toolhead: Make sure to flush history when in debug output mode

When in debugging "batch mode", use the existing method of keeping the
last 30 seconds of history from the furthest planned move time.  This
avoids keeping all moves in memory during a batch test.

Signed-off-by: Kevin O'Connor <[email protected]>

klippy/toolhead.py

@@ -240,7 +240,7 @@ def __init__(self, config):
         self.flush_timer = self.reactor.register_timer(self._flush_handler)
         self.do_kick_flush_timer = True
         self.last_flush_time = self.last_sg_flush_time = 0.
-        self.need_flush_time = self.step_gen_time = 0.
+        self.need_flush_time = self.step_gen_time = self.clear_history_time = 0.
         # Kinematic step generation scan window time tracking
         self.kin_flush_delay = SDS_CHECK_TIME
         self.kin_flush_times = []
@@ -281,7 +281,7 @@ def __init__(self, config):
         for module_name in modules:
             self.printer.load_object(config, module_name)
     # Print time and flush tracking
-    def _advance_flush_time(self, flush_time, clear_history_time):
+    def _advance_flush_time(self, flush_time):
         flush_time = max(flush_time, self.last_flush_time)
         # Generate steps via itersolve
         sg_flush_want = min(flush_time + STEPCOMPRESS_FLUSH_TIME,
@@ -291,6 +291,9 @@ def _advance_flush_time(self, flush_time, clear_history_time):
             sg(sg_flush_time)
         self.last_sg_flush_time = sg_flush_time
         # Free trapq entries that are no longer needed
+        clear_history_time = self.clear_history_time
+        if not self.can_pause:
+            clear_history_time = flush_time - MOVE_HISTORY_EXPIRE
         free_time = sg_flush_time - self.kin_flush_delay
         self.trapq_finalize_moves(self.trapq, free_time, clear_history_time)
         self.extruder.update_move_time(free_time, clear_history_time)
@@ -303,11 +306,9 @@ def _advance_move_time(self, next_print_time):
         flush_time = max(self.last_flush_time, self.print_time - pt_delay)
         self.print_time = max(self.print_time, next_print_time)
         want_flush_time = max(flush_time, self.print_time - pt_delay)
-        clear_history_time = self.mcu.estimated_print_time(
-            self.reactor.monotonic()) - MOVE_HISTORY_EXPIRE
         while 1:
             flush_time = min(flush_time + MOVE_BATCH_TIME, want_flush_time)
-            self._advance_flush_time(flush_time, clear_history_time)
+            self._advance_flush_time(flush_time)
             if flush_time >= want_flush_time:
                 break
     def _calc_print_time(self):
@@ -359,7 +360,7 @@ def _flush_lookahead(self):
         self.check_stall_time = 0.
     def flush_step_generation(self):
         self._flush_lookahead()
-        self._advance_flush_time(self.step_gen_time, 0.)
+        self._advance_flush_time(self.step_gen_time)
     def get_last_move_time(self):
         if self.special_queuing_state:
             self._flush_lookahead()
@@ -433,8 +434,7 @@ def _flush_handler(self, eventtime):
                 if buffer_time > BGFLUSH_LOW_TIME:
                     return eventtime + buffer_time - BGFLUSH_LOW_TIME
                 ftime = est_print_time + BGFLUSH_LOW_TIME + BGFLUSH_BATCH_TIME
-                self._advance_flush_time(min(self.need_flush_time, ftime),
-                                         est_print_time - MOVE_HISTORY_EXPIRE)
+                self._advance_flush_time(min(self.need_flush_time, ftime))
         except:
             logging.exception("Exception in flush_handler")
             self.printer.invoke_shutdown("Exception in flush_handler")
@@ -535,7 +535,9 @@ def stats(self, eventtime):
         max_queue_time = max(self.print_time, self.last_flush_time)
         for m in self.all_mcus:
             m.check_active(max_queue_time, eventtime)
-        buffer_time = self.print_time - self.mcu.estimated_print_time(eventtime)
+        est_print_time = self.mcu.estimated_print_time(eventtime)
+        self.clear_history_time = est_print_time - MOVE_HISTORY_EXPIRE
+        buffer_time = self.print_time - est_print_time
         is_active = buffer_time > -60. or not self.special_queuing_state
         if self.special_queuing_state == "Drip":
             buffer_time = 0.