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>

Infrastructure/Pcan/PcanAdapter.cs

@@ -48,11 +48,27 @@ namespace HC_APTBS.Infrastructure.Pcan
         private AutoResetEvent? _receiveEvent;
         private volatile bool _stopRead = true;
 
+        // ── Liveness tracking ────────────────────────────────────────────────────
+
+        private const int LivenessTimeoutMs = 500;
+        private HashSet<uint> _benchMessageIds = new();
+        private HashSet<uint> _pumpMessageIds = new();
+        private DateTime _lastBenchFrameUtc = DateTime.MinValue;
+        private DateTime _lastPumpFrameUtc = DateTime.MinValue;
+        private bool _benchAlive;
+        private bool _pumpAlive;
+
         // ── ICanService ──────────────────────────────────────────────────────────
 
         /// <inheritdoc/>
         public event Action<string, bool>? StatusChanged;
 
+        /// <inheritdoc/>
+        public event Action<bool>? BenchLivenessChanged;
+
+        /// <inheritdoc/>
+        public event Action<bool>? PumpLivenessChanged;
+
         /// <inheritdoc/>
         public TPCANStatus CurrentStatus { get; private set; } = TPCANStatus.PCAN_ERROR_OK;
 
@@ -186,6 +202,18 @@ namespace HC_APTBS.Infrastructure.Pcan
             }
         }
 
+        /// <inheritdoc/>
+        public void RegisterBenchMessageIds(IReadOnlyCollection<uint> ids)
+        {
+            _benchMessageIds = new HashSet<uint>(ids);
+        }
+
+        /// <inheritdoc/>
+        public void RegisterPumpMessageIds(IReadOnlyCollection<uint> ids)
+        {
+            _pumpMessageIds = new HashSet<uint>(ids);
+        }
+
         // ── ICanService: transmit ─────────────────────────────────────────────────
 
         /// <inheritdoc/>
@@ -289,6 +317,9 @@ namespace HC_APTBS.Infrastructure.Pcan
                     EmitStatusChanged(status);
                 }
 
+                // Check liveness timeouts.
+                CheckLivenessTimeout();
+
                 // Configurable polling interval to avoid pegging the CPU.
                 // Typical value: 2–50 ms depending on operational phase.
                 Thread.Sleep(2);
@@ -336,6 +367,27 @@ namespace HC_APTBS.Infrastructure.Pcan
 
             if (!snapshot.TryGetValue(frame.ID, out var parameters)) return;
 
+            // Track liveness for bench and pump frame groups.
+            var now = DateTime.UtcNow;
+            if (_benchMessageIds.Contains(frame.ID))
+            {
+                _lastBenchFrameUtc = now;
+                if (!_benchAlive)
+                {
+                    _benchAlive = true;
+                    BenchLivenessChanged?.Invoke(true);
+                }
+            }
+            if (_pumpMessageIds.Contains(frame.ID))
+            {
+                _lastPumpFrameUtc = now;
+                if (!_pumpAlive)
+                {
+                    _pumpAlive = true;
+                    PumpLivenessChanged?.Invoke(true);
+                }
+            }
+
             byte[] data = frame.DATA;
 
             foreach (var param in parameters)
@@ -472,6 +524,27 @@ namespace HC_APTBS.Infrastructure.Pcan
             return raw;
         }
 
+        /// <summary>
+        /// Checks if bench or pump frame reception has timed out and fires
+        /// liveness events on transition from alive to dead.
+        /// </summary>
+        private void CheckLivenessTimeout()
+        {
+            var now = DateTime.UtcNow;
+
+            if (_benchAlive && (now - _lastBenchFrameUtc).TotalMilliseconds > LivenessTimeoutMs)
+            {
+                _benchAlive = false;
+                BenchLivenessChanged?.Invoke(false);
+            }
+
+            if (_pumpAlive && (now - _lastPumpFrameUtc).TotalMilliseconds > LivenessTimeoutMs)
+            {
+                _pumpAlive = false;
+                PumpLivenessChanged?.Invoke(false);
+            }
+        }
+
         // ── IIR low-pass filter ───────────────────────────────────────────────────
 
         /// <summary>

MainWindow.xaml

@@ -106,9 +106,15 @@
                  ══════════════════════════════════════════════════════════════ -->
             <Expander Header="Bench" IsExpanded="True" Margin="0,2,0,0">
                 <ScrollViewer VerticalScrollBarVisibility="Auto">
-                    <StackPanel Margin="5">
+                    <Grid Margin="5">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto"/> <!-- Row 0: connection status -->
+                            <RowDefinition Height="Auto"/> <!-- Row 1: CAN buttons -->
+                            <RowDefinition Height="Auto"/> <!-- Row 2: two-column info + controls -->
+                            <RowDefinition Height="Auto"/> <!-- Row 3: flowmeter charts -->
+                        </Grid.RowDefinitions>
 
