Logs load/start/pause/continue/stop/entering-step/wait-user/finished
on Sud (components/sud.py) and connected/disconnected on
StirrerTask/HeaterTask, using the self.log added earlier.
SudForecastEstimator.estimate() (components/sud_forecast.py) drives its
own throwaway Sud through an entire schedule in a tight loop (no real
waiting) to predict its duration, and re-runs that on every real step
transition too - since it's still a Sud, it logged through the exact
same "Sud" logger as the real, server-driven one, making an instant
internal forecast run indistinguishable in the log from an actual
brew. Gave it its own "SudForecastEstimator" logger, silenced to
WARNING by default, so only the real Sud's transitions show up.
Renames pid_hold/pid_heat/pid_cool to pid_outer/pid_inner/pid_inner_cool
to match what actually runs when, and splits inner-loop config into
Inner.Heat/Inner.Hold/Inner.Cool so the same PID instance gets a tight
yi_max ceiling only while HOLD drives it, without capping legitimate
1.5 K/min ramps. Fixes the overshoot from docs/overshoot_hold_windup.md
where a cold-water disturbance during HOLD wound up pid_heat's integral
term with no anti-windup engagement, taking ~35s+ to unwind naturally.
Breaking config change: Hold/Heat/Cool -> Outer/Inner.{Heat,Hold,Cool}
in config.json, both .tpl templates, the pid/sud demo scripts, and
replay_sim.py's CLI flags. Adds tests/components/pid/ (stdlib unittest)
covering the Pid clamp/recovery behavior and closed-loop disturbance,
ramp, and HOLD<->HEAT transition cases.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DGQhVQ2Y3yXAQTXhrxVd5u
Pot hardware constants (mass, material, L, Td) moved from sude/*.json
to config.json's Pot section; Sud/SudForecastEstimator accept pot_config
as baseline, per-brew pot sections may still override. Controller key
removed; pid_type moved into TempCtrl.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
In estimate()'s on_step_changed closure, the new 'pot = step.get("pot", {})'
local variable shadowed the outer 'pot' (Pot plant instance), causing
pot.set_plant_params() to be called on a plain dict and crash on load.
Renamed to 'step_pot' to avoid the collision.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01T52JH848ojhXXHn1bAzdC3
Top-level pot_mass/pot_material/L/Td/grain_mass/water_mass and their
per-step overrides are now grouped under a 'pot' sub-object, matching
the structure already applied to sud_0010.json's parent level. Updated
all sude/*.json files and the parsing/consuming code in components/sud.py,
tasks/sud.py, components/sud_forecast.py, and scripts/demos/sud/demo_sud.py.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01T52JH848ojhXXHn1bAzdC3
Same pattern as set_model_power: these methods only existed on the Smith
controller, forcing five hasattr guards at call sites. No-op stubs on the
base class give all controllers a stable interface; Smith overrides them.
Remove the now-redundant hasattr guards.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Tqxrk8uj4M3w3d3eXm3xK8
The Normal controller had no set_model_power(), causing callers to
guard with hasattr() instead of relying on a stable interface. Adding a
no-op stub to the base class means all controllers have the method;
TempControllerSmith overrides it to actually update its internal model.
Remove the now-redundant hasattr guards at both call sites.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01Tqxrk8uj4M3w3d3eXm3xK8
A glance at the Automatic tab's forecast plot couldn't show where the
brew actually stands within its own schedule - just a curve. The new
Progress tab stacks one StepPlate per step instead: an LED for its
status (off/done/active-ramping/active-holding), its resolved target
temp, masses and ramp rate, plus, for whichever step is currently
active, live actual temp and stirrer state (frozen at their last
value once that step finishes) and a forecast-based remaining-time
countdown.
