Add mash-schedule (Sud) automation: temp/rate sequencing + stirrer switching

brewpi.py had a dead -m/--model CLI arg and sude/*.json schedules were
pure data with no code to drive them, despite the README documenting
them as if they were already wired up.

Add components/sud.py's Sud, which loads a sude/*.json schedule and
steps through its Rasten (ramp -> hold -> optional wait-for-user ->
next rest), and tasks/sud.py's SudTask, which drives the temperature
controller's theta_soll/heatrate_soll from the current rest and
switches the stirrer between continuous (ramping) and intermittent
(holding, via stirrSpeedRast/stirrDutyRast/stirrCycleTime) operation.
Exposes progress on a new "Sud" WebSocket channel and accepts
Start/Confirm commands. Enabled via a new optional top-level "sud"
config key (see config.json.templ/.sim).

"Reached target" is detected via abs(theta_ist - theta_soll_set) <
tolerance rather than tc.state == HOLD, since the latter can still
read HOLD left over from the previous rest for one tick after a new
target is pushed (tc.state only updates on the controller's own,
independently-scheduled process() tick).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

brewpi/brewpi.py

@@ -8,7 +8,8 @@ from components.sensor import TempSensorFactory
 from components.pid import PidFactory
 from components.plant import Pot
 from components.actor import HeaterFactory, StirrerFactory
-from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask
+from components.sud import Sud
+from tasks import TaskManager, TempSensorTask, HeaterTask, PotTask, TcTask, StirrerTask, TracerTask, SudTask
 from tracer import Tracer
 
 import argparse as ap
@@ -61,6 +62,12 @@ if __name__ == '__main__':
 	stirrer_task = StirrerTask(stirrer, DT_TASK, dispatcher.msgio_get("Stirrer"))
 	taskmgr.add(stirrer_task)
 
+	# Mash schedule (optional)
+	sud_path = config.get('sud')
+	if sud_path:
+		sud = Sud(sud_path)
+		taskmgr.add(SudTask(sud, tc, stirrer, DT_TASK, dispatcher.msgio_get("Sud")))
+
 	# Tracer
 	taskmgr.add(TracerTask(sensor, heater, tc, trace_tc, DT_TASK_TRACER, dispatcher.msgio_get("Tracer")))