-                        <!-- Connection status indicators -->
+                        <!-- ── Row 0: Connection status indicators ─────────────── -->
                         <Border BorderBrush="Black" BorderThickness="1" Margin="0,4,0,4">
                             <Grid Margin="4,4">
                                 <Grid.ColumnDefinitions>
@@ -116,6 +122,7 @@
                                     <ColumnDefinition/>
                                     <ColumnDefinition/>
                                     <ColumnDefinition/>
+                                    <ColumnDefinition/>
                                 </Grid.ColumnDefinitions>
                                 <TextBlock Text="Status:" VerticalAlignment="Center"
                                            FontSize="10" Margin="0,0,6,0"/>
@@ -161,11 +168,25 @@
                                     <TextBlock Text="Pump" HorizontalAlignment="Center"
                                                FontSize="10" Padding="2"/>
                                 </Border>
+
+                                <Border Grid.Column="4">
+                                    <Border.Style>
+                                        <Style TargetType="Border" BasedOn="{StaticResource ConnIndicator}">
+                                            <Style.Triggers>
+                                                <DataTrigger Binding="{Binding IsKLineConnected}" Value="True">
+                                                    <Setter Property="Background" Value="#26C200"/>
+                                                </DataTrigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </Border.Style>
+                                    <TextBlock Text="K-Line" HorizontalAlignment="Center"
+                                               FontSize="10" Padding="2"/>
+                                </Border>
                             </Grid>
                         </Border>
 
-                        <!-- CAN connect / disconnect -->
+                        <!-- ── Row 1: CAN connect / disconnect ─────────────────── -->
-                        <StackPanel Orientation="Horizontal" Margin="0,4">
+                        <StackPanel Grid.Row="1" Orientation="Horizontal" Margin="0,4">
                             <Button Content="Connect CAN" Width="110" Margin="0,0,6,0"
                                     Command="{Binding ConnectCanCommand}"/>
                             <Button Content="Disconnect CAN" Width="120"
@@ -173,24 +194,44 @@
                                     IsEnabled="{Binding IsCanConnected}"/>
                         </StackPanel>
 
-                        <!-- RPM display -->
+                        <!-- ── Row 2: Two-column layout (Info | Controls) ──────── -->
-                        <Border Style="{StaticResource LcdBlue}" Margin="0,4" Height="90" Padding="10,4">
+                        <Grid Grid.Row="2">
-                            <Grid>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="*"/>
+                                <ColumnDefinition Width="Auto"/>
+                            </Grid.ColumnDefinitions>
+
+                            <!-- ─── Column 0: Bench Information ─────────────────── -->
+                            <StackPanel>
+
+                                <!-- RPM display with target and voltage -->
+                                <Border Style="{StaticResource LcdBlue}" Margin="0,4" Padding="10,4">
+                                    <StackPanel>
+                                        <Grid Height="70">
                                             <Grid.ColumnDefinitions>
                                                 <ColumnDefinition/>
                                                 <ColumnDefinition Width="Auto"/>
                                             </Grid.ColumnDefinitions>
                                             <TextBlock Text="{Binding BenchRpm, StringFormat=F0}"
-                                           FontSize="70" FontWeight="UltraBold" Foreground="#EBEBFF"
+                                                       FontSize="60" FontWeight="UltraBold" Foreground="#EBEBFF"
                                                        HorizontalAlignment="Right" VerticalAlignment="Center"
                                                        FontFamily="Consolas"/>
                                             <StackPanel Grid.Column="1" VerticalAlignment="Center" Margin="6,0,0,0">
                                                 <TextBlock Text="rpm" FontSize="18" Foreground="#FFFFEB6E"/>
                                             </StackPanel>
                                         </Grid>
+                                        <StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
+                                            <TextBlock Text="Target:" Foreground="#EBEBFF" FontSize="11" Margin="0,0,4,0"/>
+                                            <TextBlock Text="{Binding BenchControl.TargetRpm, StringFormat=F0}"
+                                                       Foreground="#FFFFEB6E" FontSize="11" FontFamily="Consolas" Margin="0,0,8,0"/>
+                                            <TextBlock Text="V:" Foreground="#EBEBFF" FontSize="11" Margin="0,0,4,0"/>
+                                            <TextBlock Text="{Binding BenchControl.CommandVoltage, StringFormat=F3}"
+                                                       Foreground="#FFFFEB6E" FontSize="11" FontFamily="Consolas"/>
+                                        </StackPanel>
+                                    </StackPanel>
                                 </Border>
 
