Adapt Sud/SudTask/demo to the new flat heat/hold schedule schema

sude/sud_0010.json moved from a list of combined ramp+hold+wait
"Rasten" with global stirrer constants to a flat "schedule" list of
explicit {"type": "heat"|"hold", ...} steps, each carrying its own
stirrer_speed/stirrer_time_on/stirrer_time_off and an optional
user_wait_for_continue (+ user_message).

- components/sud.py: Sud now tracks the current `step` instead of
  `rast`; "heat" steps enter RAMPING (advanced externally via
  temp_reached()), "hold" steps enter HOLDING and count down
  `duration` minutes (0 if omitted). Either step type can pause in
  WAIT_USER via user_wait_for_continue, surfaced through the new
  user_message attribute.
- tasks/sud.py: SudTask only pushes theta_soll/heatrate_soll on
  "heat" steps, converts each step's stirrer_time_on/off into a
  duty_cycle/cycle_time on every step change (replacing the old
  state-based RAMPING/HOLDING stirrer switching), and broadcasts
  user_message changes. Stirring is now fully schedule-driven instead
  of implicitly stopped on WAIT_USER/DONE (DONE still stops it, since
  there's no step left to read settings from).
- scripts/demos/sud/demo_sud.py: mirrors the same step-driven wiring.
- README's Mash schedules section rewritten for the new schema.

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

scripts/demos/sud/demo_sud.py

@@ -52,24 +52,34 @@ if __name__ == '__main__':
 	heater.set_on_changed('power_set', ctrl.set_model_power)
 	heater.set_on_changed('power_eff', plant.set_power)
 
-	def on_rast_changed(rast):
-		if rast is not None:
-			ctrl.set_theta_soll(rast['temp'])
-			ctrl.set_heatrate_soll(rast['heatRate'])
+	def apply_stirrer(step):
+		speed = step.get('stirrer_speed', 0)
+		on = step.get('stirrer_time_on', 0)
+		off = step.get('stirrer_time_off', 0)
+		cycle = on + off
+		if cycle > 0:
+			duty = on / cycle
+		else:
+			cycle = 1.0
+			duty = 1.0 if speed > 0 else 0.0
+
+		stirrer.set_cycle_time(cycle)
+		stirrer.set_duty_cycle(duty)
+		stirrer.set_speed(speed)
+
+	def on_step_changed(step):
+		if step is not None:
+			if step['type'] == 'heat':
+				ctrl.set_theta_soll(step['temp'])
+				ctrl.set_heatrate_soll(step['rate'])
+			apply_stirrer(step)
 
 	def on_state_changed(state):
-		if state == SudState.RAMPING:
-			stirrer.set_duty_cycle(1.0)
-			stirrer.set_speed(sud.stirr_speed_heat)
-		elif state == SudState.HOLDING:
-			stirrer.set_cycle_time(sud.stirr_cycle_time)
-			stirrer.set_duty_cycle(sud.stirr_duty_rast)
-			stirrer.set_speed(sud.stirr_speed_rast)
-		elif state in (SudState.WAIT_USER, SudState.DONE):
+		if state == SudState.DONE:
 			stirrer.set_duty_cycle(1.0)
 			stirrer.set_speed(0)
 
-	sud.set_on_changed('rast', on_rast_changed)
+	sud.set_on_changed('step', on_step_changed)
 	sud.set_on_changed('state', on_state_changed)
 
 	sud.start()
@@ -80,7 +90,7 @@ if __name__ == '__main__':
 	_heatrate_ist = []
 	_heatrate_soll = []
 	_sud_state = []
-	_rast_index = []
+	_step_index = []
 	_stirrer_speed = []
 	_stirrer_duty = []
 	_heater_power_set = []
@@ -121,7 +131,7 @@ if __name__ == '__main__':
 		_heatrate_ist.append(ctrl.get_heatrate_ist())
 		_heatrate_soll.append(ctrl.get_heatrate_soll())
 		_sud_state.append(sud.state.value)
-		_rast_index.append(sud.index)
+		_step_index.append(sud.index)
 		_stirrer_speed.append(stirrer.speed * stirrer.isOn)
 		_stirrer_duty.append(stirrer.dutyCycle * 100)
 		_heater_power_set.append(heater.power_set)
@@ -157,8 +167,8 @@ if __name__ == '__main__':
 	legend(["Sud state"])
 	grid(True)
 	subplot(3, 1, 2)
-	step(_t_min, _rast_index, where='post', color='k')
-	legend(["Rast index"])
+	step(_t_min, _step_index, where='post', color='k')
+	legend(["Step index"])
 	grid(True)
 	subplot(3, 1, 3)
 	plot(_t_min, _stirrer_speed, '-g', _t_min, _stirrer_duty, '-c', linewidth=1)