══════════════════════════════════════════════════════════════════════════════════════ Session 292ca9f4-e73d-4254-af3c-30dc2187ef16 · started 2025-09-11T11:00:22.559000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/11/rollout-2025-09-11T13-00-22-292ca9f4-e73d-4254-af3c-30dc2187ef16.jsonl 🧑 You 2025-09-11T11:03:45.326000Z I have run klipper_avr_bridge.py with raw logging enabled, and also used socat to sniff the /tmp/pseudoserial and pseudoserial raw, like this: `socat -d -d -x -v OPEN:/tmp/pseudoserial_raw,raw,echo=0 PTY,link=/tmp/pseudoserial,raw,echo=0 2> /tmp/pseudo_sniff.log`. I ran klipper_avr_bridge.py with these flags `--raw-log /tmp/avr_raw.log --port /tmp/pseudoserial_raw` In the logs I actually find a discrepancy between what socat sniffed and what klipper_avr_bridge.py printed to /tmp/avr_raw.log. It might have been a long H2A message. In socat's log it's split into multiple messages of length 10, 14, 22, 77, and 11. In total 134 bytes. In klipper_avr_bridge.py the whole message is logged as one 64 byte transmission. So 70 bytes are missing. Is it an artifact of the logging? Do a thorough analysis. 🤖 Agent 2025-09-11T11:04:03.731000Z I’m going to open `examples/klipper/slideprinter/klipper_avr_bridge.py` and review how it logs raw data and handles reads/writes. ══════════════════════════════════════════════════════════════════════════════════════ Session 81999ec2-1465-4795-93aa-ee6ec425ead9 · started 2025-09-11T11:57:00.242000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/11/rollout-2025-09-11T13-57-00-81999ec2-1465-4795-93aa-ee6ec425ead9.jsonl 🧑 You 2025-09-11T12:17:39.634000Z I'm trying to simulate a 3d printer with simulavr, see the script in klipper_avr_bridge.py. I have achieved stable serial connection between them an confirmed that all the bytes that are sent and received get logged from within klipper_avr_bridge.py in a very timely manner. Now I want to confirm inside examples/js/slideprinter/klipperHandler.js that we're getting all the commands we should get. Right now I have enabled DEBUG prints in klipperHandler.js. I give klipper one line of gcode simply like this: `echo "G1 X1000 F1000" >> /tmp/printer` I expect the printer to start to move right away, and `queue_step` commands to start logging in the browser console. Instead what I observe is a several second long wait, and then one jerky movement per second after that, along with the expected `queue_step` printouts. How can I make this smoother? How to search for where this is clogging up? 🤖 Agent 2025-09-11T12:22:09.836000Z Short answer: you’re almost certainly seeing browser timer throttling + logging overhead, not a transport/parse problem. In background tabs browsers clamp timers to ~1s, and heavy console logging on the main thread starves your pacer. That produces exactly “several‑second wait, then one jerk per second”. What to try first - Keep the slideprinter tab focused and click anywhere on it once. Then try your G1. Timer throttling in background tabs often clamps setInterval/requestAnimationFrame to 1 Hz. - Turn off DEBUG logs in `examples/js/slideprinter/klipperHandler.js` (they’re very expensive at the rates Klipper emits). Set `const DEBUG = false;` and retry. - In the bridge, disable history replay and crank up parse visibility: - Run with `--ws-history-messages 0 --parse-debug` - Optionally set `--ws-raw-batch-ms 0` to eliminate the tiny (2 ms) raw-byte batching while you debug. - Verify MCU clock mapping: your JS uses `clockHz = 16_000_000`. Make sure the bridge runs with `--speed 16000000` (default), so `interval` ticks map correctly. How to pinpoint the clog - Confirm parse cadence server-side: - Start bridge with `--parse-debug`. You should see “Parsed packet … First: queue_step …” lines flowing at ms cadence. If that looks smooth, the clog is not in simulavr → parser. - Measure WS delivery and main-thread pacing: - Temporarily instrument `klipperHandler.js`: ``` let lastReport = performance.now(), wsMsgs=0, lines=0, enq=0, stepsApplied=0; // in ws.onmessage, after JSON.parse: wsMsgs++; lines += msg.lines.length; if (performance.now() - lastReport > 1000) { console.log(`wsMsgs=${wsMsgs}/s lines=${lines}/s enq=${enq}/s steps=${stepsApplied}/s hidden=${document.hidden}`); wsMsgs=lines=enq=stepsApplied=0; lastReport = performance.now(); } ``` - Increment `enq` in `enqueueSegment`, and increment `stepsApplied` in the pacer where you currently compute `stepsApplied`. - If `document.hidden` is true and the report is 1Hz, it’s the tab throttle. - Check backpressure from history replay: - If you reload the page often, that 5000-message history can take time to replay. Disable it: `--ws-history-messages 0`. Make it smooth and stay smooth - Minimize main-thread work: - Keep `DEBUG=false`, or throttle logs (e.g. print 1 every 200 ms). - Reduce per-message work; you already coalesce per-axis steps into a single `{type:'Move', A:…, …}` per pacer tick — that’s good. - Use an rAF-driven pacer when visible: - Replace `setInterval` with a `requestAnimationFrame` loop that advances steps until `now` (exactly like your game loop). It syncs with rendering and avoids jitter. It still throttles in background, but at least remains aligned with render. - Or move the pacer off the main thread: - Put `connectKlipperRaw`’s parsing + step scheduling in a Web Worker; post only coalesced `Move` commands to the main thread. Workers aren’t hit as hard by DevTools and DOM work. - Batch parsed lines server-side: - In `klipper_avr_bridge.py`, aggregate parsed, filtered lines for 2–5 ms and send one JSON with `{'action':'klipper_parsed','lines':[...many...]}` instead of many tiny frames. This reduces WS overhead and GC pressure in the browser. - Disable history replay in steady-state: - Keep `--ws-history-messages 0` once you’re past bring-up; it prevents slow replays to new clients. Quick checks to verify improvement - With the tab focused and `DEBUG=false`, you should see immediate `queue_step` arrivals in the browser and smooth updates (hundreds per second). - If you still see ~1Hz bursts, log `document.hidden` and the 1-second cadence will correlate when the tab is backgrounded. If you want, I can: - Add lightweight 1Hz telemetry to `klipperHandler.js` (counts + queue depth). - Swap the pacer to an rAF loop or a Worker (minimal patch). - Add a short batching window in the Python bridge for parsed lines. Tell me which approach you prefer, and I’ll patch it accordingly. ══════════════════════════════════════════════════════════════════════════════════════ Session a67e09f6-601d-4f2c-b9e7-086be0b3ea3a · started 2025-09-11T15:46:52.263000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/11/rollout-2025-09-11T17-46-52-a67e09f6-601d-4f2c-b9e7-086be0b3ea3a.jsonl 🧑 You 2025-09-11T15:52:32.593000Z I'm having trouble that the first ca 150 queue_step commands from klipper does not reach the browser console. Loop at ai_docs/movements.txt to see how it should be, and ai_docs/movements_we_got.txt to see what we actually saw in the browser console. Code responsible for this dataflow is found in examples/js/slideprinter/index.html, examples/js/slideprinter/klipperHandler.js, examples/js/slideprinter/klipperPacer.js, and examples/klipper/slideprinter/klipper_avr_bridge.py I use this command to open the avr simulation: ``` PYTHONPATH=.../pysimulavr examples/klipper/slideprinter/klipper_avr_bridge.py examples/klipper/avr/klipper.elf --dict examples/klipper/avr/klipper.dict --klipper-py .../klippy/ --rate 0.5 ``` ``` .../python .../klippy.py examples/klipper/slideprinter/printer-slideprinter-avr.cfg -i public/examples/gcode/movements.gcode -l .../klipper.log ``` I have confirmed separately that all the bytes, from start to finish, to appear in klipper_avr_bridge.py when we run with --raw-log. It's something about how the bytes are then interpreted or passed on to the websocket, or how they are read from the websocket, that causes the loss of the first part of the data stream. 🤖 Agent 2025-09-11T15:58:09.676000Z I’ve traced the drop to a concurrency bug in the AVR bridge’s WebSocket broadcaster: while a new client connects and replays history, live broadcasts also try to send on the same socket, causing concurrent ws.send() calls. The websockets library doesn’t allow this; it can raise and silently drop early frames — which matched your “first ~150 queue_step lines missing” symptom. What I changed - Added per-connection send locks in examples/klipper/slideprinter/klipper_avr_bridge.py. - Replayed the entire history under the connection’s lock before allowing live sends. - Ensured broadcast uses the same lock for that connection to serialize sends and preserve ordering. Why this fixes it - No more concurrent ws.send() on the same connection. - History is delivered fully (and in order) before live traffic interleaves. - Prevents early frames being lost at the moment of connection. How to validate - Start the AVR bridge as you do, but keep parse-debug on for visibility: - PYTHONPATH=.../pysimulavr examples/klipper/slideprinter/klipper_avr_bridge.py examples/klipper/avr/klipper.elf --dict examples/klipper/avr/klipper.dict --klipper-py .../klippy/ --rate 0.5 --parse-debug - Start Klipper with your existing command and run the same G-code. - Open the slideprinter demo, enable “Klipper raw in”, and compare the browser console to ai_docs/movements.txt. - You should now see the initial set_next_step_dir and the first ~150 queue_step lines appear. Notes - If you reload the page often and don’t need backlog, you can reduce load with --ws-history-messages 0. - No changes to JS handlers were needed; history replay now arrives reliably and in order. Want me to bump the default history size or add an optional “history replay count” log on connect for easier debugging? 🧑 You 2025-09-11T16:04:52.457000Z I'm losing the same number of queue_step lines before and after your change, with or without `--ws-history-messages 0` 🤖 Agent 2025-09-11T16:12:44.174000Z Thanks for checking. Since locking didn’t change the symptom, the drop is likely happening before or during parsing. To pinpoint exactly where it starts and rule out filtering, I added two small, non‑invasive diagnostics: What I changed - Server: Added sequence numbers to parsed batches and an option to disable filtering - examples/klipper/slideprinter/klipper_avr_bridge.py - Adds --keep-noise to pass through handshake lines. - Adds seq and count in every { action: 'klipper_parsed' } payload. - Worker: Logs the first seq seen from the server - examples/js/slideprinter/klipperPacer.js - Logs “first klipper_parsed seq=… count=…” once on first message. How to use - Start bridge with parse debug and no filtering for one run: - …/klipper_avr_bridge.py … --parse-debug --keep-noise - Open slideprinter demo, enable “Klipper raw in”. - In the browser console: - Look for “first klipper_parsed seq=…”. - If seq > 0, the server started sending from a later point; we can correlate seq with the number of lines missing. - With --parse-debug you’ll also see “Parser resync: …” lines in the bridge output. If those appear early, the parser began mid-stream and dropped bytes until it resynced. Why this helps - Confirms whether the loss is due to early parser resync or filtering (now disabled with --keep-noise). - Gives an exact line index for where the browser starts, so we can match it to ai_docs/movements.txt. If seq starts at a non-zero value, the next step is to eliminate the initial parser resync by guaranteeing we feed the parser from byte 0. If you see that, I can adjust the bridge to prebuffer host→AVR bytes from the moment the PTY is created and feed them once the parser is ready, so no early packets are lost even if Klipper writes immediately. 🧑 You 2025-09-11T16:15:07.165000Z We got "first klipper_parsed seq=0 count=8". Enabling --keep-noise made no difference. 🤖 Agent (no agent final message captured) 🧑 You 2025-09-11T16:17:12.766000Z I got lots of "Parser resync: keeping tail 1 bytes (buffer=7)" and similar lines when I enabled --parse-debug in the bridge. 🤖 Agent 2025-09-11T16:21:33.412000Z Thanks — the “resync” spam is the smoking gun. That usually means the PTY slave’s line discipline munged the very first binary bytes (before Klipper flips it to raw), so the msgproto parser starts mid‑packet and discards until it finds a clean header — losing those early queue_step lines. Fix implemented - Set the PTY slave to RAW mode immediately on creation so no initial bytes are transformed. - examples/klipper/slideprinter/klipper_avr_bridge.py: create_pty() now sets raw on both master and slave (the slave is crucial). - examples/python/slideprinter/klipper_handler.py: same raw-mode fix for consistency. Notes - Your earlier “Parser resync: keeping tail …” lines should largely disappear. - The per‑connection ws.send locking is still good hygiene but wasn’t the root cause. Validate - Start the bridge as before (keep --parse-debug once): - You should no longer see the barrage of early “Parser resync …” messages. - The browser should now receive the initial queue_step lines (including early oid=4) instead of starting around line ~159. - If you still want to compare, capture the console and diff against ai_docs/movements.txt. If the resync spam is gone but you still see missing lines, I can add a tiny prebuffer + “wait for first valid packet before parsing” gate, but with slave RAW set from the start it shouldn’t be necessary. 🧑 You 2025-09-11T18:18:01.016000Z The resync spam is not gone. I think the problem has to do with the clock of the simulated avr still not being precisely stable. So we might miss or misinterpret the first byte or something. Can we try harder to parse the first data we get. Currently we do this: ``` data = await parser_queue.get() ... if data: # If parser available, broadcast parsed text as JSON if mp is not None: parse_buf += data while True: l = mp.check_packet(parse_buf) if l == 0: break if l < 0: # Invalid data: keep the indicated tail tail = -l if args.parse_debug: print(f"Parser resync: keeping tail {tail} bytes (buffer={len(parse_buf)})") parse_buf[:] = parse_buf[-tail:] continue ``` It feels like we should try harder to parse the very first data? Or du you have other suggestions? 🤖 Agent 2025-09-11T18:24:43.428000Z Good signal. The resync spam means we were starting mid-frame and then repeatedly discarding almost everything (“keep tail 1”) until the parser stumbled onto a valid header much later — which explains why the first ~150 queue_step lines never showed up. What I changed - Robust initial sync: instead of dropping to a 1‑byte tail on l < 0, I scan the current buffer for the first valid frame boundary and realign to it. If none found, I keep the buffer intact and wait for more bytes. - Larger reads: increased PTY master read size from 64 → 1024 bytes to reduce fragmentation. - Clearer debug: logs when a frame is found at an offset so we can confirm one-time resync vs. repeated drop. Files touched - examples/klipper/slideprinter/klipper_avr_bridge.py - Parser resync: scans buffer for a valid frame and realigns, avoids discarding to 1 byte. - Read chunk size: `os.read(self.fd, 1024)`. - examples/python/slideprinter/klipper_handler.py - (Kept earlier RAW-mode fix for slave/master PTY ends; not strictly about this resync but still correct.) - examples/js/slideprinter/klipperPacer.js - (Kept seq logging to verify where the stream starts.) How to validate - Run the bridge with `--parse-debug` and reconnect the browser: - You should see at most one “Parser resync: found frame at offset …” very early, then no more resync spam. - The browser console should now include the initial queue_step lines that were missing before. - Optional: run once with `--keep-noise` to verify that handshake lines are present; then turn it off to avoid flooding. Why this helps - We no longer discard nearly the entire buffer during initial misalignment. Instead, we search for the first valid packet in what we already have, lock onto it, and proceed — recovering early frames that were previously lost during the “tail=1” resync loop. If you still see gaps after this - Share the first few “Parser resync” lines (they should now say “found frame at offset …”) and the first “first klipper_parsed seq=0 count=…”. If resync still repeats, I can tighten the scanner (e.g., scan the entire buffer, not just the last window) or add a short prebuffer window before attempting to parse the very first frame. 🧑 You 2025-09-11T18:48:05.998000Z This works for getting into the stream of clean packets faster. We capture lines from nr 2 and onwards now which is great! However we have created another problem. Looking at ai_docs/movements_we_got.txt you see that lines 10-31 repeat on lines 32-52. This is now the only discrepancy left between what we get and what klipper was trying to send us. Can you fix this minor bug? 🤖 Agent 2025-09-11T18:53:55.336000Z Got it — that duplication pattern is consistent with early retransmits from Klipper while the AVR clock/ACKs are unstable. The protocol uses a small seq window and will resend frames; our parser was decoding both the original and the retransmit, so the same queue_step block appeared twice. What I changed - Robust initial sync kept. - Retransmit dedup (packet-level): - examples/klipper/slideprinter/klipper_avr_bridge.py now keeps a short rolling window (64) of recent raw packets and drops exact duplicates. - When a duplicate is dropped and --parse-debug is set, it logs: “Dedup: dropped retransmitted frame len=…”. - Added --no-dedup to disable this behavior if you need raw retransmits for debugging. - Larger PTY reads to reduce fragmentation: 1024 bytes per read (was 64). How to run - Use your existing bridge command; optionally add: - --parse-debug to see resync/dedup hints - --keep-noise if you want handshake lines in output - Example: - PYTHONPATH=.../pysimulavr examples/klipper/slideprinter/klipper_avr_bridge.py examples/klipper/avr/klipper.elf --dict examples/klipper/avr/klipper.dict --klipper-py .../klippy/ --rate 0.5 --parse-debug What to expect - Initial resync happens quickly (you already saw seq=0). - Duplicate block (lines 10–31 repeating 32–52) should be gone — the retransmitted frames are dropped before conversion to lines. - If you want to confirm dedup is the reason, run once with --no-dedup; you should see the block repeat again. If any remaining mismatch shows up, share a short console slice with --parse-debug enabled (including any “Dedup:” lines) and I can fine-tune the dedup window or add a per-seq dedup within a short time window. ══════════════════════════════════════════════════════════════════════════════════════ Session e1586002-d4ac-4d89-a012-5ecc5dedb3d1 · started 2025-09-11T19:12:44.670000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/11/rollout-2025-09-11T21-12-44-e1586002-d4ac-4d89-a012-5ecc5dedb3d1.jsonl 🧑 You 2025-09-11T19:27:13.694000Z I'm looking at klipperPacer.js and klipperHandler.js. These get their commands from klipper_avr_bridge.py. However, it seems like the motors only ever spin forwards when feeding the slideprinter this way. What could be the issue? I did a console log debug experiment to see that this line in the klipper pacer works as expected: ` st.dirSign = (Number(kv.dir) === 0) ? -1 : 1;` It printed exactly the sequence of 1s and -1s that we expected so this line works. Why would the directions be wrong? I know the motor rotation direction should change after `set_next_step_dir` has been observed, and that `st.dirSign` is updated. I think maybe klipperHandler.js sends far too many move commands. Here's an idea: examples/js/slideprinter/index.html already reads the timeCodesPerSecond value from the usda file and gets a dt. Pass that dt to the klipperHandler and make klipperHandler accumulate move commands (add the values together) for a dt long time period, and then do a final oncommand call, and then restart the timer and accumulate again. I'm not completely sure how to make sure a command is really sent after dt if at least one ws message arrived since the last dispatch. But you'll figure something out. 🤖 Agent 2025-09-11T19:30:15.051000Z Here’s what I changed to try your batching idea and tame the flood of move commands. What I changed - `examples/js/slideprinter/klipperHandler.js` - Added optional `options.dt` (seconds) to `connectKlipperRaw(url, onCommand, { dt })`. - When `dt > 0`, batch messages into windows of length `dt`: - For `type: 'Move'` (absolute angles): keep the latest angle per axis within the window. - For `type: 'Add to reference'` (deltas): sum per axis within the window. - Flush once after `dt` since the first message arrived; emit `Add to reference` first, then `Move`. - Exposed `setDt(newDt)` on the returned object so `dt` can be set later. - Pass-through (no batching) when `dt` is not set or is 0. - `examples/js/slideprinter/index.html` - Track `simDtSec` from the USD’s `timeCodesPerSecond`. - Pass `{ dt: simDtSec }` when connecting `connectKlipperRaw(...)` (uses pass-through if `simDtSec` not yet known). - After USD loads, call `klipperRaw.setDt(1.0 / timeCodesPerSecond)`. Why this helps - The worker was emitting very frequent `Move` updates; `RemoteSpoolSystem` processes one command per update tick, which can smear direction changes or make behavior look uni-directional. - Batching aligns updates to the sim’s `dt`, ensuring direction changes (from `set_next_step_dir`) and steps are coherently applied. - “Add values together” is correct for `Add to reference` (deltas). For `Move`, values are absolute angles, so we take the latest within the window (adding would be incorrect). How it behaves - If at least one WS message arrives, a command is guaranteed to be dispatched after `dt`. - No extra work when there’s no traffic; timer starts only when the first message in a window arrives. - You can change `dt` at runtime via `klipperRaw.setDt(...)`. Next steps - Try with `Klipper raw in` enabled and verify motors reverse correctly. - If needed, tweak `dt` to match your scene’s timing; too small = more updates, too large = more coalescing. 🧑 You 2025-09-11T19:58:33.530000Z That was definitely not the issue, my diagnosis was wrong. We still get exactly the same result as before. The motors do not ever change direction. The real issue is timing. st.dirSign flips back and forth while the klipperPacer is receiving the packets. However, when the st.dirSign later is read, in the pacerLoop (that seems to be after all the packets have been received, which is not good either, but let's fix that later), the st.dirSign is off. It corresponds to the latest received package, not the movement we're currently trying to process. So dirSign must be part of the segment, and not rest in an external variable... 🤖 Agent 2025-09-11T20:01:08.784000Z You’re right: the bug is that dirSign is global per axis and read at execution time. When pacerLoop runs later, it uses the last observed direction rather than the direction that was active when a segment was enqueued. What I changed - examples/js/slideprinter/klipperPacer.js - Added per-segment direction and an active direction for the currently executing segment. - axis state: added activeDirSign (keeps the direction for the current segment). - queue_step: capture current st.dirSign into the segment as seg.dirSign. - When starting a new segment (axis idle): set st.activeDirSign = seg.dirSign. - When switching to the next segment: set st.activeDirSign = nextSeg.dirSign. - pacerLoop: use st.activeDirSign for each step instead of st.dirSign. - set_next_step_dir: only updates st.dirSign (pending direction for future segments); it does not affect the current segment being executed. - set_position: reset state and align st.activeDirSign = st.dirSign. - Files/changes: - Added activeDirSign in axisState - Use activeDirSign in pacerLoop step application - Add dirSign to each enqueued segment and propagate when starting/switching segments - Align activeDirSign on set_position Why this fixes it - Each queue_step now carries the direction that was active when it was enqueued. Even if the worker receives more packets and set_next_step_dir flips later, the current executing segment uses the correct captured direction. Notes - I left the earlier dt-batching in klipperHandler.js; it’s optional (dt <= 0 means pass-through). It shouldn’t affect this fix. - A separate follow-up could address scheduling so steps begin while packets are still streaming, but the direction correctness is now decoupled from that timing. Try it out with Klipper raw in enabled and confirm motors reverse as expected. ══════════════════════════════════════════════════════════════════════════════════════ Session 0127c22f-4a2e-4949-81a6-313ecd0eb23c · started 2025-09-11T20:04:06.363000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/11/rollout-2025-09-11T22-04-06-0127c22f-4a2e-4949-81a6-313ecd0eb23c.jsonl 🧑 You 2025-09-11T20:31:45.224000Z Look at klipperPacer.js and make sure move packets include the extruder movements, the same way as they are in moveCommander.js's move commands (look at extrusion multipliers and such). It's ok to assume the oid of the extruder stepper will always be 4. There's something about relative/absolute extrusion (M82/M83) that definitely doesn't work. 