The countdown needs to know where each step actually begins in the
forecast's timeline, which the server didn't track before -
SudForecastEstimator.estimate() now returns per-step start times
alongside t/theta, and SudTask threads them through send_forecast()/
_reanchor_forecast() the same way (including the same generation-guard
against the concurrent-call race) as a new 'StepStarts' field on the
'Forecast' message.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_019qvu5giu7gvRCyEWzf2Vpx
Reanchoring used to only happen when a user confirmed a WAIT_USER
step, so anything the schedule advanced through on its own (a ramp
reaching target, a hold timing out) left the forecast showing a
stale, increasingly wrong prediction once reality diverged from it.
_reanchor_forecast() now fires from on_step_changed() on every real
transition, splicing in a fresh simulation anchored at the real
current temperature/elapsed time instead.
Also fixes two bugs surfaced while testing that change:
- estimate()'s early-return for an empty/not-yet-loaded schedule still
returned the old 4-tuple shape, crashing every connection before a
Sud was ever Loaded.
- send_forecast() and _reanchor_forecast() can run concurrently (e.g.
a fresh Start triggers both at once), and whichever resumed second
after its own worker-thread simulation would blindly splice its tail
onto whatever the other had already written, producing a spurious
connecting line across the plot. Both now carry a generation counter
and discard their result if a newer call has since committed.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_019qvu5giu7gvRCyEWzf2Vpx
SudForecastEstimator.estimate() was feeding tc.get_power() straight to
the plant (pot.set_power(heater_max_power * y)), bypassing the duty-
cycling across the heater's discrete power steps that the real run's
HeaterTask/device chain always applies (tasks/heater.py). That let
pid_heat's own oscillatory tendency reach the plant undamped, so the
forecast showed a violent on/off staircase that no actual brew run
ever produces - confirmed by comparing against real sud_log output,
which stays smooth because the real actuator chain duty-cycles the
same PID output down first.
estimate() now duty-cycles tc.get_power() across the heater's own
power steps (mirroring HeaterTask's PWM logic, duplicated rather than
imported to keep components/ from depending on tasks/) before handing
it to the plant, and also feeds the resulting discretized power back
into the Smith predictor's internal model via set_model_power(), same
as the real wiring in brewpi.py does. The constructor takes the
heater's get_powers() list and the configured sim_warp_factor (needed
to convert HeaterTask's 10-real-second PWM period into simulated
ticks) instead of a bare max power.
sud.start() synchronously fires the first step's on_step_changed callback
before it even returns (assigning Sud.step triggers callbacks immediately),
which sets M/C/L/Td from this doc's own derive_plant_params() before any
pot.process()/tc.process() tick ever runs - so the constructor's
plant_params was being set, then immediately discarded, unused. theta_amb
stays, since it's not part of the Sud doc at all.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
Sud now parses top-level L/Td fields from sude/*.json (defaulting to 0.2/30,
matching the old hardcoded server constants), and derive_plant_params()
returns them alongside M/C - constant for the whole brew, unlike M/C which
vary per step with grain/water mass. All sude/*.json docs gain explicit
L/Td fields.
Callers (tasks/sud.py, SudForecastEstimator, demo_sud.py) switch from the
narrow set_thermal_params(M, C)/set_model_params(M, C) to the full
set_plant_params(params)/set_model_plant_params(params), since
derive_plant_params() now always returns all four keys; both narrow setters
are removed as dead code.
Caught along the way: Pot.set_plant_params() unconditionally rebuilt the
Delay ring buffer, which was harmless when only ever called once at
construction - but now running on every Sud step change, it was wiping
in-flight delayed power at each step boundary. Fixed to only rebuild when
Td actually changes; verified this restores the exact original forecast
result for sud_0010.json.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
TempController(Smith).__init__ no longer takes model_params/theta_amb -
set_model_plant_params() and the existing set_ambient_temperature() must be
called instead (mirrors components/plant/pot.py's own Pot constructor
refactor). temp_controller.py's now-pointless model_params/theta_amb
constructor placeholders (kept only for "compatibility" with Smith) are
dropped too.
