add pudu robot control client; drop global.json SDK pin

EpsonPrintService/PuduRobotClient.cs

@@ -0,0 +1,118 @@
+using System.Net;
+using System.Net.Http.Headers;
+using System.Net.Http.Json;
+using System.Text.Json;
+
+namespace EpsonPrintService;
+
+public sealed class PuduRobotClient
+{
+    private readonly HttpClient _http;
+    private readonly string _baseUrl;
+    private readonly string _username;
+    private readonly string _password;
+    private string? _token;
+
+    public PuduRobotClient(string baseUrl, string username, string password, HttpClient? http = null)
+    {
+        _baseUrl = baseUrl.TrimEnd('/');
+        _username = username;
+        _password = password;
+        _http = http ?? new HttpClient { Timeout = TimeSpan.FromSeconds(30) };
+    }
+
+    public async Task SendToTableAsync(string robotSn, string targetPoint, CancellationToken ct = default)
+    {
+        await EnsureTokenAsync(ct);
+        try
+        {
+            await PostAddCommandAsync(robotSn, targetPoint, ct);
+        }
+        catch (HttpRequestException ex) when (ex.StatusCode == HttpStatusCode.Unauthorized)
+        {
+            // Token expired — refresh once and retry.
+            _token = null;
+            await EnsureTokenAsync(ct);
+            await PostAddCommandAsync(robotSn, targetPoint, ct);
+        }
+    }
+
+    private async Task EnsureTokenAsync(CancellationToken ct)
+    {
+        if (_token is not null) return;
+
+        using var resp = await _http.PostAsJsonAsync(
+            $"{_baseUrl}/api/Auth/login",
+            new { username = _username, password = _password },
+            ct);
+        resp.EnsureSuccessStatusCode();
+
+        var bodyText = await resp.Content.ReadAsStringAsync(ct);
+        var token = ExtractToken(bodyText);
+        if (string.IsNullOrEmpty(token))
+            throw new InvalidOperationException($"Pudu login: no token returned. Body: {bodyText}");
+
+        _token = token;
+    }
+
+    private async Task PostAddCommandAsync(string robotSn, string targetPoint, CancellationToken ct)
+    {
+        using var req = new HttpRequestMessage(HttpMethod.Post, $"{_baseUrl}/api/Robots/add-command")
+        {
+            Content = JsonContent.Create(new { Sn = robotSn, TargetPoint = targetPoint })
+        };
+        req.Headers.Authorization = new AuthenticationHeaderValue("Bearer", _token);
+
+        using var resp = await _http.SendAsync(req, ct);
+        resp.EnsureSuccessStatusCode();
+    }
+
+    // Recursive search so we match the token regardless of wrapping (e.g. {"data":{"token":"..."}}).
+    // Mirrors the behavior of `sed -n 's/.*"token":"\([^"]*\)".*/\1/p'` in send_robot.sh.
+    private static string? ExtractToken(string json)
+    {
+        try
+        {
+            using var doc = JsonDocument.Parse(json);
+            return FindTokenProperty(doc.RootElement);
+        }
+        catch (JsonException)
+        {
+            return null;
+        }
+    }
+
+    private static string? FindTokenProperty(JsonElement element)
+    {
+        switch (element.ValueKind)
+        {
+            case JsonValueKind.Object:
+                foreach (var prop in element.EnumerateObject())
+                {
+                    if ((prop.Name.Equals("token", StringComparison.OrdinalIgnoreCase)
+                         || prop.Name.Equals("accessToken", StringComparison.OrdinalIgnoreCase))
+                        && prop.Value.ValueKind == JsonValueKind.String)
+                    {
+                        return prop.Value.GetString();
+                    }
+                }
+                foreach (var prop in element.EnumerateObject())
+                {
+                    var nested = FindTokenProperty(prop.Value);
+                    if (nested is not null) return nested;
+                }
+                return null;
+
+            case JsonValueKind.Array:
+                foreach (var item in element.EnumerateArray())
+                {
+                    var nested = FindTokenProperty(item);
+                    if (nested is not null) return nested;
+                }
+                return null;
+
+            default:
+                return null;
+        }
+    }
+}