🤖 Agent 2025-09-11T20:36:33.351000Z I reviewed klipperPacer.js vs moveCommander.js and implemented extruder support that mirrors the JS MoveCommander behavior. Also fixed batching to preserve extrusions. What I changed - klipperPacer.js - Convert extruder steps (oid 4) into filament mm and emit them as E in Move commands. - Use rotation_distance 33.5 mm/rev with 200 steps/rev, 16 microsteps → 0.01046875 mm/step. - Only include E when positive (ignore retractions), matching MoveCommander’s E semantics. - Continue to emit absolute angles for A–D as before. - Avoid emitting Add to reference for E on set_position (only applies to cable axes). - klipperHandler.js - When batching, keep last angles for A–D but SUM E across all Move packets in the window so extrusion isn’t lost during coalescing. Key details - Assumes extruder stepper oid is 4 and microsteps are 16 (same as current code). - E values in Move are incremental (mm) and only positive, exactly like moveCommander.js. - A–D Move values remain absolute angles (radians), and Add to reference still aggregates only A–D. Notes and next steps - If your printer uses a different extruder rotation_distance or microstepping, we should make EXTRUDER_ROTATION_DISTANCE_MM configurable (e.g., pass in via the worker connect message). - M82/M83 don’t need special handling in pacer mode; we count extruder steps that the host already produced. The coalescing change ensures E is preserved correctly regardless of absolute/relative gcode. ══════════════════════════════════════════════════════════════════════════════════════ Session 477b5c66-fe5e-4865-8be6-a4850d8fe054 · started 2025-09-13T11:49:00.832000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/13/rollout-2025-09-13T13-49-00-477b5c66-fe5e-4865-8be6-a4850d8fe054.jsonl 🧑 You 2025-09-13T13:05:24.577000Z Can you have a look at examples/klipper/slideprinter/klipper_linux_mcu_bridge.py? I'm seeing two problems that might be interconnected or maybe not. First, when klipper connects to /tmp/klipper_host_mcu we see in the klipper log: ``` mcu 'mcu': Starting connect mcu 'mcu': Unknown message -15 (len 11) while identifying mcu 'mcu': Unknown message -15 (len 11) while identifying new minimum rtt 1958.285: hrtt=0.000649 freq=50000000 new minimum rtt 1958.337: hrtt=0.000537 freq=50625115 ``` ... and then everything procedes as normal. The host mcu simulater program runs at 50 MHz. Maybe there's something wrong about klippers or klipper_linux_mcu_bridge.py's frequency or clock related assumptions? Or maybe the bridge adds a delay to the transmission that klipper needs to adjust to? Anyways, that's the smallest problem. The bigger problem is that after klippy has sent all the commands, they immediately get registered by the bridge, and even by handleParsedLine inside examples/js/slideprinter/klipperPacer.js that consumes the ws mirrored version of the data from klipper. However, it takes a full ca 15 seconds before any of the move type json messages (stemming from klipperPacer.js detecting `has(queue_step)` and deciding to `enqueueSegment`) start streaming from klipperPacer.js and into klippeHandler.js. Once the move-stream starts. It's usually smooth and consistent but I sometimes see jittering, and I wonder if it's because something along the way is being starved. 🤖 Agent 2025-09-13T13:10:58.751000Z Here’s what I found and what I changed. Findings - “Unknown message -15 while identifying” is benign. It happens before Klippy fully syncs the protocol/dict on an MCU connection and then proceeds normally once sync is established. It’s not a frequency mismatch (Klipper calibrates to ~50.6 MHz as shown by the freq lines). - The WebSocket mirror was configured with a 1-second coalescing window. In practice, flushes are immediate on full packets, but a longer window made any partial/initial parsing hiccup more visible as a stall. - The mirror did not include set_position in the forwarded subset. Your JS pacer uses set_position to reset state and align direction; omitting it can lead to stale state and confusing startup behavior in the worker. Changes made - Included set_position in the bridge’s forwarded command set so the worker sees those sync points. - Lowered the default WS coalescing window from 1.0s to 0.001s to reduce any startup stalling if the first bytes arrive fragmented. - No changes to clocks/frequency — the 50 MHz vs 50.6 MHz drift is small and not the cause of a 15 s delay. Files touched - examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Added 'set_position' to ALLOWED_COMMANDS. - Changed --batch-ms default from 1 to 0.001 (still in seconds). Thoughts on the 15 s delay - Given you already see handleParsedLine receiving queue_step quickly, the stall is inside the worker’s pacer loop. The most plausible cause is that the first interval sent in queue_step is very large (hundreds of millions of ticks, i.e., seconds of delay), so nextWakeTimeMs is scheduled far in the future. Seeing set_position should help clear stale segments and direction state and typically reduces this issue. - The 1 s WS coalescing window wasn’t the main cause but could amplify visible latency if the first packets were fragmented. - The 50 → 50.6 MHz calibration only causes ~1–2% drift, not seconds of delay. Recommendations to smooth jitter - In klipperPacer.js, switch the pacer from fixed setInterval(2 ms) to an event-driven timer: - Compute the min nextWakeTime across axes and schedule setTimeout(pacerLoop, max(0, minDeltaMs, clamp)). - This reduces CPU and jitter and tracks step deadlines more closely than a fixed polling tick. - Optionally pass the measured Klipper clock to the worker (e.g., via the bridge parsing the identify/status that reports freq) and set clockHz dynamically instead of a fixed 50 MHz. What I’d like from you to confirm - After this change, do you still see the long startup delay? If yes, enable DEBUG in klipperPacer.js and log the first 10 queue_step intervals and ticksToMs values so we can confirm whether it’s scheduling extremely far in the future. - If you want, I can implement the event-driven pacer and a small “report freq to worker” path in the bridge so the worker uses the exact measured frequency. 🧑 You 2025-09-13T13:56:39.036000Z Yes the delay is still there. I think it has to do with `st.nextWakeTimeMs = startedBaseTimeMs + ticksToMs(st.intervalTicks);` maybe capturing intervalticks from all four motors. They get separate queue_steps commands. The jitter is gone which is awesome. 🤖 Agent 2025-09-13T13:59:47.806000Z Thanks — the jitter win is good news. I’ve addressed the long delay by normalizing the first-step timing across axes in the pacer. What I changed - Bridge - Forward set_position to the worker so it can resync stepper state. - Cut the WS coalescing default to 1ms to reduce visible startup latency. - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Worker pacer - Rebased the initial schedule so the earliest queued step among all axes starts near “now + buffer”. - Preserves inter‑axis timing by subtracting the global minimum first-interval (in ticks) from each axis’s first step. - Locks this baseline once any step has actually been emitted. - File: examples/js/slideprinter/klipperPacer.js How the fix works - Before: Each axis scheduled its first step at startedBaseTimeMs + ticksToMs(first interval). If the plan’s first steps are scheduled far in the future (e.g., 15s), nothing moved until then. - Now: The worker tracks the minimum first-interval ticks across axes (firstTickOffset). It subtracts that offset when scheduling the first step for each axis: - nextWakeTimeMs = startedBaseTimeMs + ticksToMs(intervalTicks − firstTickOffset) - This shifts the absolute time-base so the first step happens ~bufferAheadMs from “now”, while preserving the relative timing between axes. - If a later axis arrives with an even smaller first-interval (earlier than seen so far), the worker shifts all pending nextWakeTimeMs earlier by that difference — but only until any step is emitted. Why the delay was happening - Klipper often schedules the first steps far ahead on its MCU clock and sends commands early to fill the queue. - Our original pacer treated those absolute “interval” values literally, waiting the full duration. - Normalizing to a common zero-time for the first steps (while preserving relative offsets) fixes the startup stall without affecting shape or ramping thereafter. About “Unknown message -15” - That’s expected during identification/handshake on a fresh connection. Klipper quickly resynchronizes and the reported freq is calibrated (~50–51 MHz). It’s harmless and not related to the 15 s delay. What to watch - You should now see move messages start within a few milliseconds after the first queue_step burst is parsed. - If you want, we can switch the pacer from a fixed 2 ms poll to an event-driven timer (schedule the next wake for the soonest axis). That further reduces CPU and jitter. Want me to implement the event-driven pacer next, or keep it as-is now that the startup delay is gone? 🧑 You 2025-09-13T14:02:51.500000Z It starts immediately now, which is good. But the jittering is back, which is not good. Making it event driven sounds like a good upgrade 🤖 Agent 2025-09-13T14:03:50.991000Z Event-driven pacer implemented. This removes the fixed 2 ms polling and schedules the worker to wake exactly when the next step is due. What changed in klipperPacer.js - Replaced setInterval polling with a setTimeout-based scheduler: - scheduleNextPacer() finds the earliest nextWakeTimeMs across axes and schedules a single timer for it (clamped to 8 ms max to avoid long oversleeps; if overdue, runs ASAP). - pacerLoop processes all due steps, emits a move if any, then re-schedules itself via scheduleNextPacer(). - New segments and set_position now call scheduleNextPacer() to preemptively adjust the next wake. - Baseline normalization (to start promptly) stays in place; it now triggers scheduleNextPacer() right after scheduling the first segment per axis. - Once any steps have been emitted, the baseline is locked (unchanged from previous patch). Expected outcome - Movement begins immediately (as before). - Jitter should be gone or significantly reduced, as the loop no longer idles in fixed polling intervals but wakes near each step’s deadline. If you still see jitter - Chrome/Firefox background throttling can degrade timer resolution. Keep the page visible and, if possible, allow the wake lock (already wired in main page) to reduce throttling. - We can add an adaptive “catch-up” loop inside pacerLoop that iterates multiple times if the earliest step is still overdue (e.g., if many steps are bunched tightly). Right now, pacerLoop already loops until nextWakeTimeMs > now for each axis on each wake. Want me to add frequency auto-detection (use Klipper’s measured freq instead of the fixed 50 MHz) so ticksToMs aligns perfectly? 🧑 You 2025-09-13T14:05:18.198000Z It starts immediately but jitters a lot. The engine reading the posted move commands can only move at a maximum of 500 Hz, which is why the 2ms frequency was there. Could that be the reason for the current jitter? 🤖 Agent 2025-09-13T14:07:32.868000Z Yes — the event-driven loop was emitting moves faster than the 500 Hz consumer can handle, and browser timer jitter at sub-ms scheduling made it worse. I’ve switched the worker back to a fixed 2 ms pacer while keeping the “immediate start” baseline fix. What I changed - Worker pacer - Restored a fixed 2 ms pacer (500 Hz) and removed the event-driven scheduler. - Kept the baseline normalization so the very first steps start immediately (no 15 s wait) while preserving relative timing across axes. - Locks baseline after the first emitted step. - File: examples/js/slideprinter/klipperPacer.js Why this smooths it - The physics engine consumes at 500 Hz; emitting more frequently (event-driven, sub-ms) caused bursts and timing variance (jitter). - A stable 2 ms pacer accumulates all steps due up to “now” and emits one coalesced move per tick, matching the engine’s maximum rate. Bridge changes (kept) - Forward set_position to the JS worker and reduced the WS coalescing default to 1 ms. - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py Sanity checks - USD scene has timeCodesPerSecond = 500, so klipperHandler batches at 2 ms (it’s already wired via setDt once the scene loads). - With a fixed 2 ms pacer plus that batching, the move stream stays under 500 Hz and jitter should be minimal. If any jitter remains - We can add a soft backlog cap in the pacer (e.g., limit how many due steps to process per tick and spill the rest to the next tick) to avoid big angle jumps on slow frames. - Or implement a hybrid: keep internal event-driven integration but only post moves on a 2 ms cadence (more complex but equivalent in effect for this use case). Want me to add a small “backlog cap” to the pacer as an extra smoothing guard? 🧑 You 2025-09-13T14:09:20.244000Z Good. Both the delay and the jitter is gone now. Please add frequency auto-detection (use Klipper’s measured freq instead of the fixed 50 MHz) so ticksToMs aligns perfectly. 🤖 Agent 2025-09-13T14:12:59.335000Z Added auto-detected clock frequency and wired it end-to-end. What’s new - Bridge: tails Klippy log for measured freq - New flag: `--klippy-log ` (e.g., `~/printer_data/logs/klippy.log`) - Parses lines like `freq=50625115` and broadcasts `{ action: 'klipper_clock', clock_hz: }` over the same WS. - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Worker: applies live clock updates - `clockHz` is now mutable; on `klipper_clock`, scales pending nextWakeTimeMs so scheduling stays smooth. - Keeps the 2 ms pacer and baseline normalization (no delay, no jitter). - File: examples/js/slideprinter/klipperPacer.js How to use - Start the bridge with log tailing: - `python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --klippy-log /path/to/klippy.log` - Typical path: `~/printer_data/logs/klippy.log` - Connect the UI (as before). The worker will auto-adjust to measured `clock_hz` when detected. Notes - If the log isn’t present at startup, the bridge waits and begins tailing when it appears; it also handles log rotation. - Frequency changes rescale pending wake times (smooth transition). New segments use the new frequency immediately. 🧑 You 2025-09-13T14:25:48.067000Z There's still some occasional jitter. I think packets are lost, or overwritten somehow, because when I move the simulated robot (slideprinter) back and forth, it doesn't end up exactly at the spot where it started each time. Sometimes it does, when there is no jitter. But when I see jitter then it doesn't return to exactly zero. I know the problem is not with klippers signal, it's something with out mcu process or with the bridge. 🤖 Agent 2025-09-13T14:29:00.307000Z Good call — this smelled like dropped/overwritten packets. I found and fixed a race in the bridge’s parsed‑mirror that could lose lines under bursty traffic, and added tooling to detect any remaining gaps. What I fixed - Eliminated parser race (root cause of missing lines) - The A→B read path fired many concurrent feed() tasks that shared internal buffers (buf/lines). That could interleave and drop commands. - feed(), delayed flushes, and immediate flushes are now serialized and snapshot payloads under a lock; WebSocket sends happen after releasing the lock. - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Included reset_step_clock in the forwarded subset (useful for timing/debug) - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Frequency auto-detection (already added) - Bridge tails klippy.log and broadcasts { action: 'klipper_clock', clock_hz }. - Worker scales pending wake times smoothly to the new Hz. - Files: klipper_linux_mcu_bridge.py, klipperPacer.js - Gap detection on the client - Worker verifies sequence continuity of mirrored parsed lines and logs if any gap occurs (helps confirm we’re not losing lines anymore). - File: examples/js/slideprinter/klipperPacer.js Why this matters - The prior unsynchronized feed() calls could parse the shared buffer concurrently and clobber self.lines/self.buf, especially during connect/start bursts — exactly the conditions where you observed jitter and drift from returning to zero. How to run - Start the bridge with log tailing: - python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --klippy-log /path/to/klippy.log - Keep the 2 ms pacer (500 Hz) as set; the engine matches it. - If you want extra visibility, set DEBUG = true in klipperPacer.js to see seq discontinuities (should be none now). If you still notice drift - Let me know if the worker logs any “seq discontinuity” messages. - I can add an optional ring buffer and checksum trace to the bridge to prove 1:1 parity between host→MCU bytes and mirrored parsed lines, but I expect the serialization fix to resolve it. ══════════════════════════════════════════════════════════════════════════════════════ Session aba25770-cfd3-405c-a9c5-3024154d790b · started 2025-09-13T17:55:39.767000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/13/rollout-2025-09-13T19-55-39-aba25770-cfd3-405c-a9c5-3024154d790b.jsonl 🧑 You 2025-09-13T17:56:50.372000Z Look at examples/js/slideprinter/index.html and the associated files, like the klipperPacer.js and klipperHandler.js. In the browser console I get this warning: "Content Security Policy of your site blocks the use of 'eval' in JavaScript`  The Content Security Policy (CSP) prevents the evaluation of arbitrary strings as JavaScript to make it more difficult for an attacker to inject unathorized code on your site. To solve this issue, avoid using eval(), new Function(), setTimeout([string], ...) and setInterval([string], ...) for evaluating strings. If you absolutely must: you can enable string evaluation by adding unsafe-eval as an allowed source in a script-src directive. ⚠️ Allowing string evaluation comes at the risk of inline script injection. AFFECTED RESOURCES 1 directive Source location Directive Status script-src blocked Learn more: Content Security Policy - Eval" Why is that? Please help me explain and fix this issue 🤖 Agent 2025-09-13T18:02:36.620000Z Short answer: your code isn’t using eval; your CSP is. The warning is Chrome telling you “eval isn’t allowed here,” not that you’re calling it. In dev, something on the page (often tooling) may try to eval; your CSP blocks it. In our slideprinter code and its workers we use only function timers (setTimeout(() => …), setInterval(…)) and no eval/new Function. What’s likely happening - Strict CSP: Your page (or server) has a `script-src` that excludes 'unsafe-eval'. Chrome’s Issues panel flags this as a generic “Eval is blocked” notice even if nothing breaks. - Dev-time tooling: When running via Vite dev server, some dev tools/HMR ecosystems can inject code paths that rely on dynamic code evaluation on some setups. In production builds these paths are gone. - Workers and CSP: Module workers sometimes require explicit CSP allowances (worker-src, blob:). Without them, some CSP analyzers throw generic “script-src” warnings. What I changed - Added an explicit, safe CSP to examples/js/slideprinter/index.html that: - Forbids eval (no 'unsafe-eval') - Allows module workers and blob URLs - Allows WebSocket to localhost - Allows Google Fonts and data: favicon - File changed: examples/js/slideprinter/index.html The CSP meta added - default-src 'self'; - script-src 'self'; - worker-src 'self' blob:; - connect-src 'self' ws: wss:; - img-src 'self' data:; - style-src 'self' 'unsafe-inline' https://fonts.googleapis.com; - font-src https://fonts.gstatic.com data:; Why this fixes it - It makes your intent explicit: no eval allowed, but the features the app needs (workers, ws, fonts) are allowed. If the warning persists, it’s an advisory that eval is blocked — which is exactly what we want — not a failure in your code. Options if you want the warning gone entirely - Production serve: Build with Vite and serve from `dist`. Production bundles remove dev/HMR paths, and the advisory usually disappears. - Dev-only relaxation (not recommended for prod): Add 'unsafe-eval' to `script-src` while developing or set Vite `server.headers['Content-Security-Policy']` to include it. This silences the warning but weakens security. Sanity checklist - No eval/new Function anywhere in slideprinter, klipperPacer.js, or klipperHandler.js. - Timers use function callbacks, not strings. - Workers are created with module scripts and now have CSP that allows `worker-src 'self' blob:`. Want me to: - Add the same CSP to the Python slideprinter page? - Update Vite’s dev server headers to include this CSP automatically in dev? ══════════════════════════════════════════════════════════════════════════════════════ Session 0d7ef61c-4f12-442e-81d7-219dabc6371e · started 2025-09-13T18:04:07.544000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/13/rollout-2025-09-13T20-04-07-0d7ef61c-4f12-442e-81d7-219dabc6371e.jsonl 🧑 You 2025-09-13T18:55:29.760000Z I'm creating a simulation app that has two ways to control it. One way is to let index.html create a web worker for itself that feeds it move commands built from gcode that's built into the web app itself. See examples/js/slideprinter/index.html and examples/js/slideprinter/moveCommander.js for details on the pacing and all the other details. The other way is to run a real instance of klipper which will parse gcode and send lower level commands to our bridge defined in examples/klipper/slideprinter/klipper_linux_mcu_bridge.py. The bridge creates an mcu process and forwards the pty messages into the mcu process. It also mirrors some of the commands over to examples/js/slideprinter/klipperPacer.js via websocket. The klipper pacer is supposed to read the klipper mcu commands and translate to simulation move commands that should get fed into the simulation via webworker to make it as similar to moveCommander.js as possible, as seen from slideprinter/index.html. See examples/js/slideprinter/klipperHandler.js for details about some of the plumbing. In practice, there's a quite low maximum print speed or acceleration beyond which the Klipper solution starts to jitter and loose steps in the simulation. The built-in solution seems more stable. Is there anything I can do to my klipper->bridge->[mcu, pacer->handler] pipeline that would make it more robust. I'm out of clue, there are so many potential pitfalls. I'm running the mcu process with realtime capabilities, so that's probably not the issue. But I'm not sure if I'm sending just the right amount of packets via the websocket, and if they are properly timed (they need to be realtime as well), or if some heavy processing somewhere in the klipperPacer or klipperHandler, or maybe in the simulator code itself might hog the processor just enough to cause jitter sometimes. I know that adding too much print debugging commands in the klipper_linux_mcu_bridge.py caused jitter once. The whole chain seems so sensitive to stuff like that... Can I just spread the various klipper pipeline parts out on more processes so they don't disturb each other and have ample resources? 🤖 Agent 2025-09-13T19:02:00.831000Z Here’s what I found and what I changed to make the Klipper path more robust, along with tuning advice. What I changed - Worker-side coalescing: The Klipper pacer worker now coalesces step updates into one “Move” per simulation dt and merges any “Add to reference” first. This cuts main-thread message volume and reduces scheduling pressure. - File: `examples/js/slideprinter/klipperPacer.js` - New behavior: receives `set_dt` and batches moves internally; if dt ≤ 0, pass-through as before. - dt forwarded to worker: The handler now forwards the simulation dt to the pacer worker so coalescing aligns with the engine tick. - File: `examples/js/slideprinter/klipperHandler.js` - Existing main-thread batching remains; with worker coalescing, it effectively becomes a no-op but stays as a safety net. - Sane initial dt: On Klipper WS connect we pass a default 200 Hz dt before the USD file loads. This avoids an initial burst at connect time. - File: `examples/js/slideprinter/index.html` - Lower WS CPU overhead: Disabled permessage-deflate on the Python WS server to reduce CPU and latency under load. - File: `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py` Why this helps - Fewer cross-thread hops: The pacer previously posted one message per 1 ms tick (and sometimes many per tick when catching up), then the main thread re-batched. Coalescing inside the worker reduces event pressure on the main thread and leaves it more room for physics and rendering. - Stable cadence: The pacer emits at dt cadence, which better matches the simulation step, improving smoothness at higher speeds/accelerations. - Lower overhead on the bridge: Disabling WS compression helps avoid CPU spikes on bursts and reduces jitter caused by GC/CPU contention. What to tune next - Bridge batching: Run the bridge with a slightly larger coalescing window and no compression: - `python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --batch-ms 0.005 --max-bytes 16384` - Pacer buffer: If you still see occasional jitter on faster prints, increase `bufferAheadMs` in `klipperPacer.js` from 15 to 25–50 ms to absorb bursty scheduling and network jitter. - Timer granularity: If you target very high step rates, consider increasing the pacer’s tick to match sim dt (e.g., 2–5 ms) since you’re now coalescing by dt anyway. Change `pacerIntervalMs` accordingly. - Avoid noisy logging: Keep logs minimal in the bridge. Python `print` in hot paths can block and cause measurable jitter. - CPU isolation: Pin processes to different cores and adjust priorities: - `taskset -c 2 chrt -f 50 klipper_mcu ...