# Operational workflow: from local control to HTTP clients

This page is grounded in the supplied `DobotCtrl`, `DobotTcp`, `server_fastapi`, `Config`, and `ese774_frame` sources. Run motion commands only after validating the physical safety procedure.

## 1. Before connecting

- Confirm the MG400 IP address (`192.168.1.6` is the configured default).
- Check connectivity to Dashboard (29999), Motion (30003), and Feedback (30004).
- Verify servo state, work envelope, and emergency-stop procedure.
- Start with read-only state queries.

## 2. Local control

```python
from dobot.dobot_ctrl import DobotCtrl

robot = DobotCtrl(dobot_ip="192.168.1.6", auto_connect=False)
try:
    if not robot.connect():
        raise RuntimeError("MG400 connection failed")
    print(robot.get_current_pose())
    print(robot.get_current_angle())
finally:
    robot.disconnect()
```

With `auto_connect=False`, explicitly call `connect()`. `DobotCtrl` delegates operations to `DobotTcp`.

## 3. FastAPI server

The server entry point is `src/dobot/server_fastapi/server.py`:

```bash
python -m dobot.server_fastapi.server
```

It uses `FastApiServer(device_cls=DobotCtrl, router_cls=None, api_spec=None, object_name="dobot", ...)`: automatic dispatch through `ese774_frame`, without a mandatory device-specific router or Pydantic request model.

Defaults: `Config.SERVER_IP="127.0.0.1"`, `SERVER_PORT=8000`, `DOBOT_IP="192.168.1.6"`. Access from other hosts requires an appropriate bind address and network configuration.

**Note:** `src/dobot/server.py` exports public clients; it is not the server launch module.

## 4. Synchronous client

```python
from dobot.server_fastapi import SyncDobotClient

client = SyncDobotClient(server_ip="127.0.0.1", server_port=8000)
print(client.get_current_pose())
print(client.get_current_angle())
```

A synchronous HTTP client waits for the HTTP call, not necessarily for robot motion. Motion completion is separately controlled by `move(..., is_async=...)`.

## 5. Asynchronous client

`AsyncDobotClient` subclasses `ese774_frame.clients.async_device_client.AsyncDeviceClient`. Follow its actual method and cleanup contract; no unverified event-loop example is introduced here.

## 6. Motion completion semantics

`DobotTcp.move()` accepts `target`, `motion_mode`, `coord_type`, `path_blend`, `offset`, `pose`, `speed`, `accel`, `decel`, and `is_async`. With `is_async=True`, it returns after command acceptance. With `is_async=False`, it sends `Sync()` to wait for queued motion completion. A supplied `pose` is not implemented and returns `False` in the current backend.

## 7. Configuration

`Config.load_yaml(path)` changes class attributes; `Config(yaml_path=path)` changes instance attributes. Choose the appropriate form for how the server receives its configuration.

## 8. Further reading

- [Architecture](../manual/architecture.md)
- [Framework](../reference/framework.md)
- [Public method signatures](../reference/method_signatures.md)
- [Generated API](../api/modules.html)