Generalize Sud forecast reanchoring to every step boundary

Reanchoring used to only happen when a user confirmed a WAIT_USER
step, so anything the schedule advanced through on its own (a ramp
reaching target, a hold timing out) left the forecast showing a
stale, increasingly wrong prediction once reality diverged from it.
_reanchor_forecast() now fires from on_step_changed() on every real
transition, splicing in a fresh simulation anchored at the real
current temperature/elapsed time instead.

Also fixes two bugs surfaced while testing that change:
- estimate()'s early-return for an empty/not-yet-loaded schedule still
  returned the old 4-tuple shape, crashing every connection before a
  Sud was ever Loaded.
- send_forecast() and _reanchor_forecast() can run concurrently (e.g.
  a fresh Start triggers both at once), and whichever resumed second
  after its own worker-thread simulation would blindly splice its tail
  onto whatever the other had already written, producing a spurious
  connecting line across the plot. Both now carry a generation counter
  and discard their result if a newer call has since committed.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_019qvu5giu7gvRCyEWzf2Vpx

client/brewpi_gui.py

@@ -129,10 +129,10 @@ class SudForecastPlot(FigureCanvasQTAgg):
 	requiring user confirmation - a human's response time genuinely
 	can't be forecast, so it's modeled as a zero-delay auto-confirm
 	there instead of stopping. That assumption gets corrected once the
-	real confirmation actually happens (anchored at the real elapsed
+	schedule actually reaches the next real step boundary (anchored at
-	time and temperature) - see tasks/sud.py's SudTask.
+	the real elapsed time and temperature) - see tasks/sud.py's
-	_continue_forecast_after_confirm() - at which point show_forecast()
+	SudTask._reanchor_forecast() - at which point show_forecast() is
-	is called again with the corrected curve, replacing the optimistic
+	called again with the corrected curve, replacing the optimistic
 	guess outright rather than the GUI patching it up itself."""
 
 	def __init__(self):
@@ -894,9 +894,9 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
 		# Computed asynchronously server-side and can arrive slightly
 		# after the schedule itself - applies regardless of whether a
 		# run is in progress, since this can also be a later piecewise
-		# segment appended after a real user confirmation (see
+		# segment appended after a real step transition (see tasks/
-		# tasks/sud.py's SudTask._continue_forecast_after_confirm()), not
+		# sud.py's SudTask._reanchor_forecast()), not just the initial
-		# just the initial one computed at Load.
+		# one computed at Load.
 		if self.sud_empty:
 			return
 		t_min = [seconds / 60.0 for seconds in forecast['T']]

components/sud_forecast.py

@@ -66,23 +66,22 @@ class SudForecastEstimator:
 		self.theta_amb = theta_amb
 
 	def estimate(self, doc, start_theta=None):
-		"""Returns (t, theta, final_state, confirm_points): t/theta are
+		"""Returns (t, theta, final_state): t/theta are parallel lists of
-		parallel lists of elapsed simulated seconds and temperature,
+		elapsed simulated seconds and temperature, covering doc['steps']
-		covering doc['steps'] from the start all the way to the end
+		from the start all the way to the end (final_state is
-		(final_state is SudState.DONE), or, in the pathological case of
+		SudState.DONE), or, in the pathological case of a step whose
-		a step whose target can never actually be reached, wherever
+		target can never actually be reached, wherever MAX_TICKS cut the
-		MAX_TICKS cut the simulation off.
+		simulation off.
 
 		A step requiring user confirmation doesn't stop the simulation
 		either - a human's response time genuinely can't be forecast,
 		so it's modeled as zero delay (auto-confirmed the instant that
 		step's hold completes) rather than leaving the estimate stuck
-		there forever. confirm_points records every place that
+		there forever. That optimistic guess gets corrected for real once
-		assumption was made, as (step_index, t) pairs, so the caller
+		the caller (tasks/sud.py's SudTask) sees the schedule actually
-		(tasks/sud.py's SudTask) can correct it once a real
+		reach the next step boundary - see SudTask._reanchor_forecast(),
-		confirmation actually happens: truncate the forecast at that
+		called from on_step_changed() on every real transition, not just
-		point and splice in a freshly anchored simulation of the
+		confirmations.
-		remaining steps in place of the optimistic guess.
 
 		start_theta defaults to the configured ambient temperature - i.e.
 		a cold start, same as the GUI's static estimate."""
@@ -91,7 +90,7 @@ class SudForecastEstimator:
 
 		sud = Sud()
 		if not sud.load(doc) or not sud.schedule:
-			return [0.0], [start_theta], SudState.DONE, []
+			return [0.0], [start_theta], SudState.DONE
 
