feat: restore bench section UI with controls, PID RPM ramp, flowmeter charts, and fix CAN IDs

Restore the full bench control panel from the old source with MVVM architecture:

- Two-column left panel layout: bench info displays (RPM with target/voltage,
  temps, pressures, Q-flow, pump live values) and user commands (direction
  toggle, start/stop with RPM popup and quick-select buttons, oil pump toggle,
  turn downcounter with CAN send)
- PID RPM ramp controller (BenchPidController) with bumpless startup,
  anti-windup, and derivative-on-measurement for smooth motor speed transitions
- Real-time flowmeter charts (LiveChartsCore) for Q-Delivery and Q-Over
  with tolerance band overlays
- Bench/pump CAN liveness detection in PcanAdapter (receive-only IDs)
- K-Line connection status indicator (placeholder)
- Periodic relay bitmask sender (~21ms) and ElectronicMsg keepalive start
  on CAN connect, pump sender starts immediately on pump load

Fix critical CAN message ID bug: default bench XML values were incorrectly
converted from old source (decimal-notation hex parsed as actual hex digits,
e.g. "10" -> "A" instead of keeping "10" which parses as 0x10). Corrected
all IDs to match hardware: 0x10, 0x11, 0x13, 0x14, 0x15, 0x50, 0x51, 0x55.

