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I am making my home smart using esp32 and micropython. I have a Django project running on a server I have on my LAN and I want to send commands to my esp32 wirelessly through it. Maybe something like running a uvicorn server and a fastapi app and then sending messages to the uvicorn server endpoints and I have no idea how to do this.

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You should probably use either Django Channels or django-websocket

But I'm not sure if websockets package is ported for micropython, so you might need to use plain socket

Or try something completely different. Physically connect the server and esp32 together (I have absolutely no idea about it)

My recommendation is the first option