` - `taskset -c 3 nice -n -5 python klipper_linux_mcu_bridge.py ...` - Keep the browser on separate cores if possible. - WS server separation: If TLS/wss is enabled, terminate TLS in a reverse proxy (nginx/caddy) and keep the Python WS server plaintext on localhost to reduce Python CPU overhead. - Backpressure (optional): If you still see backlog growth, we can extend the pacer with pause/resume semantics keyed by the render queue depth (similar to `RemoteSpoolSystem` for the G-code worker). With worker-side batching in place, this is typically unnecessary. How to verify - In the browser console (worker logs): - Watch for “seq discontinuity” entries. If they appear, the WS source is dropping or reordering; increase `--batch-ms` and ensure CPU headroom. - Clock updates: If `klipper_clock` changes, the pacer rescales pending timers; confirm it remains stable. - Profile main thread: You should see fewer message events from the pacer and more consistent simulation frametimes at higher speeds. Want me to: - Add a runtime toggle in the UI for Klipper dt and buffer settings? - Thread the same improvements into the Python example (`examples/python/slideprinter`) for parity? - Wire the RemoteSpoolSystem’s high/low water marks to the Klipper worker as well? 🧑 You 2025-09-13T19:21:53.522000Z Your changes broke timing completely, so I removed them. What if the problem is just this: The Move commands are sent once every simulation time step. If the klipper loop or the simulation loop get ever so slightly out of sync, the simulated motors migth go without a new move command for a whole time step, and during the next time step they get two move commands, one of which might be missed? (I'm not entirely sure if the move commands are relative or absolute moves, but they should be absolute, so the system can recover.) What if we just need a mechanism to smoothen out that eventuality? 🤖 Agent 2025-09-13T19:25:04.651000Z You’re right: if “Move” arrives once per sim tick, small drift between the pacer and the sim loop can bunch or starve updates, causing jitter. Because Move is absolute, the simplest fix is to decouple consumption from arrival and make the main loop “latest-wins” per tick. What I changed - Latest-wins smoothing for external (Klipper) input: - File: `examples/js/slideprinter/slideprinter_common.js` - Behavior: - For `type: 'Move'`: keep only the latest absolute A/B/C/D seen since last update. - For `type: 'Add to reference'`: sum per-axis deltas since last update. - For `E`: accumulate positive extrusion across arrivals since last update (retractions ignored like before). - On each simulation update, apply pending Add-to-reference first, then the latest Move once, then clear the accumulators. - Important: This aggregation is only used when there is no local `MoveCommander` worker (i.e., the Klipper path). The built‑in JS path behavior is unchanged. Why this helps - Avoids “two in one frame, zero in the next” glitches: even if multiple Moves arrive between ticks, only the latest absolute target is applied once per tick. - Preserves extrusion: E is summed across the window so you don’t lose plastic when multiple Moves land in one tick. - Keeps Add-to-reference consistent: deltas are summed and applied before the new absolute target. Notes - No changes to the pacer or bridge; just the consumer smoothing. - If you want the same smoothing for the built-in worker too, I can add a small flag to use aggregator mode even when `this.worker` is set. Want me to add a UI toggle or a small metric (arrivals per tick) to confirm the smoothing is catching bunching? 🧑 You 2025-09-13T19:28:52.424000Z This completely broke timing again. The simulated robot just jiggles in spasms now. 🤖 Agent 2025-09-13T19:31:53.026000Z Got it — sorry for the churn. I’ve removed the main-thread aggregation and instead added a deterministic “flush on tick” handshake so timing aligns without changing physics. What I implemented - Flush-on-tick pacing (no batching in the main thread) - Worker holds step timing and absolute angles continuously, but only emits at explicit flush boundaries driven by the sim tick. - On each simulation update, we ask the Klipper pacer worker to “flush” exactly once, so you get: - first: any pending “Add to reference” summed since last flush - then: one consolidated “Move” with absolute A–D angles and a positive E delta since last flush - Files: - `examples/js/slideprinter/klipperPacer.js` - Added flush mode: `set_flush_mode` to enable, `flush` to emit. - Accumulates extruder mm and Add-to-reference for flush; still steps in 1 ms internally. - Immediate per-step “move” posts are disabled when flush mode is on. - `examples/js/slideprinter/klipperHandler.js` - New methods: `setFlushMode(enabled)` and `flush()`. - `examples/js/slideprinter/index.html` - On connect: `klipperRaw.setFlushMode(true)` and wires `RemoteSpoolSystem.klipperFlush = () => klipperRaw.flush()`. - `examples/js/slideprinter/slideprinter_common.js` - Reverted previous aggregator logic (which caused spasms). - Consumes one command per tick as before. - Calls `klipperFlush()` each tick to align producer with consumer. Why this should fix the jiggle - No race between pacer and sim: the worker consolidates everything that happened since the last tick and emits once, exactly at the simulation pacing boundary. - Moves remain absolute (A–D) and E is preserved as a proper delta; Add-to-reference is applied first. - We didn’t alter the stepper physics; just the timing of when commands arrive. How to toggle quickly - To compare behaviors, comment out `klipperRaw.setFlushMode(true)` or remove `RemoteSpoolSystem.klipperFlush` wiring in `examples/js/slideprinter/index.html`. That returns to previous behavior. If you still see occasional jitter - Increase `bufferAheadMs` in `klipperPacer.js` from 15 → 25–40 ms. - Keep logs minimal on the bridge; Python prints in hot paths can cause jitter. - If you use TLS for WS, terminate it outside the Python WS server. Want me to add a small on-screen counter (arrivals per tick, missed vs flushed) to verify alignment? ══════════════════════════════════════════════════════════════════════════════════════ Session 77e13cf2-b992-4f3e-9914-31ff273e16c9 · started 2025-09-13T19:34:21.296000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/13/rollout-2025-09-13T21-34-21-77e13cf2-b992-4f3e-9914-31ff273e16c9.jsonl 🧑 You 2025-09-13T19:37:48.242000Z I'm creating a simulation app that has two ways to control it. One way is to let index.html create a web worker for itself that feeds it move commands built from gcode that's built into the web app itself. See examples/js/slideprinter/index.html and examples/js/slideprinter/moveCommander.js for details on the pacing and all the other details. The other way is to run a real instance of klipper which will parse gcode and send lower level commands to our bridge defined in examples/klipper/slideprinter/klipper_linux_mcu_bridge.py. The bridge creates an mcu process and forwards the pty messages into the mcu process. It also mirrors some of the commands over to examples/js/slideprinter/klipperPacer.js via websocket. The klipper pacer is supposed to read the klipper mcu commands and translate to simulation move commands that should get fed into the simulation via webworker to make it as similar to moveCommander.js as possible, as seen from slideprinter/index.html. See examples/js/slideprinter/klipperHandler.js for details about some of the plumbing. In practice, there's a quite low maximum print speed or acceleration beyond which the Klipper solution starts to jitter and loose steps in the simulation. The built-in solution seems more stable but not perfect either. Is there anything I can do to my klipper->bridge->[mcu, pacer->handler] pipeline that would make it more robust. I'm out of clue, there are so many potential pitfalls. I'm running the mcu process with realtime capabilities, so that's probably not the issue. But I'm not sure if I'm sending just the right amount of packets via the websocket, and if they are properly timed (they need to be realtime as well), or if some heavy processing somewhere in the klipperPacer or klipperHandler, or maybe in the simulator code itself might hog the processor just enough to cause jitter sometimes. I know that adding too much print debugging commands in the klipper_linux_mcu_bridge.py caused jitter once. The whole chain seems so sensitive to stuff like that. There are so many steps being sent by klipper when speeds are high. (200 full steps times 16 microsteps per rotation). The implementation of the stepper motor system in slideprinter_common.js might also just be a bit sensitive... Can you try and fix those two things? 🤖 Agent 2025-09-13T19:42:53.735000Z I made two targeted improvements to reduce jitter and improve robustness at higher speeds: - Reduced WS message fragmentation in the Klipper bridge. - Hardened the stepper motor simulation against bursty inputs. What changed - Bridge WS coalescing (fewer, larger packets) - File: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - ParsedMirror no longer flushes on every packet boundary; it coalesces lines over a short window and flushes on either timer or size threshold. - Default coalescing window changed from 1 ms to 3 ms (tunable via --batch-ms). - Effect: fewer websocket sends to the pacer, lower CPU overhead and lower jitter from message burstiness, while staying near-realtime. - Stepper motor stability (bounded response + wrapped error) - File: examples/js/slideprinter/slideprinter_common.js - StepperMotorComponent: added maxAngularVel and maxAngularAccel with sensible defaults. - StepperMotorSystem: - Wraps the position error to the motor’s electrical period to avoid aliasing across multiple turns. - Clamps angular acceleration and velocity to avoid spikes when upstream commands arrive in bursts. - Keeps holding torque and damping behavior, just with safer bounds. - Effect: less sensitivity to timing jitter and fewer “runaway” bursts when command inputs bunch up. How this helps your two pain points - Too many steps at high speeds - The bridge now batches parsed MCU commands into fewer WS payloads (instead of flushing per packet). This reduces GC pressure and scheduling overhead in the pacer worker and the main thread. - The pacer and handler still target realtime by re-sampling down to your sim dt (via klipperHandler batching), but with less overhead and jitter. - Stepper implementation sensitivity - Electrical-period wrapping ensures the torque computation always uses the shortest electrical error, which is physically consistent and prevents wild torque swings if a position jump spans multiple pole-pair periods. - Accel/vel clamps avoid numerical spikes originating from bursty upstream updates, making the motor tracking more stable without changing intended steady-state behavior. Notes and knobs you can tweak - Bridge - CLI: --batch-ms (default 0.003), --max-bytes (default 16 KiB). You can try 2–5 ms if you want even coarser batching. - Pacer/Handler - Your existing dt batching in examples/js/slideprinter/klipperHandler.js is already doing the right thing. It will keep emitting one coalesced command per sim dt. - Stepper model - Defaults: maxAngularVel=200 rad/s, maxAngularAccel=5000 rad/s^2. If your spools are heavier/lighter, you can tune these in StepperMotorComponent to match your scene inertia. Want me to: - Run a quick local sanity check (e.g., open the JS example and observe behavior at high speeds)? - Expose the stepper clamps and WS coalescing to UI controls so you can tune them live? ══════════════════════════════════════════════════════════════════════════════════════ Session 99e21b11-ab0b-48c4-b6fc-30c4af84a858 · started 2025-09-13T20:18:18.272000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/13/rollout-2025-09-13T22-18-18-99e21b11-ab0b-48c4-b6fc-30c4af84a858.jsonl 🧑 You 2025-09-13T20:21:17.245000Z I'm creating a simulation app that has two ways to control it. One way is to let index.html create a web worker for itself that feeds it move commands built from gcode that's built into the web app itself. See examples/js/slideprinter/index.html and examples/js/slideprinter/moveCommander.js for details on the pacing and all the other details. The other way is to run a real instance of klipper which will parse gcode and send lower level commands to our bridge defined in examples/klipper/slideprinter/klipper_linux_mcu_bridge.py. The bridge creates an mcu process and forwards the pty messages into the mcu process. It also mirrors some of the commands over to examples/js/slideprinter/klipperPacer.js via websocket. The klipper pacer is supposed to read the klipper mcu commands and translate to simulation move commands that should get fed into the simulation via webworker to make it as similar to moveCommander.js as possible, as seen from slideprinter/index.html. See examples/js/slideprinter/klipperHandler.js for details about some of the plumbing. In practice, there's a quite low maximum print speed or acceleration beyond which the Klipper solution starts to jitter and loose steps in the simulation. The built-in solution seems more stable but not perfect either. Is there anything I can do to my klipper->bridge->[mcu, pacer->handler] pipeline that would make it more robust. I'm out of clue, there are so many potential pitfalls. I'm running the mcu process with realtime capabilities, so that's probably not the issue. But I'm not sure if I'm sending just the right amount of packets via the websocket, and if they are properly timed (they need to be realtime as well), or if some heavy processing somewhere in the klipperPacer or klipperHandler, or maybe in the simulator code itself might hog the processor just enough to cause jitter sometimes. I know that adding too much print debugging commands in the klipper_linux_mcu_bridge.py caused jitter once. The whole chain seems so sensitive to stuff like that. I managed to improve jitter a lot by increasing --batch-ms from 0.001 to 0.05 in klipper_linux_mcu_bridge.py. It either lowered the load on the bridge process itself, or on the communication channel it was using. Keep adding improvements along those lines and see if we can bring jitter down even more. 🤖 Agent 2025-09-13T20:27:48.821000Z I reviewed the slideprinter JS, the pacer/handler, and the Klipper bridge and made targeted changes to reduce jitter by cutting message rates, coalescing traffic, and avoiding hot-path work on the main thread. What I changed - Bridge batching and compact ops - Coalesced parsed Klipper commands across packets with a proper timer-based flush (respects --batch-ms). Previously, it flushed at every packet boundary, which defeated batching. - Added compact “ops” in WS payloads (alongside existing “lines”) to cut JS parsing cost. JS now prefers ops when present, falls back to lines. - Flags: - --batch-ms: coalescing window (default 0.05). - --max-bytes: flush threshold (default 16 KiB). - --no-ops: disables compact ops (debugging). - --quiet-mcu: stops printing klipper_mcu stdout/stderr (prevents console overhead). - Files: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py - Worker-side output batching - klipperPacer.js now batches its own postMessage traffic to the main thread aligned with sim dt: - Aggregates ‘Move’ (keeps the latest A–D angles, sums E extrusions). - Aggregates ‘Add to reference’ deltas within the same window. - Accepts WS “ops” payloads directly for low-overhead parsing. - Files: examples/js/slideprinter/klipperPacer.js - Main-thread handler wiring - klipperHandler.js now forwards dt to the pacer worker (set_dt), enabling worker-side batching immediately when dt becomes known. - You can still adjust/disable main-thread batching via `klipperRaw.setDt(0)` if you prefer worker-only batching. - Files: examples/js/slideprinter/klipperHandler.js Why this helps - Fewer WS frames: real batching at the bridge significantly reduces per-message overhead and scheduling pressure. - Less main-thread traffic: the pacer now posts at most one aggregated command per dt instead of a stream of small messages. - Lower parse cost: the bridge pre-digests commands into compact ops so the pacer avoids regex/split work on hot paths. - Quieter console: optional suppression of klipper_mcu stdout/stderr eliminates a known jitter trigger. How to use and tune - Bridge (suggested): - python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --batch-ms 0.05 --quiet-mcu - If you need pure textual debugging: add --no-ops (performance will drop). - Web app - The page sets dt from the USD file; when that happens, the handler updates both its own batching and the worker’s batching. - To avoid double-batching, call `klipperRaw.setDt(0)` in the page after dt is known. Otherwise leave it; worker batching makes handler batching almost a pass-through. - Knobs to try - Bridge --batch-ms: 0.02–0.10 typically smooths traffic well; larger windows reduce load further but add latency. - Bridge --max-bytes: raise if you still see bursts. - Pacer buffering: current bufferAheadMs is 15 ms; if you suffer early underruns on slow machines, we can expose it as a runtime knob too. Notes and next steps - If you want to push further, we can add a pure-binary WS mode (e.g., ArrayBuffer) to shrink payloads more and avoid JSON altogether. - If you notice added latency from double-batching, set handler dt to 0 to rely only on the worker’s batching. - I didn’t alter any physics or test expectations. Want me to also add a handler UI toggle to switch batching strategies at runtime, or expose pacer bufferAheadMs/pacerIntervalMs as live-tunable? ══════════════════════════════════════════════════════════════════════════════════════ Session 2121e788-c541-4a67-90ed-35925450722e · started 2025-09-15T10:09:03.866000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T12-09-03-2121e788-c541-4a67-90ed-35925450722e.jsonl 🧑 You 2025-09-15T10:58:53.581000Z Last time you made an edit here, you said: I reviewed the slideprinter JS, the pacer/handler, and the Klipper bridge and made targeted changes to reduce jitter by cutting message rates, coalescing traffic, and avoiding hot-path work on the main thread.\n\nWhat I changed\n- Bridge batching and compact ops\n - Coalesced parsed Klipper commands across packets with a proper timer-based flush (respects --batch-ms). Previously, it flushed at every packet boundary, which defeated batching.\n - Added compact “ops” in WS payloads (alongside existing “lines”) to cut JS parsing cost. JS now prefers ops when present, falls back to lines.\n - Flags:\n - --batch-ms: coalescing window (default 0.05).\n - --max-bytes: flush threshold (default 16 KiB).\n - --no-ops: disables compact ops (debugging).\n - --quiet-mcu: stops printing klipper_mcu stdout/stderr (prevents console overhead).\n - Files: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py\n\n- Worker-side output batching\n - klipperPacer.js now batches its own postMessage traffic to the main thread aligned with sim dt:\n - Aggregates ‘Move’ (keeps the latest A–D angles, sums E extrusions).\n - Aggregates ‘Add to reference’ deltas within the same window.\n - Accepts WS “ops” payloads directly for low-overhead parsing.\n - Files: examples/js/slideprinter/klipperPacer.js\n\n- Main-thread handler wiring\n - klipperHandler.js now forwards dt to the pacer worker (set_dt), enabling worker-side batching immediately when dt becomes known.\n - You can still adjust/disable main-thread batching via `klipperRaw.setDt(0)` if you prefer worker-only batching.\n - Files: examples/js/slideprinter/klipperHandler.js\n\nWhy this helps\n- Fewer WS frames: real batching at the bridge significantly reduces per-message overhead and scheduling pressure.\n- Less main-thread traffic: the pacer now posts at most one aggregated command per dt instead of a stream of small messages.\n- Lower parse cost: the bridge pre-digests commands into compact ops so the pacer avoids regex/split work on hot paths.\n- Quieter console: optional suppression of klipper_mcu stdout/stderr eliminates a known jitter trigger.\n\nHow to use and tune\n- Bridge (suggested):\n - python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --batch-ms 0.05 --quiet-mcu\n - If you need pure textual debugging: add --no-ops (performance will drop).\n- Web app\n - The page sets dt from the USD file; when that happens, the handler updates both its own batching and the worker’s batching.\n - To avoid double-batching, call `klipperRaw.setDt(0)` in the page after dt is known. Otherwise leave it; worker batching makes handler batching almost a pass-through.\n- Knobs to try\n - Bridge --batch-ms: 0.02–0.10 typically smooths traffic well; larger windows reduce load further but add latency.\n - Bridge --max-bytes: raise if you still see bursts.\n - Pacer buffering: current bufferAheadMs is 15 ms; if you suffer early underruns on slow machines, we can expose it as a runtime knob too.\n\nNotes and next steps\n- If you want to push further, we can add a pure-binary WS mode (e.g., ArrayBuffer) to shrink payloads more and avoid JSON altogether.\n- If you notice added latency from double-batching, set handler dt to 0 to rely only on the worker’s batching.\n- I didn’t alter any physics or test expectations.\n\nWant me to also add a handler UI toggle to switch batching strategies at runtime, or expose pacer bufferAheadMs/pacerIntervalMs as live-tunable? Look at git show HEAD to see the code changes you made. After this change, no move commands get through the websocket at all. Please fix 🤖 Agent 2025-09-15T11:07:24.374000Z Thanks for the heads-up. I tracked this down to an OID→axis mapping bug in the pacer worker: it assumed Klipper stepper OIDs would be 0..4, but your Linux MCU assigns different OIDs. That meant queue_step/set_position never matched A–D (or E), so the worker generated no Move commands. What I changed - Dynamic OID mapping in the worker - For each config_stepper line, the worker now assigns the next axis letter (A, B, C, D, E) to that OID and remembers it. - set_next_step_dir, set_position, and queue_step now look up the mapped axis instead of assuming numeric OIDs. - File: examples/js/slideprinter/klipperPacer.js - Correct E handling - Emits E as delta mm per tick (aggregates correctly), keeps A–D as absolute angles (radians). - set_position uses mm for E and radians for A–D so “Add to reference” works in the same units downstream. Why this fixes “no move commands” - With OIDs correctly mapped from the config_stepper stream, the worker schedules segments for A–D and emits Move commands as the pacer advances. Previously, nothing scheduled because OIDs didn’t line up with A–D. Notes - The Linux MCU bridge only mirrors parsed lines when msgproto + klipper.dict are available. If the WS still seems quiet, be sure to run the bridge with a valid dict and klipper_py path (your run_mcu.sh already does this). - A–D remain angles; E remains mm delta. The UI still batches on dt and sums E deltas. How to validate - Run your bridge with dict + klipper_py (e.g., run_mcu.sh). - In the slideprinter page, enable “Klipper raw in” on port 8770. - You should now see movement in the sim again with Move commands flowing. If you want, I can also: - Add an explicit name=stepper_a… annotation in the Linux MCU bridge (like the AVR bridge) so mapping is deterministic. - Add a small on-screen debug panel to show OID→axis mapping and recent Move traffic. ══════════════════════════════════════════════════════════════════════════════════════ Session 1f38e61e-da6d-44a0-91fd-386e2d296fd2 · started 2025-09-15T12:02:03.654000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T14-02-03-1f38e61e-da6d-44a0-91fd-386e2d296fd2.jsonl 🧑 You 2025-09-15T12:02:11.124000Z Last time you made an edit here, you said: I reviewed the slideprinter JS, the pacer/handler, and the Klipper bridge and made targeted changes to reduce jitter by cutting message rates, coalescing traffic, and avoiding hot-path work on the main thread.\n\nWhat I changed\n- Bridge batching and compact ops\n - Coalesced parsed Klipper commands across packets with a proper timer-based flush (respects --batch-ms). Previously, it flushed at every packet boundary, which defeated batching.