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

Services/Impl/BenchPidController.cs

@@ -0,0 +1,204 @@
+using System;
+using System.Diagnostics;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace HC_APTBS.Services.Impl
+{
+    /// <summary>
+    /// PID controller for smooth RPM ramping on the test bench motor.
+    /// Runs a background loop that reads actual RPM, computes the PID output,
+    /// and writes the corresponding motor voltage via a callback.
+    ///
+    /// <para>
+    /// All values are normalized to 0–1.0 internally. The output is scaled back
+    /// to the configured voltage range before calling the write delegate.
+    /// </para>
+    /// </summary>
+    public sealed class BenchPidController : IDisposable
+    {
+        // ── Gains ────────────────────────────────────────────────────────────────
+
+        private readonly double _kp;
+        private readonly double _ki;
+        private readonly double _kd;
+
+        // ── Ranges ───────────────────────────────────────────────────────────────
+
+        /// <summary>Maximum process variable (RPM).</summary>
+        private readonly double _pvMax;
+
+        /// <summary>Maximum output variable (voltage).</summary>
+        private readonly double _outMax;
+
+        // ── Delegates ────────────────────────────────────────────────────────────
+
+        private readonly Func<double> _readActualRpm;
+        private readonly Func<double> _readTargetRpm;
+        private readonly Action<double> _sendVoltage;
+
+        // ── Loop state ───────────────────────────────────────────────────────────
+
+        private readonly int _intervalMs;
+        private CancellationTokenSource? _cts;
+        private Task? _loopTask;
+
+        // ── PID state ────────────────────────────────────────────────────────────
+
+        private double _errSum;
+        private double _lastPv;
+        private Stopwatch _sw = new();
+
+        /// <summary>True when the PID loop is actively running.</summary>
+        public bool IsRunning { get; private set; }
+
+        // ── Constructor ──────────────────────────────────────────────────────────
+
+        /// <summary>
+        /// Creates a new PID controller for bench RPM control.
+        /// </summary>
+        /// <param name="kp">Proportional gain.</param>
+        /// <param name="ki">Integral gain.</param>
+        /// <param name="kd">Derivative gain.</param>
+        /// <param name="intervalMs">Loop interval in milliseconds.</param>
+        /// <param name="pvMax">Maximum process variable (RPM). Minimum is always 0.</param>
+        /// <param name="outMax">Maximum output (voltage). Minimum is always 0.</param>
+        /// <param name="readActualRpm">Delegate to read the current bench RPM.</param>
+        /// <param name="readTargetRpm">Delegate to read the desired RPM setpoint.</param>
+        /// <param name="sendVoltage">Delegate to write the output voltage to the CAN bus.</param>
+        public BenchPidController(
+            double kp, double ki, double kd, int intervalMs,
+            double pvMax, double outMax,
+            Func<double> readActualRpm,
+            Func<double> readTargetRpm,
+            Action<double> sendVoltage)
+        {
+            _kp = kp;
+            _ki = ki;
+            _kd = kd;
+            _intervalMs = Math.Max(1, intervalMs);
+            _pvMax = pvMax;
+            _outMax = outMax;
+            _readActualRpm = readActualRpm;
+            _readTargetRpm = readTargetRpm;
+            _sendVoltage = sendVoltage;
+        }
+
+        // ── Public API ───────────────────────────────────────────────────────────
+
+        /// <summary>
+        /// Starts the PID loop with bumpless transfer from the given initial conditions.
+        /// If already running, stops first before restarting.
+        /// </summary>
+        /// <param name="initialVoltage">Current motor voltage (for bumpless startup).</param>
+        /// <param name="initialRpm">Current actual RPM (for bumpless startup).</param>
+        public void Start(double initialVoltage, double initialRpm)
+        {
+            if (IsRunning) Stop();
+
+            // Bumpless startup: pre-initialize integral sum so the first output
+            // matches the current voltage, avoiding a step response.
+            double normalizedOutput = Scale(initialVoltage, 0, _outMax, 0, 1.0);
+            _errSum = _ki != 0 ? normalizedOutput / _ki : 0;
+            _lastPv = Scale(Clamp(initialRpm, 0, _pvMax), 0, _pvMax, 0, 1.0);
+            _sw = Stopwatch.StartNew();
+
+            IsRunning = true;
+            _cts = new CancellationTokenSource();
+            var ct = _cts.Token;
+
+            _loopTask = Task.Run(async () =>
+            {
+                using var timer = new PeriodicTimer(TimeSpan.FromMilliseconds(_intervalMs));
+                try
+                {
+                    while (IsRunning && await timer.WaitForNextTickAsync(ct))
+                    {
+                        Compute();
+                    }
+                }
+                catch (OperationCanceledException) { }
+            }, ct);
+        }
+
+        /// <summary>
+        /// Stops the PID loop and sends 0 V to the motor.
+        /// </summary>
+        public void Stop()
+        {
+            if (!IsRunning) return;
+            IsRunning = false;
+            _cts?.Cancel();
+            _cts?.Dispose();
+            _cts = null;
+            _sendVoltage(0);
+        }
+
+        // ── PID core ─────────────────────────────────────────────────────────────
+
+        private void Compute()
+        {
+            double pv = _readActualRpm();
+            double sp = _readTargetRpm();
+
+            // Clamp and normalize to 0–1.0
+            pv = Scale(Clamp(pv, 0, _pvMax), 0, _pvMax, 0, 1.0);
+            sp = Scale(Clamp(sp, 0, _pvMax), 0, _pvMax, 0, 1.0);
+
+            double err = sp - pv;
+
+            // Time delta in seconds
+            double dt = _sw.Elapsed.TotalSeconds;
+            _sw.Restart();
+            if (dt <= 0) dt = _intervalMs / 1000.0;
+
+            // P term
+            double pTerm = _kp * err;
+
+            // I term (with anti-windup: only integrate when PV is in-range)
+            double partialSum = _errSum;
+            double iTerm = 0;
+            if (pv >= 0 && pv <= 1.0)
+            {
+                partialSum = _errSum + dt * err;
+                iTerm = _ki * partialSum;
+            }
+
+            // D term (derivative-on-measurement, not on error)
+            double dTerm = 0;
+            if (dt > 0)
+                dTerm = _kd * (pv - _lastPv) / dt;
+
+            // Combine, clamp, scale to output voltage range
+            double output = Clamp(pTerm + iTerm + dTerm, 0, 1.0);
+            double voltage = Scale(output, 0, 1.0, 0, _outMax);
+
+            _sendVoltage(voltage);
+
+            // Update state
+            _errSum = partialSum;
+            _lastPv = pv;
+        }
+
+        // ── Helpers ──────────────────────────────────────────────────────────────
+
+        private static double Clamp(double value, double min, double max)
+            => value > max ? max : value < min ? min : value;
+
+        private static double Scale(double value, double fromMin, double fromMax, double toMin, double toMax)
+        {
+            if (Math.Abs(fromMax - fromMin) < 1e-12) return toMin;
+            double pct = (value - fromMin) / (fromMax - fromMin);
+            return toMin + pct * (toMax - toMin);
+        }
+
+        /// <inheritdoc/>
+        public void Dispose()
+        {
+            IsRunning = false;
+            _cts?.Cancel();
+            _cts?.Dispose();
+            _cts = null;
+        }
+    }
+}