 		# Plant params (M/C/L/Td) are deliberately *not* seeded here from
 		# any default - sud.start() below synchronously fires the first
@@ -157,13 +156,11 @@ class SudForecastEstimator:
 
 		t = [0.0]
 		theta = [pot.get_temperature()]
-		confirm_points = []
 
 		sud.start()
 		ticks = 0
 		while sud.state != SudState.DONE and ticks < MAX_TICKS:
 			if sud.state == SudState.WAIT_USER:
-				confirm_points.append((sud.index, t[-1]))
 				sud.confirm()
 				continue
 
@@ -184,4 +181,4 @@ class SudForecastEstimator:
 			theta.append(pot.get_temperature())
 			ticks += 1
 
-		return t, theta, sud.state, confirm_points
+		return t, theta, sud.state

tasks/sud.py

@@ -59,13 +59,13 @@ class SudTask(ATask):
 		# one.
 		self.forecast_estimator = forecast_estimator
 		# The forecast as last computed/corrected (see send_forecast()/
-		# _continue_forecast_after_confirm()) - T in simulated seconds,
+		# _reanchor_forecast()) - T in simulated seconds, Theta in degrees,
-		# Theta in degrees, parallel lists, both monotonically growing as
+		# parallel lists, both monotonically growing as corrections get
-		# corrections get spliced in. Covers the whole schedule from the
+		# spliced in. Covers the whole schedule from the very first Load,
-		# very first Load, including through steps requiring user
+		# including through steps requiring user confirmation - those are
-		# confirmation - those are simulated as a zero-delay auto-confirm
+		# simulated as a zero-delay auto-confirm (see components/
-		# (see components/sud_forecast.py's SudForecastEstimator.
+		# sud_forecast.py's SudForecastEstimator.estimate()) rather than
-		# estimate()) rather than left unforecast.
+		# left unforecast, until _reanchor_forecast() corrects it for real.
 		self.forecast_t = []
 		self.forecast_theta = []
 		# Whether the forecast above actually reaches the schedule's real
@@ -73,14 +73,13 @@ class SudTask(ATask):
 		# of a step whose target can never be reached (see
 		# components/sud_forecast.py's MAX_TICKS).
 		self.forecast_finished = True
-		# Where each user-confirmation step's zero-delay assumption sits
+		# Bumped by every call to send_forecast()/_reanchor_forecast() -
-		# in the forecast timeline above, keyed by the schedule's
+		# see either's own comment for why: it lets a call that's still
-		# (absolute) step index - see SudForecastEstimator.estimate()'s
+		# awaiting its worker-thread simulation tell, once it resumes,
-		# confirm_points. Consulted by _continue_forecast_after_confirm()
+		# whether a newer call has since started and already committed a
-		# to know where to cut the optimistic guess loose and splice in a
+		# fresher result - if so, it discards its own rather than
-		# freshly anchored simulation once that confirmation actually
+		# corrupting forecast_t/forecast_theta with stale data.
-		# happens for real.
+		self._forecast_generation = 0
-		self.forecast_confirm_marks = {}
 		msg_handler.set_recv_handler(self.recv)
 
 	def apply_plant_params(self, grain_mass, water_mass):
@@ -131,6 +130,14 @@ class SudTask(ATask):
 				self.tc.set_theta_soll(step['temperature'])
 				self.tc.set_heatrate_soll(ramp['rate'])
 			self.apply_stirrer(phase)
+			# Every real step boundary (full step change or ramp->hold
+			# within one) is a trustworthy checkpoint to correct the
+			# forecast against - see _reanchor_forecast(). Catches drift
+			# from anything the original simulation couldn't have known
+			# (a malt fill-in's actual cooldown, a longer/shorter ramp than
+			# modeled, ...) at the next opportunity, not just at the next
+			# user confirmation.
+			asyncio.create_task(self._reanchor_forecast())
 
 		asyncio.create_task(self.send({'Step': {
 			'Index': self.sud.index,
@@ -184,31 +191,46 @@ class SudTask(ATask):
 		actually will, never lining up with the actual trace even at
 		t=0. Deliberately the raw sensor reading (theta_ist_set), not
 		the controller's own get_theta_ist() (theta_ist) -
-		_continue_forecast_after_confirm() can trust that one because a
+		_reanchor_forecast() can trust that one because a real run has
-		real run has been actively ticking for a while by the time it
+		been actively ticking for a while by the time it runs, but this
-		runs, but this is called right after Load, before this
+		is called right after Load, before this controller may have
-		controller may have processed even a single tick yet (e.g. its
+		processed even a single tick yet (e.g. its plant params/model
-		plant params/model only just got configured - see SudTask.
+		only just got configured - see SudTask.recv()), so theta_ist
-		recv()), so theta_ist itself could still be sitting at its
+		itself could still be sitting at its never-updated __init__
-		never-updated __init__ default.
+		default.
 
