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

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:

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

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.