motion_report: Add support for dumping steps/trapq via API server
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
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@ -278,6 +278,49 @@ window" interface. Parsing content from the G-Code terminal output is
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discouraged. Use the "objects/subscribe" endpoint to obtain updates on
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Klipper's state.
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### motion_report/dump_stepper
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This endpoint is used to subscribe to Klipper's internal stepper
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queue_step command stream for a stepper. Obtaining these low-level
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motion updates may be useful for diagnostic and debugging
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purposes. Using this endpoint may increase Klipper's system load.
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A request may look like:
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`{"id": 123, "method":"motion_report/dump_stepper",
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"params": {"name": "stepper_x", "response_template": {}}}`
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and might return:
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`{"id": 123, "result": {"header": ["interval", "count", "add"]}}`
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and might later produce asynchronous messages such as:
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`{"params": {"first_clock": 179601081, "first_time": 8.98,
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"first_position": 0, "last_clock": 219686097, "last_time": 10.984,
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"data": [[179601081, 1, 0], [29573, 2, -8685], [16230, 4, -1525],
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[10559, 6, -160], [10000, 976, 0], [10000, 1000, 0], [10000, 1000, 0],
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[10000, 1000, 0], [9855, 5, 187], [11632, 4, 1534], [20756, 2, 9442]]}}`
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The "header" field in the initial query response is used to describe
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the fields found in later "data" responses.
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### motion_report/dump_trapq
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This endpoint is used to subscribe to Klipper's internal "trapezoid
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motion queue". Obtaining these low-level motion updates may be useful
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for diagnostic and debugging purposes. Using this endpoint may
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increase Klipper's system load.
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A request may look like:
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`{"id": 123, "method": "motion_report/dump_trapq", "params":
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{"name": "toolhead", "response_template":{}}}`
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and might return:
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`{"id": 1, "result": {"header": ["time", "duration",
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"start_velocity", "acceleration", "start_position", "direction"]}}`
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and might later produce asynchronous messages such as:
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`{"params": {"data": [[4.05, 1.0, 0.0, 0.0, [300.0, 0.0, 0.0],
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[0.0, 0.0, 0.0]], [5.054, 0.001, 0.0, 3000.0, [300.0, 0.0, 0.0],
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[-1.0, 0.0, 0.0]]]}}`
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The "header" field in the initial query response is used to describe
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the fields found in later "data" responses.
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### pause_resume/cancel
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This endpoint is similar to running the "PRINT_CANCEL" G-Code command.
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@ -6,11 +6,79 @@
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import logging
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import chelper
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API_UPDATE_INTERVAL = 0.500
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# Helper to periodically transmit data to a set of API clients
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class APIDumpHelper:
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def __init__(self, printer, data_cb, startstop_cb=None,
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update_interval=API_UPDATE_INTERVAL):
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self.printer = printer
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self.data_cb = data_cb
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if startstop_cb is None:
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startstop_cb = (lambda is_start: None)
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self.startstop_cb = startstop_cb
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self.update_interval = update_interval
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self.update_timer = None
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self.clients = {}
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def _stop(self):
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self.clients.clear()
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if self.update_timer is None:
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return
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reactor = self.printer.get_reactor()
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reactor.unregister_timer(self.update_timer)
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self.update_timer = None
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try:
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self.startstop_cb(False)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper stop callback error")
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return reactor.NEVER
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def _start(self):
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if self.update_timer is not None:
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return
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try:
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self.startstop_cb(True)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper start callback error")
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self._stop()
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return
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reactor = self.printer.get_reactor()
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systime = reactor.monotonic()
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waketime = systime + self.update_interval
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self.update_timer = reactor.register_timer(self._update, waketime)
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def add_client(self, web_request):
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cconn = web_request.get_client_connection()
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template = web_request.get_dict('response_template', {})
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self.clients[cconn] = template
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self._start()
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def _update(self, eventtime):
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try:
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msg = self.data_cb(eventtime)
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except self.printer.command_error as e:
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logging.exception("API Dump Helper data callback error")
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return self._stop()
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if not msg:
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return eventtime + self.update_interval
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for cconn, template in list(self.clients.items()):
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if cconn.is_closed():
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del self.clients[cconn]
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if not self.clients:
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return self._stop()
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continue
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tmp = dict(template)
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tmp['params'] = msg
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cconn.send(tmp)
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return eventtime + self.update_interval
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# Extract stepper queue_step messages
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class DumpStepper:
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def __init__(self, printer, mcu_stepper):
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self.printer = printer
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self.mcu_stepper = mcu_stepper
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self.last_api_clock = 0
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_stepper", "name",
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mcu_stepper.get_name(), self._add_api_client)
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def get_step_queue(self, start_clock, end_clock):
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mcu_stepper = self.mcu_stepper
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res = []
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@ -36,6 +104,30 @@ class DumpStepper:
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% (i, s.first_clock, s.start_position, s.interval,
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s.step_count, s.add))
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logging.info('\n'.join(out))
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def _api_update(self, eventtime):
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data, cdata = self.get_step_queue(self.last_api_clock, 1<<63)
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if not data:
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return {}
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clock_to_print_time = self.mcu_stepper.get_mcu().clock_to_print_time
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first = data[0]
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first_clock = first.first_clock
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first_time = clock_to_print_time(first_clock)
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self.last_api_clock = last_clock = data[-1].last_clock
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last_time = clock_to_print_time(last_clock)
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mcu_pos = first.start_position
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start_position = self.mcu_stepper.mcu_to_commanded_position(mcu_pos)
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step_dist = self.mcu_stepper.get_step_dist()
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if self.mcu_stepper.is_dir_inverted():
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step_dist = -step_dist
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d = [(s.interval, s.step_count, s.add) for s in data]
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return {"data": d, "start_position": start_position,
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"start_mcu_position": mcu_pos, "step_distance": step_dist,
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"first_clock": first_clock, "first_step_time": first_time,
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"last_clock": last_clock, "last_step_time": last_time}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('interval', 'count', 'add')
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web_request.send({'header': hdr})
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NEVER_TIME = 9999999999999999.
