Added option to not print inner scan graphs in printing.debugprint()

Here's a first stab at the issue. Fixes #2079

For now, I set the default values for the new parameters of printing.debugprint() and debugmode.debugprint() so that the default behavior is the same as right now (which is printing the inner graphs). This is, however, inconsistent with printing.pydotprint() where the default behavior is to not print the inner graphs.  This is mostly a consistent interface vs coherent interface question and if anyone has a strong opinion on this, I'm listening.