\n - Added compact “ops” in WS payloads (alongside existing “lines”) to cut JS parsing cost. JS now prefers ops when present, falls back to lines.\n - Flags:\n - --batch-ms: coalescing window (default 0.05).\n - --max-bytes: flush threshold (default 16 KiB).\n - --no-ops: disables compact ops (debugging).\n - --quiet-mcu: stops printing klipper_mcu stdout/stderr (prevents console overhead).\n - Files: examples/klipper/slideprinter/klipper_linux_mcu_bridge.py\n\n- Worker-side output batching\n - klipperPacer.js now batches its own postMessage traffic to the main thread aligned with sim dt:\n - Aggregates ‘Move’ (keeps the latest A–D angles, sums E extrusions).\n - Aggregates ‘Add to reference’ deltas within the same window.\n - Accepts WS “ops” payloads directly for low-overhead parsing.\n - Files: examples/js/slideprinter/klipperPacer.js\n\n- Main-thread handler wiring\n - klipperHandler.js now forwards dt to the pacer worker (set_dt), enabling worker-side batching immediately when dt becomes known.\n - You can still adjust/disable main-thread batching via `klipperRaw.setDt(0)` if you prefer worker-only batching.\n - Files: examples/js/slideprinter/klipperHandler.js\n\nWhy this helps\n- Fewer WS frames: real batching at the bridge significantly reduces per-message overhead and scheduling pressure.\n- Less main-thread traffic: the pacer now posts at most one aggregated command per dt instead of a stream of small messages.\n- Lower parse cost: the bridge pre-digests commands into compact ops so the pacer avoids regex/split work on hot paths.\n- Quieter console: optional suppression of klipper_mcu stdout/stderr eliminates a known jitter trigger.\n\nHow to use and tune\n- Bridge (suggested):\n - python examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --batch-ms 0.05 --quiet-mcu\n - If you need pure textual debugging: add --no-ops (performance will drop).\n- Web app\n - The page sets dt from the USD file; when that happens, the handler updates both its own batching and the worker’s batching.\n - To avoid double-batching, call `klipperRaw.setDt(0)` in the page after dt is known. Otherwise leave it; worker batching makes handler batching almost a pass-through.\n- Knobs to try\n - Bridge --batch-ms: 0.02–0.10 typically smooths traffic well; larger windows reduce load further but add latency.\n - Bridge --max-bytes: raise if you still see bursts.\n - Pacer buffering: current bufferAheadMs is 15 ms; if you suffer early underruns on slow machines, we can expose it as a runtime knob too.\n\nNotes and next steps\n- If you want to push further, we can add a pure-binary WS mode (e.g., ArrayBuffer) to shrink payloads more and avoid JSON altogether.\n- If you notice added latency from double-batching, set handler dt to 0 to rely only on the worker’s batching.\n- I didn’t alter any physics or test expectations.\n\nWant me to also add a handler UI toggle to switch batching strategies at runtime, or expose pacer bufferAheadMs/pacerIntervalMs as live-tunable? Look at git show HEAD to see the code changes you made. After this change, no move commands get through the websocket at all. Please fix 🤖 Agent 2025-09-15T12:09:14.940000Z What I changed - Pacer worker message handling - It now prefers parsing textual “lines” over compact “ops” when both are present in the WS payload. - This restores the known-good path for generating Move/Add-to-reference commands while keeping ops as a fallback. - File: examples/js/slideprinter/klipperPacer.js Why this fixes it - After the batching/ops changes, the worker prioritized “ops.” If ops conversion or mapping was incomplete on your setup, the worker would do nothing and emit no movement, even though “lines” were present and valid. - By processing lines first, we return to the previous, stable behavior immediately. If a future source sends ops-only, the fallback still processes ops. How to verify - Start the bridge as before (no flags needed). - Open the Slideprinter page and enable Klipper Raw In. - You should see Move/Add-to-reference commands flowing again and motion in the scene. - If you want to exercise the new batching without risking ops parsing paths, you can also ran the bridge with “--no-ops” to send only lines. If you want, I can also: - Disable ops by default in the bridge and keep it behind a flag. - Finish the ops path end-to-end by mapping stepper oids robustly and adding parity checks so we can confidently switch back to ops-first later. 🧑 You 2025-09-15T12:11:29.961000Z git gui 🤖 Agent (no agent final message captured) ══════════════════════════════════════════════════════════════════════════════════════ Session 344fa71f-405e-4ae2-b895-ead5f944d004 · started 2025-09-15T13:52:11.296000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T15-52-11-344fa71f-405e-4ae2-b895-ead5f944d004.jsonl 🧑 You 2025-09-15T13:52:40.622000Z If I want to improve the performance in the examples/js/slideprinter simulation, which files should I take a closer look at? 🤖 Agent 2025-09-15T13:54:00.404000Z Here are the main hot spots to review for performance in the JS slideprinter demo, grouped by responsibility. **Core Loop** - `examples/js/slideprinter/runner.js` — Local simulation render loop; `world.update(dt)` cadence and requestAnimationFrame timing. - `examples/js/slideprinter/remote_runner.js` — Remote-stepped loop; accumulator, step batching, and render frequency. **Scene Setup** - `examples/js/slideprinter/setupScene.js` — Which systems get registered, resource sizes (sim height/width), and RenderSystem configuration. **Systems and Components** - `examples/js/slideprinter/slideprinter_common.js` — Stepper/extruder logic and remote input: - `StepperMotorSystem` update path and queries. - `RemoteSpoolSystem` command queue handling and axis-to-entity caching. - `RemoteInputSystem` pointer→sim transforms and event listeners. - `examples/js/slideprinter/kinematics.js` — Any per-frame math for motor angle conversions. **Rendering** - `examples/js/flipper/renderSystem.js` — The slideprinter uses this renderer; canvas draw calls, path batching, state changes, and allocations inside `update`. **ECS and Math Core** - `src/js/cable_joints/ecs.js` — `World.update()` and `query()` cost; repeated queries inside systems. - `src/js/cable_joints/vector2.js` — Vector math used across systems; look for avoidable allocations or repeated `Math.hypot/acos`. **I/O and Timing** - `examples/js/slideprinter/klipperPacer.js` and `examples/js/slideprinter/klipperHandler.js` — If running with Klipper, check step pacing, queue backpressure, and main-thread work vs Workers. - `examples/js/slideprinter/moveCommander.js` — Worker usage and message sizes/frequency. **Entry/UI** - `examples/js/slideprinter/index.html` — UI wiring, dt and speed controls, WebSocket lifecycle, and how often rendering triggers. Tip: Before changing physics behavior, cross-check with `ai_docs/` papers and the Python port under `examples/python/slideprinter/` to ensure parity. If you want, I can help profile specific hot paths (queries per frame, canvas calls, or command queue churn) and suggest targeted micro-optimizations. 🧑 You 2025-09-15T13:57:57.237000Z Do the I/O and Timing optimization 🤖 Agent 2025-09-15T14:03:19.967000Z Here’s what I improved to reduce I/O load and smooth timing in the JS slideprinter. **What Changed** - Remote stepping: Throttled WebSocket step messages to ~30 Hz with coalesced “step debt” and in‑flight gating to avoid spamming the server. - Backpressure: Only one step request is in flight at a time; outstanding steps are batched into the next send. - Pointer move I/O: Rate-limited remote pointermove (grab/drag) messages to ~60 Hz to avoid flooding the server. - Reset handling: Cleans up throttling state correctly on reset. **Files Touched** - `examples/js/slideprinter/remote_runner.js` - Adds `stepDebt`, `inflight`, and `lastSentAt`. - Sends steps only if not paused, no outstanding request, and min interval elapsed. - Sends the next chunk on server reply if backlog exists. - Caps per-message step count to avoid huge payloads. - Step button now queues a single step and sends immediately if possible. - `examples/js/slideprinter/slideprinter_common.js` - `RemoteInputSystem`: throttles pointermove to ~60 Hz (drops excess moves). **Why It Helps** - Cuts JSON world snapshot traffic to the browser without altering physics behavior. - Avoids piling up network messages and reduces main-thread JSON parse churn. - Keeps interactive input responsive while trimming unnecessary high-frequency I/O. **Next Options** - If you want, I can add a UI control to tune the remote step send rate (30–60 Hz). - We could throttle debug dumps or optionally defer rebuilds to a worker for further gains. ══════════════════════════════════════════════════════════════════════════════════════ Session b4deef87-15a9-4201-8548-b4adc0f2f975 · started 2025-09-15T14:15:53.340000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T16-15-53-b4deef87-15a9-4201-8548-b4adc0f2f975.jsonl 🧑 You 2025-09-15T14:17:35.565000Z Can you rebuild the examples/klipper/slideprinter/klipper_linux_mcu_bridge.py to a solution where the bridge merely listens to the pty instead of sitting in the middle of it? 🤖 Agent 2025-09-15T14:24:23.145000Z Got it. Before I change it, a quick check on intent: - Today the script creates a second PTY and sits inline, forwarding Klippy ⇄ klipper_mcu and mirroring packets to WS. - “Merely listens to the pty” could mean a few different shapes: 1) Sniffer-only: Do not create any extra PTY or forward; Klippy connects directly to the Linux MCU PTY (e.g., /tmp/klipper_host_mcu), and our process only “observes”. 2) Stub-listener: Create a PTY for Klippy to open and only read what Klippy writes (no Linux MCU in the loop). 3) Dual-mode: Keep current bridge as an optional mode, but add a “listen-only” mode. Important PTY caveat: a process can’t passively “tap” a PTY slave without consuming bytes (reads are destructive). So if we go with a true listen-only sniffer while Klippy and Linux MCU talk directly on the same slave, we risk stealing data and breaking the session. There isn’t a kernel-level PTY multicast for a third reader. Can you confirm which you want? - A) Replace the bridge entirely with a sniffer-only tool and accept it can’t safely read the live PTY traffic without risk (it could alternatively tail klippy.log for info). - B) Keep the Linux MCU out entirely; create a PTY for Klippy and just read what it writes (no forwarding; not usable for a real Klippy session). - C) Add a “--listen-only” mode to the existing script that doesn’t create/forward PTYs, and instead only tails klippy.log and/or exports MCU→host bytes if available, while leaving the bridge mode intact for when you do want inline forwarding. Once I have your preferred shape, I’ll implement it cleanly (no changes to test expectations, and using apply_patch). 🧑 You 2025-09-15T14:29:25.678000Z Ah. The real issue I have is that the klippy -> bridge -> linux mcu chain lags sometimes. It's not true realtime as it's supposed to be. 🤖 Agent 2025-09-15T14:32:46.160000Z I’m going to refactor the Linux MCU bridge into a listen-only runner: it will launch klipper_mcu and the WebSocket server, drop the inline PTY proxy, and keep the optional Klippy log tail for clock updates. I’ll preserve CLI compatibility (accepting --host-path but ignoring it) and clearly warn about the removed forwarding. 🧑 You 2025-09-15T14:36:00.776000Z I need the websocket data to be realtime. The bridge absolutely has to get the pty data of course, and then the forwarding needs to be realtime so the simulation in the other end doesn't stagger. 🤖 Agent 2025-09-15T14:41:10.556000Z Short version: you can’t safely “listen” to a PTY without being in the middle; to get realtime MCU-bound bytes you must sit inline. I’ve reworked the bridge so the serial fast‑path stays lean and the WebSocket mirroring can never block or add jitter. What I changed - Decoupled WS sending - Added a single dispatcher task and bounded queue in WSManager. - Producers (parser) enqueue payloads and return immediately; client sends happen in the dispatcher. - If the queue fills, oldest payloads are dropped to preserve low latency. - Lower default batching - Changed default `--batch-ms` from 0.05 to 0.001 for near-immediate parsed updates. - Clarified PTY constraints - Docstring now explains why a “passive listener” isn’t feasible with PTYs. Why this fixes the lag - Before, parsed packets awaited WS sends along the way; now they just enqueue and yield. - The serial bridge (Klippy ⇄ Linux MCU) remains fully non-blocking and independent of WS clients. - Smaller batch window reduces application-induced delay in the parsed stream. How to run - Keep using your existing scripts, or run with a tighter batch window for minimal latency: - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py --batch-ms 0.0` - Klippy config keeps using `serial: /tmp/klipper_host_mcu` as before. Notes - Linux PTYs only have one master and one slave; a third reader can’t “tap” traffic without consuming it. So inline bridging is the only reliable way to mirror MCU-bound bytes in realtime. - If you still observe stutter, try: - Running with `--no-ws` once to confirm serial path is rock solid without any mirror. - Keeping WS clients to one (your sim) and avoiding slow consumers. - Optionally reducing message volume by filtering ALLOWED_COMMANDS further. Want me to add a “raw binary firehose” WS option (zero JSON parsing, pure bytes) for even lower WS overhead, or wire a CLI flag to drop-old aggressively when clients fall behind? ══════════════════════════════════════════════════════════════════════════════════════ Session 941323c5-d0c2-4a0d-9c6d-80abe12b9f12 · started 2025-09-15T20:52:37.024000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T22-52-37-941323c5-d0c2-4a0d-9c6d-80abe12b9f12.jsonl 🧑 You 2025-09-15T20:54:12.076000Z Please make klipper_avr_bridge.py a drop-in replacement for klipper_linux_mcu_bridge.py in case the user wants to run simulavr instead of the klipper_mcu or klipper.elf process. The receiver at the other end of the websocket should not notice any difference between the two bridges. Make as small changes as possible to klipper_avr_bridge.py to achieve this, and don't edit klipper_linux_mcu_bridge.py at all. Right now if I run the avr bridge, nothing happens in the simulation. 🤖 Agent 2025-09-15T21:01:15.851000Z Aligned the AVR bridge with the Linux bridge so it can be swapped in without downstream changes. Updated CLI handling to accept the Linux bridge flags, keep `/tmp/klipper_host_mcu` as the default PTY, ignore raw/klippy log placeholders, and auto-pick an ELF if none is given (`examples/klipper/slideprinter/klipper_avr_bridge.py:493-551`). Ensured the PTY slave inherits permissive permissions like the Linux script so Klippy can connect (`examples/klipper/slideprinter/klipper_avr_bridge.py:373-377`). Added clock detection so every parsed `set_clock` line emits a `klipper_clock` websocket update alongside the existing `klipper_parsed` payloads, keeping receivers in sync (`examples/klipper/slideprinter/klipper_avr_bridge.py:704-729`). Checks: `python -m compileall examples/klipper/slideprinter/klipper_avr_bridge.py`. Next: 1. Run the AVR bridge with your normal `--dict` arguments and watch the JS client to confirm `klipper_clock` messages arrive (you’ll get a one-time note about ignored raw/klippy flags). 🧑 You 2025-09-15T21:13:10.891000Z There's something in the simulavr execution that lags. Look in the simulavr.texi docs to see if there's something we're setting up wrong from realtime execution. Or of there's any buffering or something in the avr bridge holding us back. 🤖 Agent 2025-09-15T21:21:03.551000Z I dug through `simulavr.texi` but it doesn’t mention any hidden “realtime” mode beyond the standard SystemClock – everything runs on a 1 ns tick base (`simulavr.texi:1032`) and the official Python bridge (`klipper/scripts/avrsim.py`) configures the clock exactly the way we do (`dev.SetClockFreq(SIMULAVR_FREQ // speed)`). So we’re not missing a documented knob there. The serial helpers in our bridge are the same bit‑level wrappers the upstream script ships with, so we’re not introducing extra buffering on the PTY path either. The only explicit throttling knob remains `--rate`: it must be `1.0` to emulate real time; passing a CPU frequency (for example `--rate 16000000`) actually drives the pacing math into the floor and will make the simulation crawl. If you have that flag in your run scripts, removing it (or setting it to `1.0`) should be the first check. If you’re still observing lag after that, the next useful diagnostics would be: 1. Confirm whether the slowdown is visible in the WebSocket consumer only (build‑up of `klipper_parsed` backlog) or in Klipper’s own timing (e.g. missed deadlines in the MCU log). 2. Share the bridge command line you’re using, so I can rule out other pacing or logging options. 3. If possible, grab a short run with `--parse-debug` so we can see whether packets are arriving late from Klipper or just delayed before they reach the browser. With that data I can zero‑in on whether we need to rework the broadcast pipeline or adjust the simulator pacing further. 🧑 You 2025-09-15T21:29:09.764000Z Here's the command I use: `PYTHONPATH=~/repos/simulavr/build/pysimulavr ~/repos/hp-sim5/examples/klipper/slideprinter/klipper_avr_bridge.py ~/repos/hp-sim5/examples/klipper/avr/klipper.elf --dict ~/repos/hp-sim5/examples/klipper/avr/klipper.dict --klipper-py ~/repos/klipper/klippy/ --rate 1.0`. Klipper's own log looks good. With `--parse-debug` we only see a few packets before everything stalls: `torbjorn[~/repos/hp-sim5]$ PYTHONPATH=~/repos/simulavr/build/pysimulavr ~/repos/hp-sim5/examples/klipper/slideprinter/klipper_avr_bridge.py ~/repos/hp-sim5/examples/klipper/avr/klipper.elf --dict ~/repos/hp-sim5/examples/klipper/avr/klipper.dict --klipper-py ~/repos/klipper/klippy/ --rate 1.0 --parse-debug /home/torbjorn/repos/hp-sim5/examples/klipper/slideprinter/klipper_avr_bridge.py:38: DeprecationWarning: websockets.server.WebSocketServerProtocol is deprecated from websockets.server import WebSocketServerProtocol Starting AVR simulation: machine=atmega644 speed=16000000 Serial: port=/tmp/klipper_host_mcu baud=250000 Loaded Klipper dictionary from: /home/torbjorn/repos/hp-sim5/examples/klipper/avr/klipper.dict (9335 bytes) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register MCUSR not simulated (write 0x00 to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 246: MCU register WDTCSR not simulated (read from register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register WDTCSR not simulated (write 0x18 to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register WDTCSR not simulated (write 0x00 to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register WDTCSR not simulated (write 0x18 to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register WDTCSR not simulated (write 0x0d to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: MCU register WDTCSR not simulated (write 0x40 to register) Parsed packet: 8 bytes -> 2 line(s). First: seq: 10 Parsed packet: 8 bytes -> 2 line(s). First: seq: 11 Parsed packet: 8 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 9 bytes -> 2 line(s). First: seq: 14 Parsed packet: 9 bytes -> 2 line(s). First: seq: 15 Parsed packet: 9 bytes -> 2 line(s). First: seq: 16 Parsed packet: 9 bytes -> 2 line(s). First: seq: 17 Parsed packet: 9 bytes -> 2 line(s). First: seq: 18 Parsed packet: 9 bytes -> 2 line(s). First: seq: 19 Parsed packet: 9 bytes -> 2 line(s). First: seq: 1a Parsed packet: 9 bytes -> 2 line(s). First: seq: 1b Parsed packet: 9 bytes -> 2 line(s). First: seq: 1c Parsed packet: 9 bytes -> 2 line(s). First: seq: 1d Parsed packet: 9 bytes -> 2 line(s). First: seq: 1e Parsed packet: 9 bytes -> 2 line(s). First: seq: 1f Parsed packet: 9 bytes -> 2 line(s). First: seq: 10 Parsed packet: 9 bytes -> 2 line(s). First: seq: 11 Parsed packet: 9 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 9 bytes -> 2 line(s). First: seq: 14 Parsed packet: 9 bytes -> 2 line(s). First: seq: 15 Parsed packet: 9 bytes -> 2 line(s). First: seq: 16 Parsed packet: 9 bytes -> 2 line(s). First: seq: 17 Parsed packet: 9 bytes -> 2 line(s). First: seq: 18 Parsed packet: 9 bytes -> 2 line(s). First: seq: 19 Parsed packet: 9 bytes -> 2 line(s). First: seq: 1a Parsed packet: 9 bytes -> 2 line(s). First: seq: 1b Parsed packet: 9 bytes -> 2 line(s). First: seq: 1c Parsed packet: 9 bytes -> 2 line(s). First: seq: 1d Parsed packet: 9 bytes -> 2 line(s). First: seq: 1e Parsed packet: 9 bytes -> 2 line(s). First: seq: 1f Parsed packet: 9 bytes -> 2 line(s). First: seq: 10 Parsed packet: 9 bytes -> 2 line(s). First: seq: 11 Parsed packet: 9 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 9 bytes -> 2 line(s). First: seq: 14 Parsed packet: 9 bytes -> 2 line(s). First: seq: 15 Parsed packet: 9 bytes -> 2 line(s). First: seq: 16 Parsed packet: 9 bytes -> 2 line(s). First: seq: 17 Parsed packet: 9 bytes -> 2 line(s). First: seq: 18 Parsed packet: 9 bytes -> 2 line(s). First: seq: 19 Parsed packet: 9 bytes -> 2 line(s). First: seq: 1a Parsed packet: 9 bytes -> 2 line(s). First: seq: 1b Parsed packet: 9 bytes -> 2 line(s). First: seq: 1c Parsed packet: 9 bytes -> 2 line(s). First: seq: 1d Parsed packet: 9 bytes -> 2 line(s). First: seq: 1e Parsed packet: 9 bytes -> 2 line(s). First: seq: 1f Parsed packet: 9 bytes -> 2 line(s). First: seq: 10 Parsed packet: 9 bytes -> 2 line(s). First: seq: 11 Parsed packet: 9 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 9 bytes -> 2 line(s). First: seq: 14 Parsed packet: 9 bytes -> 2 line(s). First: seq: 15 Parsed packet: 9 bytes -> 2 line(s). First: seq: 16 Parsed packet: 9 bytes -> 2 line(s). First: seq: 17 Parsed packet: 9 bytes -> 2 line(s). First: seq: 18 Parsed packet: 9 bytes -> 2 line(s). First: seq: 19 Parsed packet: 9 bytes -> 2 line(s). First: seq: 1a Parsed packet: 9 bytes -> 2 line(s). First: seq: 1b Parsed packet: 9 bytes -> 2 line(s). First: seq: 1c Parsed packet: 9 bytes -> 2 line(s). First: seq: 1d Parsed packet: 9 bytes -> 2 line(s). First: seq: 1e Parsed packet: 9 bytes -> 2 line(s). First: seq: 1f Parsed packet: 9 bytes -> 2 line(s). First: seq: 10 Parsed packet: 9 bytes -> 2 line(s). First: seq: 11 Parsed packet: 9 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 9 bytes -> 2 line(s). First: seq: 14 Parsed packet: 9 bytes -> 2 line(s). First: seq: 15 Parsed packet: 9 bytes -> 2 line(s). First: seq: 16 Parsed packet: 9 bytes -> 2 line(s). First: seq: 17 Parsed packet: 9 bytes -> 2 line(s). First: seq: 18 Parsed packet: 9 bytes -> 2 line(s). First: seq: 19 Parsed packet: 9 bytes -> 2 line(s). First: seq: 1a Parsed packet: 9 bytes -> 2 line(s). First: seq: 1b Parsed packet: 9 bytes -> 2 line(s). First: seq: 1c Parsed packet: 9 bytes -> 2 line(s). First: seq: 1d Parsed packet: 9 bytes -> 2 line(s). First: seq: 1e Parsed packet: 9 bytes -> 2 line(s). First: seq: 1f Parsed packet: 9 bytes -> 2 line(s). First: seq: 10 Parsed packet: 9 bytes -> 2 line(s). First: seq: 11 Parsed packet: 9 bytes -> 2 line(s). First: seq: 12 Parsed packet: 9 bytes -> 2 line(s). First: seq: 13 Parsed packet: 6 bytes -> 2 line(s). First: seq: 14 Parsed packet: 6 bytes -> 2 line(s). First: seq: 15 Parsed packet: 6 bytes -> 2 line(s). First: seq: 16 Parsed packet: 6 bytes -> 2 line(s). First: seq: 17 Parsed packet: 6 bytes -> 2 line(s). First: seq: 18 Parsed packet: 6 bytes -> 2 line(s). First: seq: 19 Parsed packet: 6 bytes -> 2 line(s). First: seq: 1a Parsed packet: 6 bytes -> 2 line(s). First: seq: 1b Parsed packet: 6 bytes -> 2 line(s). First: seq: 1c WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 246: ADC register DIDR0 not simulated (read from register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: ADC register DIDR0 not simulated (write 0x01 to register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 246: ADC register DIDR0 not simulated (read from register) WARNING: file /home/torbjorn/repos/simulavr/libsim/rwmem.cpp: line 252: ADC register DIDR0 not simulated (write 0x80 to register) Parsed packet: 6 bytes -> 2 line(s). First: seq: 1d Parsed packet: 6 bytes -> 2 line(s). First: seq: 1e Parsed packet: 7 bytes -> 2 line(s). First: seq: 1f Parsed packet: 8 bytes -> 2 line(s). First: seq: 10 Parsed packet: 14 bytes -> 2 line(s). First: seq: 11 Parsed packet: 11 bytes -> 2 line(s). First: seq: 12 Parsed packet: 11 bytes -> 2 line(s). First: seq: 13 Parsed packet: 11 bytes -> 2 line(s). First: seq: 14 Parsed packet: 11 bytes -> 2 line(s). First: seq: 15 Parsed packet: 11 bytes -> 2 line(s). First: seq: 16 Parsed packet: 11 bytes -> 2 line(s). First: seq: 17 Parsed packet: 8 bytes -> 2 line(s). First: seq: 18 Parsed packet: 14 bytes -> 2 line(s). First: seq: 19 Parsed packet: 51 bytes -> 6 line(s). First: seq: 1a Parsed packet: 34 bytes -> 4 line(s). First: seq: 1b Parsed packet: 7 bytes -> 2 line(s). First: seq: 1c Parsed packet: 7 bytes -> 2 line(s). First: seq: 1d Parsed packet: 7 bytes -> 2 line(s). First: seq: 1e Parsed packet: 7 bytes -> 2 line(s). First: seq: 1f Parsed packet: 7 bytes -> 2 line(s). First: seq: 10 Parsed packet: 61 bytes -> 10 line(s). First: seq: 11 Parsed packet: 56 bytes -> 7 line(s). First: seq: 12 Parsed packet: 61 bytes -> 8 line(s). First: seq: 13 Parsed packet: 64 bytes -> 9 line(s). First: seq: 14 Parsed packet: 59 bytes -> 9 line(s). First: seq: 15 Parsed packet: 60 bytes -> 9 line(s). First: seq: 16 Parsed packet: 60 bytes -> 8 line(s). First: seq: 17 Parsed packet: 59 bytes -> 8 line(s). First: seq: 18 Parsed packet: 62 bytes -> 9 line(s). First: seq: 19 Parsed packet: 62 bytes -> 9 line(s). First: seq: 1a Parsed packet: 60 bytes -> 9 line(s). First: seq: 1b Parsed packet: 60 bytes -> 9 line(s). First: seq: 1c Parsed packet: 64 bytes -> 9 line(s). First: seq: 1d Parsed packet: 63 bytes -> 9 line(s). First: seq: 1e Parsed packet: 63 bytes -> 10 line(s). First: seq: 1f Parsed packet: 58 bytes -> 9 line(s). First: seq: 10 Parsed packet: 63 bytes -> 9 line(s). First: seq: 11 Parsed packet: 60 bytes -> 8 line(s). First: seq: 12 Parsed packet: 60 bytes -> 8 line(s). First: seq: 13 Parsed packet: 58 bytes -> 8 line(s). First: seq: 14 Parsed packet: 59 bytes -> 8 line(s). First: seq: 15 Parsed packet: 62 bytes -> 8 line(s). First: seq: 16 Parsed packet: 58 bytes -> 8 line(s). First: seq: 17 Parsed packet: 60 bytes -> 9 line(s). First: seq: 18 Parsed packet: 61 bytes -> 9 line(s). First: seq: 19 Parsed packet: 63 bytes -> 9 line(s). First: seq: 1a Parsed packet: 56 bytes -> 8 line(s). First: seq: 1b Parsed packet: 60 bytes -> 8 line(s). First: seq: 1c Parsed packet: 63 bytes -> 9 line(s). First: seq: 1d Parsed packet: 61 bytes -> 9 line(s). First: seq: 1e Parsed packet: 62 bytes -> 9 line(s). First: seq: 1f Parsed packet: 62 bytes -> 9 line(s). First: seq: 10 Parsed packet: 59 bytes -> 8 line(s). First: seq: 11 Parsed packet: 63 bytes -> 9 line(s). First: seq: 12 Parsed packet: 59 bytes -> 9 line(s). First: seq: 13 Parsed packet: 64 bytes -> 10 line(s). First: seq: 14 Parsed packet: 62 bytes -> 9 line(s). First: seq: 15` 🤖 Agent 2025-09-15T21:30:48.801000Z Restored the real-time pacing logic to match Klipper’s original `avrsim.py`, so the simulavr thread now uses the same `time.time()`-based compensation loop (`examples/klipper/slideprinter/klipper_avr_bridge.py:206-224`). This removes the custom monotonic variant that was likely throttling the simulation. Check: `python -m compileall examples/klipper/slideprinter/klipper_avr_bridge.py`. Next: 1. Re-run your command (still with `--rate 1.0`) and confirm the packet stream keeps flowing without stalling. ══════════════════════════════════════════════════════════════════════════════════════ Session 43fa8bad-cceb-4ebb-971e-8bec6e039240 · started 2025-09-15T21:20:26.094000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T23-20-26-43fa8bad-cceb-4ebb-971e-8bec6e039240.jsonl 🧑 You 2025-09-15T21:31:43.284000Z As you see in klipperHandler.js it uses webworker, monotonic clock for measuring (performance.now()), a fixed-timestep loop with an accumulator, and Never rely on setInterval for precision. So it's strange that we use setInterval in the klipperPacer.js. We should use a self-correcting setTimeout (or better: Atomics.wait in a Worker) and always compute the next deadline from the clock, not from the nominal interval. 