-                        <!-- Temperatures -->
+                                <!-- Temperatures and Pressure -->
                                 <Border Style="{StaticResource LcdBlue}" Margin="0,4" Padding="8,4">
                                     <Grid>
                                         <Grid.ColumnDefinitions>
@@ -267,16 +308,6 @@
                                     </Grid>
                                 </Border>
 
-                        <!-- Relay toggles -->
-                        <Border BorderBrush="#888" BorderThickness="1" Margin="0,4" Padding="6">
-                            <WrapPanel>
-                                <Button Content="Electronic"     Style="{StaticResource RelayButton}" Command="{Binding ToggleElectronicCommand}"/>
-                                <Button Content="Oil Pump"       Style="{StaticResource RelayButton}" Command="{Binding ToggleOilPumpCommand}"/>
-                                <Button Content="Deposit Cooler" Style="{StaticResource RelayButton}" Command="{Binding ToggleDepositCoolerCommand}"/>
-                                <Button Content="Deposit Heater" Style="{StaticResource RelayButton}" Command="{Binding ToggleDepositHeaterCommand}"/>
-                            </WrapPanel>
-                        </Border>
-
                                 <!-- PSG encoder value -->
                                 <StackPanel Orientation="Horizontal" Margin="0,4">
                                     <TextBlock Text="PSG Encoder:" VerticalAlignment="Center" FontSize="12" Margin="0,0,8,0"/>
@@ -285,6 +316,121 @@
                                 </StackPanel>
 
