feat(planner): finding 当场唤醒 + planner N 秒心跳触发(任务参数,默认5min)

触发机制补两条(见 docs/planner-trigger-impl-plan.md)：

1) finding 当场唤醒：worker 飞行中 report_finding 落库即唤醒本任务 planner，
   不再等 worker 整趟收工才反应。
   - worker.Execute 加 notify 入参并 SetNotify(补上 worker toolset 之前缺失的接线)
   - addFinding 写 KindFinding 成功后调 notify(只对 finding,不对 fact)
   - engine 两处 worker.Execute 调用传 t.Notify

2) planner N 秒心跳：距上轮规划结束/任务开始满 N 秒且期间无触发 → 触发一轮，
   兜底卡死 + 唤醒去监督飞行中的 worker(steer/kill) + 周期复查。
   - plannerLoop 重构为 runRound 闭包 + 三臂 select(ctx/notify/heartbeat)
   - 心跳在 loop 入口臂 = 从任务 start 计时(覆盖 seed 跳过首轮)，每轮结束重臂
   - 新增任务参数 plan_heartbeat_seconds，下限=默认=300(5min),低于自动抬到300
   - DB 迁移：schema.sql 加列 + ALTER ADD COLUMN IF NOT EXISTS 补旧库
   - 全链路接线：db.CreateTask/manager/server HTTP/orchestration spawn_task
   - 前端：api.createTask 传参 + 建任务表单新增"planner 心跳(分钟)"字段

db/schema.sql

@@ -238,6 +238,7 @@ CREATE TABLE IF NOT EXISTS tasks (
     company_id     BIGINT REFERENCES companies(id) ON DELETE SET NULL,
     parent_ref     TEXT,
     timeout_seconds INTEGER NOT NULL DEFAULT 0,
+    plan_heartbeat_seconds INTEGER NOT NULL DEFAULT 300,
     first_run_at   TIMESTAMPTZ,
     deadline_at    TIMESTAMPTZ,
     deleted_at     TIMESTAMPTZ,
@@ -250,6 +251,8 @@ CREATE INDEX IF NOT EXISTS idx_tasks_status ON tasks(status)          WHERE dele
 DROP TRIGGER IF EXISTS trg_tasks_upd ON tasks;
 CREATE TRIGGER trg_tasks_upd BEFORE UPDATE ON tasks
     FOR EACH ROW EXECUTE FUNCTION set_updated_at();
+-- planner 心跳触发间隔(秒);补旧库。默认 300s(5min)。见 docs/planner-trigger-impl-plan.md
+ALTER TABLE tasks ADD COLUMN IF NOT EXISTS plan_heartbeat_seconds INTEGER NOT NULL DEFAULT 300;
 
 -- 任务测试范围（资产覆盖度的分母 + 授权边界）。
 --   自动填(source='auto')：insertAssets 顶层按 worker 显式插入的资产类型加保守范围

db/tasks.go

@@ -21,6 +21,9 @@ type Task struct {
 	TimeoutSeconds int        `json:"timeout_seconds"`        // 0=不限时
 	FirstRunAt     *time.Time `json:"first_run_at,omitempty"` // 首次真正开始运行的时刻(非 created_at);nil=尚未运行
 	DeadlineAt     *time.Time `json:"deadline_at,omitempty"`  // = first_run_at + timeout_seconds;nil=不限或未运行
+	// planner 心跳触发间隔(秒)：距上轮 plan 结束/任务开始满该值且期间无触发 → 触发一轮。
+	// 下限=默认=300(5min)，低于一律抬到 300(在 CreateTask 归一)。见 docs/planner-trigger-impl-plan.md
+	PlanHeartbeatSeconds int `json:"plan_heartbeat_seconds"`
 }
 