🤖 Agent 2025-09-15T21:35:13.439000Z Replaced the Klipper pacer’s fixed `setInterval` loop with a self-correcting timeout schedule anchored to `performance.now()`. - `examples/js/slideprinter/klipperPacer.js:36`: track a timeout handle plus the next absolute deadline so each tick can be scheduled against the monotonic clock. - `examples/js/slideprinter/klipperPacer.js:163`: updated loop commentary to reflect the explicit rescheduling. - `examples/js/slideprinter/klipperPacer.js:169`: added `scheduleNextPacer`/`pacerTick` helpers that advance deadlines until they land in the future and queue the next wakeup with `setTimeout`. - `examples/js/slideprinter/klipperPacer.js:187`: `ensurePacerRunning` now seeds the absolute deadline and relies on the new scheduler instead of `setInterval`. - `examples/js/slideprinter/klipperPacer.js:337`: worker shutdown clears the timeout and resets the stored deadline so reconnects start cleanly. Tests not run (not requested). Next steps: 1. Run the slideprinter example (`npm run dev` or `slideprinter.html`) and confirm timing remains stable under load. ══════════════════════════════════════════════════════════════════════════════════════ Session 941323c5-d0c2-4a0d-9c6d-80abe12b9f12 · started 2025-09-15T20:52:37.024000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T22-52-37-941323c5-d0c2-4a0d-9c6d-80abe12b9f12.jsonl 🧑 You 2025-09-15T21:35:50.934000Z The --parse-debug log looks identical as before. The simulation runs far too fast for about 1s before stopping completely. There's some pacing missing completely. Klipper feels like it has finished the whole gcode super fast and exits. Maybe that's when the whole simulation stalls. The klipper log says move queue overflow now. Here's the Klipper log: `torbjorn[~/repos/hp-sim5]$ ~/klippy-env/bin/python ~/repos/klipper/klippy/klippy.py ~/repos/hp-sim5/examples/klipper/slideprinter/printer-slideprinter-avr.cfg -i ~/repos/hp-sim5/public/examples/gcode/Hangprinter_logo2_no_extrusions.gcode -v -l ~/repos/hp-sim5/attic/klipper.log Starting Klippy... Args: ['/home/torbjorn/repos/klipper/klippy/klippy.py', '/home/torbjorn/repos/hp-sim5/examples/klipper/slideprinter/printer-slideprinter-avr.cfg', '-i', '/home/torbjorn/repos/hp-sim5/public/examples/gcode/Hangprinter_logo2_no_extrusions.gcode', '-v', '-l', '/home/torbjorn/repos/hp-sim5/attic/klipper.log'] Git version: '95c46aa9-dirty' Modified files: Makefile, klippy/extras/statistics.py, src/linux/Kconfig, src/linux/Makefile Branch: master Remote: origin Tracked URL: git@github.com:tobbelobb/klipper.git CPU: 20 core 12th Gen Intel(R) Core(TM) i7-12700K Python: '3.10.12 (main, Aug 15 2025, 14:32:43) [GCC 11.4.0]' Start printer at Mon Sep 15 23:33:39 2025 (1757972019.7 14056.2) ===== Config file ===== [mcu] serial = /tmp/klipper_host_mcu [printer] kinematics = winch max_velocity = 300 max_accel = 3000 [stepper_a] step_pin = PA5 dir_pin = PA4 enable_pin = PA1 microsteps = 16 rotation_distance = 188.496 anchor_x = 0 anchor_y = -2100 anchor_z = 0 [stepper_b] step_pin = PA3 dir_pin = PA2 enable_pin = PA1 microsteps = 16 rotation_distance = 188.496 anchor_x = 1776 anchor_y = 1025 anchor_z = 0 [stepper_c] step_pin = PC7 dir_pin = PC6 enable_pin = PA1 microsteps = 16 rotation_distance = 188.496 anchor_x = -1776 anchor_y = 1025 anchor_z = 0 [stepper_d] step_pin = PC1 dir_pin = PC4 enable_pin = PA1 microsteps = 16 rotation_distance = 188.496 anchor_x = 0 anchor_y = 0 anchor_z = 2000 [extruder] step_pin = PC3 dir_pin = PC2 enable_pin = PA1 microsteps = 16 rotation_distance = 33.500 nozzle_diameter = 0.400 filament_diameter = 1.750 heater_pin = PB4 sensor_type = EPCOS 100K B57560G104F sensor_pin = PA7 control = pid pid_kp = 22.2 pid_ki = 1.08 pid_kd = 114 min_temp = 0 min_extrude_temp = 0 max_temp = 275 [heater_bed] heater_pin = PB3 sensor_type = EPCOS 100K B57560G104F sensor_pin = PA0 control = watermark min_temp = 0 max_temp = 130 [force_move] enable_force_move = True ======================= Extruder max_extrude_ratio=0.266081 mcu 'mcu': Starting connect mcu 'mcu': Unknown message -20 (len 13) while identifying new minimum rtt 14056.619: hrtt=0.000321 freq=16000000 Resetting prediction variance 14056.619: freq=16000000 diff=89134 stddev=16000.000 new minimum rtt 14056.879: hrtt=0.000267 freq=16579975 Loaded MCU 'mcu' 132 commands (9346ad19 / gcc: (GCC) 5.4.0 binutils: (GNU Binutils) 2.26.20160125) MCU 'mcu' config: ADC_MAX=1023 BUS_PINS_spi=PB6,PB5,PB7 BUS_PINS_twi=PC0,PC1 CLOCK_FREQ=16000000 MCU=atmega644p PWM_MAX=255 RECEIVE_WINDOW=192 RESERVE_PINS_serial=PD0,PD1 SERIAL_BAUD=250000 STATS_SUMSQ_BASE=256 STEPPER_OPTIMIZED_UNSTEP=40 STEPPER_STEP_BOTH_EDGE=1 Sending MCU 'mcu' printer configuration... Configured MCU 'mcu' (271 moves) Starting heater checks for heater_bed Starting heater checks for extruder Running full garbage collection and freezing Stats 14057.0: gcodein=8192 mcu: mcu_awake=0.000 mcu_task_avg=0.000000 mcu_task_stddev=0.000000 bytes_write=1225 bytes_read=4794 bytes_retransmit=0 bytes_invalid=7 send_seq=132 receive_seq=129 retransmit_seq=0 srtt=0.002 rttvar=0.002 rto=0.025 ready_bytes=348 upcoming_bytes=3790 freq=16378144 heater_bed: target=0 temp=0.0 pwm=0.000 sysload=1.07 cputime=0.123 memavail=56461336 print_time=10.838 buffer_time=3.437 print_stall=0 extruder: target=0 temp=0.0 pwm=0.000 Transition to shutdown state: MCU shutdown Dumping gcode input 2 blocks Read 14057.016361: 'M220 S100\nG1 F18000\nG1 X-230.622 Y205.539\nG1 X-245.359 Y189.599\nG1 X-259.374 Y174.109\nG1 X-281.482 Y148.407\nG1 X-285.126 Y144.036\nG1 X-291.626 Y136.002\nG1 X-299.022 Y126.658\nG1 X-306.68 Y116.816\nG1 X-313.926 Y107.341\nG1 X-321.955 Y96.55\nG1 X-337.051 Y75.681\nG1 X-346.315 Y61.121\nG1 X-349.777 Y55.542\nG1 X-353.597 Y49.122\nG1 X-357.579 Y42.19\nG1 X-363.722 Y31.064\nG1 X-367.841 Y23.305\nG1 X-374.022 Y11.192\nG1 X-378.801 Y1.556\nG1 X-381.229 Y-3.728\nG1 X-387.462 Y-20.312\nG1 X-391.975 Y-33.467\nG1 X-396.087 Y-46.367\nG1 X-398.262 Y-54.046\nG1 X-400.988 Y-66.185\nG1 X-403.499 Y-79.215\nG1 X-404.007 Y-82.445\nG1 X-404.85 Y-90.034\nG1 X-405.231 Y-94.698\nG1 X-405.834 Y-104.55\nG1 X-406.444 Y-121.167\nG1 X-406.668 Y-138.518\nG1 X-406.483 Y-154.865\nG1 X-406.116 Y-164.615\nG1 X-405.84 Y-169.181\nG1 X-403.794 Y-191.028\nG1 X-400.809 Y-206.365\nG1 X-396.128 Y-227.582\nG1 X-395.019 Y-232.204\nG1 X-393.694 Y-237.037\nG1 X-390.982 Y-245.693\nG1 X-388.75 Y-251.915\nG1 X-385.708 Y-259.737\nG1 X-380.988 Y-271.203\nG1 X-377.327 Y-279.642\nG1 X-373.932 Y-287.026\nG1 X-372.012 Y-290.887\nG1 X-370.735 Y-293.263\nG1 X-366.339 Y-300.974\nG1 X-361.164 Y-309.54\nG1 X-353.794 Y-321.136\nG1 X-348.251 Y-329.427\nG1 X-343.243 Y-336.509\nG1 X-340.258 Y-340.44\nG1 X-335.025 Y-346.76\nG1 X-328.899 Y-353.773\nG1 X-322.509 Y-360.733\nG1 X-313.993 Y-369.516\nG1 X-307.72 Y-375.612\nG1 X-302.002 Y-380.829\nG1 X-288.151 Y-392.563\nG1 X-285.317 Y-394.81\nG1 X-277.687 Y-400.39\nG1 X-268.795 Y-406.557\nG1 X-262.393 Y-410.823\nG1 X-258.572 Y-413.268\nG1 X-248.288 Y-419.419\nG1 X-243.976 Y-421.867\nG1 X-238.34 Y-424.806\nG1 X-231.862 Y-428.001\nG1 X-221.67 Y-432.766\nG1 X-214.848 Y-435.788\nG1 X-208.6 Y-438.402\nG1 X-203.404 Y-440.391\nG1 X-192.603 Y-443.851\nG1 X-187.213 Y-445.389\nG1 X-179.345 Y-447.42\nG1 X-173.059 Y-448.892\nG1 X-167.898 Y-449.929\nG1 X-160.472 Y-451.044\nG1 X-153.992 Y-451.762\nG1 X-147.268 Y-452.228\nG1 X32.328 Y-462.475\nG1 X39.676 Y-462.753\nG1 X47.061 Y-462.8\nG1 X56.226 Y-462.675\nG1 X64.317 Y-462.364\nG1 X71.722 Y-461.824\nG1 X78.604 Y-461.036\nG1 X83.361 Y-460.314\nG1 X90.388 Y-459.001\nG1 X103.886 Y-456.035\nG1 X109.488 Y-454.609\nG1 X129.992 Y-448.309\nG1 X138.424 Y-445.381\nG1 X148.113 Y-441.684\nG1 X158.577 Y-437.424\nG1 X174.525 Y-430.509\nG1 X185.027 Y-425.686\nG1 X194.784 Y-420.975\nG1 X203.343 Y-416.582\nG1 X207.164 Y-414.5\nG1 X210.592 Y-412.529\nG1 X213.85 Y-410.513\nG1 X233.739 Y-397.368\nG1 X244.663 Y-389.97\nG1 X254.232 Y-383.139\nG1 X260.096 Y-378.699\nG1 X265.719 Y-374.207\nG1 X271.244 Y-369.547\nG1 X276.814 Y-364.603\nG1 X282.577 Y-359.26\nG1 X288.733 Y-353.351\nG1 X297.564 Y-344.62\nG1 X305.213 Y-336.817\nG1 X311.021 Y-330.628\nG1 X314.32 Y-326.861\nG1 X326.719 Y-312.106\nG1 X346.519 Y-288.16\nG1 X350.226 Y-283.198\nG1 X353.112 Y-278.992\nG1 X356.346 Y-274.077\nG1 X361.485 Y-265.936\nG1 X366.469 Y-257.657\nG1 X370.971 Y-249.737\nG1 X373.511 Y-244.929\nG1 X376.929 Y-237.98\nG1 X380.417 Y-230.294\nG1 X384.601 Y-220.292\nG1 X387.206 Y-213.454\nG1 X392.459 Y-198.041\nG1 X393.507 Y-194.445\nG1 X394.525 Y-190.302\nG1 X397.452 Y-176.63\nG1 X398.881 Y-169.067\nG1 X400.752 Y-157.729\nG1 X402.432 Y-146.074\nG1 X405.434 Y-121.601\nG1 X405.693 Y-118.831\nG1 X406.062 Y-112.794\nG1 X406.35 Y-105.225\nG1 X406.608 Y-92.522\nG1 X406.663 Y-79.395\nG1 X406.504 Y-67.42\nG1 X406.115 Y-58.254\nG1 X405.663 Y-53.986\nG1 X401.728 Y-31.525\nG1 X401.094 Y-28.536\nG1 X395.117 Y-8.615\nG1 X390.512 Y4.642\nG1 X389.227 Y8.035\nG1 X383.243 Y22.766\nG1 X380.863 Y27.993\nG1 X377.87 Y34.277\nG1 X370.967 Y48.174\nG1 X365.771 Y58.22\nG1 X354.999 Y78.517\nG1 X332.559 Y112.032\nG1 X325.459 Y122.276\nG1 X317.28 Y133.741\nG1 X305.835 Y149.301\nG1 X296.824 Y161.053\nG1 X278.593 Y183.491\nG1 X256.482 Y210.386\nG1 X238.766 Y230.799\nG1 X205.596 Y268.139\nG1 X161.825 Y316.329\nG1 X31.068 Y459.569\nG1 X28.897 Y461.357\nG1 X26.311 Y462.466\nG1 X23.519 Y462.806\nG1 X20.743 Y462.35\nG1 X18.206 Y461.135\nG1 X16.765 Y459.965\nG1 X-11.705 Y432.022\nG1 X-32.375 Y411.322\nG1 X-47.325 Y396.1\nG1 X-72.625 Y370.11\nG1 X-170.992 Y268.449\nG1 X-200.739 Y237.294\nG1 X-224.687 Y211.846\nG1 X-223.24 Y210.488 F7800\nG1 F18000\nG1 X-233.423 Y199.637\nG1 X-243.905 Y188.268\nG1 X-258.039 Y172.643\nG1 X-279.987 Y147.122\nG1 X-285.609 Y140.329\nG1 X-297.' Read 14057.018696: '486 Y125.422\nG1 X-305.117 Y115.613\nG1 X-312.357 Y106.148\nG1 X-320.363 Y95.387\nG1 X-335.422 Y74.572\nG1 X-344.651 Y60.064\nG1 X-348.096 Y54.512\nG1 X-351.892 Y48.133\nG1 X-355.86 Y41.226\nG1 X-361.99 Y30.123\nG1 X-366.096 Y22.387\nG1 X-372.262 Y10.304\nG1 X-377.025 Y.699\nG1 X-379.386 Y-4.427\nG1 X-385.607 Y-20.982\nG1 X-390.102 Y-34.083\nG1 X-394.198 Y-46.932\nG1 X-396.354 Y-54.541\nG1 X-399.056 Y-66.575\nG1 X-401.552 Y-79.525\nG1 X-402.051 Y-82.688\nG1 X-402.889 Y-90.23\nG1 X-403.264 Y-94.83\nG1 X-403.866 Y-104.659\nG1 X-404.473 Y-121.223\nG1 X-404.697 Y-138.513\nG1 X-404.51 Y-154.91\nG1 X-404.147 Y-164.528\nG1 X-403.875 Y-169.022\nG1 X-401.843 Y-190.745\nG1 X-398.882 Y-205.95\nG1 X-394.205 Y-227.149\nG1 X-393.111 Y-231.709\nG1 X-391.792 Y-236.518\nG1 X-389.117 Y-245.053\nG1 X-386.902 Y-251.23\nG1 X-383.876 Y-259.011\nG1 X-379.171 Y-270.438\nG1 X-375.529 Y-278.834\nG1 X-372.16 Y-286.163\nG1 X-370.255 Y-289.993\nG1 X-369 Y-292.328\nG1 X-364.636 Y-299.981\nG1 X-359.49 Y-308.498\nG1 X-352.14 Y-320.063\nG1 X-346.63 Y-328.305\nG1 X-341.647 Y-335.352\nG1 X-338.7 Y-339.231\nG1 X-333.529 Y-345.477\nG1 X-327.436 Y-352.451\nG1 X-321.078 Y-359.378\nG1 X-312.595 Y-368.127\nG1 X-306.375 Y-374.172\nG1 X-300.692 Y-379.356\nG1 X-286.879 Y-391.057\nG1 X-284.109 Y-393.252\nG1 X-276.541 Y-398.786\nG1 X-267.649 Y-404.952\nG1 X-261.31 Y-409.176\nG1 X-257.539 Y-411.59\nG1 X-247.291 Y-417.718\nG1 X-243.023 Y-420.142\nG1 X-237.44 Y-423.051\nG1 X-231.013 Y-426.222\nG1 X-220.849 Y-430.974\nG1 X-214.076 Y-433.974\nG1 X-207.878 Y-436.568\nG1 X-202.719 Y-438.542\nG1 X-192.039 Y-441.962\nG1 X-186.701 Y-443.485\nG1 X-178.87 Y-445.507\nG1 X-172.641 Y-446.966\nG1 X-167.548 Y-447.989\nG1 X-160.255 Y-449.085\nG1 X-153.775 Y-449.803\nG1 X-147.156 Y-450.26\nG1 X32.44 Y-460.507\nG1 X39.733 Y-460.783\nG1 X47.056 Y-460.829\nG1 X56.169 Y-460.705\nG1 X64.199 Y-460.397\nG1 X71.526 Y-459.863\nG1 X78.35 Y-459.081\nG1 X83.024 Y-458.372\nG1 X89.982 Y-457.072\nG1 X103.441 Y-454.114\nG1 X108.948 Y-452.713\nG1 X129.364 Y-446.44\nG1 X137.76 Y-443.524\nG1 X147.398 Y-439.847\nG1 X157.808 Y-435.609\nG1 X173.726 Y-428.707\nG1 X184.179 Y-423.906\nG1 X193.896 Y-419.215\nG1 X202.43 Y-414.835\nG1 X206.22 Y-412.769\nG1 X209.608 Y-410.821\nG1 X212.763 Y-408.868\nG1 X232.644 Y-395.729\nG1 X243.546 Y-388.346\nG1 X253.07 Y-381.547\nG1 X258.896 Y-377.135\nG1 X264.478 Y-372.676\nG1 X269.963 Y-368.049\nG1 X275.496 Y-363.137\nG1 X281.229 Y-357.821\nG1 X287.354 Y-351.942\nG1 X296.164 Y-343.232\nG1 X303.789 Y-335.454\nG1 X309.568 Y-329.297\nG1 X312.818 Y-325.585\nG1 X325.209 Y-310.839\nG1 X344.974 Y-286.936\nG1 X348.607 Y-282.072\nG1 X351.48 Y-277.885\nG1 X354.695 Y-273\nG1 X359.803 Y-264.907\nG1 X364.773 Y-256.653\nG1 X369.247 Y-248.782\nG1 X371.753 Y-244.036\nG1 X375.15 Y-237.13\nG1 X378.608 Y-229.511\nG1 X382.773 Y-219.555\nG1 X385.356 Y-212.774\nG1 X390.577 Y-197.453\nG1 X391.615 Y-193.89\nG1 X392.603 Y-189.865\nG1 X395.519 Y-176.243\nG1 X396.94 Y-168.719\nG1 X398.803 Y-157.431\nG1 X400.477 Y-145.819\nG1 X403.478 Y-121.363\nG1 X403.726 Y-118.695\nG1 X404.093 Y-112.688\nG1 X404.379 Y-105.172\nG1 X404.637 Y-92.503\nG1 X404.692 Y-79.409\nG1 X404.533 Y-67.479\nG1 X404.148 Y-58.371\nG1 X403.71 Y-54.254\nG1 X399.786 Y-31.866\nG1 X399.188 Y-29.038\nG1 X393.238 Y-9.209\nG1 X388.651 Y3.994\nG1 X387.392 Y7.315\nG1 X381.444 Y21.96\nG1 X379.074 Y27.166\nG1 X376.093 Y33.423\nG1 X369.208 Y47.285\nG1 X364.024 Y57.305\nG1 X353.294 Y77.528\nG1 X330.932 Y110.918\nG1 X323.849 Y121.138\nG1 X315.661 Y132.616\nG1 X304.256 Y148.122\nG1 X295.277 Y159.832\nG1 X277.07 Y182.239\nG1 X254.965 Y209.127\nG1 X237.286 Y229.497\nG1 X204.126 Y266.825\nG1 X160.366 Y315.005\nG1 X29.613 Y458.24\nG1 X27.643 Y459.807\nG1 X25.283 Y460.683\nG1 X22.767 Y460.779\nG1 X20.347 Y460.085\nG1 X18.145 Y458.557\nG1 X-14.231 Y426.741\nG1 X-26.545 Y414.41\nG1 X-40.617 Y400.133\nG1 X-86.95 Y352.501\nG1 X-174.061 Y262.418\nG1 X-204.565 Y230.386\nG1 X-223.034 Y210.706\nG1 F2400\nG1 X17.061 Y360.859 F7800\nG1 F2400\n;TYPE:Perimeter\n;WIDTH:2.1\nG1 F18000\nG1 X17.305 Y361.078\nG1 X17.795 Y361.424\nG1 X18.316 Y361.704\nG1 X18.855 Y361.916\nG1 X19.399 Y362.061\nG1 X19.938 Y362.14\nG1 X20.49 Y362.16\nG1 X21.007 Y362.122\nG1 X21.527 Y362.027\nG1 X22.052 Y361.871\nG1 X22.57 Y361.651\nG1 X23.07 Y361.367\nG1 X23.54 Y361.02\nG1 X23.97 ' gcode state: absolute_coord=True absolute_extrude=True base_position=[0.0, 0.0, 0.0, 0.0] last_position=[-348.251, -329.427, 0.0, 0.0] homing_position=[0.0, 0.0, 0.0, 0.0] speed_factor=0.016666666666666666 extrude_factor=1.0 speed=300.0 Reactor garbage collection: (14056.566978225, 0.0, 0.0) MCU 'mcu' shutdown: Move queue overflow Once the underlying issue is corrected, use the "FIRMWARE_RESTART" command to reset the firmware, reload the config, and restart the host software. Printer is shutdown MCU 'mcu' shutdown: Move queue overflow clocksync state: mcu_freq=16000000 last_clock=117835868 clock_est=(14056.637 112164243 16378144.566) min_half_rtt=0.000267 min_rtt_time=14056.879 time_avg=14056.637(0.018) clock_avg=112164243.198(291087.193) pred_variance=923134973.436 Dumping serial stats: bytes_write=3294 bytes_read=4985 bytes_retransmit=0 bytes_invalid=7 send_seq=166 receive_seq=166 retransmit_seq=0 srtt=0.006 rttvar=0.003 rto=0.025 ready_bytes=35 upcoming_bytes=2204 Dumping send queue 100 messages Sent 0 14056.417183 14056.417183 9: seq: 12, identify offset=2000 count=40 Sent 1 14056.421979 14056.421979 9: seq: 13, identify offset=2040 count=40 Sent 2 14056.426649 14056.426649 9: seq: 14, identify offset=2080 count=40 Sent 3 14056.431434 14056.431434 9: seq: 15, identify offset=2120 count=40 Sent 4 14056.436162 14056.436162 9: seq: 16, identify offset=2160 count=40 Sent 5 14056.441047 14056.441047 9: seq: 17, identify offset=2200 count=40 Sent 6 14056.445724 14056.445724 9: seq: 18, identify offset=2240 count=40 Sent 7 14056.450128 14056.450128 9: seq: 19, identify offset=2280 count=40 Sent 8 14056.454493 14056.454493 9: seq: 1a, identify offset=2320 count=40 Sent 9 14056.458902 14056.458902 9: seq: 1b, identify offset=2360 count=40 Sent 10 14056.463227 14056.463227 9: seq: 1c, identify offset=2400 count=40 Sent 11 14056.467658 14056.467658 9: seq: 1d, identify offset=2440 count=40 Sent 12 14056.472114 14056.472114 9: seq: 1e, identify offset=2480 count=40 Sent 13 14056.476530 14056.476530 9: seq: 1f, identify offset=2520 count=40 Sent 14 14056.480849 14056.480849 9: seq: 10, identify offset=2560 count=40 Sent 15 14056.485301 14056.485301 9: seq: 11, identify offset=2600 count=40 Sent 16 14056.489812 14056.489812 9: seq: 12, identify offset=2640 count=40 Sent 17 14056.494531 14056.494531 9: seq: 13, identify offset=2680 count=40 Sent 18 14056.498850 14056.498850 9: seq: 14, identify offset=2720 count=40 Sent 19 14056.503279 14056.503279 9: seq: 15, identify offset=2760 count=40 Sent 20 14056.507638 14056.507638 9: seq: 16, identify offset=2800 count=40 Sent 21 14056.512034 14056.512034 9: seq: 17, identify offset=2840 count=40 Sent 22 14056.516665 14056.516665 9: seq: 18, identify offset=2880 count=40 Sent 23 14056.521076 14056.521076 9: seq: 19, identify offset=2920 count=40 Sent 24 14056.525520 14056.525520 9: seq: 1a, identify offset=2960 count=40 Sent 25 14056.530019 14056.530019 9: seq: 1b, identify offset=3000 count=40 Sent 26 14056.534850 14056.534850 9: seq: 1c, identify offset=3040 count=40 Sent 27 14056.539159 14056.539159 9: seq: 1d, identify offset=3080 count=40 Sent 28 14056.543590 14056.543590 9: seq: 1e, identify offset=3120 count=40 Sent 29 14056.548324 14056.548324 9: seq: 1f, identify offset=3160 count=40 Sent 30 14056.552642 14056.552642 9: seq: 10, identify offset=3200 count=40 Sent 31 14056.556984 14056.556984 9: seq: 11, identify offset=3240 count=40 Sent 32 14056.561403 14056.561403 9: seq: 12, identify offset=3280 count=40 Sent 33 14056.564247 14056.564247 9: seq: 13, identify offset=3297 count=40 Sent 34 14056.567223 14056.566983 6: seq: 14, get_uptime Sent 35 14056.619152 14056.618912 6: seq: 15, get_clock Sent 36 14056.671120 14056.670880 6: seq: 16, get_clock Sent 37 14056.722939 14056.722699 6: seq: 17, get_clock Sent 38 14056.774911 14056.774671 6: seq: 18, get_clock Sent 39 14056.827121 14056.826881 6: seq: 19, get_clock Sent 40 14056.879338 14056.879098 6: seq: 1a, get_clock Sent 41 14056.931155 14056.930915 6: seq: 1b, get_clock Sent 42 14056.982936 14056.982696 6: seq: 1c, get_clock Sent 43 14056.984816 14056.984576 6: seq: 1d, get_config Sent 44 14056.985056 14056.984585 6: seq: 1e, get_clock Sent 45 14056.987253 14056.986973 7: seq: 1f, allocate_oids count=10 Sent 46 14056.987573 14056.987008 8: seq: 10, config_analog_in oid=5 pin=PA0 Sent 47 14056.988133 14056.987019 14: seq: 11, config_digital_out oid=6 pin=PB3 value=0 default_value=0 max_duration=48000000 Sent 48 14056.988573 14056.987024 11: seq: 12, set_digital_out_pwm_cycle oid=6 cycle_ticks=1600000 Sent 49 14056.989013 14056.987031 11: seq: 13, config_stepper oid=0 step_pin=PA5 dir_pin=PA4 invert_step=0 step_pulse_ticks=32 Sent 50 14056.989453 14056.987036 11: seq: 14, config_digital_out oid=7 pin=PA1 value=0 default_value=0 max_duration=0 Sent 51 14056.989893 14056.987042 11: seq: 15, config_stepper oid=1 step_pin=PA3 dir_pin=PA2 invert_step=0 step_pulse_ticks=32 Sent 52 14056.990333 14056.987047 11: seq: 16, config_stepper oid=2 step_pin=PC7 dir_pin=PC6 invert_step=0 step_pulse_ticks=32 Sent 53 14056.990773 14056.987052 11: seq: 17, config_stepper oid=3 step_pin=PC1 dir_pin=PC4 invert_step=0 step_pulse_ticks=32 Sent 54 14056.991093 14056.987060 8: seq: 18, config_analog_in oid=8 pin=PA7 Sent 55 14056.991653 14056.987096 14: seq: 19, config_digital_out oid=9 pin=PB4 value=0 default_value=0 max_duration=48000000 Sent 56 14056.993613 14056.987401 49: seq: 1a, set_digital_out_pwm_cycle oid=9 cycle_ticks=1600000, config_stepper oid=4 step_pin=PC3 dir_pin=PC2 invert_step=0 step_pulse_ticks=32, finalize_config crc=1679889870, query_analog_in oid=5 clock=128800000 sample_ticks=16000 sample_count=8 rest_ticks=4800000 min_value=2999 max_value=8070 range_check_count=4, queue_digital_out oid=6 clock=121099122 on_ticks=0 Sent 57 14056.994893 14056.991099 32: seq: 1b, query_analog_in oid=8 clock=129280000 sample_ticks=16000 sample_count=8 rest_ticks=4800000 min_value=258 max_value=8070 range_check_count=4, queue_digital_out oid=9 clock=121100937 on_ticks=0, get_config Sent 58 14057.005192 14057.004912 7: seq: 1c, stepper_get_position oid=0 Sent 59 14057.006767 14057.006487 7: seq: 1d, stepper_get_position oid=1 Sent 60 14057.008338 14057.008058 7: seq: 1e, stepper_get_position oid=2 Sent 61 14057.009918 14057.009638 7: seq: 1f, stepper_get_position oid=3 Sent 62 14057.011530 14057.011250 7: seq: 10, stepper_get_position oid=4 Sent 63 14057.019641 14057.017401 56: seq: 11, set_next_step_dir oid=0 dir=1, queue_step oid=0 interval=122471807 count=1 add=0, set_next_step_dir oid=1 dir=1, queue_step oid=1 interval=122511408 count=1 add=0, set_next_step_dir oid=2 dir=0, queue_step oid=2 interval=122456538 count=1 add=0, set_next_step_dir oid=3 dir=1, queue_step oid=3 interval=123745928 count=1 add=0, queue_digital_out oid=7 clock=122384889 on_ticks=1 Sent 64 14057.021881 14057.017401 56: seq: 12, queue_step oid=2 interval=52200 count=2 add=-15837, queue_step oid=0 interval=63377 count=2 add=-19320, queue_step oid=1 interval=92354 count=2 add=-28358, queue_step oid=2 interval=28985 count=3 add=-3235, queue_step oid=0 interval=35210 count=3 add=-4028, queue_step oid=2 interval=20528 count=5 add=-1211 Sent 65 14057.024321 14057.017401 61: seq: 13, queue_step oid=1 interval=51554 count=2 add=-6519, queue_step oid=0 interval=25082 count=4 add=-1599, queue_step oid=2 interval=15234 count=7 add=-524, queue_step oid=0 interval=19247 count=7 add=-686, queue_step oid=1 interval=39641 count=3 add=-2867, queue_step oid=2 interval=11831 count=12 add=-236, queue_step oid=1 interval=31214 count=5 add=-1385 Sent 66 14057.026881 14057.022168 64: seq: 14, queue_step oid=0 interval=14795 count=10 add=-322, queue_step oid=2 interval=9199 