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@ -45,7 +137,12 @@ class DumpTrapQ:
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self.printer = printer
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self.name = name
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self.trapq = trapq
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def get_trapq(self, start_time, end_time):
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self.last_api_msg = (0., 0.)
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self.api_dump = APIDumpHelper(printer, self._api_update)
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wh = self.printer.lookup_object('webhooks')
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wh.register_mux_endpoint("motion_report/dump_trapq", "name", name,
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self._add_api_client)
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def extract_trapq(self, start_time, end_time):
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ffi_main, ffi_lib = chelper.get_ffi()
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res = []
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while 1:
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@ -83,6 +180,23 @@ class DumpTrapQ:
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move.start_z + move.z_r * dist)
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velocity = move.start_v + move.accel * move_time
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return pos, velocity
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def _api_update(self, eventtime):
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qtime = self.last_api_msg[0] + min(self.last_api_msg[1], 0.100)
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data, cdata = self.extract_trapq(qtime, NEVER_TIME)
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d = [(m.print_time, m.move_t, m.start_v, m.accel,
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(m.start_x, m.start_y, m.start_z), (m.x_r, m.y_r, m.z_r))
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for m in data]
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if d and d[0] == self.last_api_msg:
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d.pop(0)
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if not d:
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return {}
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self.last_api_msg = d[-1]
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return {"data": d}
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def _add_api_client(self, web_request):
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self.api_dump.add_client(web_request)
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hdr = ('time', 'duration', 'start_velocity', 'acceleration',
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'start_position', 'direction')
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web_request.send({'header': hdr})
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STATUS_REFRESH_TIME = 0.250
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@ -94,8 +208,11 @@ class PrinterMotionReport:
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# get_status information
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self.next_status_time = 0.
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gcode = self.printer.lookup_object('gcode')
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self.last_status = {'live_position': gcode.Coord(0., 0., 0., 0.),
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'live_velocity': 0., 'live_extruder_velocity': 0.}
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self.last_status = {
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'live_position': gcode.Coord(0., 0., 0., 0.),
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'live_velocity': 0., 'live_extruder_velocity': 0.,
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'steppers': [], 'trapq': [],
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}
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# Register handlers
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self.printer.register_event_handler("klippy:connect", self._connect)
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self.printer.register_event_handler("klippy:shutdown", self._shutdown)
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@ -117,6 +234,9 @@ class PrinterMotionReport:
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break
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etrapq = extruder.get_trapq()
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self.trapqs[ename] = DumpTrapQ(self.printer, ename, etrapq)
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# Populate 'trapq' and 'steppers' in get_status result
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self.last_status['steppers'] = list(sorted(self.steppers.keys()))
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self.last_status['trapq'] = list(sorted(self.trapqs.keys()))
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# Shutdown handling
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def _dump_shutdown(self, eventtime):
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# Log stepper queue_steps on mcu that started shutdown (if any)
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@ -136,8 +256,8 @@ class PrinterMotionReport:
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return
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# Log trapqs around time of shutdown
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for dtrapq in self.trapqs.values():
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data, cdata = dtrapq.get_trapq(shutdown_time - .100,
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shutdown_time + .100)
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data, cdata = dtrapq.extract_trapq(shutdown_time - .100,
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shutdown_time + .100)
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dtrapq.log_trapq(data)
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# Log estimated toolhead position at time of shutdown
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dtrapq = self.trapqs.get('toolhead')
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