Both TempController variants now raise a clear RuntimeError from process()
itself if set_params() wasn't called, instead of letting it surface deep
inside Pid.process() as an opaque "'NoneType' object is not subscriptable".
Smith additionally checks its internal models via Pot.is_configured() (new)
and raises if set_model_plant_params()/set_ambient_temperature() weren't
called either.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
Mirrors components/pid/pid.py's own Pid.set_params() pattern: params/
thresholds start out None, and set_params() configures pid_hold/pid_heat/
pid_cool from them. process()/process_fsm() fail naturally (TypeError on
None) if called before set_params() - same as Pid.process() already does -
rather than a new bespoke check. Updates all callers (server/brewpi.py,
SudForecastEstimator, and the pid/sud demo scripts) to call set_params()
right after construction.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
Pot.__init__ now only takes dt; set_plant_params() and set_ambient_temperature()
must be called before process(), which now raises RuntimeError if either is
missing instead of silently computing on whatever the constructor happened to
default to. set_ambient_temperature() only seeds the plant's starting
temperature the first time it's called, so changing ambient mid-run still
can't clobber an in-progress simulated temperature. Updates all callers
(server/brewpi.py, TempController(Smith)'s two internal models,
SudForecastEstimator, and the plant/pid/sud demo scripts) to call the setters
right after construction.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
A user_wait_for_continue step used to stop SudForecastEstimator.estimate()
dead, so the GUI's forecast plot only ever showed the first segment on Load.
Model the wait as a zero-delay auto-confirm instead, so the whole schedule's
projected curve is visible right away; correct that assumption piecewise as
real confirmations actually happen, anchored at the real elapsed time and
temperature.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01DkkuG48uHFCGKe6dPSERFk
Previously, the dynamic forecast's projected remainder was fully
recomputed on every step change, and a step requiring user
confirmation was simulated with zero added delay ("count it as
instant for estimation purposes"). Both undercut the actual goal of
the forecast: an honest comparison between real control behavior and
a simulation-based prediction. A forecast that keeps re-anchoring
itself to match reality isn't a useful baseline to compare reality
against, and assuming zero confirmation delay quietly understates the
schedule.
components/sud_forecast.py: SudForecastEstimator.estimate() now stops
simulating at the first step requiring user confirmation instead of
auto-confirming, returning the final SudState alongside the data so
the caller knows whether it stopped there or actually finished.
tasks/sud.py: SudTask now accumulates the forecast across piecewise
segments (forecast_t/forecast_theta). send_forecast() computes only
the first segment, at Load/Save. The real Confirm handler triggers
_continue_forecast_after_confirm(), which computes the next segment
anchored at the real elapsed time and real current temperature -
bridging the unforecastable wait with a flat segment rather than
guessing at its length - and sends the updated, stitched Forecast
(now carrying a Finished flag). The old per-step-change
RemainingForecast recompute is gone entirely, along with
remaining_schedule()/send_remaining_forecast().
client/brewpi_gui.py: SudForecastPlot redesigned around this - the
dashed line is the fixed, piecewise forecast (locked axes, untouched
except when a genuinely new segment arrives via show_forecast());
the solid line is purely the actual measured trace
(show_dynamic(), now only touching that). extend_forecast_while_
waiting() repeats the forecast's last value while the real Sud sits
in WAIT_USER, so the dashed line doesn't just stop, then snaps to the
new segment the moment the real confirmation appends one.
Verified via a raw-protocol test (segment boundaries, the Finished
flag, and real-time stitching across a confirm delay) and visually in
the GUI (locked dashed forecast, "X min so far total" title while
incomplete, solid/dashed comparison rendering with realistic
convergence/divergence).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01LhiQe64F74uHV8jzuoSa5K
SudForecastEstimator.estimate() builds a fresh Pot/temperature
controller per call and never set its initial theta_soll, leaving it
at TempControllerBase's default of 0. For the upfront, full-schedule
Forecast this was harmless - the first real step always carries its
own 'temperature', overwriting it instantly. But the dynamic
RemainingForecast is recomputed from wherever the live run currently
is, and since ramping is no longer gated by a 'ramp' key, the
remaining schedule's first step often has no 'temperature' of its
own (e.g. resuming from a WAIT_USER pause into a hold-only step) - a
fresh tc has no persisted target to inherit it from like the real
run's tc does, so it span chasing 0 degrees, hit MAX_TICKS, and
produced a ~200,000-point result instead of the expected ~10,000.