count=17 add=-116, queue_step oid=1 interval=24500 count=8 add=-688, queue_step oid=0 interval=11710 count=16 add=-159, queue_step oid=2 interval=7360 count=24 add=-61, queue_step oid=0 interval=9330 count=20 add=-86, queue_step oid=1 interval=19370 count=10 add=-366, queue_step oid=2 interval=5998 count=32 add=-34 Sent 67 14057.029241 14057.025419 59: seq: 15, queue_step oid=0 interval=7692 count=29 add=-48, queue_step oid=1 interval=15878 count=15 add=-201, queue_step oid=2 interval=4986 count=42 add=-20, queue_step oid=0 interval=6370 count=39 add=-28, queue_step oid=1 interval=13048 count=18 add=-119, queue_step oid=2 interval=4201 count=56 add=-12, queue_step oid=3 interval=441625 count=1 add=0, queue_step oid=0 interval=5356 count=42 add=-18 Sent 68 14057.031641 14057.029128 60: seq: 16, queue_step oid=1 interval=11003 count=20 add=-71, queue_step oid=2 interval=3581 count=55 add=-8, queue_step oid=0 interval=4691 count=86 add=0, queue_step oid=2 interval=3211 count=762 add=0, queue_step oid=1 interval=9781 count=72 add=-2, queue_step oid=3 interval=291779 count=1 add=0, queue_step oid=0 interval=4669 count=136 add=0, queue_step oid=3 interval=236923 count=2 add=-31586 Sent 69 14057.035387 14057.032987 60: seq: 17, queue_step oid=1 interval=9607 count=124 add=-2, queue_step oid=3 interval=183058 count=2 add=-15532, queue_step oid=0 interval=4648 count=135 add=0, queue_step oid=3 interval=154586 count=2 add=-9519, queue_step oid=3 interval=136124 count=3 add=-6286, queue_step oid=0 interval=4627 count=143 add=0, queue_step oid=1 interval=9346 count=172 add=-2 Sent 70 14057.038880 14057.036520 59: seq: 18, queue_step oid=3 interval=117890 count=4 add=-4140, queue_step oid=0 interval=4606 count=142 add=0, queue_step oid=3 interval=102259 count=5 add=-2763, queue_step oid=2 interval=3214 count=592 add=0, queue_step oid=3 interval=89348 count=5 add=-1888, queue_step oid=0 interval=4586 count=136 add=0, queue_step oid=3 interval=80089 count=8 add=-1296 Sent 71 14057.042659 14057.040179 62: seq: 19, queue_step oid=1 interval=9022 count=112 add=-2, queue_step oid=0 interval=4566 count=149 add=0, queue_step oid=3 interval=70256 count=8 add=-930, queue_step oid=0 interval=4546 count=145 add=0, queue_step oid=2 interval=3217 count=625 add=0, queue_step oid=3 interval=63167 count=10 add=-664, queue_step oid=1 interval=8827 count=95 add=-2, queue_step oid=0 interval=4526 count=154 add=0 Sent 72 14057.046329 14057.043849 62: seq: 1a, queue_step oid=3 interval=56757 count=12 add=-478, queue_step oid=1 interval=8671 count=81 add=-2, queue_step oid=0 interval=4506 count=154 add=0, queue_step oid=3 interval=51150 count=15 add=-347, queue_step oid=1 interval=8546 count=76 add=-2, queue_step oid=0 interval=4487 count=145 add=0, queue_step oid=2 interval=3219 count=404 add=0, queue_step oid=3 interval=46066 count=18 add=-255 Sent 73 14057.049737 14057.047337 60: seq: 1b, queue_step oid=1 interval=8434 count=73 add=-2, queue_step oid=0 interval=4469 count=147 add=0, queue_step oid=3 interval=41616 count=20 add=-191, queue_step oid=1 interval=8331 count=69 add=-2, queue_step oid=0 interval=4451 count=151 add=0, queue_step oid=2 interval=3222 count=650 add=0, queue_step oid=1 interval=8237 count=65 add=-2, queue_step oid=3 interval=37914 count=23 add=-145 Sent 74 14057.053510 14057.051110 60: seq: 1c, queue_step oid=0 interval=4433 count=154 add=0, queue_step oid=1 interval=8153 count=65 add=-2, queue_step oid=3 interval=34678 count=27 add=-111, queue_step oid=1 interval=8046 count=64 add=-1, queue_step oid=0 interval=4415 count=159 add=0, queue_step oid=1 interval=7957 count=136 add=-1, queue_step oid=0 interval=4397 count=162 add=0, queue_step oid=2 interval=3225 count=465 add=0 Sent 75 14057.057376 14057.054816 64: seq: 1d, queue_step oid=3 interval=31788 count=28 add=-87, queue_step oid=0 interval=4379 count=167 add=0, queue_step oid=1 interval=7802 count=223 add=-1, queue_step oid=3 interval=29422 count=34 add=-68, queue_step oid=0 interval=4361 count=170 add=0, queue_step oid=2 interval=3228 count=586 add=0, queue_step oid=3 interval=27178 count=38 add=-54, queue_step oid=0 interval=4344 count=157 add=0 Sent 76 14057.061041 14057.058521 63: seq: 1e, queue_step oid=1 interval=7574 count=171 add=-1, queue_step oid=0 interval=4327 count=177 add=0, queue_step oid=3 interval=25193 count=43 add=-43, queue_step oid=2 interval=3231 count=376 add=0, queue_step oid=0 interval=4310 count=167 add=0, queue_step oid=1 interval=7417 count=124 add=-1, queue_step oid=3 interval=23412 count=45 add=-35, queue_step oid=0 interval=4294 count=165 add=0 Sent 77 14057.064669 14057.062149 63: seq: 1f, queue_step oid=1 interval=7304 count=73 add=-1, queue_step oid=2 interval=3234 count=162 add=0, queue_step oid=3 interval=21903 count=12 add=-23, queue_step oid=0 interval=4233 count=39 add=4, queue_step oid=2 interval=3296 count=63 add=8, queue_step oid=1 interval=7403 count=29 add=40, queue_step oid=3 interval=22179 count=11 add=355, queue_step oid=0 interval=4471 count=46 add=15, queue_step oid=2 interval=3841 count=50 add=13 Sent 78 14057.068282 14057.065962 58: seq: 10, queue_step oid=1 interval=8637 count=24 add=68, queue_step oid=0 interval=5211 count=37 add=25, queue_step oid=3 interval=26439 count=7 add=610, queue_step oid=2 interval=4540 count=38 add=22, queue_step oid=1 interval=10396 count=17 add=118, queue_step oid=0 interval=6194 count=28 add=43, queue_step oid=3 interval=30813 count=6 add=1115, queue_step oid=2 interval=5433 count=29 add=39 Sent 79 14057.072215 14057.069695 63: seq: 11, queue_step oid=1 interval=12593 count=12 add=210, queue_step oid=0 interval=7474 count=21 add=78, queue_step oid=3 interval=37751 count=4 add=2086, queue_step oid=2 interval=6649 count=21 add=73, queue_step oid=1 interval=15354 count=9 add=400, queue_step oid=0 interval=9251 count=14 add=147, queue_step oid=3 interval=46492 count=3 add=3850, queue_step oid=2 interval=8337 count=14 add=142 Sent 80 14057.075915 14057.073515 60: seq: 12, queue_step oid=1 interval=19376 count=6 add=808, queue_step oid=0 interval=11433 count=10 add=301, queue_step oid=3 interval=59695 count=2 add=8082, queue_step oid=2 interval=10576 count=9 add=291, queue_step oid=1 interval=24908 count=4 add=1700, queue_step oid=0 interval=14604 count=7 add=642, queue_step oid=3 interval=79088 count=2 add=22331 Sent 81 14057.079367 14057.076967 60: seq: 13, queue_step oid=2 interval=13445 count=6 add=662, queue_step oid=1 interval=33298 count=2 add=3876, queue_step oid=0 interval=19749 count=4 add=1507, queue_step oid=2 interval=17678 count=4 add=1591, queue_step oid=1 interval=42083 count=2 add=9355, queue_step oid=3 interval=175458 count=1 add=0, queue_step oid=0 interval=26904 count=2 add=3741 Sent 82 14057.083041 14057.080721 58: seq: 14, queue_step oid=2 interval=25120 count=2 add=4204, queue_step oid=0 interval=35380 count=2 add=10017, queue_step oid=1 interval=70286 count=1 add=0, queue_step oid=2 interval=35269 count=2 add=15340, queue_step oid=0 interval=74835 count=1 add=0, queue_step oid=1 interval=138894 count=1 add=0, queue_step oid=3 interval=1335760 count=1 add=0 Sent 83 14057.086617 14057.084257 59: seq: 15, queue_step oid=2 interval=164723 count=1 add=0, set_next_step_dir oid=0 dir=0, queue_step oid=0 interval=55358 count=2 add=24175, queue_step oid=1 interval=58288 count=2 add=-19347, queue_step oid=0 interval=47405 count=2 add=-9569, queue_step oid=2 interval=101944 count=2 add=-31130, queue_step oid=1 interval=30741 count=3 add=-3597 Sent 84 14057.090318 14057.087838 62: seq: 16, queue_step oid=0 interval=31661 count=3 add=-2902, queue_step oid=1 interval=21645 count=4 add=-1352, queue_step oid=0 interval=23394 count=5 add=-1157, queue_step oid=2 interval=57168 count=2 add=-7233, queue_step oid=1 interval=16488 count=8 add=-559, queue_step oid=0 interval=17733 count=9 add=-516, queue_step oid=2 interval=44046 count=3 add=-3192 Sent 85 14057.093607 14057.091287 58: seq: 17, queue_step oid=1 interval=12388 count=11 add=-260, queue_step oid=2 interval=34759 count=5 add=-1546, queue_step oid=0 interval=13535 count=10 add=-264, queue_step oid=1 interval=9752 count=16 add=-129, queue_step oid=0 interval=11027 count=17 add=-133, queue_step oid=1 interval=7819 count=23 add=-67, queue_step oid=2 interval=27394 count=7 add=-773 Sent 86 14057.097203 14057.094803 60: seq: 18, queue_step oid=0 interval=8877 count=23 add=-72, queue_step oid=1 interval=6363 count=31 add=-37, queue_step oid=2 interval=22135 count=11 add=-406, queue_step oid=0 interval=7306 count=31 add=-41, queue_step oid=1 interval=5269 count=45 add=-21, queue_step oid=2 interval=17992 count=12 add=-236, queue_step oid=0 interval=6098 count=42 add=-24, queue_step oid=1 interval=4387 count=51 add=-13 Sent 87 14057.100973 14057.098533 61: seq: 19, queue_step oid=3 interval=372105 count=1 add=0, queue_step oid=2 interval=15288 count=18 add=-136, queue_step oid=1 interval=3763 count=47 add=-8, queue_step oid=0 interval=5151 count=33 add=-15, queue_step oid=2 interval=12886 count=12 add=-24, queue_step oid=1 interval=3465 count=124 add=0, queue_step oid=0 interval=4771 count=73 add=0, queue_step oid=3 interval=261913 count=2 add=-18340 Sent 88 14057.104516 14057.101996 63: seq: 1a, queue_step oid=2 interval=12797 count=19 add=0, queue_step oid=2 interval=13416 count=73 add=9, queue_step oid=0 interval=4722 count=88 add=0, queue_step oid=1 interval=3477 count=211 add=0, queue_step oid=3 interval=212123 count=2 add=-23188, queue_step oid=0 interval=4743 count=133 add=0, queue_step oid=3 interval=171255 count=2 add=-12697, queue_step oid=1 interval=3472 count=87 add=0 Sent 89 14057.107854 14057.105614 56: seq: 1b, queue_step oid=3 interval=147508 count=2 add=14055, queue_step oid=2 interval=14067 count=8 add=0, queue_step oid=0 interval=4792 count=25 add=-10, queue_step oid=2 interval=15208 count=4 add=360, queue_step oid=1 interval=3513 count=205 add=0, queue_step oid=2 interval=15911 count=86 add=15, queue_step oid=0 interval=4636 count=139 add=0 Sent 90 14057.111670 14057.109270 60: seq: 1c, queue_step oid=3 interval=154370 count=2 add=-9372, queue_step oid=3 interval=136159 count=3 add=-6223, queue_step oid=0 interval=4657 count=148 add=0, queue_step oid=1 interval=3505 count=313 add=0, queue_step oid=3 interval=118084 count=4 add=-4110, queue_step oid=3 interval=102514 count=5 add=-2741, queue_step oid=0 interval=4674 count=90 add=0 Sent 91 14057.115553 14057.113033 63: seq: 1d, queue_step oid=2 interval=17232 count=19 add=20, queue_step oid=3 interval=92573 count=2 add=1353, queue_step oid=2 interval=19149 count=15 add=33, queue_step oid=0 interval=4602 count=67 add=0, queue_step oid=1 interval=3533 count=92 add=0, queue_step oid=3 interval=91095 count=2 add=-804, queue_step oid=2 interval=20420 count=3 add=771, queue_step oid=3 interval=92568 count=6 add=-1954 Sent 92 14057.118805 14057.116365 61: seq: 1e, queue_step oid=0 interval=4541 count=78 add=0, queue_step oid=2 interval=21545 count=22 add=42, queue_step oid=1 interval=3554 count=156 add=0, queue_step oid=0 interval=4572 count=61 add=-1, queue_step oid=2 interval=23041 count=3 add=846, queue_step oid=3 interval=84435 count=8 add=-1441, queue_step oid=2 interval=24314 count=23 add=58, queue_step oid=1 interval=3570 count=192 add=0 Sent 93 14057.122477 14057.119997 62: seq: 1f, queue_step oid=0 interval=4509 count=82 add=0, queue_step oid=0 interval=4542 count=80 add=-1, queue_step oid=3 interval=75350 count=9 add=-1056, queue_step oid=2 interval=27090 count=6 add=193, queue_step oid=1 interval=3581 count=184 add=0, queue_step oid=2 interval=27806 count=17 add=87, queue_step oid=0 interval=4497 count=114 add=0, queue_step oid=3 interval=67410 count=4 add=-515 Sent 94 14057.126243 14057.123763 62: seq: 10, queue_step oid=2 interval=29779 count=2 add=2266, queue_step oid=2 interval=31824 count=18 add=128, queue_step oid=0 interval=4468 count=94 add=0, queue_step oid=1 interval=3593 count=143 add=0, queue_step oid=3 interval=64479 count=6 add=-657, queue_step oid=0 interval=4517 count=57 add=-2, queue_step oid=3 interval=61661 count=3 add=104, queue_step oid=1 interval=3583 count=59 add=1 Sent 95 14057.129740 14057.127380 59: seq: 11, queue_step oid=2 interval=39505 count=7 add=314, queue_step oid=0 interval=4434 count=148 add=0, queue_step oid=3 interval=60617 count=9 add=-560, queue_step oid=1 interval=3610 count=154 add=0, queue_step oid=2 interval=41291 count=10 add=289, queue_step oid=3 interval=56115 count=2 add=1337, queue_step oid=2 interval=51796 count=2 add=3392 Sent 96 14057.133599 14057.131079 63: seq: 12, queue_step oid=0 interval=4387 count=108 add=0, queue_step oid=1 interval=3636 count=171 add=0, queue_step oid=3 interval=56473 count=13 add=-449, queue_step oid=2 interval=55288 count=11 add=708, queue_step oid=0 interval=4406 count=71 add=0, queue_step oid=1 interval=3595 count=49 add=2, queue_step oid=2 interval=63580 count=3 add=3641, queue_step oid=3 interval=51221 count=5 add=1662 Sent 97 14057.137170 14057.134810 59: seq: 13, queue_step oid=0 interval=4485 count=51 add=16, queue_step oid=1 interval=3757 count=58 add=11, queue_step oid=2 interval=75641 count=3 add=6377, queue_step oid=3 interval=59940 count=4 add=2987, queue_step oid=0 interval=5345 count=37 add=27, queue_step oid=1 interval=4440 count=43 add=18, queue_step oid=2 interval=97545 count=2 add=11759, queue_step oid=0 interval=6399 count=28 add=47 Sent 98 14057.140857 14057.138297 64: seq: 14, queue_step oid=1 interval=5271 count=32 add=31, queue_step oid=3 interval=73612 count=2 add=5462, queue_step oid=2 interval=125113 count=1 add=0, queue_step oid=3 interval=85391 count=2 add=14053, queue_step oid=1 interval=6347 count=20 add=52, queue_step oid=0 interval=7936 count=12 add=56, set_next_step_dir oid=2 dir=1, queue_step oid=2 interval=148467 count=1 add=0, queue_step oid=0 interval=7994 count=29 add=-56 Sent 99 14057.288088 14057.285608 62: seq: 15, queue_step oid=1 interval=6963 count=35 add=-41, queue_step oid=3 interval=91589 count=2 add=-8043, queue_step oid=2 interval=264007 count=1 add=0, queue_step oid=0 interval=6444 count=35 add=-32, queue_step oid=3 interval=76244 count=3 add=-4691, queue_step oid=1 interval=5601 count=40 add=-24, queue_step oid=2 interval=196953 count=1 add=0, queue_step oid=0 interval=5384 count=46 add=-19 Dumping receive queue 100 messages Receive: 0 14056.202519 14056.198633 48: seq: 13, identify_response offset=80 data=b'\xed\xe4d\xf2\xd4\xe7E\x16\x7f\x11\xad\xcc\xebJ\xc2\xd06M\xcf\xbc\xbf\xfd\xb0^\x7f\xe7\xcd\xdf\x86o\xa7\xdeS^\xf5]^H\xec\xfd' Receive: 1 14056.206892 14056.202917 49: seq: 14, identify_response offset=120 data=b'\xf0\xe8]\xa8\xe6w^\xf06\x88\xde\x06S?\x9a\xfa\xc1\x1c\x96J\xeb\xb2L\xaa\x0c\x16\xf9}\x92d\xd2\x0f\x82i\x9ct]\x92\xee\xe2' Receive: 2 14056.211273 14056.207293 49: seq: 15, identify_response offset=160 data=b'\xa2N\xb28\x15E\x117m\xfd$\xbc:\xcf\xde\xbdI\xbdQw\xcc\xdd\x93\xb3\xe5\xfcd\x92\x14E\x9d&\x1duJ/\xad\xfb\xaa\xe3' Receive: 3 14056.215960 14056.211686 49: seq: 16, identify_response offset=200 data=b'1\xe4\xb9\xeb\x80\xd98I?\xeb\x95\xecx\x189\x04Y\xa6\t\x9aZ\xd2O^\xbd{\xd3{M\x0f{\xf6\rOpV\xfc\xad\x17\xed' Receive: 4 14056.220415 14056.216354 49: seq: 17, identify_response offset=240 data=b'\x8bY\x13\x18\xf8\x8c\xd4\xad\x90]\xdc\xe5\xe9g\xc9\xad\xaeM*Y\xe6]\xacw\xf5\xf2\n$\xa8\xf6_\x80$\n\x91\xb4\xb1\xdc\xf5]' Receive: 5 14056.225093 14056.220817 49: seq: 18, identify_response offset=280 data=b'V?W\x93\xb3\x00\x85Sm\xf2m\xac\xe4\xa2\xb7\x90M\xae\x0e\xedeI\x97\xc4\xadH\xb2\x97\x98\x99\x84\xa3F\xce\xbc}1\x0b\xe7\x87' Receive: 6 14056.229725 14056.225523 49: seq: 19, identify_response offset=320 data=b'\xf3&g\xd1\xcaRUIQo\xe3\xbc2\xa7V+\xcd,\x07\xea\xa8\x9a\x82\x9b\xb1#?\xbb\x1cu\x8av\xb8\xd8@vs\xcba\x96' Receive: 7 14056.234300 14056.230131 49: seq: 1a, identify_response offset=360 data=b'o\xf3.)\xe2\xba\xefF\x13\xbe$E/\xe8\x88b\x93\xf4E\x17\x9b\x8e2\xd9\xc7Y\xdf&\x1d\xe8\x1e\xf1\xe9/\xccz\x024\xa9\xab' Receive: 8 14056.238509 14056.234686 49: seq: 1b, identify_response offset=400 data=b'\x9b\xc1Z\xe9`\xf3\xc0n\xbe\xcb\xc2p\xb14bm\xa5\x92\xa1\'\xf4G\x16\x9a\xaf\xb9\xf9\x8a\xcc\xd7\xc2|\x89"y1\x97\r\xd2\xb5' Receive: 9 14056.242811 14056.238902 49: seq: 1c, identify_response offset=440 data=b'\x92\xdb\xed\x17\xfe^o\xb1Mr\x90\xda.\xa9*Q\xd0\xd9\xe0\xdcz\r\x99\x16\x9f\xed%\xda\x05\xf2 \xf5\xf4\xad\x85NwZ\x06\xd3' Receive: 10 14056.247385 14056.243200 49: seq: 1d, identify_response offset=480 data=b'U\xb8\xd4K\x03\x99\xb9\xdc\xc5\xd2\x90\x15Y\xeaG~p\x8cj\x15\x8c\xa9\xe2\xe7\xbc\xdb\x81"tO\x87\xf4\x1ev3\x7f8\xd7\xb7s' Receive: 11 14056.251601 14056.247763 49: seq: 1e, identify_response offset=520 data=b's\x19d\xcfV3d<\xfc\x8c\xbb\x97\x86\xee\r\x08\xe1\xecy\xa3;\x80O\x87\x83\xe3\xb6.k\x19o\xf2\x02\xf4\xc9\xb0}\x1a\xcc\xcd' Receive: 12 14056.255842 14056.251979 49: seq: 1f, identify_response offset=560 data=b'\xac\xb2\xe9W\xc1|zT\x06\x96\xaa\x12u\x93\xefE1\xd20\xb2\x1d\x99\xff\x17x\xd9\xf5\xe0\xb0\xba\x185\xcb\xb1X)\xa0\x0b.\xcc' Receive: 13 14056.260137 14056.256225 49: seq: 10, identify_response offset=600 data=b'\xde\xeb<4\x8b6\xcf\xe5\x11\xadM_\xc0\x8a\xed\x1aJgw\xfdX\x8b\xa1\xe7@\x8dC\xcb\xb1=\xb6^\x1f\xa9\xa5H\x91X*1' Receive: 14 14056.264455 14056.260531 49: seq: 11, identify_response offset=640 data=b'X\x93\x03\xc3\x1e\xf3\x81~\xae\xcb\xbf\x88x\x97ow4a\xb6t\xe9\xc1\xea\xb7\x858\xe2Q\xcc\x98\xbd\xa6\xd5|0S{\xa8c\x93' Receive: 15 14056.268913 14056.264832 49: seq: 12, identify_response offset=680 data=b'\xd5P\\\xca\xed\xbb7\x7f\x07\xa7>\x9b\r\xe6\xa2\x82\xa1\xce\xa7\xd2\xe8\xf4\xccZ\xaf\xec\x16+\xeb\xe6Ry\xc44<\t\x1a\xa5?_' Receive: 16 14056.273221 14056.269298 49: seq: 13, identify_response offset=720 data=b'\xaa4\x1e\x9a\x9e\x97\x96Y<\xb6\xc6\xb9#\xa9N`\x083\xacCS\xe9\xb4\x97\xe5\xad\xfed\xc7L\xc4\x96\xaa/\xa4p\x16\r\xec\xc1' Receive: 17 14056.277906 14056.273655 49: seq: 14, identify_response offset=760 data=b'\xba\x9dh\xcb\x1a\xfc^sT\xa2\xee\xb0\x15jd\xfdPW\xa6}\xd2\x1aUj\xf7\xf1\x81\xd3\xf4:\xd3\x89\x8a\xda\xe5\xa5\xe0\xa3Y;' Receive: 18 14056.282685 14056.278340 49: seq: 15, identify_response offset=800 data=b'\xecZ\x94\x87\x15\xeb\xf4d\x92\x89\xa7\x1e\xd4\xbf\x86\xe0\xbd\xd2-XeK\xaa\xcf\xf7\xe3\x1b2\x8c"^\xddf\xa2\xc5\xfd \x08\xb6\xec' Receive: 19 14056.287376 14056.283131 49: seq: 16, identify_response offset=840 data=b'\\\x03M\xf0\xdc\xe6\x9d8\xa0@\x1dgB`E\x94\xa2\xdd\x8a*}\x89\xd1\x0b\x03\x13\xd0\xc5\x1e9\xde\xd5\xa58\x88\x912)\x1b\xd7' Receive: 20 14056.292088 14056.287836 49: seq: 17, identify_response offset=880 data=b'^T\xdbD\xc8a\x0c\x05\xd6m\x14\xe0\xe3\x1a\x19\xb7\xf9v\x0bN\x02\x0e!kvQ\xe8&\xf4\xe6\x14\xa1\x81\xa7\xa4\x13F@\x01\xd8' Receive: 21 14056.296770 14056.292531 49: seq: 18, identify_response offset=920 data=b'\xf2&\x87\xd8\x07\x1e f\x19zi\x9b\xb2\xff>\x99l\xc1\xf8\x89O\x10\xb2j\x11\rx\x16n\xf6\r\xde\x02\x98\xed\xc9D\x05\x120' Receive: 22 14056.301455 14056.297196 49: seq: 19, identify_response offset=960 data=b'\xd0\n\x9cX\x99\x998\x89\xdf,\xe7\xc8\x1f\x91\xe1\x15xN\x14Wdp\x1d\x141\xfe,\x06\x82m\xd0\x0b\xf2e*}\x12d\x8b\x1e' Receive: 23 14056.306196 14056.301883 49: seq: 1a, identify_response offset=1000 data=b'\xf6\xc5\x85P\xb1}\xc5\x84\xe8\xe3\xc0Q\xbb\x1e\x14\x9a\xe4\xff@X\xf8\x8b\xf7,$+}\xe8\xdbY\xf2\xd9\x9d\x08&j\xcc2K\x1c' Receive: 24 14056.310872 14056.306624 49: seq: 1b, identify_response offset=1040 data=b'\x05v\x8cf\xb0T\x14\xf2RJ\xab\xc6\x82\x08A\x10y&\xaa.\xdf\x00\xb4\xdal`G2o\x838\x80\x13\x1d\xb5`\xac\x7fE\xc1' Receive: 25 14056.315596 14056.311308 49: seq: 1c, identify_response offset=1080 data=b'\xba\x1dl\xb8\xab\x8b\x8c\x1a\xdfV\x19O\xb4m=P\xa1\x1501\x96\xb4\xbb\xcd\xff\xb9\xe0k\xd8\x10\xf5\x08\x9c"\x89\xe54X\x1c\xee' Receive: 26 14056.320281 14056.316010 49: seq: 1d, identify_response offset=1120 data=b'yL}O\x83\xe5!!\xde\x0b\xc0\xcc\xaduC\xc9Ft/lP\x12\x83\xd9\xbb7\xf9\xb83\xd9cg\x97\xb4\xca\xf0$5\xd5a' Receive: 27 14056.324990 14056.320736 49: seq: 1e, identify_response offset=1160 data=b'\xb6mR\x12\x93\xf4\x11\x83\xef\xd4\xd6\x99#\x0f`(:\xba\x92Z\x1b\xf6\xe6\x813\xd27\x99e\x9dA\xf5\xaew.{\x0e~\x82\xcf' Receive: 28 14056.329714 14056.325436 49: seq: 1f, identify_response offset=1200 data=b'8B\xba\x039\x81v\x87#:\x92Ioc\xc9\xd2Yh\x00}G\x0bE\xcb\x11\xddx\xa1ha\x08\xc6\xe8\xf8O:\xaf\xd2:/' Receive: 29 14056.334358 14056.330147 49: seq: 10, identify_response offset=1240 data=b'\x15\xfcm\x8b\xae\x0c\xb0\x91H?;\x98z\xe6k\x1eF\x90\xdap\xd0\xd4p\xf3\xe3\xfd\x9d\xb87\xd7\x0b\x0c@\xe8X\xa8\xd3\x01\xd5X' Receive: 30 14056.339020 14056.334790 49: seq: 11, identify_response offset=1280 data=b'\x12\x8b\x95\x1e\x1e#\xce\xd1:\x8b\xc5\x98\xf0`\xa9HS\x8cP\xe9\x98\xa3\xe5\x88\x8e\x8cn\xa4\xffK\xc3\xd7\x10\x80\x8e\xb9\xf2\x87d\x07' Receive: 31 14056.343804 14056.339420 49: seq: 12, identify_response offset=1320 data=b'<\x99\xd3\x8f\xb0\xe4x\x9dpDw\xb0\x90Q\xbd\x03t\xf5\r\xb3\x070\x95o\xf8\xbaWf\x07^y$$8\xb1\x11\xf01\xc0\xf1' Receive: 32 14056.348208 14056.344206 49: seq: 13, identify_response offset=1360 data=b'\xca&\x8e\xda\r\xb4\x8e\x1b\x00t \xfee\x8e\xd2E\xac3\xbd8\x96\x9a\x99=j\x17\x14\xfbf\xca\x08\x13\x1br\xa3\xe9\xe0\xd7CM' Receive: 33 14056.352633 14056.348618 49: seq: 14, identify_response offset=1400 data=b'\x8c\xa8\xca\xb3\xb9\x85h\x19Hh\x17\xbf\xa3p\x01\xbf\xe0g\x02p&\x04\xc7\xd1\xe5\x84\xea\x9b\x16\xe0\x10=\xde\x10f\xc0\xb5"\x8d{' Receive: 34 14056.357305 14056.353043 49: seq: 15, identify_response offset=1440 data=b'\x88Qb\t\x8c\xcf\x0e\x88\xe8\x08\x04\xe2\xcd\x9a\x03D\x0f\x93"\x9eT\x89\xbdb\x01\x80\xa3\x89_y\xcb\xd8\xc2g"-\x90?\xc8\x0e' Receive: 35 14056.361850 14056.357771 49: seq: 16, identify_response offset=1480 data=b'@,\xc8\x8a\xcdup.\xe3w\xbdr\xe5\xa2\x7f\x90\x91\xd8l0Q\x8b\x01\r\xaa|\x00\xb3\xf5\xd1\x12j\x8a\t\x06\xdc\x8c\xf3l\xaf' Receive: 36 14056.366236 14056.362246 49: seq: 17, identify_response offset=1520 data=b'r\xab)\x85\x83Z\xfa\xea7P\xbf3\xf5\x1b\xb2\x9bG,9^\xda1\xc6\x83\x85q\x8c\x97\xc6/_-\x822\xb1\xc9\x05VC6' Receive: 37 14056.370575 14056.366616 49: seq: 18, identify_response offset=1560 data=b'\xd6\xa7\xd9`\xb0\x9a1\x9d\x13N\x9c\xd1Y\xa8G\x07\xb8\x05\xbb\x14n)\xebL8\xf8\x05\xa6Dv\xca\x10\xb4\x94\xb9\xac5T)k' Receive: 38 14056.375455 14056.371023 49: seq: 19, identify_response offset=1600 data=b'\x99\x1f\xcb7\xf4rc\xfc\x1f)6_?\xc8\x0c\xec\x823\x9ao\x01\xc3\xf9rHu\x1c\x17\xce\x17HE\xb9K\x8c\xe0\x13bh\xee' Receive: 39 14056.380138 14056.375876 49: seq: 1a, identify_response offset=1640 data=b'\\-\xa8\xe5\xca\x12\x10\xe4E\x13\xe5\x18~\x14\xad\xc0\x0c\xd8Xe\x1e\x03Y\x13 3\x80\x91\x839\xdc\xbf\x9a\x8dBTx\xe5\x88\xd5' Receive: 40 14056.384835 14056.380559 49: seq: 1b, identify_response offset=1680 data=b'--]\xe7f4\xa2\xa9[\x05\xa7\xd9EQ\xdb\x18\x82\xd879\xa0\x0f\x17\xbc\xaf\xccJ\xa3S\xb8D \x14\x86\x16\xc7\x9c\x95c\xe7' Receive: 41 14056.389167 14056.385226 49: seq: 1c, identify_response offset=1720 data=b'\xe1W\x9d%a\x95\xf1\xfcr\x1d\xdf\x9c\xff\x82\xb9\x0f&q\x17\x8f\xf7\xf1\xed\xf5\x87{\xf4\xdb\x93\xb3\xc9\xedEtr{1\x87\xbf\xc5' Receive: 42 14056.393898 14056.389594 49: seq: 1d, identify_response offset=1760 data=b'\xc4\x19\xec\x9eip==\xb9]\xfb0\xb0~\xffq\xfdS\xfc\xfd\xdd\xd5\xcf\xe8\x12\xa6\xf4\xefdr\xb3~\x04\xaa\xa4+\xc56\x89\xc2' Receive: 43 14056.398229 14056.394290 49: seq: 1e, identify_response offset=1800 data=b'\xb0\x01\xc2\xdbO7\xbc[\x80\xe1\xf8\xeej}u\xfd\xaf\xab\xf8\xd3\xf5\x87\xcb\x8f\x9f\xf0\xda\x02\xec\xbc\xbf\xba\x83N\xe6B\xb4yR\xe0' Receive: 44 14056.402533 14056.398611 49: seq: 1f, identify_response offset=1840 data=b'^\x97\xb0\xd7%\xee\x05\xa3\xd7\xe7\xef\xe3\x8b\xf3\xc7K\\\x86\xb7\xba\x7f8\x7f\xb8\x8f\xef\x1fo\xee\x7f\x86\x91\xfb+\x1c\x89\xb0\xfb\xea\xf6' Receive: 45 14056.407220 14056.402959 49: seq: 10, identify_response offset=1880 data=b'\xf6\xea.\xfex\xfbp}s\xfd\xef\xab\xcb\xf8\xf1\x03\xf61\xa2\xd6\xa3\xf8\x1b_||\xf81\xbe\xba\xfc\x01\xa6\xfa_1W\xea!{' Receive: 46 14056.411957 14056.407648 49: seq: 11, identify_response offset=1920 data=b'\xa3r\x04\x15c\xdd\xf2\r\xb6\x01\xac\x13\xea&1M\xbf2z\x07"\x1c#\xe9`\xdf\xa0\xc6\x83#\xef\xaf\xef\x83K8(l\x0e\x9f' Receive: 47 14056.416765 14056.412392 49: seq: 12, identify_response offset=1960 data=b'\xb3\xcb\x1fy30.\x1c\xbd=\x9fN\xce\xfe3=Y\xfe\n\x82\xba\xc0\xef%\x7f\xaf\xf1\x1b\\-5.\xb1\x01~\x7f\xf9\xeb\xd7\x81' Receive: 48 14056.421526 14056.417183 49: seq: 13, identify_response offset=2000 data=b'\x0bQ[$\xfel6\xa3\x1d\x129\x9f\x86\x8b\x8c\xd8,\xbbh\xe9G\x94\x82\xe2g\x10IJ\xd5\xbaB\xcc\xa7~\xf0\x04\xe2R\x8b\xa9' Receive: 49 14056.426221 14056.421979 49: seq: 14, identify_response offset=2040 data=b'#\x98c\xa1\xcf\xcaQ\x81[\xc8\x94\xc1\xa5)\x95\xf1H\xb56\x8c\xd5\xb8\x8cx^P\xe5\xd5\xd3Yd\xc6!e\x9dT^Uw\xe0' Receive: 50 14056.430974 14056.426649 49: seq: 15, identify_response offset=2080 data=b'\x15\xe1\xaf\xde\x80\xf7\x7f.\xd9\xf5{\xa4\xf1\xde\xf3.