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For example with FirefoxDriver, how is it sending out clicks and commands to the firefox instance?

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It does this by having a webserver within the Webdriver addon for firefox. The language bindings then do a REST-ish type call to it to get something done, like clicks, typing etc.

You can see the REST-ish interface Here. We call it the Json Wire protocol. We also have more native events via the Advanced User Interactions API. This does more native clicks and typing, at the OS level.

Each language binding takes care of that for you so you dont need to worry about it.

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Unfortunately, both of these links are now dead.

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