-		Those zero-delay assumptions get corrected piecewise as real
+		Those zero-delay assumptions get corrected piecewise as the
-		confirmations actually happen - see
+		schedule actually reaches each step boundary - see
-		_continue_forecast_after_confirm()."""
+		_reanchor_forecast()."""
 		if self.forecast_estimator is None:
 			return
+		# Both this and _reanchor_forecast() can end up running
+		# concurrently - e.g. a fresh Start triggers this explicitly *and*
+		# (via Sud.start() synchronously firing on_step_changed() for the
+		# first step) a _reanchor_forecast() of its own; a step whose hold
+		# duration is already 0 can likewise advance twice within a single
+		# tick, firing on_step_changed() twice back to back. Each such call
+		# awaits a worker-thread simulation, so without this guard whichever
+		# one resumes second would blindly splice its own tail onto
+		# whatever the other already finished writing, producing a
+		# spurious connecting line across the plot. Bumping/checking this
+		# generation counter across the await ensures only the very latest
+		# call's result is ever committed - any older one discards itself.
+		self._forecast_generation += 1
+		generation = self._forecast_generation
 		# Runs the simulation in a worker thread - it's CPU-bound and can
 		# take a couple hundred ms for a long schedule, which would
 		# otherwise stall every other task (heater, sensor, ...) for that
 		# whole window.
 		loop = asyncio.get_event_loop()
 		start_theta = self.tc.get_theta_ist_set()
-		t, theta, final_state, confirm_points = await loop.run_in_executor(
+		t, theta, final_state = await loop.run_in_executor(
 			None, self.forecast_estimator.estimate, doc, start_theta)
+		if generation != self._forecast_generation:
+			return
 		self.forecast_t = t
 		self.forecast_theta = theta
 		self.forecast_finished = (final_state == SudState.DONE)
-		self.forecast_confirm_marks = dict(confirm_points)
 		await self._send_forecast()
 
 	async def _send_forecast(self):
@@ -219,43 +241,49 @@ class SudTask(ATask):
 			'Finished': self.forecast_finished,
 		}})
 
-	async def _continue_forecast_after_confirm(self, confirmed_index, confirmed_target):
+	async def _reanchor_forecast(self):
-		"""Corrects the optimistic, zero-delay guess send_forecast() (or a
+		"""Corrects the optimistic, zero-delay guesses baked into the
-		previous call to this method) made at confirmed_index's
+		forecast (see SudForecastEstimator.estimate()'s docstring) now
-		user-confirmation step, now that the confirmation has actually
+		that the schedule has actually reached a real step boundary -
-		happened for real - see SudForecastEstimator.estimate()'s
+		called from on_step_changed() on every transition, whether it's
-		docstring for why that assumption can't just be trusted as-is.
+		a user confirmation or fully automatic (e.g. a ramp reaching its
-		Truncates the forecast right back to that point and splices in a
+		target, or a hold's duration running out). Truncates the forecast
-		freshly anchored simulation of the rest of the schedule, anchored
+		back to right now and splices in a freshly anchored simulation of
-		at the real elapsed time (self.sud.elapsed) - so an actual delay
+		the rest of the schedule, anchored at the real elapsed time
-		shows up honestly as a gap rather than as the assumed zero - and
+		(self.sud.elapsed) and the real current temperature
-		the real current temperature (more trustworthy than whatever the
+		(self.tc.get_theta_ist()) - so any divergence the original
-		now-superseded guess predicted it would be by now).
+		simulation couldn't have predicted (a malt fill-in's actual
+		cooldown, a longer/shorter ramp than modeled, ...) gets corrected
+		at the next opportunity instead of leaving the forecast stuck
+		showing what was once guessed.
 
-		confirmed_target is the real controller's theta_soll_set at the
+		No-op if the estimator isn't configured.
-		moment of confirmation (captured by recv() *before* calling
-		Sud.confirm(), since that synchronously pushes the next step's
-		own target onto it) - used to fill the real-world wait itself
-		(see below).
 
-		No-op if confirmed_index was never part of a computed forecast in
+		Guards against the same concurrent-call race send_forecast() does
-		the first place (e.g. the estimator isn't configured)."""
+		(see its own comment) by working off local copies of the forecast
+		lists throughout, only ever committing them to self.forecast_t/
+		forecast_theta right at the end, and only if this is still the
+		latest call by then - an older call resuming after a newer one
+		has already committed must discard its own (now-stale) result
+		rather than splice it onto what the newer call already wrote."""
 		if self.forecast_estimator is None:
 			return
-		mark_t = self.forecast_confirm_marks.pop(confirmed_index, None)
+		self._forecast_generation += 1
-		if mark_t is None:
+		generation = self._forecast_generation
-			return
+		real_elapsed = self.sud.elapsed
-		# Drop the now-stale tail (everything beyond the confirmation
+		# Drop the now-stale tail (everything beyond right now) - it's
-		# point) - both the curve itself and any confirm marks that fell
+		# about to be replaced by a freshly anchored simulation.
-		# within it, since they're about to be replaced by fresh ones.
+		cut = bisect.bisect_right(self.forecast_t, real_elapsed)
-		cut = bisect.bisect_right(self.forecast_t, mark_t)
+		forecast_t = self.forecast_t[:cut]
-		self.forecast_t = self.forecast_t[:cut]
+		forecast_theta = self.forecast_theta[:cut]
-		self.forecast_theta = self.forecast_theta[:cut]
-		self.forecast_confirm_marks = {idx: t for idx, t in self.forecast_confirm_marks.items() if t <= mark_t}
 