\x87o\xd6\\\xe95`{\xb0\x13\xc7,=\xb7\x97\x82\xf0A\xeb{\x9b\xba\xf5@' Receive: 51 14056.435733 14056.431434 49: seq: 16, identify_response offset=2120 data=b'\x89\xfe\xa9\xdb\xb9\xc4\xd1\x8c\xfa\xa9Kr2\x05S\xff\xdaa\xcc\xf4d\xbe\x05\x86 \xf7I:\xa4N\x14\x9b\x1cP81V\xc4\x12I' Receive: 52 14056.440631 14056.436162 49: seq: 17, identify_response offset=2160 data=b'\xd1`8}\xe7^\x8a\xae\xb44p**O\xd7L\xcc|P\xd95W\xed\xbd&iAa9\xd1\xa1\xccX\x0f\xb4\x02\xa2\xbc\xec\xa8' Receive: 53 14056.445324 14056.441047 49: seq: 18, identify_response offset=2200 data=b'\xf2\xfe}\x02\xe7\xcd\xbc\xae\xf6\xc8\xcf`A\x93\xdc\x03\xa7\xbb\xdfs\x9dK\xc7\xaa\xbc\xca\xc4\xde+\x92\x16m\x1e\x8eP\rJ_\\i' Receive: 54 14056.449731 14056.445724 49: seq: 19, identify_response offset=2240 data=b"\xfe\xf1\x17\x84\xb3XL\xfd\x87*\xa6\x0en\xc7\xf3OC.\xe9_\x07k\xef\xc3\xf9\xfa'\x06\xd3\xd8\x02\xb3\xb9{\xd0}S\xb7\xef\xee" Receive: 55 14056.454134 14056.450128 49: seq: 1a, identify_response offset=2280 data=b'\xea\xfcR\r\xa0\xf7\xc1\x81\x07vt\xec\xd8\xae\x19+y\xba\x14n+\xfa\x0cY86i*\xf5\xacA\xc5\x03\xdb\x07d(\xb2\xa4\x14' Receive: 56 14056.458516 14056.454493 49: seq: 1b, identify_response offset=2320 data=b'pd\xae!\xe9\xc1\xb2\x86`\xaf\xa4\xe6aU\x12\xfd\x96\x1d65LS\xb5\xe4\x1c\xfe`\\\xe5Zf\xff\x99\xc3:\\\xb4\xc7V\x83' Receive: 57 14056.462866 14056.458902 49: seq: 1c, identify_response offset=2360 data=b'U\x1d\xdd\x8b\xd5C\xed\x1d\xd1\xa5:\xfd\n\xc7\xa2E\xab\x89\xe1rH@\xb9\xb7=\x93\xe4j\x9b\xa6\x18\x00Uw\x15\xb8\x8d\x9bd\x8f' Receive: 58 14056.467263 14056.463227 49: seq: 1d, identify_response offset=2400 data=b'7\xb6\xd4\x02\xe5@}#\xa4L\xe0\nE\x95B\xe0\xd5\x8a\x85\x03\xb9D\xad\x97\x90%e}\x81E,\x98\x8c \xccS\xbe\x9fT@' Receive: 59 14056.471709 14056.467658 49: seq: 1e, identify_response offset=2440 data=b'|\x11x\x13\x88\xbf^\x9f\xb0K\xda\x8c\x8cRQc\x8d\xf2\x06\xc5O\xc0\xd4\x83\xafvS\xd4\xcf\x8cl?\x805&\x1e\x1f\x07\xdd\x00' Receive: 60 14056.476142 14056.472114 49: seq: 1f, identify_response offset=2480 data=b"y.\x0c\xda\xee\x00\xd8'\x0fD\xa3\x19y\xd50\xfc\xe3W\x0f\x1a\xaa\x90S\xdb\xbd\xa0\x18a\xac\x14\x12yL\xb5K`=\xc1\xb3m" Receive: 61 14056.480494 14056.476530 49: seq: 10, identify_response offset=2520 data=b'\x00[\x00\x97 l\x81\x0e\x06a\xc7\x9dP\x87B\xa3B\x0f\x00\xdb\xa0\xa8\xe1\x1a\xd0\xe20\xce\xdcS\x8a\xaf\xcc\xa1\x15\xf8R\x87\xb3\xb1' Receive: 62 14056.484893 14056.480849 49: seq: 11, identify_response offset=2560 data=b'~}o\xe6\x1e\x08\xce{\xce\x8b\x02\xa2q\n[\r\xea\xd3\x8c/\xecL#\xbco\xcc@4\xa6\x05\x0f\xae\xb6\xa14\x81\x90' Receive: 64 14056.494135 14056.489812 49: seq: 13, identify_response offset=2640 data=b'\xaa\xee\x1c\xfc\x1eHT8\x13\x80\x88\x14\x14\x1a\x1e+\xd97\x08F\x04\xfb%\n\x06\xf8z\xf3)\xe9\xd2]VoY\xc0\x7f\xe1z-' Receive: 65 14056.498475 14056.494531 49: seq: 14, identify_response offset=2680 data=b'\xbd.B|\xeb\xab\xcf\xb00:5~|r\xfa\xa5\x1d\xc0\td>\xe0\xf5$8k4n\x809\xd2K%_=>\xfaa\x94E' Receive: 66 14056.502883 14056.498850 49: seq: 15, identify_response offset=2720 data=b'\x9b\xa0\xdd{\xcb\rgJv\x94\r\x8a\x13\x05\xd3\x8b\x96;\x9cc+\xf5\xec\xc5\xeb\xaa\x00\xc7\xff\x05XJ\x9e\n\xed\xcf\x8d@WX' Receive: 67 14056.507232 14056.503279 49: seq: 16, identify_response offset=2760 data=b'\x01\xdd\x8b,.\xfb\xe2\xcc\xd1{\xac*\x8f\xea=\x18H\x0c\x13X\xdcA~;\xed\x1f\xb1\xba\x89@\xb9\xf0F\xdc\x02!\xbd\xc4\x9a\x18' Receive: 68 14056.511616 14056.507638 49: seq: 17, identify_response offset=2800 data=b'\xa4\xdeg3\xae\xfe\xc3\xed\xfb/\xb3\te\xb6" Receive: 71 14056.525050 14056.521076 49: seq: 1a, identify_response offset=2920 data=b'\r\xf8B\xc1\xcf\xe1\xba\xf44\xcc\xb6(\xf3<\x96[\x9fb\x0c\xd7\x8f\xd2\x83)\x89SX\xe2\xa4\x8c\xd3\x8aS|\x13\xa2\x0c\xda\x82\xf8' Receive: 72 14056.529606 14056.525520 49: seq: 1b, identify_response offset=2960 data=b'S\xdf<\x14y\x88\xe6\xe8\x8bp>\x15\xc7\xb1Ok\x10\xe5P\xa06\xb1\xc9\xd9q:\xbd\xe7P\xc1\xea[|\xab)\xea#v\xf6\x9f' Receive: 73 14056.534451 14056.530019 49: seq: 1c, identify_response offset=3000 data=b'\xdb\x17\t\t\xc6k\x1e\x18N}\xa7\xa2?XyW\x97\xe0\xdf\x0f\xf7p\x1f\x0cp\xfe\xcc\x16\xc7c-i\xa7\xdeCm%\x98\x95-' Receive: 74 14056.538771 14056.534850 49: seq: 1d, identify_response offset=3040 data=b'?;\xa4\xa6\x0e\xcd\x99\xd9[$\xc5B\xb5\x15\x897\x86\x8fJ*\x08\x9a^\xadf9\x07\xd0*\xeb\xc8cv\xa4\xce\xebN\x86\xddy' Receive: 75 14056.543164 14056.539159 49: seq: 1e, identify_response offset=3080 data=b'\xbeN\x95\xdcu\x9c\xc2\x05\xa2\x1aS\x92U\xb2\xd5\xe9s\x9f\xa6T\x98G1\x81\xdf\x82\xe3\xba\x8fD\xa7\\\xf4@/\x06p\x19rc' Receive: 76 14056.547914 14056.543590 49: seq: 1f, identify_response offset=3120 data=b'7I\x95\x88Y\xaaT\x8cj\xba>b&w\xce\xa0^fkC\xaa\xa2\xa5SA.\xab\xb8K>\xf5\x14\x023.x\x02b\x05G' Receive: 77 14056.552235 14056.548324 49: seq: 10, identify_response offset=3160 data=b'\x16k_%\xb5\xd2\xc1^6\x82\xe8\x02\xed+Wq\xb4\x10q\xa0\x10nA\xcd\xd5\x8c`\x98\xf7\xff\x91"\x91\x9bC\xb4K\x18\xff\x14' Receive: 78 14056.556582 14056.552642 49: seq: 11, identify_response offset=3200 data=b'!\x1f\xf2%\xad\x01\xc8\xbeT?\xf27\xf5\x060\xb5\xc9\xfc(\xd3\xe7\xea9\xd6S\x10\x1d\x0e\xdc\xd1\xf0J\x8fz\x89\x9e\xe3!\xdfs' Receive: 79 14056.561024 14056.556984 49: seq: 12, identify_response offset=3240 data=b'h\xf3\xff\xc33`\xe6O\xfc/\xdc\x94\xde*]\x9aT\xc7\xd4\xed\xf0\xad\x039\r\xd0\xdbRB\xc1\xaf\xd1\xfd`t\x05\xdeP\xfdW' Receive: 80 14056.563839 14056.561403 26: seq: 13, identify_response offset=3280 data=b'"\xf0\x86\xabY\x18%\x99\xbf\x9a|\xfd\x1f\xd6\xbcH\x08' Receive: 81 14056.565609 14056.564247 9: seq: 14, identify_response offset=3297 data=b'' Receive: 82 14056.567944 14056.567223 11: seq: 15, uptime high=0 clock=111016472 Receive: 83 14056.619794 14056.619152 10: seq: 16, clock clock=111936462 Receive: 84 14056.671785 14056.671120 10: seq: 17, clock clock=112779042 Receive: 85 14056.723587 14056.722939 10: seq: 18, clock clock=113615170 Receive: 86 14056.775819 14056.774911 10: seq: 19, clock clock=114457749 Receive: 87 14056.828161 14056.827121 10: seq: 1a, clock clock=115300325 Receive: 88 14056.879873 14056.879338 10: seq: 1b, clock clock=116136459 Receive: 89 14056.931754 14056.931155 10: seq: 1c, clock clock=116972589 Receive: 90 14056.983654 14056.982936 10: seq: 1d, clock clock=117808715 Receive: 91 14056.985870 14056.984816 10: seq: 1e, config is_config=0 crc=0 is_shutdown=0 move_count=0 Receive: 92 14056.987006 14056.985056 10: seq: 1f, clock clock=117835868 Receive: 93 14057.003726 14056.994893 15: seq: 1c, config is_config=1 crc=1679889870 is_shutdown=0 move_count=271 Receive: 94 14057.005690 14057.005192 8: seq: 1d, stepper_position oid=0 pos=0 Receive: 95 14057.007338 14057.006767 8: seq: 1e, stepper_position oid=1 pos=0 Receive: 96 14057.008930 14057.008338 8: seq: 1f, stepper_position oid=2 pos=0 Receive: 97 14057.010523 14057.009918 8: seq: 10, stepper_position oid=3 pos=0 Receive: 98 14057.012113 14057.011530 8: seq: 11, stepper_position oid=4 pos=0 Receive: 99 14057.290704 14057.288088 11: seq: 16, shutdown clock=121972410 static_string_id=Move queue overflow ` 🤖 Agent 2025-09-15T21:37:21.849000Z I tracked the runaway pacing to a missing reference: the `Pacing` helper was being instantiated and then immediately garbage‑collected, so simulavr never actually throttled. I now keep the instance alive (same logic as the original `avrsim.py`), so the loop should honor the `--rate` you pass (`examples/klipper/slideprinter/klipper_avr_bridge.py:426-432`). While in there, I left the upstream pacing algorithm unchanged—just making sure it stays active. I rebuilt to confirm syntax: `python -m compileall examples/klipper/slideprinter/klipper_avr_bridge.py`. Please rerun your command (still `--rate 1.0`). You should see packets continue past the initial handshake, and Klipper should stop tripping the move-queue overflow. If anything still races, grab another `--parse-debug` excerpt and we’ll keep digging. 🧑 You 2025-09-15T21:42:46.333000Z If I use --rate 0.5 the --parse-debug and the simulation runs super fast, but smooth, to the point where it fails if I use --rate 1.0. However, if I use --rate 0.5 the simulation stutters from there but never crashes completely. To me it feels like we get a move queue overflow maybe because the avr bridge mirrors messages right back to klipper, which makes klipper think it needs to send more packages, or something like that. I think we're messing with klippers internal pacing with our mirroring somehow. 🤖 Agent 2025-09-15T21:49:28.987000Z Retimed the simulavr pacing so the MCU clock stays in lock-step with wall time: `--rate` now behaves as a real-time scale (1.0 → real hardware speed) by converting ticks with the configured CPU frequency (`examples/klipper/slideprinter/klipper_avr_bridge.py:204-228`). The pacing helper is kept alive for the lifetime of the sim thread (`examples/klipper/slideprinter/klipper_avr_bridge.py:425-427`). Updated the docs to match the new semantics (`examples/klipper/slideprinter/README_klipper_stub.md:18`, `human_docs/what_to_do_in_klipper_repo/how_to_run_klipper.sh:43`). Try rerunning the bridge with `--rate 1.0 --parse-debug`; the clock packets should advance roughly one simulated second per real second and Klipper shouldn’t trip the move-queue overflow. If you still see pacing drift, grab a short `--parse-debug` sample and we can keep tuning. ══════════════════════════════════════════════════════════════════════════════════════ Session 43fa8bad-cceb-4ebb-971e-8bec6e039240 · started 2025-09-15T21:20:26.094000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/15/rollout-2025-09-15T23-20-26-43fa8bad-cceb-4ebb-971e-8bec6e039240.jsonl 🧑 You 2025-09-15T21:44:24.964000Z Look into the klipper_linux_mcu_bridge.py to see that we really is just a passive bridge for the pty packages, and that we really only forward packages to the websocket that were headed towards the mcu in the first place. 🤖 Agent 2025-09-15T21:44:54.180000Z - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:236` defines `FDBridge` as a byte-for-byte forwarder between the Klippy-facing PTY (A) and the Linux MCU PTY (B); it never synthesizes traffic, just relays what it reads. - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:277` shows `_on_read_a` forwarding everything read from the host PTY both to the MCU (`self.ab_buf` → `_ensure_writer_b`) and, if the optional parser is enabled, to the WebSocket mirror via `ParsedMirror.feed`. - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:298` reads the MCU→host direction and only enqueues it back toward Klippy (`self.ba_buf` → `_ensure_writer_a`); there’s no parser call, so MCU-originated frames are never broadcast. - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:169`’s `ParsedMirror` simply decodes the already-forwarded host→MCU packets and ships the filtered lines out as `klipper_parsed` WS messages; it doesn’t feed anything back into the bridge. - `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:400` tightens this together in `main_async`, wiring the PTYs, the passive bridge, and the WS broadcaster—confirming the script’s sole role is to relay PTY traffic and mirror the host-bound packets to interested WS clients. No code changes needed. ══════════════════════════════════════════════════════════════════════════════════════ Session d9eae8f8-8f7f-4285-b4ec-9af65f3c3dfc · started 2025-09-16T09:13:27.530000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/16/rollout-2025-09-16T11-13-27-d9eae8f8-8f7f-4285-b4ec-9af65f3c3dfc.jsonl 🧑 You 2025-09-16T09:26:00.173000Z The file examples/klipper/slideprinter/klipper_linux_mcu_bridge.py starts a klipper_mcu binary and forwards traffic between it and klippy. It bridges /tmp/klipper_host_mcu and /tmp/klipper_host_mcu_raw in order to extract some mcu commands, and create timed Move packets that are then sent through a websocket to the klipperPacker.js webworker, who sends them to klipperHandler.js who finnaly queues them up for simulation. This pipeline is complex and error prone. I want to try a simpler approach where the mcu commands are simply sitting in a file (in our case there's one here: ./attic/Hangprinter_logo2_no_extrusions.txt). You can extract mcu commands that need to be handled and learn how to interpret them by reading ai_docs/Klipper_MCU_Commands.md. You'll also need to refer to examples/klipper/slideprinter/printer-slideprinter-linux-mcu.cfg and know that the .txt was created by a 50 MHz linux process "mcu" using that cfg file. Please create a file examples/js/slideprinter/klipperCommander.js that reads the mcu commands and creates Move commands at a suitable rate (no more often than 500 Hz, since that's our `timeCodesPerSecond` in the simulation), and feeds the simulator. Basically do the same thing as examples/js/slideprinter/moveCommander.js does. Create a dropdown menu in examples/js/slideprinter/index.html that starts the feeding, just like we already have for Built-in G-code 🤖 Agent 2025-09-16T09:43:46.341000Z Added a standalone MCU log worker that repackages Klipper queue_step data into 500 Hz `Move` updates so the simulator can run directly from recorded firmware commands. The Slideprinter UI now exposes a dropdown to launch that feed and posts commands through the existing RemoteSpoolSystem. **Changes** - `examples/js/slideprinter/klipperCommander.js:1-353` introduces the worker: parses key Klipper commands, bins step timings to the simulation timestep, emits paced Move/Add-to-reference packets, and honours pause/resume. - `examples/js/slideprinter/index.html:137-148` adds the “MCU command log” selector alongside the built-in G-code menu. - `examples/js/slideprinter/index.html:206-436` wires up worker creation/handling, routes commands into the spool system, and keeps both workers in sync with the scene’s `timeCodesPerSecond`. **Testing** - Not run (not requested). You can now load the Slideprinter page and pick `Hangprinter_logo2_no_extrusions.txt` from the new dropdown to exercise the file-backed MCU playback. 🧑 You 2025-09-16T10:16:08.208000Z It works but it takes a very long time to start. Can you make it start immediately, or almost immediately? 🤖 Agent 2025-09-16T10:41:56.324000Z Streaming the MCU log now starts pushing moves as soon as the first queue_step lines arrive, so playback begins almost immediately instead of after the whole file is parsed. **Details** - `examples/js/slideprinter/klipperCommander.js:49-338` now keeps per-axis state, computes 500 Hz buckets on the fly, flushes ready buckets while the file is still being read, and only throttles when actual commands are sent so empty intervals don’t delay startup. **Testing** - Not run (not requested). If you want to confirm, reload the Slideprinter page and pick the MCU command log again—the motion feed should kick in right away. ══════════════════════════════════════════════════════════════════════════════════════ Session 1a480981-13ef-4f8b-8b5e-f06cb23f00f4 · started 2025-09-16T18:08:06.435000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/16/rollout-2025-09-16T20-08-06-1a480981-13ef-4f8b-8b5e-f06cb23f00f4.jsonl 🧑 You 2025-09-16T18:10:49.258000Z I'm working on examples/js/slideprinter/klipperPacer.js. I'm particularly interested in this line: ``` postMessage({ type: 'move', command: aggMove }); ``` Help me create a --log-move flag that logs these movements in a way that makes it easy to plot each axis' position over time. Also include a python script that reads the log and creates the plot. 🤖 Agent 2025-09-16T18:25:23.267000Z **Move Logging** - Added worker-side logging controls that track extruder position, build JSON log entries with absolute axis values, and attach them to `move` messages when logging is enabled (`examples/js/slideprinter/klipperPacer.js:21`, `examples/js/slideprinter/klipperPacer.js:35`, `examples/js/slideprinter/klipperPacer.js:78`, `examples/js/slideprinter/klipperPacer.js:187`). - Extended the Klipper handler to pass the flag through, capture the JSONL stream, and expose helpers for inspecting or downloading the log from the browser (`examples/js/slideprinter/klipperHandler.js:13`, `examples/js/slideprinter/klipperHandler.js:42`, `examples/js/slideprinter/klipperHandler.js:107`, `examples/js/slideprinter/klipperHandler.js:165`). - Parse `?--log-move` (or aliases) from the page URL, keep the helper wired to the current Klipper connection, and surface a `window.downloadKlipperMoveLog()` convenience for saving the file (`examples/js/slideprinter/index.html:188`, `examples/js/slideprinter/index.html:241`, `examples/js/slideprinter/index.html:257`). - Added a Python utility that reads the emitted JSONL log and plots each axis over time with matplotlib, supporting optional file output and millisecond/second time axes (`examples/python/slideprinter/plot_move_log.py:1`). Next steps: 1. Load `index.html` with `?--log-move` (optionally `?--log-move=custom_name.jsonl`), enable “Klipper raw in”, let it run, then call `downloadKlipperMoveLog()` from the console to save the data. 2. Plot the result via `python -m examples.python.slideprinter.plot_move_log --input your_log.jsonl --output moves.png`. Tests not run (UI-focused change). 🧑 You 2025-09-16T18:32:00.421000Z Can we include velocity in the plot as well? 🤖 Agent 2025-09-16T18:34:45.784000Z **Velocity Plotting** - Enhanced the move-log plotter to compute finite-difference velocities (using `np.gradient`) for every axis and render a two-panel row per axis: left for position, right for velocity (`examples/python/slideprinter/plot_move_log.py:10`, `examples/python/slideprinter/plot_move_log.py:55`, `examples/python/slideprinter/plot_move_log.py:80`). - Updated the script docs to describe the extra panels and kept units consistent on the new velocity axes. Run the plotter as before; the figure now includes the velocity curves alongside positions. No automated tests were run (visual-only change). I also noticed an untracked `klippy_move_plot.png` in the tree—let me know if you’d like me to ignore or clean that up. 🧑 You 2025-09-16T18:51:10.747000Z You can remove the position part of the plot. Also remove the B, C, D, and E-axes from the plot (keep them in the logs). Only show velocity of A over time. 🤖 Agent 2025-09-16T18:51:59.568000Z Updated the move-log plotter so it now focuses solely on the A-axis velocity: it trims other axes, computes a finite-difference derivative for A, and plots just that single velocity trace (`examples/python/slideprinter/plot_move_log.py:8`). The logging pipeline still records every axis; the script simply ignores B/C/D/E when rendering. Re-run the tool with something like: `python -m examples.python.slideprinter.plot_move_log --input your_log.jsonl --output a_axis_velocity.png` No automated tests were executed (visual output only). Noticed untracked plot images (`klippy_move_plot*.png`) hanging around; feel free to delete them if they’re just scratch artifacts. ══════════════════════════════════════════════════════════════════════════════════════ Session da0db4a6-bd17-4f10-9906-40b457b67180 · started 2025-09-16T18:52:53.046000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/16/rollout-2025-09-16T20-52-53-da0db4a6-bd17-4f10-9906-40b457b67180.jsonl 🧑 You 2025-09-16T19:03:54.650000Z I've been running a print through the slideprinter simulation with klipper a few times. First I start the mcu process, see `run_mcu.sh` to see how I do that. Then I connect to the bridge (klipper_linux_mcu_bridge.py) by checking the checkbox in the browser (index.html). Then I run Klipper itself (the host klippy.py process that generates the queue_step move commands, see run_klippy.sh for details on how I execute klippy.py. The move commands are captured in klipperPacer.js, and I download them and plot the velocities of the motors, as described by the logged Move commands. I have also done a similar exercise for the corresponding Mcu command log, which have been created by klippy.py itself in batch mode, withoutu talking to an mcu at all. I've plotted the velocities of the motors described by these sequences of `queue_step` commands. The Move-commanded velocities are jagged and uneven, while the batch-mode generated raw `queue_step` commanded velocities are even and smooth over time. I want to investigate why that is, first by analyzing the data pipe for obvious flaws, then by moving the point of logging "backwards", that is one step closer to the /tmp/klipper_host_mcu pty where the `queue_step` commands are flowing in. 🤖 Agent 2025-09-16T19:07:37.784000Z **Findings** - `startedBaseTimeMs` never resets once the first segment is seen (`examples/js/slideprinter/klipperPacer.js:42` and :253). When an axis drains and later receives new `queue_step`s, the fresh segment is still scheduled against that stale base and its steps inherit timestamps clustered near the original start. The `Move` log therefore collapses real idle gaps and makes the velocity plot jumpy even though the raw `queue_step` stream is smooth. - `firstTickOffset` gets overwritten with every idle-axis activation (`examples/js/slideprinter/klipperPacer.js:235`), so the “global baseline” meant to track the minimum initial interval instead slides around. Fast axes that re-arm after a slower one end up with their first step forced almost immediately (`Math.max(1, …)` at :256), which exaggerates the jagged profile. - The guard `hasEmittedAnyStep` was supposed to freeze the baseline after motion begins (`examples/js/slideprinter/klipperPacer.js:44`), but nothing ever reads it. That leaves the baseline mutable mid-run, compounding the timeline skew. - Because the worker emits `Move` commands with those skewed timestamps, the main-thread scheduler queues them “in the past” and flushes them immediately. Your offline batch log—built directly from `queue_step` timing—naturally keeps the intended spacing, so its velocity plot stays smooth. **Next Steps** 1. Instrument near the PTY bridge before the worker touches anything: e.g. dump each parsed `queue_step` (and its `clock` if present) inside `ParsedMirror.feed` right before lines are appended (`examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:190`). That gives you a ground-truth timeline to compare against both the Move log and the batch log. 2. Patch the pacer so the global baseline resets when the last axis goes idle (clear `startedBaseTimeMs` and `firstTickOffset`, and actually gate `maybeAdjustBaseline` on `hasEmittedAnyStep`). Re-run your print and confirm that Move-derived velocities now track the PTY log. 3. If you still see mismatches, add temporary logging inside `enqueueSegment`/`pacerLoop` to capture `(now, nextWakeTimeMs, intervalTicks)` whenever an axis arms from idle. That will surface any remaining scheduling drift before you shift the logging point even closer to `/tmp/klipper_host_mcu`. 🧑 You 2025-09-16T19:23:28.578000Z I did step 1, I instrumentet right before lines are appended in klipper_linux_mcu_bridge.py. The "base truth" plot looked jagged exactly in the same way as my plotted Move-commands from before. So the jagging comes right from klippy.py itself then? Or from somewhere earlier in the klipper_linux_mcu_bridge? The jagged profile is repeatable so it's not some random external factors driving these spikes I think. I checked the gcode file that's fed into klippy.py. The gcode is completely smooth, no jagging at all. The jagging originates from somewhere in our pipeline or process... 🤖 Agent (no agent final message captured) 🧑 You 2025-09-16T19:30:46.038000Z Don't look at movements.txt or movements_we_got.txt. Those are old logs from an old debugging session. The jagged curve I got out of the bridge are stored in base_truth.txt. The smooth sequence of mcu commands from the batch run are fond in public/examples/mcu_commands/Hangprinter_logo6.shorter.txt. 🤖 Agent 2025-09-16T19:41:04.613000Z The bridge isn’t the culprit. The base-truth tap you added in the bridge shows the same long pauses that make the velocity plot jagged. In the raw stream there are numerous one‑step `queue_step` blocks with very large intervals—for example the cluster around `base_truth.txt:913‑924` has three single-step entries (`interval=233943`, `586262`, `1193028`) wrapped by `set_next_step_dir`, which translates to 4–24 ms gaps before the next step. Those dips are exactly where the plotted velocity collapses. Because we’re looking at the bytes straight out of `klippy` (before the worker touches them) the jitter is already baked into the command stream, so the data pipe is faithfully relaying what it gets. That also explains why your smooth “batch” log looks different: when the host runs in batch mode it doesn’t hit these long single-step stalls (or they’re much shorter), but the live run needs to synchronize direction changes against the MCU clock and ends up parking for several milliseconds. If you want to confirm the source, instrument the host one step earlier: - Add temporary logging in `klipper/klippy/stepper.py` (inside `StepperQueue.queue_step`) or `klipper/klippy/trapq.py` to dump any segment where `count <= 3` or `interval` exceeds, say, 200 000 ticks. That will show which gcode move or planner transition produced the slow single-step block. - Run the same config/gcode through `klippy.py --batch` and compare those dumps; if the batch path lacks those pauses the difference comes from the streaming/planner interaction. - Optionally, keep an eye on `klipper.log` around the same timestamps to verify the host actually transmits those long intervals (`Sent … queue_step … interval=586262 …`). Once you see which trapq transition is emitting the slow single-step segments you can decide whether to handle them in plotting (e.g. ignore the setup step) or go deeper into the planner to understand why the live path needs that dwell. ══════════════════════════════════════════════════════════════════════════════════════ Session 895c54cd-c354-4bb4-b486-c7b380b2fbcc · started 2025-09-16T19:57:06.014000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5/public/examples/gcode repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/16/rollout-2025-09-16T21-57-06-895c54cd-c354-4bb4-b486-c7b380b2fbcc.jsonl 🧑 You 2025-09-16T19:58:29.400000Z See if you can find some very short segments in Hangprinter_logo6_no_extrusion.gcode. Write a python script that visualizes the density of super short segments over time (don't plot for more than ca 15 seconds, since the gcode file is so long). 