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motion_report: Add support for dumping steps/trapq via API server

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Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
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Kevin O'Connor 2021-07-21 12:48:23 -04:00
parent cf2e941aec
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2 changed files with 168 additions and 5 deletions
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docs/API_Server.md
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@ -278,6 +278,49 @@ window" interface. Parsing content from the G-Code terminal output is
discouraged. Use the "objects/subscribe" endpoint to obtain updates on
Klipper's state.
### motion_report/dump_stepper
This endpoint is used to subscribe to Klipper's internal stepper
queue_step command stream for a stepper. Obtaining these low-level
motion updates may be useful for diagnostic and debugging
purposes. Using this endpoint may increase Klipper's system load.
A request may look like:
`{"id": 123, "method":"motion_report/dump_stepper",
"params": {"name": "stepper_x", "response_template": {}}}`
and might return:
`{"id": 123, "result": {"header": ["interval", "count", "add"]}}`
and might later produce asynchronous messages such as:
`{"params": {"first_clock": 179601081, "first_time": 8.98,
"first_position": 0, "last_clock": 219686097, "last_time": 10.984,
"data": [[179601081, 1, 0], [29573, 2, -8685], [16230, 4, -1525],
[10559, 6, -160], [10000, 976, 0], [10000, 1000, 0], [10000, 1000, 0],
[10000, 1000, 0], [9855, 5, 187], [11632, 4, 1534], [20756, 2, 9442]]}}`
The "header" field in the initial query response is used to describe
the fields found in later "data" responses.
### motion_report/dump_trapq
This endpoint is used to subscribe to Klipper's internal "trapezoid
motion queue". Obtaining these low-level motion updates may be useful
for diagnostic and debugging purposes. Using this endpoint may
increase Klipper's system load.
A request may look like:
`{"id": 123, "method": "motion_report/dump_trapq", "params":
{"name": "toolhead", "response_template":{}}}`
and might return:
`{"id": 1, "result": {"header": ["time", "duration",
"start_velocity", "acceleration", "start_position", "direction"]}}`
and might later produce asynchronous messages such as:
`{"params": {"data": [[4.05, 1.0, 0.0, 0.0, [300.0, 0.0, 0.0],
[0.0, 0.0, 0.0]], [5.054, 0.001, 0.0, 3000.0, [300.0, 0.0, 0.0],
[-1.0, 0.0, 0.0]]]}}`
The "header" field in the initial query response is used to describe
the fields found in later "data" responses.
### pause_resume/cancel
This endpoint is similar to running the "PRINT_CANCEL" G-Code command.