ROBOT UI

Overview

A FastAPI backend controls a Doosan robot arm through a small C++ daemon built on Doosan's DRFL SDK. Plans are JSON step lists (move, weld, arc, turntable), waypoints get recorded by hand-guiding the arm, and you can jog it axis by axis or run plans in sequence or parallel with a turntable and laser. Daemon and browser stay synced over WebSocket. An Arduino on serial watches the e-stop line, and the connection drops out safely if the WebSocket dies.

Highlights

• Custom C++ daemon wrapping Doosan DRFL SDK, driven via newline-delimited JSON over stdin/stdout
• Live hand-guide waypoint recording and axis jog control with pose capture
• Hardware e-stop integration (Arduino serial) with full-screen safety overlay and auto plan-halt