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 <kevin@koconnor.net>

1 files changed, 11 insertions, 9 deletions

diff --git a/klippy/toolhead.py b/klippy/toolhead.py
index 3bc74cac..477b5fce 100644
--- a/klippy/toolhead.py
+++ b/klippy/toolhead.py
@@ -240,7 +240,7 @@ class ToolHead:
         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 @@ class ToolHead:
         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 @@ class ToolHead:
             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 @@ class ToolHead:
         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 @@ class ToolHead:
         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 @@ class ToolHead:
                 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 @@ class ToolHead:
         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.