Add Closed-loop/Open-loop heater control mode

Closed-loop (default, checkbox checked): TC has exclusive control over
the heater; temp-soll and heatrate-soll sliders are active; direct
heater power entry is disabled. TC now stays enabled at server startup
and whenever closed-loop mode is active — SudTask no longer disables it
on IDLE/DONE, so adjusting temp-soll manually with no sud running
immediately drives the heater via the TC.

Open-loop (checkbox unchecked, only selectable when paused/stopped):
TC is disconnected from the heater; only the heater-power slider is
active. Switching back to closed-loop resets power_soll to 0 and
re-enables the TC.

On play, the mode is automatically reset to closed-loop.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01SH2D4LRuCnhLSzoYerAfJX

tasks/heater.py

@@ -15,10 +15,15 @@ class HeaterTask(ATask):
 		msg_handler.set_recv_handler(self.recv)
 		self.power_soll = 0
 		self.power_actor = 0
+		self.closed_loop = True
+		self._on_closed_loop_changed = None
 		self.pulse_counter = 0
 		device.set_on_changed('power_eff', ChangedInteger(self.on_changed_power).set)
 		self.power_set_changed = ChangedInteger(self.on_changed_power_set).set
 
+	def set_on_closed_loop_changed(self, callback):
+		self._on_closed_loop_changed = callback
+
 	def actor(self, y):
 		self.power_actor = max(0, self.device.get_power_max() * y)
 
@@ -30,7 +35,14 @@ class HeaterTask(ATask):
 
 	async def recv(self, data):
 		for pair in data.items():
-			if 'Power' in pair[0]:
+			if pair[0] == 'ClosedLoop':
+				self.closed_loop = pair[1]
+				if self.closed_loop:
+					self.power_soll = 0
+				if self._on_closed_loop_changed:
+					self._on_closed_loop_changed(self.closed_loop)
+				await self.send({'ClosedLoop': self.closed_loop})
+			elif 'Power' in pair[0]:
 				self.power_soll = pair[1]
 
 	async def send(self, data):
@@ -52,14 +64,17 @@ class HeaterTask(ATask):
 
 	async def on_process(self):
 		await self.send({'Capabilities': {'Power': {'Min': 0, 'Max': self.device.get_power_max()}}})
+		await self.send({'ClosedLoop': self.closed_loop})
+		if self._on_closed_loop_changed:
+			self._on_closed_loop_changed(self.closed_loop)
 
 		pulse_period_s = 10
 		pulse_period_count = pulse_period_s/self.interval
 
 		with self.device.open():
 			while True:
-				# Combine power set from different sources
-				power_soll = max(self.power_soll, self.power_actor)
+				# Closed-loop: TC has full control. Open-loop: direct manual power only.
+				power_soll = self.power_actor if self.closed_loop else self.power_soll
 				self.power_set_changed(power_soll)
 
 				# Calculate duty cycle

tasks/sud.py

@@ -220,14 +220,6 @@ class SudTask(ATask):
 		if value in (SudState.DONE, SudState.IDLE):
 			self.stirrer.set_duty_cycle(1.0)
 			self.stirrer.set_speed(0)
-			# A finished/stopped run no longer owns the controller - hand
-			# control back to manual mode (off by default there too).
-			self.tc.set_enabled(False)
-		else:
-			# Any other state (RAMPING/HOLDING/WAIT_USER/PAUSED) means a
-			# run is in progress and needs the controller actively driving
-			# the heater.
-			self.tc.set_enabled(True)
 
 	def on_user_message_changed(self, value):
 		asyncio.create_task(self.send({'UserMessage': value}))