                             </StackPanel>
+
+                            <!-- ─── Column 1: User Commands ─────────────────────── -->
+                            <StackPanel Grid.Column="1" Width="160" Margin="6,0,0,0">
+
+                                <!-- Direction toggle -->
+                                <TextBlock Text="Direction" FontSize="10" Foreground="DimGray" Margin="0,4,0,2"/>
+                                <ToggleButton IsChecked="{Binding BenchControl.IsDirectionRight}"
+                                              Height="32" FontSize="12" FontWeight="SemiBold">
+                                    <ToggleButton.Style>
+                                        <Style TargetType="ToggleButton">
+                                            <Setter Property="Content" Value="LEFT"/>
+                                            <Style.Triggers>
+                                                <Trigger Property="IsChecked" Value="True">
+                                                    <Setter Property="Content" Value="RIGHT"/>
+                                                </Trigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </ToggleButton.Style>
+                                </ToggleButton>
+
+                                <!-- Start / Stop bench -->
+                                <TextBlock Text="Bench Motor" FontSize="10" Foreground="DimGray" Margin="0,8,0,2"/>
+                                <Button Content="START" FontSize="13" FontWeight="Bold" Height="36"
+                                        Foreground="DarkGreen" Margin="0,0,0,4"
+                                        Command="{Binding BenchControl.OpenRpmPopupCommand}"/>
+                                <Popup StaysOpen="False" Placement="Left"
+                                       IsOpen="{Binding BenchControl.IsRpmPopupOpen, Mode=TwoWay}">
+                                    <Border Background="White" BorderBrush="Black" BorderThickness="1" Padding="8">
+                                        <StackPanel Width="200">
+                                            <TextBlock Text="Set RPM:" FontSize="12" Margin="0,0,0,4"/>
+                                            <TextBox Text="{Binding BenchControl.RpmInputText, UpdateSourceTrigger=PropertyChanged}"
+                                                     FontSize="16" FontFamily="Consolas" Height="28" Margin="0,0,0,6"/>
+                                            <Button Content="GO" FontSize="13" FontWeight="Bold" Height="30"
+                                                    Foreground="DarkGreen" Margin="0,0,0,6"
+                                                    Command="{Binding BenchControl.StartBenchCommand}"/>
+                                            <UniformGrid Columns="5">
+                                                <Button Content="100"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="100"/>
+                                                <Button Content="200"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="200"/>
+                                                <Button Content="300"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="300"/>
+                                                <Button Content="400"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="400"/>
+                                                <Button Content="500"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="500"/>
+                                                <Button Content="600"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="600"/>
+                                                <Button Content="700"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="700"/>
+                                                <Button Content="800"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="800"/>
+                                                <Button Content="900"  Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="900"/>
+                                                <Button Content="1000" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="1000"/>
+                                                <Button Content="1200" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="1200"/>
+                                                <Button Content="1400" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="1400"/>
+                                                <Button Content="1600" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="1600"/>
+                                                <Button Content="1800" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="1800"/>
+                                                <Button Content="2000" Style="{StaticResource RelayButton}" Command="{Binding BenchControl.SetQuickRpmCommand}" CommandParameter="2000"/>
+                                            </UniformGrid>
+                                        </StackPanel>
+                                    </Border>
+                                </Popup>
+                                <Button Content="STOP" FontSize="13" FontWeight="Bold" Height="36"
+                                        Foreground="DarkRed"
+                                        Command="{Binding BenchControl.StopBenchCommand}"/>
+
+                                <!-- Oil pump toggle -->
+                                <TextBlock Text="Oil Pump" FontSize="10" Foreground="DimGray" Margin="0,8,0,2"/>
+                                <ToggleButton IsChecked="{Binding BenchControl.IsOilPumpOn}"
+                                              Height="32" FontSize="12" FontWeight="SemiBold">
+                                    <ToggleButton.Style>
+                                        <Style TargetType="ToggleButton">
+                                            <Setter Property="Content" Value="OIL OFF"/>
+                                            <Setter Property="Background" Value="LightGray"/>
+                                            <Style.Triggers>
+                                                <Trigger Property="IsChecked" Value="True">
+                                                    <Setter Property="Content" Value="OIL ON"/>
+                                                    <Setter Property="Background" Value="#80FF80"/>
+                                                </Trigger>
+                                            </Style.Triggers>
+                                        </Style>
+                                    </ToggleButton.Style>
+                                </ToggleButton>
+
+                                <!-- Turn counter -->
+                                <TextBlock Text="Counter" FontSize="10" Foreground="DimGray" Margin="0,8,0,2"/>
+                                <ToggleButton Content="Counter"
+                                              IsChecked="{Binding BenchControl.IsCounterPopupOpen}"
+                                              Height="28" FontSize="11"/>
+                                <Popup StaysOpen="False" Placement="Left"
+                                       IsOpen="{Binding BenchControl.IsCounterPopupOpen, Mode=TwoWay}">
+                                    <Border Background="White" BorderBrush="Black" BorderThickness="1" Padding="8">
+                                        <StackPanel Width="160">
+                                            <TextBlock Text="Turns:" FontSize="12" Margin="0,0,0,4"/>
+                                            <TextBox Text="{Binding BenchControl.CounterInputText, UpdateSourceTrigger=PropertyChanged}"
+                                                     FontSize="16" FontFamily="Consolas" Height="28" Margin="0,0,0,4"/>
+                                            <Button Content="Send" FontSize="12" Height="28"
+                                                    Command="{Binding BenchControl.SendCounterCommand}"/>
+                                        </StackPanel>
+                                    </Border>
+                                </Popup>
+                                <TextBlock FontSize="14" FontFamily="Consolas" Margin="0,2"
+                                           Text="{Binding BenchControl.BenchCounterValue, StringFormat=00000000}"/>
+
+                                <!-- Relay toggles -->
+                                <TextBlock Text="Relays" FontSize="10" Foreground="DimGray" Margin="0,8,0,2"/>
+                                <StackPanel>
+                                    <Button Content="Electronic"     Style="{StaticResource RelayButton}" Command="{Binding ToggleElectronicCommand}"/>
+                                    <Button Content="Deposit Cooler" Style="{StaticResource RelayButton}" Command="{Binding ToggleDepositCoolerCommand}"/>
+                                    <Button Content="Deposit Heater" Style="{StaticResource RelayButton}" Command="{Binding ToggleDepositHeaterCommand}"/>
+                                </StackPanel>
+
+                            </StackPanel>
+                        </Grid>
+
+                        <!-- ── Row 3: Flowmeter charts ─────────────────────────── -->
+                        <StackPanel Grid.Row="3" Margin="0,4">
+                            <uc:FlowmeterChartView DataContext="{Binding FlowmeterChart.Delivery}"/>
+                            <uc:FlowmeterChartView DataContext="{Binding FlowmeterChart.Over}" Margin="0,4,0,0"/>
+                        </StackPanel>
+
+                    </Grid>
                 </ScrollViewer>
             </Expander>
 

Services/IBenchService.cs

@@ -113,9 +113,33 @@ namespace HC_APTBS.Services
         /// <summary>
         /// Commands the bench motor to the specified RPM by computing and applying
         /// the corresponding voltage from the RPM-to-voltage lookup table.
+        /// Used by automated test execution for direct voltage jumps.
         /// </summary>
         void SetRpm(double rpm);
 