Services/Impl/BenchService.cs

@@ -56,6 +56,18 @@ namespace HC_APTBS.Services.Impl
         private CancellationTokenSource? _electronicMsgCts;
         private volatile bool _electronicMsgActive;
 
+        // Periodic relay bitmask sender
+        private const int RelaySendIntervalMs = 21;
+        private Task? _relaySendTask;
+        private CancellationTokenSource? _relaySendCts;
+        private volatile bool _relaySendActive;
+
+        // RPM PID ramp controller
+        private BenchPidController? _pidController;
+        private double _lastTargetRpm;
+        private double _lastCommandVoltage;
+        private double _pidTargetRpm;
+
         // ── Events ────────────────────────────────────────────────────────────────
 
         /// <inheritdoc/>
@@ -78,6 +90,8 @@ namespace HC_APTBS.Services.Impl
         public event Action<string, bool>?              PhaseCompleted;
         /// <inheritdoc/>
         public event Action<string, double>?            PumpControlValueSet;
+        /// <inheritdoc/>
+        public event Action?                            RpmCommandSent;
 
         // ── Constructor ───────────────────────────────────────────────────────────
 
@@ -96,6 +110,12 @@ namespace HC_APTBS.Services.Impl
         /// <inheritdoc/>
         public bool IsAutoDfiEnabled => _autoDfiEnabled;
 
+        /// <inheritdoc/>
+        public double LastTargetRpm => _lastTargetRpm;
+
+        /// <inheritdoc/>
+        public double LastCommandVoltage => _lastCommandVoltage;
+
         // ── IBenchService: active pump ────────────────────────────────────────────
 
         /// <inheritdoc/>
@@ -161,14 +181,93 @@ namespace HC_APTBS.Services.Impl
             double voltage = RpmVoltageRelation.VoltageForRpm(
                 (int)safeRpm, _config.Settings.Relations);
 
-            // Write the voltage value into the RPM parameter and transmit.
-            SetParameter(BenchParameterNames.Rpm, voltage);
-            SendParameters(_config.Bench.ParametersByName.TryGetValue(
-                BenchParameterNames.Rpm, out var rpmParam) ? rpmParam.MessageId : 0x0A);
+            SendRpmVoltage(voltage);
 
+            _lastTargetRpm = safeRpm;
+            RpmCommandSent?.Invoke();
             _log.Debug(LogId, $"SetRpm({safeRpm}) → voltage={voltage:F3}V");
         }
 
+        /// <inheritdoc/>
+        public void StartRpmPid(double targetRpm)
+        {
+            // Stop any existing PID loop.
+            _pidController?.Stop();
+
+            double safeRpm = Math.Min(targetRpm, _config.Settings.SecurityRpmLimit);
+            _lastTargetRpm = safeRpm;
+            _pidTargetRpm = safeRpm;
+
+            if (safeRpm <= 0)
+            {
+                SendRpmVoltage(0);
+                RpmCommandSent?.Invoke();
+                return;
+            }
+
+            // Step 1: Send initial voltage from lookup table (open-loop jump).
+            double initialVoltage = RpmVoltageRelation.VoltageForRpm(
+                (int)safeRpm, _config.Settings.Relations);
+            SendRpmVoltage(initialVoltage);
+            RpmCommandSent?.Invoke();
+
+            // Step 2: Calculate approach delay based on RPM distance.
+            double actualRpm = ReadBenchParameter(BenchParameterNames.BenchRpm);
+            int delaySec = (int)(Math.Abs(safeRpm - actualRpm) * 0.004 + 0.7);
+
+            // Step 3: Create PID controller and start after delay.
+            var settings = _config.Settings;
+            _pidController = new BenchPidController(
+                settings.PidP, settings.PidI, settings.PidD, settings.PidLoopMs,
+                settings.MaxRpm, settings.VoltageForMaxRpm,
+                () => ReadBenchParameter(BenchParameterNames.BenchRpm),
+                () => _pidTargetRpm,
+                SendRpmVoltage);
+
+            _ = Task.Run(async () =>
+            {
+                try
+                {
+                    await Task.Delay(delaySec * 1000);
+                    if (_pidTargetRpm > 0)
+                        _pidController.Start(initialVoltage, actualRpm);
+                }
+                catch (Exception ex)
+                {
+                    _log.Error(LogId, $"StartRpmPid delay task: {ex.Message}");
+                }
+            });
+
+            _log.Info(LogId, $"StartRpmPid({safeRpm}) → initial voltage={initialVoltage:F3}V, PID delay={delaySec}s");
+        }
+
+        /// <inheritdoc/>
+        public void StopRpmPid()
+        {
+            _pidTargetRpm = 0;
+            _pidController?.Stop();
+            _pidController?.Dispose();
+            _pidController = null;
+            _lastTargetRpm = 0;
+            SendRpmVoltage(0);
+            RpmCommandSent?.Invoke();
+            _log.Info(LogId, "StopRpmPid: PID stopped, 0V sent.");
+        }
+
+        /// <summary>
+        /// Writes a voltage value to the RPM CAN parameter and transmits it.
+        /// Used as the PID output callback and by <see cref="SetRpm"/>.
+        /// </summary>
+        private void SendRpmVoltage(double volts)
+        {
+            if (volts < 0) volts = 0;
+            _lastCommandVoltage = volts;
+
+            SetParameter(BenchParameterNames.Rpm, volts);
+            SendParameters(_config.Bench.ParametersByName.TryGetValue(
+                BenchParameterNames.Rpm, out var rpmParam) ? rpmParam.MessageId : 0x10);
+        }
+
         // ── IBenchService: temperature ────────────────────────────────────────────
 