 // IsTerminal reports whether a task status is a terminal (finished) state.
@@ -32,7 +35,18 @@ func IsTerminal(status string) bool {
 // CreateTask creates an exploration + task in one transaction and returns the task.
 // timeoutSeconds is the task-level wall-clock budget (0 = 不限时); deadline_at is
 // stamped later at first real run (see engine), not here.
-func (d *DB) CreateTask(description, goal string, llmProfileID *int64, timeoutSeconds int) (*Task, error) {
+// MinPlanHeartbeatSeconds 是 planner 心跳间隔的下限 = 默认 = 5min。
+// 低于它(含缺省 0 / 负值 / 误配的小值)一律抬到 5min，防止把 planner 打爆。
+const MinPlanHeartbeatSeconds = 300
+
+func normalizeHeartbeat(sec int) int {
+	if sec < MinPlanHeartbeatSeconds {
+		return MinPlanHeartbeatSeconds
+	}
+	return sec
+}
+
+func (d *DB) CreateTask(description, goal string, llmProfileID *int64, timeoutSeconds, planHeartbeatSeconds int) (*Task, error) {
 	tx, err := d.Begin()
 	if err != nil {
 		return nil, err
@@ -60,20 +74,21 @@ VALUES ($1, 'fact', $2, 0, 'origin', 'system')`, expID, string(originPayload));
 	if timeoutSeconds < 0 {
 		timeoutSeconds = 0
 	}
-	t := &Task{Description: description, Goal: goal, ExplorationID: expID, LLMProfileID: llmProfileID, TimeoutSeconds: timeoutSeconds}
+	planHeartbeatSeconds = normalizeHeartbeat(planHeartbeatSeconds) // <=0→300，<30→30
+	t := &Task{Description: description, Goal: goal, ExplorationID: expID, LLMProfileID: llmProfileID, TimeoutSeconds: timeoutSeconds, PlanHeartbeatSeconds: planHeartbeatSeconds}
 	if err := tx.QueryRow(`
-INSERT INTO tasks(description, goal, exploration_id, llm_profile_id, timeout_seconds) VALUES ($1,$2,$3,$4,$5)
-RETURNING id, status, paused, created_at`, description, goal, expID, llmProfileID, timeoutSeconds).Scan(&t.ID, &t.Status, &t.Paused, &t.CreatedAt); err != nil {
+INSERT INTO tasks(description, goal, exploration_id, llm_profile_id, timeout_seconds, plan_heartbeat_seconds) VALUES ($1,$2,$3,$4,$5,$6)
+RETURNING id, status, paused, created_at`, description, goal, expID, llmProfileID, timeoutSeconds, planHeartbeatSeconds).Scan(&t.ID, &t.Status, &t.Paused, &t.CreatedAt); err != nil {
 		return nil, err
 	}
 	return t, tx.Commit()
 }
 
-const taskCols = `id, description, goal, exploration_id, status, paused, llm_profile_id, COALESCE(parent_ref,''), created_at, completed_at, COALESCE(timeout_seconds,0), first_run_at, deadline_at`
+const taskCols = `id, description, goal, exploration_id, status, paused, llm_profile_id, COALESCE(parent_ref,''), created_at, completed_at, COALESCE(timeout_seconds,0), COALESCE(plan_heartbeat_seconds,300), first_run_at, deadline_at`
 
 func scanTask(sc interface{ Scan(...any) error }) (*Task, error) {
 	var t Task
-	if err := sc.Scan(&t.ID, &t.Description, &t.Goal, &t.ExplorationID, &t.Status, &t.Paused, &t.LLMProfileID, &t.ParentRef, &t.CreatedAt, &t.CompletedAt, &t.TimeoutSeconds, &t.FirstRunAt, &t.DeadlineAt); err != nil {
+	if err := sc.Scan(&t.ID, &t.Description, &t.Goal, &t.ExplorationID, &t.Status, &t.Paused, &t.LLMProfileID, &t.ParentRef, &t.CreatedAt, &t.CompletedAt, &t.TimeoutSeconds, &t.PlanHeartbeatSeconds, &t.FirstRunAt, &t.DeadlineAt); err != nil {
 		return nil, err
 	}
 	return &t, nil

db/tasks_test.go

@@ -9,7 +9,7 @@ func TestTaskLifecycleAndDeleteCascade(t *testing.T) {
 	}
 	defer d.Close()
 
-	tk, err := d.CreateTask("迁移测试", "目标X", nil, 0)
+	tk, err := d.CreateTask("迁移测试", "目标X", nil, 0, 0)
 	if err != nil {
 		t.Fatal(err)
 	}