+        /// <summary>
+        /// Starts the PID-based RPM ramp controller to smoothly reach the target RPM.
+        /// Sends an initial voltage jump from the RPM-voltage lookup table, then hands
+        /// control to the PID loop after an approach delay.
+        /// Used for interactive (manual) bench control.
+        /// </summary>
+        /// <param name="targetRpm">Desired RPM setpoint.</param>
+        void StartRpmPid(double targetRpm);
+
+        /// <summary>
+        /// Stops the PID RPM controller, sends 0 V to the motor.
+        /// </summary>
+        void StopRpmPid();
+
+        /// <summary>The last RPM target that was commanded via <see cref="SetRpm"/> or <see cref="StartRpmPid"/>.</summary>
+        double LastTargetRpm { get; }
+
+        /// <summary>The last voltage value sent to the motor CAN parameter.</summary>
+        double LastCommandVoltage { get; }
+
+        /// <summary>Raised after a voltage command is sent to the motor (from <see cref="SetRpm"/> or the PID loop).</summary>
+        event Action? RpmCommandSent;
+
         // ── Temperature control ───────────────────────────────────────────────────
 
         /// <summary>
@@ -136,6 +160,18 @@ namespace HC_APTBS.Services
         /// <param name="state">True = ON, false = OFF.</param>
         void SetRelay(string relayName, bool state);
 
+        /// <summary>
+        /// Transmits the current relay bitmask once. Called on CAN connect so the
+        /// bench controller receives the initial relay state immediately.
+        /// </summary>
+        void SendInitialRelayState();
+
+        /// <summary>Starts the periodic relay bitmask sender (~21 ms cycle).</summary>
+        void StartRelaySender();
+
+        /// <summary>Stops the periodic relay bitmask sender.</summary>
+        void StopRelaySender();
+
         // ── Test execution ────────────────────────────────────────────────────────
 
         /// <summary>

Services/ICanService.cs

@@ -21,6 +21,18 @@ namespace HC_APTBS.Services
         /// </summary>
         event Action<string, bool>? StatusChanged;
 
+        /// <summary>
+        /// Raised when the bench controller starts or stops sending CAN frames.
+        /// <c>alive</c> is true when frames are being received, false after a timeout.
+        /// </summary>
+        event Action<bool>? BenchLivenessChanged;
+
+        /// <summary>
+        /// Raised when the pump ECU starts or stops sending CAN frames.
+        /// <c>alive</c> is true when frames are being received, false after a timeout.
+        /// </summary>
+        event Action<bool>? PumpLivenessChanged;
+
         // ── Properties ────────────────────────────────────────────────────────────
 
         /// <summary>Most recent PCAN status code.</summary>
@@ -59,6 +71,18 @@ namespace HC_APTBS.Services
         /// <summary>Removes entries whose keys match the supplied dictionary.</summary>
         void RemoveParameters(Dictionary<uint, List<CanBusParameter>> parameters);
 
+        /// <summary>
+        /// Registers CAN message IDs that belong to the bench controller.
+        /// Frames with these IDs drive <see cref="BenchLivenessChanged"/>.
+        /// </summary>
+        void RegisterBenchMessageIds(IReadOnlyCollection<uint> ids);
+
+        /// <summary>
+        /// Registers CAN message IDs that belong to the pump ECU.
+        /// Frames with these IDs drive <see cref="PumpLivenessChanged"/>.
+        /// </summary>
+        void RegisterPumpMessageIds(IReadOnlyCollection<uint> ids);
+
         // ── Transmit ──────────────────────────────────────────────────────────────
 
         /// <summary>

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.
+            SendRpmVoltage(voltage);
-            SetParameter(BenchParameterNames.Rpm, voltage);
-            SendParameters(_config.Bench.ParametersByName.TryGetValue(
-                BenchParameterNames.Rpm, out var rpmParam) ? rpmParam.MessageId : 0x0A);
 