 		schedule = self.sud.schedule
 		index = self.sud.index
 		if not (0 <= index < len(schedule)):
+			if generation != self._forecast_generation:
+				return
+			self.forecast_t = forecast_t
+			self.forecast_theta = forecast_theta
 			self.forecast_finished = True
 			await self._send_forecast()
 			return
@@ -271,26 +299,22 @@ class SudTask(ATask):
 			'steps': schedule[index:],
 		}
 		start_theta = self.tc.get_theta_ist()
-		real_elapsed = self.sud.elapsed
 		loop = asyncio.get_event_loop()
-		t, theta, final_state, confirm_points = await loop.run_in_executor(None, self.forecast_estimator.estimate, doc, start_theta)
+		t, theta, final_state = await loop.run_in_executor(None, self.forecast_estimator.estimate, doc, start_theta)
-		# Bridge the gap between the confirmation point and the real
+		if generation != self._forecast_generation:
-		# elapsed time it actually happened at - the real controller
+			return
-		# stays enabled and actively holding through WAIT_USER, so
+		# Bridge any gap between the last surviving old point and right
-		# confirmed_target (its setpoint at the time) is what it was
+		# now (e.g. the old forecast's timeline had already drifted
-		# actually converging toward during the wait, not whatever
+		# behind real_elapsed) with the same real measurement the fresh
-		# (possibly still mid-ramp) value the forecast happened to log
+		# simulation below starts from, so the spliced curve doesn't
-		# the instant WAIT_USER tripped.
+		# visibly jump.
-		if self.forecast_t and self.forecast_t[-1] < real_elapsed:
+		if forecast_t and forecast_t[-1] < real_elapsed:
-			self.forecast_t.append(real_elapsed)
+			forecast_t.append(real_elapsed)
-			self.forecast_theta.append(confirmed_target)
+			forecast_theta.append(start_theta)
-		self.forecast_t.extend(real_elapsed + seconds for seconds in t)
+		forecast_t.extend(real_elapsed + seconds for seconds in t)
-		self.forecast_theta.extend(theta)
+		forecast_theta.extend(theta)
-		# confirm_points' indices/times are relative to this sub-schedule
+		self.forecast_t = forecast_t
-		# (starting fresh at doc['steps'][0]) - rebase both onto the real
+		self.forecast_theta = forecast_theta
-		# schedule's absolute indices and the master forecast timeline.
-		self.forecast_confirm_marks.update(
-			(index + local_index, real_elapsed + local_t) for local_index, local_t in confirm_points)
 		self.forecast_finished = (final_state == SudState.DONE)
 		await self._send_forecast()
 
@@ -309,10 +333,10 @@ class SudTask(ATask):
 				if fresh_start:
 					asyncio.create_task(self.send_forecast(self.sud.save()))
 			elif 'Confirm' in pair[0]:
-				confirmed_index = self.sud.index
+				# Sud.confirm() synchronously fires on_step_changed() for
-				confirmed_target = self.tc.get_theta_soll_set()
+				# the now-current step, which schedules the forecast
+				# reanchor itself - see _reanchor_forecast().
 				self.sud.confirm()
-				asyncio.create_task(self._continue_forecast_after_confirm(confirmed_index, confirmed_target))
 			elif 'Pause' in pair[0]:
 				self.sud.pause()
 			elif 'Stop' in pair[0]:

tasks/sud_log.py

@@ -33,8 +33,8 @@ class SudLogTask(ATask):
 	is of no use before the run is over anyway. The forecast file is
 	written from SudTask.forecast_t/forecast_theta as they stand at
 	that point - the *final*, most-corrected version (see tasks/sud.py's
-	SudTask._continue_forecast_after_confirm()), not the optimistic
+	SudTask._reanchor_forecast()), not the optimistic guess computed
-	guess computed back at Load.
+	back at Load.
 
 	Samples are taken once per interval regardless of Sud.state
 	(RAMPING/HOLDING/WAIT_USER/PAUSED all keep recording, mirroring