         /// <inheritdoc/>
@@ -193,6 +292,58 @@ namespace HC_APTBS.Services.Impl
             TransmitRelayMask(relay.MessageId);
         }
 
+        /// <inheritdoc/>
+        public void SendInitialRelayState()
+        {
+            // Collect all distinct relay message IDs and transmit each one.
+            var sent = new HashSet<uint>();
+            foreach (var relay in _config.Bench.Relays.Values)
+            {
+                if (sent.Add(relay.MessageId))
+                    TransmitRelayMask(relay.MessageId);
+            }
+        }
+
+        /// <inheritdoc/>
+        public void StartRelaySender()
+        {
+            if (_relaySendActive) return;
+            _relaySendActive = true;
+
+            _relaySendCts = new CancellationTokenSource();
+            var ct = _relaySendCts.Token;
+
+            _relaySendTask = Task.Run(async () =>
+            {
+                using var timer = new PeriodicTimer(TimeSpan.FromMilliseconds(RelaySendIntervalMs));
+                try
+                {
+                    while (_relaySendActive && await timer.WaitForNextTickAsync(ct))
+                    {
+                        var sent = new HashSet<uint>();
+                        foreach (var relay in _config.Bench.Relays.Values)
+                        {
+                            if (sent.Add(relay.MessageId))
+                                TransmitRelayMask(relay.MessageId);
+                        }
+                    }
+                }
+                catch (OperationCanceledException) { }
+            }, ct);
+
+            _log.Debug(LogId, "Relay sender started.");
+        }
+
+        /// <inheritdoc/>
+        public void StopRelaySender()
+        {
+            _relaySendActive = false;
+            _relaySendCts?.Cancel();
+            _relaySendCts?.Dispose();
+            _relaySendCts = null;
+            _log.Debug(LogId, "Relay sender stopped.");
+        }
+
         private void TransmitRelayMask(uint messageId)
         {
             // Collect all relays mapped to this CAN message ID and pack their bits.