+            _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"" />
+  <RPM id=""10"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
-  <Counter id=""B"" 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=""37"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
+  <BaudRate id=""55"" byteh=""0"" bytel=""0"" filter=""1"" disableparams=""true"" send=""true"" />
-  <BenchRPM id=""D"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" />
+  <BenchRPM id=""13"" byteh=""1"" bytel=""0"" filter=""1"" disableparams=""true"" />
-  <BenchCounter id=""D"" byteh=""3"" bytel=""2"" filter=""1"" disableparams=""true"" />
+  <BenchCounter id=""13"" 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"" />
+  <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=""E"" byteh=""3"" bytel=""2"" 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=""E"" byteh=""5"" bytel=""4"" 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=""E"" byteh=""7"" bytel=""6"" 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"" />
+  <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=""32"" byteh=""7"" bytel=""7"" filter=""1"" disableparams=""true"" />
+  <PSGEncoderWorking id=""50"" 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"" />
+  <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=""32"" byteh=""6"" bytel=""6"" 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=""32"" byteh=""0"" bytel=""1"" 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=""33"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" send=""true"" />
+  <EncoderResolution id=""51"" byteh=""6"" bytel=""7"" filter=""1"" disableparams=""true"" send=""true"" />
-  <ElectronicMsg id=""33"" byteh=""0"" bytel=""0"" 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"" />
+  <Pressure id=""13"" byteh=""4"" bytel=""5"" filter=""1"" disableparams=""true"" />
-  <AnalogicSensor2 id=""D"" byteh=""6"" bytel=""7"" 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=""Electronic"" id=""15"" bit=""0"" />
-    <Rele name=""OilPump"" id=""F"" bit=""4"" />
+    <Rele name=""OilPump"" id=""15"" bit=""4"" />
-    <Rele name=""DepositCooler"" id=""F"" bit=""8"" />
+    <Rele name=""DepositCooler"" id=""15"" bit=""8"" />
-    <Rele name=""DepositHeater"" id=""F"" bit=""12"" />
+    <Rele name=""DepositHeater"" id=""15"" bit=""12"" />
-    <Rele name=""Reserve"" id=""F"" bit=""16"" />
+    <Rele name=""Reserve"" id=""15"" bit=""16"" />
-    <Rele name=""Counter"" id=""F"" bit=""20"" />
+    <Rele name=""Counter"" id=""15"" bit=""20"" />
-    <Rele name=""Direction"" id=""F"" bit=""24"" />
+    <Rele name=""Direction"" id=""15"" bit=""24"" />
-    <Rele name=""TinCooler"" id=""F"" bit=""28"" />
+    <Rele name=""TinCooler"" id=""15"" bit=""28"" />
-    <Rele name=""Pulse4Signal"" id=""F"" bit=""32"" />
+    <Rele name=""Pulse4Signal"" id=""15"" bit=""32"" />
-    <Rele name=""Flasher"" id=""F"" bit=""44"" />
+    <Rele name=""Flasher"" id=""15"" bit=""44"" />
   </Reles>
 </Bench>";
 