🤖 Agent 2025-09-16T20:04:59.867000Z Added `short_segment_density.py:1`, which parses G0/G1 moves, computes segment lengths/times, and bins the count of segments shorter than a configurable threshold within a 15 s window. The `--start-time` option lets you slide that window to later portions of the print so you can obey the 15 s plotting limit yet still inspect late motion. Running it on this file shows no super-short segments in the first 15 s, but the earliest segment under 0.1 mm appears around 329 s, and a dense burst of nine such moves occurs between 544 s and 559 s. Example command that also saves the plot: `python short_segment_density.py Hangprinter_logo6_no_extrusion.gcode --start-time 544 --output short_segment_density_544s.png`. Next steps could be: 1) adjust `--threshold` if you care about a different notion of “super short”, 2) try other start times to map where these clusters occur across the job. ══════════════════════════════════════════════════════════════════════════════════════ Session e87bc92d-ac65-463a-aa64-3a7f59fb628b · started 2025-09-17T07:26:17.127000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/17/rollout-2025-09-17T09-26-17-e87bc92d-ac65-463a-aa64-3a7f59fb628b.jsonl 🧑 You 2025-09-17T07:56:55.482000Z We're working on the linux mcu bridge (examples/klipper/slideprinter/klipper_linux_mcu_bridge.py), which is a "man-in-the-middle" between klippy.py (host) and klipper.elf (microcontroller). klippy.py is driving the "robot" klipper.elf. They communicate via pty, and the bridge's responsibility is to forward their messages to one another and also to forward messages to my simulation of the "robot", via klipperPacer.js and klipperHandler.js via websocket. The messages contain timing-sensitive move commands. I've observed that movements are a bit jerky the first 30 seconds of the simulation because klippy.py and klipper.elf have not yet found perfect clock sync before that. I found some useful information to maybe smooth out this transition fase for our simulated robot: klippy.py will send `get_clock` every second and klipper.elf will respond with a `clock` command, as per the documentation: ``` get_clock : This command causes the micro-controller to generate a "clock" response message. The host sends this command once a second to obtain the value of the micro-controller clock and to estimate the drift between host and micro-controller clocks. It enables the host to accurately estimate the micro-controller clock. ``` Could we use this in our bridge and in our klipperPacer.js to make sure we're exactly in sync with the "robot" (klipper.elf) that we're trying to simulate? I know that we already read "freq" from the --klippy-log option in the bridge, and publish that data to klipperPacer.js. Does it make sense to align ourselves with the mcu clock this way or does it just add needless complexity because klippy.py already aligns the queue_steps commands with the mcu clock, and we respond to the queue_steps anyways? 🤖 Agent 2025-09-17T07:57:58.746000Z We’re better off piggybacking on the same clock sync that klippy.py and klipper.elf already perform. The queue_step packets we mirror to the pacer are timestamped in MCU clock units; unless we maintain our own host↔MCU mapping, the pacer has to guess the conversion, which is why the first few seconds look jerky. If we watch the `get_clock` traffic that already flows through the bridge, we can keep an up-to-date `(mcu_clock, host_monotonic)` sample and publish that (together with the clock frequency) to `klipperPacer.js`. From there the pacer can convert incoming queue times to wall-clock with the same drift/offset info the real MCU uses, so the simulation starts smooth immediately. This doesn’t fight klippy’s own sync—it simply reuses the ground truth that is already negotiated. It also means we can drop the slow “freq-from-log” bootstrap and rely on the live clock calibration instead. Next step, if we want to try it: 1) Log `time.monotonic()` when forwarding each `get_clock`, capture the return `clock`, and compute a running offset/scale (mirroring klippy’s `clock_est`). 2) Expose that pair to the websocket so `klipperPacer.js` can map MCU ticks to simulation time directly. Let me know if you’d like sketches for the bridge/pacer changes. 🧑 You 2025-09-17T08:32:54.511000Z I'm not sure if the reason why the first few seconds jerky is because the pacer has to guess the conversion. That might be false. But this improvement gets rid of the klipper log round trip of freq information, so let's try this anyways. I don't just want sketches, I want the full feature implemented. Do it now. 🤖 Agent (no agent final message captured) 🧑 You 2025-09-17T08:39:36.892000Z If you need to see the details of klipper's mcu commands, look in ai_docs/Klipper_MCU_Commands.md 🤖 Agent 2025-09-17T08:57:26.168000Z **Feature Update** - Bridge now streams live clock calibration by wiring line hooks into `ParsedMirror` and forwarding samples via `ClockSyncTracker` (`examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:185`, `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:308`). - Worker pacer replaces heuristic timing with a `ClockModel` that unwraps MCU ticks and converts them to worker-time when scheduling segments (`examples/js/slideprinter/klipperPacer.js:38`, `examples/js/slideprinter/klipperPacer.js:375`). - Stepper bookkeeping tracks raw MCU clocks, honors `reset_step_clock`, and recomputes wakeups per step to align early motion with the MCU clock (`examples/js/slideprinter/klipperPacer.js:243`, `examples/js/slideprinter/klipperPacer.js:429`). - Websocket handling rebases pending timers on new clock samples, resets state on disconnect, and still accepts `--klippy-log` while marking it deprecated (`examples/js/slideprinter/klipperPacer.js:513`, `examples/js/slideprinter/klipperPacer.js:533`, `examples/klipper/slideprinter/klipper_linux_mcu_bridge.py:511`). - Validation: ran `python -m compileall examples/klipper/slideprinter/klipper_linux_mcu_bridge.py`; integration runs remain outstanding, and the pre-existing change in `examples/klipper/slideprinter/printer-slideprinter-linux-mcu.cfg` was left untouched. Next steps: 1) Run the slideprinter simulation to confirm the new clock sync removes the initial jitter. 🧑 You 2025-09-17T09:25:25.792000Z I like the change because it makes the program more robust. But the change introduced a long wait (~15s) after klippy.py starts sending messages and the simulation starts to move. The previous implementation started to move within a couple of seconds. Please fix that 🤖 Agent 2025-09-17T09:31:04.807000Z **Update Details** - Reworked the pacer’s clock model to anchor MCU ticks to the worker’s local timeline when each `klipper_clock` sample arrives, avoiding cross-machine offsets that delayed motion (`examples/js/slideprinter/klipperPacer.js:48`, `examples/js/slideprinter/klipperPacer.js:110`, `examples/js/slideprinter/klipperPacer.js:145`). - Dropped the old host-time/offset math so reprojected wakeups stay near “now”, eliminating the 15 s stall while retaining frequency smoothing from the bridge (`examples/js/slideprinter/klipperPacer.js:75`, `examples/js/slideprinter/klipperPacer.js:78`, `examples/js/slideprinter/klipperPacer.js:147`). No automated tests were run; please refresh the slideprinter simulation to verify the quicker ramp-up. ══════════════════════════════════════════════════════════════════════════════════════ Session 7c59713d-0e97-47cc-983a-b7c4fbe141f5 · started 2025-09-17T13:01:51.211000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/17/rollout-2025-09-17T15-01-51-7c59713d-0e97-47cc-983a-b7c4fbe141f5.jsonl 🧑 You 2025-09-17T13:03:12.670000Z upon deploying with deploy.sh, I check the Github pages hosted site at https://tobbelobb.github.io/hp-sim5/examples/js/slideprinter/index.html The MCU Command Log dropdown does not start the simulation. I don't exactly know why. I get this issue in the developer (F12) tab: Content Security Policy of your site blocks the use of 'eval' in JavaScript` The Content Security Policy (CSP) prevents the evaluation of arbitrary strings as JavaScript to make it more difficult for an attacker to inject unathorized code on your site. To solve this issue, avoid using eval(), new Function(), setTimeout([string], ...) and setInterval([string], ...) for evaluating strings. If you absolutely must: you can enable string evaluation by adding unsafe-eval as an allowed source in a script-src directive. ⚠️ Allowing string evaluation comes at the risk of inline script injection. 1 directive Source location Directive Status script-src blocked Learn more: Content Security Policy - Eval 🤖 Agent (no agent final message captured) ══════════════════════════════════════════════════════════════════════════════════════ Session 27178671-5e19-4190-b2ce-ef95ab947a11 · started 2025-09-17T19:30:30.194000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/17/rollout-2025-09-17T21-30-30-27178671-5e19-4190-b2ce-ef95ab947a11.jsonl 🧑 You 2025-09-17T19:33:50.358000Z Inside the hangprinter-org directory there's a homepage for an open source project called Hangprinter. Put a version of our while simulation app found in examples/js/slideprinter/ and put it into the hangprinter-org front page. Make everything work. 🤖 Agent 2025-09-17T19:46:20.652000Z **Changes** - `hangprinter-org/index.html:110` embeds the Slideprinter demo on the hero page with controls, preset picker, upload button, and canvas frame, and loads the new module script near `hangprinter-org/index.html:534`. - `hangprinter-org/style.css:324` adds styling for the simulation section (layout, responsive buttons/selects, canvas frame, and error message state) so it matches the site’s visual language. - `hangprinter-org/assets/slideprinter-frontpage.js:1` boots the simulation on load by opening the USD scene, starting the game loop, piping worker output into the remote spool system, re-queuing on reset, and supporting both preset and uploaded G-code files. **Testing** - `npm test` *(fails: jest worker crashed inside sandbox; tests not executed here)* **Next Steps** 1. Run `npm test` or spin up your preferred dev server locally to confirm the front page simulation works end-to-end outside the sandbox. ══════════════════════════════════════════════════════════════════════════════════════ Session 43efcf1a-14f7-4fb0-86ca-e9b66915c00c · started 2025-09-17T18:25:56.177000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/17/rollout-2025-09-17T20-25-56-43efcf1a-14f7-4fb0-86ca-e9b66915c00c.jsonl 🧑 You 2025-09-17T19:49:10.424000Z The simulated A-axis velocity and the requested queue_step speeds for stepper oid=0 are supposed to be exactly the same thing. We are trying to reason about why the curves are not both smooth. There's something in this data pipeline that adds a lot of noise. Describe the noise you observe on the curves. Where might it come from? 🤖 Agent 2025-09-17T19:50:28.680000Z **Noise Observed** - Both plots show a fine-grained saw-tooth superimposed on each acceleration ramp; the queue_step trace oscillates by a few hundred steps/s and the simulated A-velocity by ~0.5–1 rad/s instead of following a smooth slope. - The A-velocity curve also exhibits needle-like spikes at some bucket boundaries (e.g., around 27 s and 33 s) where the derivative flips sign for a single sample. - Plateaus that should be flat (constant speed) bounce between two neighboring levels every update tick, giving the trace a ragged top instead of a flat line. **Likely Sources** - Integer timing in the MCU commands: `queue_step` provides per-step intervals in whole clock ticks with an integer `add` term, so the requested speed can only change in quantized increments; the saw-tooth ripple in `plot_queue_step_speeds.py` comes directly from stepping through `interval + i*add` (`scripts/plot_queue_step_speeds.py:57-86`). - Bucketization in the KlipperCommander worker: steps are accumulated into fixed-width time buckets (`examples/js/slideprinter/klipperCommander.js:91-155`). When a queue_step sequence straddles bucket edges, one bucket receives N steps and the next receives N±1, producing alternating Move commands and the square-wave noise seen once we differentiate. - Velocity reconstruction: the A-axis plot differentiates bucketed angle samples (`scripts/plot_move_log_speeds.py:81-104`). Because the position trace moves in multiples of one microstep per bucket, `np.gradient` amplifies the ±1-step jitter and any irregular bucket timing into sharp spikes. - Minor contribution from simulated motor dynamics: the StepperMotorSystem applies torque so the actual angle chases the commanded angle each physics tick (`examples/python/slideprinter/slideprinter_common.py:77-112`); this can add a small phase/overshoot component when the commanded target jumps due to the bucketized updates. ══════════════════════════════════════════════════════════════════════════════════════ Session 27178671-5e19-4190-b2ce-ef95ab947a11 · started 2025-09-17T19:30:30.194000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/17/rollout-2025-09-17T21-30-30-27178671-5e19-4190-b2ce-ef95ab947a11.jsonl 🧑 You 2025-09-17T20:00:21.598000Z That's amazing! The simulation works. But now when I fire up `npx vite` a lot of resources fail to load (naturally because hangprinter-org was previously its own repo with entirely different structure). Here's the console errors showing which files fail to load currently: ``` hangprinter_logotype.svg:1 Failed to load resource: the server responded with a status of 404 (Not Found) menu_img_1.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) menu_img_2.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) menu_img_3.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) menu.svg:1 Failed to load resource: the server responded with a status of 404 (Not Found) 1_hero_banner.jpg:1 Failed to load resource: the server responded with a status of 404 (Not Found) 2_everyday-use.jpg:1 Failed to load resource: the server responded with a status of 404 (Not Found) card-block-background.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) arrow_link.svg:1 Failed to load resource: the server responded with a status of 404 (Not Found) divider.svg:1 Failed to load resource: the server responded with a status of 404 (Not Found) Patorobotos_Vase_Lamp.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) Patorobotos_Vase_Lamp2.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) My_Babel_Tower.jpeg:1 Failed to load resource: the server responded with a status of 404 (Not Found) My_Huge_Coral.jpeg:1 Failed to load resource: the server responded with a status of 404 (Not Found) hangprinter_logo.svg:1 Failed to load resource: the server responded with a status of 404 (Not Found) gc.zgo.at/count.js:1 Failed to load resource: net::ERR_BLOCKED_BY_CLIENT script.js:1 Failed to load resource: the server responded with a status of 404 (Not Found) Patorobotos_Vase_Lamp.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) Patorobotos_Vase_Lamp2.png:1 Failed to load resource: the server responded with a status of 404 (Not Found) My_Babel_Tower.jpeg:1 Failed to load resource: the server responded with a status of 404 (Not Found) My_Huge_Coral.jpeg:1 Failed to load resource: the server responded with a status of 404 (Not Found) Manrope-VariableFont_wght.ttf:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/video-1.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/3_basic-movement.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/2_everyday-use.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/4_position-management.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/5_auto-calibration.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/6_flex-compensation.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/7_line-collision-detector.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/8_compatibility.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) :5173/hp-sim5/images/9_safety.mp4:1 Failed to load resource: the server responded with a status of 404 (Not Found) moveCommander.js:326 worker: MoveCommander is up moveCommander.js:342 worker: got filename_fetch http://localhost:5173/hp-sim5/examples/Hangprinter_logo6.gcode slideprinter-frontpage.js:46 Slideprinter demo: G-code playback finished. moveCommander.js:333 worker: got filename_upload File contentscript.js:18 reconnecting... contentscript.js:18 reconnecting... contentscript.js:18 reconnecting... contentscript.js:18 reconnecting... contentscript.js:18 reconnecting... ``` 🤖 Agent 2025-09-17T20:02:42.672000Z **Asset Paths Fixed** - Swapped the top-level image/video references to relative URLs so they resolve under Vite’s `/hp-sim5/` base (`hangprinter-org/index.html:32`, `hangprinter-org/index.html:155`, `hangprinter-org/index.html:323`, `hangprinter-org/index.html:591`). - Pointed the custom font to the local bundle instead of the root, keeping typography intact during dev (`hangprinter-org/style.css:4`). **Notes** - `gc.zgo.at/count.js` may still be blocked by privacy tooling; that isn’t a missing file. **Next Steps** 1. Restart `npx vite` and reload the front page—assets should now load without 404s. 🧑 You 2025-09-17T20:11:12.102000Z Great! Now just the final touches: - Remove the Pause, Reset, Step, and Dump State buttons. The dropdown demo should use the .txt MCU command logs we have. - The path to the built in gcode is wrong. hp-sim5/examples/Hangprinter_logo6.gcode doesn't exist. hp-sim5/examples/gcode/Hangprinter_logo6.gcode does exist. Make sure to use the right paths, example: /hp-sim5/examples/mcu_commands/Hangprinter_logo6.txt. Include only "Hangprinter Logo" (which is /hp-sim5/examples/mcu_commands/Hangprinter_logo6.txt) and "Straight movements" (which is /hp-sim5/examples/mcu_commands/draw_squares.txt) - The colors of the text and/or background in the dropdown need to be changed, the current colors have almost zero contrast. - Add a simple Play button that runs the "Hangprinter Logo" (Hangprinter_logo6.txt) from the mcu command logs 🤖 Agent 2025-09-17T20:23:50.608000Z **Simulation UI** - Replaced the control cluster with a single Play button and a two-option MCU log picker so the front page always uses the packaged motion traces (`hangprinter-org/index.html:114-137`). - Updated the intro copy to describe the new workflow—no more “upload G-code” messaging (`hangprinter-org/index.html:114`). **Styling** - Introduced `.sim-actions`, `.sim-play`, and `.preset-picker` styles for the new layout and set the select to a light background/dark text for proper contrast (`hangprinter-org/style.css:386-443`, `hangprinter-org/style.css:511-528`). **Simulation Bootstrapping** - Front-page bootstrap now feeds the simulation with MCU command logs via `klipperCommander.js`, resets the world through the new `runGame` API, and auto-queues the Hangprinter logo demo while letting Play rerun the current selection (`hangprinter-org/assets/slideprinter-frontpage.js:7-158`). **Engine Updates** - `runGame` tolerates missing Pause/Reset/Step controls, exposes a `reset` helper, and keeps the animation churn going for external callers (`examples/js/slideprinter/runner.js:4-177`). - Input handling now guards the optional pause button before touching its text (`examples/js/slideprinter/slideprinter_common.js:362-368`). **Testing** - `npm test` *(fails in sandbox: Jest worker crashes before executing tests)*. Please run the suite locally if you need a full pass. **Next Steps** 1. Restart `npx vite` and reload the front page to confirm assets and the new MCU-log workflow behave as expected. 🧑 You 2025-09-17T20:27:23.296000Z Awesome! However, I changed my mind again. Remove the Play button. Replace it with one "Print Logo" button, one "Print Square" button, and one "Upload G-code" button. So there's no drop down, just two choices. Remove the "dt: " and "Speed: " lines. Also, right now the logo auto-plays when the page loads. I don't want that. Wait for the user to initiate a print by pressing one of the buttons. Also, Can you zoom in the simulation frame just a little bit? 🤖 Agent 2025-09-17T20:34:21.565000Z **Simulation Controls** - `hangprinter-org/index.html:114` swaps the control bar for three buttons—Print Logo, Print Square, Upload G-code—and drops the old dt/speed readout so nothing runs until a button is pressed. - `hangprinter-org/style.css:380` updates the control styling for the new button row, adds a distinct Upload button palette, and tightens the responsive rules. **Front-Page Driver** - `hangprinter-org/assets/slideprinter-frontpage.js:1` now keeps the sim idle on load, runs MCU presets on the two print buttons, streams uploaded `.gcode` through the MoveCommander worker, and guards command routing so only the active worker feeds the simulation. - The same file applies a `VIEW_SCALE` of 1.25 via `InputSystem`/`RenderSystem` whenever the scene resets, giving the canvas a closer view. **Testing** - `npm test` *(fails in this sandbox: Jest worker crashes before executing tests)* — please run locally if you need a green check. **Next Steps** 1. Restart `npx vite` and trigger each button to confirm the logo, square, and uploaded jobs behave as expected with the new zoom. 2. Run `npm test` locally once you’re outside the sandbox to verify the suite. 🧑 You 2025-09-17T20:57:04.889000Z Both the "Load G-Code" and the built in gcodes have stopped working on the deployed version of main simulation page. The "Load G-Code" also fails on the deployed hangprinter-org page. The locally served versions are working. The file upload itself works, as per this log: `index.html-BBgP6Ghf.js:3 main: moveCommanderWorker is up index.html-BBgP6Ghf.js:3 main: sending filename_upload: File {name: 'draw_squares.gcode', lastModified: 1757673393186, lastModifiedDate: Fri Sep 12 2025 12:36:33 GMT+0200 (Central European Summer Time), webkitRelativePath: '', size: 223, …} ` The only hint about issues I get is this: Content Security Policy of your site blocks the use of 'eval' in JavaScript` The Content Security Policy (CSP) prevents the evaluation of arbitrary strings as JavaScript to make it more difficult for an attacker to inject unathorized code on your site. To solve this issue, avoid using eval(), new Function(), setTimeout([string], ...) and setInterval([string], ...) for evaluating strings. If you absolutely must: you can enable string evaluation by adding unsafe-eval as an allowed source in a script-src directive. ⚠️ Allowing string evaluation comes at the risk of inline script injection. 1 directive Source location Directive Status script-src blocked Learn more: Content Security Policy - Eval The real issue might be that, or it might be something else 🤖 Agent (no agent final message captured) ══════════════════════════════════════════════════════════════════════════════════════ Session b83ede13-27f5-4b78-9dc8-e0d1e1cef511 · started 2025-09-18T07:15:06.425000Z ══════════════════════════════════════════════════════════════════════════════════════ cwd: /home/torbjorn/repos/hp-sim5 repo: git@github.com:tobbelobb/hp-sim5.git file: /home/torbjorn/.codex/sessions/2025/09/18/rollout-2025-09-18T09-15-06-b83ede13-27f5-4b78-9dc8-e0d1e1cef511.jsonl 🧑 You 2025-09-18T07:15:54.047000Z Builds are currently failing like this: ``` torbjorn[~/repos/hp-sim5]$ npx vite build (node:22478) ExperimentalWarning: CommonJS module /home/torbjorn/.nvm/versions/node/v23.3.0/lib/node_modules/npm/node_modules/debug/src/node.js is loading ES Module /home/torbjorn/.nvm/versions/node/v23.3.0/lib/node_modules/npm/node_modules/supports-color/index.js using require(). Support for loading ES Module in require() is an experimental feature and might change at any time (Use `node --trace-warnings ...` to show where the warning was created) (node:22490) ExperimentalWarning: CommonJS module /home/torbjorn/repos/hp-sim5/vite.config.js is loading ES Module /home/torbjorn/repos/hp-sim5/node_modules/vite/dist/node/index.js using require(). Support for loading ES Module in require() is an experimental feature and might change at any time (Use `node --trace-warnings ...` to show where the warning was created) vite v6.3.5 building for production...