Services/Impl/ConfigurationService.cs

@@ -577,38 +577,38 @@ namespace HC_APTBS.Services.Impl
         /// <summary>Returns the factory-default bench parameter XML used when bench.xml is absent.</summary>
         private static string DefaultBenchXml() => @"<?xml version=""1.0"" encoding=""utf-8""?>
 <Bench>
-  <RPM id=""A"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
-  <Counter id=""B"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
-  <BaudRate id=""37"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
-  <BenchRPM id=""D"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" />
-  <BenchCounter id=""D"" byteh=""3"" bytel=""2"" filter=""1"" disableparams=""true"" />
-  <BenchTemp id=""E"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
-  <T-in id=""E"" byteh=""3"" bytel=""2"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
-  <T-out id=""E"" byteh=""5"" bytel=""4"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
-  <T4 id=""E"" byteh=""7"" bytel=""6"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
+  <RPM id=""10"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
+  <Counter id=""11"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
+  <BaudRate id=""55"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
+  <BenchRPM id=""13"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" />
+  <BenchCounter id=""13"" byteh=""3"" bytel=""2"" filter=""1"" disableparams=""true"" />
+  <BenchTemp id=""14"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
+  <T-in id=""14"" byteh=""3"" bytel=""2"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
+  <T-out id=""14"" byteh=""5"" bytel=""4"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
+  <T4 id=""14"" byteh=""7"" bytel=""6"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""10"" p5=""-20"" p6=""0"" />
   <QDelivery id=""8"" byteh=""5"" bytel=""3"" filter=""0.01"" disableparams=""false"" p1=""0"" p2=""2.03"" p3=""1E-06"" p4=""0"" p5=""0"" p6=""0"" />
   <QOver id=""8"" byteh=""2"" bytel=""0"" filter=""0.11"" disableparams=""false"" p1=""0"" p2=""0.51"" p3=""1E-06"" p4=""0"" p5=""0"" p6=""0"" />
-  <PSGEncoderValue id=""32"" byteh=""4"" bytel=""5"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
-  <PSGEncoderWorking id=""32"" byteh=""7"" bytel=""7"" filter=""1"" disableparams=""true"" />
-  <InyectorEncoderValue id=""32"" byteh=""2"" bytel=""3"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
-  <InyectorEncoderWorking id=""32"" byteh=""6"" bytel=""6"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
-  <ManualEncoderValue id=""32"" byteh=""0"" bytel=""1"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
-  <EncoderResolution id=""33"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" send=""true"" />
-  <ElectronicMsg id=""33"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
+  <PSGEncoderValue id=""50"" byteh=""4"" bytel=""5"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
+  <PSGEncoderWorking id=""50"" byteh=""7"" bytel=""7"" filter=""1"" disableparams=""true"" />
+  <InyectorEncoderValue id=""50"" byteh=""2"" bytel=""3"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
+  <InyectorEncoderWorking id=""50"" byteh=""6"" bytel=""6"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
+  <ManualEncoderValue id=""50"" byteh=""0"" bytel=""1"" filter=""1"" disableparams=""false"" p1=""1"" p2=""0"" p3=""0"" p4=""1"" p5=""0"" p6=""0"" />
+  <EncoderResolution id=""51"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" send=""true"" />
+  <ElectronicMsg id=""51"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
   <Alarms id=""8"" byteh=""7"" bytel=""6"" filter=""1"" disableparams=""true"" />
-  <Pressure id=""D"" byteh=""4"" bytel=""5"" filter=""1"" disableparams=""true"" />
-  <AnalogicSensor2 id=""D"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" />
+  <Pressure id=""13"" byteh=""4"" bytel=""5"" filter=""1"" disableparams=""true"" />
+  <AnalogicSensor2 id=""13"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" />
   <Reles>
-    <Rele name=""Electronic"" id=""F"" bit=""0"" />
-    <Rele name=""OilPump"" id=""F"" bit=""4"" />
-    <Rele name=""DepositCooler"" id=""F"" bit=""8"" />
-    <Rele name=""DepositHeater"" id=""F"" bit=""12"" />
-    <Rele name=""Reserve"" id=""F"" bit=""16"" />
-    <Rele name=""Counter"" id=""F"" bit=""20"" />
-    <Rele name=""Direction"" id=""F"" bit=""24"" />
-    <Rele name=""TinCooler"" id=""F"" bit=""28"" />
-    <Rele name=""Pulse4Signal"" id=""F"" bit=""32"" />
-    <Rele name=""Flasher"" id=""F"" bit=""44"" />
+    <Rele name=""Electronic"" id=""15"" bit=""0"" />
+    <Rele name=""OilPump"" id=""15"" bit=""4"" />
+    <Rele name=""DepositCooler"" id=""15"" bit=""8"" />
+    <Rele name=""DepositHeater"" id=""15"" bit=""12"" />
+    <Rele name=""Reserve"" id=""15"" bit=""16"" />
+    <Rele name=""Counter"" id=""15"" bit=""20"" />
+    <Rele name=""Direction"" id=""15"" bit=""24"" />
+    <Rele name=""TinCooler"" id=""15"" bit=""28"" />
+    <Rele name=""Pulse4Signal"" id=""15"" bit=""32"" />
+    <Rele name=""Flasher"" id=""15"" bit=""44"" />
   </Reles>
 </Bench>";