EpsonPrintService/robot_control.md

@@ -0,0 +1,138 @@
+# Robot Control — Send a Robot to a Table
+
+Step-by-step guide to authorize against the `PuduControl.DataSync.API` and dispatch a robot (by serial number) to a specific table (by table name).
+
+## Prerequisites
+
+- API running locally at `http://localhost:5022` (see `Properties/launchSettings.json`).
+- Credentials: `admin` / `admin`.
+- Robot serial number (`Sn`) and the exact table name configured as a destination point (`TargetPoint`) in the robot's shop.
+- A REST client (`curl`, Postman, HTTPie, etc.).
+
+All endpoints return a uniform envelope:
+
+```json
+{ "success": true, "data": { ... }, "errorMessage": null }
+```
+
+## Step 1 — Authorize (obtain a JWT)
+
+`POST /api/Auth/login`
+
+Request body:
+
+```json
+{ "username": "admin", "password": "admin" }
+```
+
+`curl` example:
+
+```bash
+curl -s -X POST http://localhost:5022/api/Auth/login \
+  -H "Content-Type: application/json" \
+  -d '{"username":"admin","password":"admin"}'
+```
+
+Sample response:
+
+```json
+{
+  "success": true,
+  "data": {
+    "message": "Login successful",
+    "username": "admin",
+    "token": "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9...",
+    "expiresIn": 86400
+  },
+  "errorMessage": null
+}
+```
+
+Copy `data.token` — every subsequent call must include it as:
+
+```
+Authorization: Bearer <token>
+```
+
+The token is valid for 24 hours.
+
+## Step 2 — Send the robot to a table
+
+`POST /api/Robots/add-command` (requires `Authorization` header)
+
+Request body:
+
+| Field         | Type   | Description                                      |
+|---------------|--------|--------------------------------------------------|
+| `Sn`          | string | Robot serial number                              |
+| `TargetPoint` | string | Table name (must exist in the robot's shop map)  |
+
+```json
+{ "Sn": "ROBOT_SERIAL_HERE", "TargetPoint": "TABLE_NAME_HERE" }
+```
+
+`curl` example:
+
+```bash
+TOKEN="eyJhbGciOi..."   # token from Step 1
+
+curl -s -X POST http://localhost:5022/api/Robots/add-command \
+  -H "Content-Type: application/json" \
+  -H "Authorization: Bearer $TOKEN" \
+  -d '{"Sn":"ROBOT_SERIAL_HERE","TargetPoint":"TABLE_NAME_HERE"}'
+```
+
+Success response:
+
+```json
+{
+  "success": true,
+  "data": { "message": "Command added successfully." },
+  "errorMessage": null
+}
+```
+
+The command is persisted and picked up by the `DataSyncHosted` background service, which forwards it to the robot through the Pudu API.
+
+## One-shot script
+
+```bash
+#!/usr/bin/env bash
+set -euo pipefail
+
+BASE_URL="http://localhost:5022"
+ROBOT_SN="$1"
+TABLE_NAME="$2"
+
+TOKEN=$(curl -s -X POST "$BASE_URL/api/Auth/login" \
+  -H "Content-Type: application/json" \
+  -d '{"username":"admin","password":"admin"}' \
+  | sed -n 's/.*"token":"\([^"]*\)".*/\1/p')
+
+curl -s -X POST "$BASE_URL/api/Robots/add-command" \
+  -H "Content-Type: application/json" \
+  -H "Authorization: Bearer $TOKEN" \
+  -d "{\"Sn\":\"$ROBOT_SN\",\"TargetPoint\":\"$TABLE_NAME\"}"
+```
+
+Usage: `./send_robot.sh <ROBOT_SN> <TABLE_NAME>`
+
+## Troubleshooting
+
+- **401 Unauthorized** — token missing, expired, or malformed. Repeat Step 1.
+- **`You do not have permission to control this robot.`** — the logged-in user does not own the shop this robot belongs to. Assign the shop to the user via `POST /api/Robots/assign-shop` (admin only).
+- **Target point not reached / ignored** — verify `TargetPoint` matches a point name on the robot's map exactly (case-sensitive). Use `GET /api/Robots/shops/{shopId}` to list available points.
+- **Listing available robots** — `GET /api/Robots/shops/{shopId}/robots` returns robots (and their `Sn`) in a shop; `GET /api/Robots/shops` lists shops the user can access.
+
+## Helpful companion endpoints
+
+| Purpose                       | Method & Path                                     |
+|-------------------------------|---------------------------------------------------|
+| List accessible shops         | `GET  /api/Robots/shops`                          |
+| List robots in a shop         | `GET  /api/Robots/shops/{shopId}/robots`          |
+| Get shop layout / points      | `GET  /api/Robots/shops/{shopId}`                 |
+| Get robot status              | `GET  /api/Robots/shops/{shopId}/status`          |
+| List queued commands          | `POST /api/Robots/list-commands`                  |
+| Cancel a queued command       | `POST /api/Robots/delete-command`                 |
+
+All of the above require the `Authorization: Bearer <token>` header.

EpsonPrintService/send_robot.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+if [[ $# -ne 2 ]]; then
+    echo "Usage: $0 <ROBOT_SN> <TABLE_NAME>" >&2
+    exit 1
+fi
+
+BASE_URL="${BASE_URL:-https://pudu-api.tes.gd}"
+USERNAME="${USERNAME:-admin}"
+PASSWORD="${PASSWORD:-admin}"
+ROBOT_SN="$1"
+TABLE_NAME="$2"
+
+TOKEN=$(curl -fsS -X POST "$BASE_URL/api/Auth/login" \
+    -H "Content-Type: application/json" \
+    -d "{\"username\":\"$USERNAME\",\"password\":\"$PASSWORD\"}" \
+    | sed -n 's/.*"token":"\([^"]*\)".*/\1/p')
+
+if [[ -z "$TOKEN" ]]; then
+    echo "Login failed: could not extract token." >&2
+    exit 1
+fi
+
+curl -fsS -X POST "$BASE_URL/api/Robots/add-command" \
+    -H "Content-Type: application/json" \
+    -H "Authorization: Bearer $TOKEN" \
+    -d "{\"Sn\":\"$ROBOT_SN\",\"TargetPoint\":\"$TABLE_NAME\"}"
+echo

global.json

@@ -1,6 +0,0 @@
-{
-  "sdk": {
-    "version": "8.0.419",
-    "rollForward": "latestPatch"
-  }
-}