ViewModels/BenchControlViewModel.cs

@@ -0,0 +1,193 @@
+using System;
+using System.Windows;
+using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+using HC_APTBS.Models;
+using HC_APTBS.Services;
+
+namespace HC_APTBS.ViewModels
+{
+    /// <summary>
+    /// ViewModel for manual bench controls: direction toggle, RPM start/stop with
+    /// PID ramp, oil pump toggle, and turn downcounter.
+    /// Created by <see cref="MainViewModel"/> as a child ViewModel.
+    /// </summary>
+    public sealed partial class BenchControlViewModel : ObservableObject
+    {
+        private readonly IBenchService _bench;
+        private readonly IConfigurationService _config;
+
+        // ── Direction ─────────────────────────────────────────────────────────────
+
+        /// <summary>True when the bench rotates clockwise (right). False for counter-clockwise (left).</summary>
+        [ObservableProperty] private bool _isDirectionRight = true;
+
+        // ── Oil pump ──────────────────────────────────────────────────────────────
+
+        /// <summary>True when the oil pump relay is energised.</summary>
+        [ObservableProperty] private bool _isOilPumpOn;
+
+        // ── RPM control ───────────────────────────────────────────────────────────
+
+        /// <summary>True when the bench motor is running (last RPM command > 0).</summary>
+        [ObservableProperty] private bool _isBenchRunning;
+
+        /// <summary>Controls the RPM quick-select popup visibility.</summary>
+        [ObservableProperty] private bool _isRpmPopupOpen;
+
+        /// <summary>Text in the RPM input field.</summary>
+        [ObservableProperty] private string _rpmInputText = string.Empty;
+
+        /// <summary>Last RPM setpoint commanded via PID or direct set.</summary>
+        [ObservableProperty] private double _targetRpm;
+
+        /// <summary>Last voltage sent to the motor CAN parameter.</summary>
+        [ObservableProperty] private double _commandVoltage;
+
+        // ── Counter ───────────────────────────────────────────────────────────────
+
+        /// <summary>Controls the counter popup visibility.</summary>
+        [ObservableProperty] private bool _isCounterPopupOpen;
+
+        /// <summary>Text in the counter input field.</summary>
+        [ObservableProperty] private string _counterInputText = string.Empty;
+
+        /// <summary>Live counter count-down value read from CAN.</summary>
+        [ObservableProperty] private double _benchCounterValue;
+
+        // ── Constructor ───────────────────────────────────────────────────────────
+
+        /// <summary>
+        /// Creates the bench control ViewModel and subscribes to service events.
+        /// </summary>
+        /// <param name="benchService">Bench service for RPM, relay, and parameter operations.</param>
+        /// <param name="configService">Configuration service for bench parameters.</param>
+        public BenchControlViewModel(IBenchService benchService, IConfigurationService configService)
+        {
+            _bench  = benchService;
+            _config = configService;
+
+            _bench.RpmCommandSent += () =>
+            {
+                TargetRpm      = _bench.LastTargetRpm;
+                CommandVoltage = _bench.LastCommandVoltage;
+            };
+        }
+
+        // ── Direction toggle ──────────────────────────────────────────────────────
+
+        partial void OnIsDirectionRightChanged(bool value)
+        {
+            _bench.SetRelay(RelayNames.DirectionRight, value);
+            _bench.SetRelay(RelayNames.DirectionLeft, !value);
+        }
+
+        // ── Oil pump toggle ───────────────────────────────────────────────────────
+
+        partial void OnIsOilPumpOnChanged(bool value)
+        {
+            _bench.SetRelay(RelayNames.OilPump, value);
+        }
+
+        // ── RPM commands ──────────────────────────────────────────────────────────
+
+        /// <summary>Opens the RPM quick-select popup.</summary>
+        [RelayCommand]
+        private void OpenRpmPopup()
+        {
+            IsRpmPopupOpen = true;
+        }
+
+        /// <summary>
+        /// Starts the bench motor at the RPM specified in <see cref="RpmInputText"/>.
+        /// Warns the operator if the oil pump is off.
+        /// </summary>
+        [RelayCommand]
+        private void StartBench()
+        {
+            if (!int.TryParse(RpmInputText, out int rpm) || rpm <= 0) return;
+
+            // Safety warning if oil pump is not running.
+            if (!IsOilPumpOn)
+            {
+                var result = MessageBox.Show(
+                    "Oil pump is OFF. Start bench without oil circulation?",
+                    "Oil Pump Warning",
+                    MessageBoxButton.YesNo,
+                    MessageBoxImage.Warning);
+                if (result != MessageBoxResult.Yes) return;
+            }
+
+            // Ensure direction relays are set.
+            _bench.SetRelay(RelayNames.DirectionRight, IsDirectionRight);
+            _bench.SetRelay(RelayNames.DirectionLeft, !IsDirectionRight);
+
+            _bench.StartRpmPid(rpm);
+            IsBenchRunning = true;
+            IsRpmPopupOpen = false;
+        }
+
+        /// <summary>
+        /// Stops the bench motor via PID stop and clears direction relays.
+        /// </summary>
+        [RelayCommand]
+        private void StopBench()
+        {
+            _bench.StopRpmPid();
+            _bench.SetRelay(RelayNames.DirectionLeft, false);
+            _bench.SetRelay(RelayNames.DirectionRight, false);
+            IsBenchRunning = false;
+        }
+
+        /// <summary>
+        /// Quick-select button handler: sets the RPM input and starts the bench.
+        /// </summary>
+        /// <param name="rpmString">RPM value as a string from the button content.</param>
+        [RelayCommand]
+        private void SetQuickRpm(string rpmString)
+        {
+            RpmInputText = rpmString;
+            StartBench();
+        }
+
+        // ── Counter commands ──────────────────────────────────────────────────────
+
+        /// <summary>Toggles the counter popup visibility.</summary>
+        [RelayCommand]
+        private void ToggleCounterPopup()
+        {
+            IsCounterPopupOpen = !IsCounterPopupOpen;
+        }
+
+        /// <summary>
+        /// Sends the counter value over CAN and activates the counter relay.
+        /// </summary>
+        [RelayCommand]
+        private void SendCounter()
+        {
+            if (!int.TryParse(CounterInputText, out int count) || count <= 0) return;
+
+            // Set the counter parameter value and transmit.
+            _bench.SetParameter(BenchParameterNames.Counter, count);
+            if (_config.Bench.ParametersByName.TryGetValue(
+                    BenchParameterNames.Counter, out var counterParam))
+            {
+                _bench.SendParameters(counterParam.MessageId);
+            }
+
+            // Activate the counter relay.
+            _bench.SetRelay(RelayNames.Counter, true);
+        }
+
+        // ── Refresh (called from MainViewModel timer tick) ────────────────────────
+
+        /// <summary>
+        /// Updates live counter readback from CAN.
+        /// Called on the UI thread from <see cref="MainViewModel.OnRefreshTick"/>.
+        /// </summary>
+        public void RefreshFromTick()
+        {
+            BenchCounterValue = _bench.ReadBenchParameter(BenchParameterNames.BenchCounter);
+        }
+    }
+}