That oversized payload (~6MB) is what was actually tripping
websockets' default 1MB max_size and disconnecting clients with
"1009 (message too big)" - not the GUI threading issue fixed
separately. Verified live: the same remaining-schedule case that
previously hit MAX_TICKS (200001 points) now resolves in 8348, and a
full driven run (load, start, auto-confirm both WAIT_USER steps,
completion) produces no oversized messages.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01LhiQe64F74uHV8jzuoSa5K
Previously, whether a schedule step ramped at all was decided purely by
the presence of a 'ramp' key (components/sud.py's _advance()) - a
hold-only step jumped straight into its hold countdown, assuming the
plant was already at temperature. Now every step ramps toward
'temperature' first, for as long as the controller's own gap-tracking
FSM (TempControllerBase, already distinguishing HEAT/COOL/HOLD) says
the gap actually warrants it - via the new is_holding() (on APid and
TempControllerBase), which replaces a separate, redundant
TEMP_REACHED_TOLERANCE constant duplicated across tasks/sud.py,
components/sud_forecast.py, and scripts/demos/sud/demo_sud.py.
set_theta_soll() now recomputes the FSM eagerly so is_holding() can't
read stale HOLD for a tick after a much-further-away target is pushed.
components/sud.py's _build_step() always synthesizes a 'ramp' block
from default.step.ramp (so 'rate' is always available), but leaves
'temperature' undefaulted - every real sude/*.json's
default.step.temperature is inert template filler, and defaulting it
would send hold-only steps chasing 0 degrees. SudTask/
SudForecastEstimator/the demo only push a new theta_soll/heatrate_soll
when a step actually specifies its own temperature; otherwise the
controller keeps whatever the previous step left running.
Also fixes a related crash this surfaced: SudTask.remaining_schedule()'s
synthetic mid-hold step dropped 'ramp' to signal "don't re-ramp" - now
that every step always carries a 'ramp' dict, dropping it left 'rate'
missing the moment the synthetic step was re-resolved by
SudForecastEstimator. Drops 'temperature' instead, which is what
actually signals "no new target" under the new model.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01LhiQe64F74uHV8jzuoSa5K
New components/sud_forecast.py: SudForecastEstimator simulates a whole
schedule with the same kind of plant/controller (and the same
configured params - ambient, plant params, pid_type, TempCtrl gains,
heater max power) the server uses for real, by driving a throwaway
Sud/Pot/controller trio through it exactly as tasks/sud.py's SudTask
would. It's pure CPU-bound iteration (no real time/IO), so a multi-
hour brew simulates in well under a second.
tasks/sud.py: SudTask now takes an optional forecast_estimator and
sends its result ({'Forecast': {'T': ..., 'Theta': ...}}) on the Sud
channel after every successful Save/Load, run in a worker thread via
run_in_executor so the ~100-500ms simulation doesn't stall the other
tasks. server/brewpi.py constructs one with the real server's config
and wires it in; AmbientTemp changes update it too.
client/brewpi_gui.py: the quick naive show_schedule() estimate (drawn
immediately on Load, before the server's simulation finishes) is now
superseded by show_precomputed_course() once the Forecast message
arrives - only while not actively running, so it doesn't fight the
dynamic re-anchored view.
Verified: matches a standalone run of the estimator (177 min for
sude/sud_0010.json) and replaces the old naive 164 min estimate live
within a couple seconds of loading.
jens
