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>

components/__init__.py

@@ -2,3 +2,4 @@ from components.atemperatureSensor import *
 from components.astirrer import *
 from components.aheater import *
 from components.apid import *
+from components.sud import *

components/sud.py

@@ -0,0 +1,70 @@
+import json
+from enum import Enum
+from utils.value import AttributeChange
+
+
+class SudState(Enum):
+	IDLE = 0
+	RAMPING = 1
+	HOLDING = 2
+	WAIT_USER = 3
+	DONE = 4
+
+
+class Sud(AttributeChange):
+	def __init__(self, path):
+		AttributeChange.__init__(self)
+		with open(path) as f:
+			data = json.load(f)
+
+		self.name = data.get('Name', '')
+		self.description = data.get('Description', '')
+		self.rasten = data['Rasten']
+
+		self.stirr_speed_heat = data.get('stirrSpeedHeat', 0)
+		self.stirr_speed_rast = data.get('stirrSpeedRast', 0)
+		self.stirr_duty_rast = data.get('stirrDutyRast', 1.0)
+		self.stirr_cycle_time = data.get('stirrCycleTime', 1.0)
+
+		self.index = -1
+		self.hold_remaining = 0.0
+		self.state = SudState.IDLE
+		self.rast = None
+
+	def start(self):
+		if self.state != SudState.IDLE:
+			return
+		self.index = -1
+		self._advance()
+
+	def confirm(self):
+		if self.state == SudState.WAIT_USER:
+			self._advance()
+
+	def temp_reached(self):
+		if self.state == SudState.RAMPING:
+			self.state = SudState.HOLDING
+
+	def tick(self, dt):
+		if self.state == SudState.HOLDING:
+			self.hold_remaining -= dt
+			if self.hold_remaining <= 0:
+				self._finish_rast()
+
+	def _advance(self):
+		self.index += 1
+		if self.index >= len(self.rasten):
+			self.state = SudState.DONE
+			self.rast = None
+			return
+
+		next_rast = self.rasten[self.index]
+		self.hold_remaining = next_rast['time'] * 60.0
+		self.state = SudState.RAMPING
+		self.rast = next_rast
+
+	def _finish_rast(self):
+		if self.rast.get('waitForUser', False):
+			self.state = SudState.WAIT_USER
+		else:
+			self._advance()