Raspberry Pi Ezbpi Touchscreen UI

Who has used a Raspberry Pi as an EZBPi Server?

Ref: The EZBPi server turns a Raspberry Pi into an EZB that robot components can connect to, and that ARC connects to. Peripherals on the Raspberry Pi (Pi Camera, GPIO, UART, etc.) become controllable by ARC when the Pi is running the server. In this setup, the EZBPi server makes the Pi act as the EZB, and ARC connects from a remote computer over WiFi or LAN.

Note: the EZBPi Server has some limitations compared to other EZBs-for example, PWM servos are not supported, but bi-directional UART/serial servos (Robotis Dynamixel, LewanSoul, etc.) are supported.

Question: Has anyone used the Raspberry Pi in this configuration to also run a touchscreen display as the robot user interface? Specifically, can the Pi host a local touchscreen UI that:

• sends inputs back to the host computer running ARC (the ARC instance running on the remote PC), and
• reads robot state information back to the display (for example via Robot Skills or scripting),

while simultaneously running the EZBPi server and controlling the Pi-connected peripherals?

I'm asking about a setup where the Pi acts as the EZB (EZBPi server + Pi peripherals) and also provides the local touchscreen UI, while ARC on a separate computer remains the central controller. Any experiences, limitations, or tips about UI-to-ARC communication, performance, or conflicts when running the server and the UI together would be appreciated.

@Athena, what do you say to this as well?