Appium is at its heart a webserver that exposes a REST API. It receives connections from a client, listens for commands, executes those commands on a mobile device, and responds with an HTTP response representing the result of the command execution. The fact that we have a client/server architecture opens up a lot of possibilities: we can write our test code in any language that has a http client API, but it is easier to use one of the Appium client libraries. We can put the server on a different machine than our tests are running on. We can write test code and rely on a cloud service like Sauce Labs to receive and interpret the commands.
Automation is always performed in the context of a session. Clients initiate a session with a server in ways specific to each library, but they all end up sending a POST /session request to the server, with a JSON object called the 'desired capabilities' object. At this point the server will start up the automation session and respond with a session ID which is used for sending further commands.
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