = await Assert.ThrowsAsync<InvalidOperationException>(
+            () => client.StopProgramAsync("RVBUSTSM", _cts.Token));
+
+        Assert.Contains("0x2103", exception.Message);
+        Assert.Contains("42", exception.Message);
+        await handlerTask.WaitAsync(TimeSpan.FromSeconds(2), _cts.Token);
+    }
+
+    /// <summary>
+    /// 验证在连接前调用命令会抛出 InvalidOperationException。
+    /// </summary>
+    [Fact]
+    public async Task SendProgramCommandAsync_BeforeConnect_Throws()
+    {
+        using var client = new FanucCommandClient();
+        await Assert.ThrowsAsync<InvalidOperationException>(
+            () => client.StopProgramAsync("RVBUSTSM", _cts.Token));
+    }
+
+    /// <summary>
+    /// 启动模拟控制器，接收一条请求帧并比对期望内容，然后返回预设响应。
+    /// </summary>
+    private async Task RunSingleResponseControllerAsync(
+        byte[] expectedFrame,
+        byte[] responseFrame,
+        CancellationToken cancellationToken)
+    {
+        using var controller = await _listener.AcceptTcpClientAsync(cancellationToken);
+        await using var stream = controller.GetStream();
+
+        var buffer = new byte[expectedFrame.Length];
+        await ReadExactAsync(stream, buffer, cancellationToken);
+        Assert.Equal(expectedFrame, buffer);
+
+        await stream.WriteAsync(responseFrame, cancellationToken);
+    }
+
+    /// <summary>
+    /// 从流中精确读取指定长度的字节。
+    /// </summary>
+    private static async Task ReadExactAsync(NetworkStream stream, byte[] buffer, CancellationToken cancellationToken)
+    {
+        var totalRead = 0;
+        while (totalRead < buffer.Length)
+        {
+            var read = await stream.ReadAsync(buffer.AsMemory(totalRead), cancellationToken);
+            if (read == 0)
+            {
+                throw new IOException("模拟控制器读取到 EOF。");
+            }
+
+            totalRead += read;
+        }
+    }
+}