What you want there is the 'ctl' module and the 'kamcmd' utility that comes with Kamailio.
# kamcmd ls
Gets a list of available RPC commands from all loaded modules + core.
Beware that if you put the ctl socket in a nonstandard place, you'll need to specify the path via the '-s' option to kamcmd.
-- Alex
-- Sent via mobile, please forgive typos and brevity.