fix: make sim_warp_factor real-hardware-safe and sud logs forecast-reproducible

sim_warp_factor was scaling DT_TASK unconditionally, including against real
hardware, and was leaking into recorded sample timestamps via wall-clock
time - both violate its intended meaning (a reciprocal scale on task wait
time only). Clamp it to 1.0 whenever Heater.type isn't "sim", and track
elapsed time via tick-counted accumulators (Sud.elapsed for SudLogTask, a
matching one for ServerLogTask) instead of time.monotonic().

Sud/server logs now also carry HeaterPowers, the effective SimWarpFactor,
the raw Doc, a correct Name, and ForecastAnchors (one entry per real
_reanchor_forecast() trigger) - enough for utils/analyze_log.py to rebuild
a SudForecastEstimator and replay the exact same splice-per-transition
forecast correction offline that a live client sees, replacing the old
(always-dead) forecast_*.json sidecar lookup.

Two bugs found and fixed along the way:
- ServerLogTask's periodic wall-clock checkpoint had no way to know a
  SudLogTask run had just ended, so it would immediately re-write the
  just-completed log with PlantParams/ForecastAnchors cleared back to
  empty. Gated the checkpoint on _should_sample().
- _reanchor_forecast() truncated the old forecast against real elapsed
  time, which can end up numerically less than the old forecast's own
  (very wrong) speculative timestamps once a WAIT_USER confirmation runs
  long - leaving a "ghost" segment instead of a clean cut. Truncate
  against forecast_step_starts[index] instead, which lives in the same
  coordinate space as the forecast being cut.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01JFDeoTKBDkXRhPfnyDEoBt

tasks/sud_log.py

@@ -14,10 +14,12 @@ class SudLogTask(ServerLogTask):
 	logs/log_{date_time}_{sud_name}.log. A Pause/resume doesn't start a new
 	file - only a fresh Play (from IDLE/DONE) does."""
 
-	def __init__(self, tc: APid, heater: AHeater, heater_task, sud, interval, path='./logs', config=None, dt=None, log_interval=None):
-		ServerLogTask.__init__(self, tc, heater, heater_task, interval, path, config, dt, log_interval)
+	def __init__(self, tc: APid, heater: AHeater, heater_task, sud, interval, path='./logs', config=None, dt=None, log_interval=None, sim_warp_factor=None):
+		ServerLogTask.__init__(self, tc, heater, heater_task, interval, path, config, dt, log_interval, sim_warp_factor)
 		self.sud = sud
 		self._active = False
+		self._doc = None
+		self._reanchors = []
 
 	def _should_sample(self):
 		return self._active
@@ -26,13 +28,46 @@ class SudLogTask(ServerLogTask):
 		name_part = _safe_filename_part(self.sud.name or 'Sud')
 		return 'log_{}_{}.log'.format(self._run_id, name_part)
 
+	def _log_name(self):
+		return self.sud.name
+
+	def _elapsed(self):
+		# The Sud's own tick-counted ground truth (see components/sud.py's
+		# Sud.elapsed) rather than the base class's own tick counter -
+		# already resets to 0 on every fresh Play (Sud.start()), so samples
+		# line up with SudForecastEstimator's t=0 the same way Sud.elapsed
+		# does everywhere else it's consumed (e.g. SudTask's forecast
+		# re-anchoring).
+		return self.sud.elapsed
+
+	def log_reanchor(self, elapsed, index, theta_ist):
+		# One entry per real _reanchor_forecast() trigger (see SudTask.
+		# set_on_reanchor()) - lets utils/analyze_log.py replay the exact
+		# same splice-per-transition forecast correction a live client
+		# would have seen, instead of just the single, uncorrected
+		# cold-start estimate() run - see build_forecast() there.
+		self._reanchors.append({'t': elapsed, 'index': index, 'theta_ist': theta_ist})
+
+	def _extra_log_data(self):
+		# The raw sud.json doc this run was playing, exactly as loaded (see
+		# Sud.save()) - lets utils/analyze_log.py re-simulate this run's own
+		# SudForecastEstimator forecast for comparison against Samples,
+		# without depending on the sude/*.json file it came from still
+		# existing or being unchanged.
+		data = {}
+		if self._doc is not None:
+			data['Doc'] = self._doc
+		if self._reanchors:
+			data['ForecastAnchors'] = self._reanchors
+		return data
+
 	def start_run(self):
 		if self._active:
 			return
 		self._samples = []
-		self._t0 = time.monotonic()
-		self._last_write = self._t0
+		self._last_write = time.monotonic()
 		self._run_id = time.strftime("%Y%m%dT%H%M%S", time.localtime())
+		self._doc = self.sud.save()
 		self._active = True
 
 	def stop_run(self):
@@ -41,3 +76,4 @@ class SudLogTask(ServerLogTask):
 		self._active = False
 		self.write()
 		self._param_events = []
+		self._reanchors = []