ViewModels/FlowmeterChartViewModel.cs

@@ -0,0 +1,51 @@
+using HC_APTBS.Models;
+using SkiaSharp;
+
+namespace HC_APTBS.ViewModels
+{
+    /// <summary>
+    /// Container ViewModel holding two real-time flowmeter charts:
+    /// one for Q-Delivery and one for Q-Over.
+    /// </summary>
+    public sealed class FlowmeterChartViewModel
+    {
+        /// <summary>Chart for the Q-Delivery flowmeter (amber line).</summary>
+        public SingleFlowChartViewModel Delivery { get; }
+            = new("Q-Delivery", new SKColor(0xFF, 0xAE, 0x00));
+
+        /// <summary>Chart for the Q-Over flowmeter (blue line).</summary>
+        public SingleFlowChartViewModel Over { get; }
+            = new("Q-Over", new SKColor(0x40, 0x80, 0xFF));
+
+        /// <summary>
+        /// Appends a sample pair to both charts.
+        /// Must be called on the UI thread.
+        /// </summary>
+        public void AddSamples(double qDelivery, double qOver)
+        {
+            Delivery.AddValue(qDelivery);
+            Over.AddValue(qOver);
+        }
+
+        /// <summary>
+        /// Sets the tolerance band on the appropriate chart.
+        /// </summary>
+        /// <param name="paramName">Parameter name (use <see cref="BenchParameterNames"/>).</param>
+        /// <param name="target">Center value.</param>
+        /// <param name="tolerance">Half-width.</param>
+        public void SetTolerance(string paramName, double target, double tolerance)
+        {
+            if (paramName == BenchParameterNames.QDelivery)
+                Delivery.SetTolerance(target, tolerance);
+            else if (paramName == BenchParameterNames.QOver)
+                Over.SetTolerance(target, tolerance);
+        }
+
+        /// <summary>Clears both charts.</summary>
+        public void Clear()
+        {
+            Delivery.Clear();
+            Over.Clear();
+        }
+    }
+}

ViewModels/MainViewModel.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
+using System.Linq;
 using System.Threading;
 using System.Threading.Tasks;
 using System.Windows;
@@ -59,6 +60,12 @@ namespace HC_APTBS.ViewModels
         /// <summary>ViewModel for the manual pump control sliders (FBKW, ME, PreIn).</summary>
         public PumpControlViewModel PumpControl { get; private set; } = null!;
 
+        /// <summary>ViewModel for manual bench controls (direction, RPM, oil pump, counter).</summary>
+        public BenchControlViewModel BenchControl { get; }
+
+        /// <summary>ViewModel for the two flowmeter real-time charts (Q-Delivery, Q-Over).</summary>
+        public FlowmeterChartViewModel FlowmeterChart { get; } = new();
+
         /// <summary>ViewModel for the first pump status display (Status word).</summary>
         public StatusDisplayViewModel StatusDisplay1 { get; } = new();
 
@@ -90,6 +97,7 @@ namespace HC_APTBS.ViewModels
             PumpIdentification = new PumpIdentificationViewModel(kwpService, configService, logger);
             DfiViewModel       = new DfiManageViewModel(kwpService, configService);
             PumpControl        = new PumpControlViewModel(benchService);
+            BenchControl       = new BenchControlViewModel(benchService, configService);
 
             // React to pump changes from the identification child VM.
             PumpIdentification.PumpChanged += OnPumpChanged;
@@ -106,6 +114,12 @@ namespace HC_APTBS.ViewModels
                     IsCanConnected = ok;
                 });
 
+            // Bench/pump liveness → connection indicators
+            _can.BenchLivenessChanged += alive =>
+                App.Current.Dispatcher.Invoke(() => IsBenchConnected = alive);
+            _can.PumpLivenessChanged += alive =>
+                App.Current.Dispatcher.Invoke(() => IsPumpConnected = alive);
+
             // Bench service events
             _bench.TestStarted    += OnTestStarted;
             _bench.TestFinished   += OnTestFinished;
@@ -123,8 +137,12 @@ namespace HC_APTBS.ViewModels
                 () => ShowPsgSyncError());
             _bench.PhaseCompleted += (phase, passed) => App.Current.Dispatcher.Invoke(
                 () => TestPanel.SetPhaseResult(phase, passed));
-            _bench.ToleranceUpdated += (paramName, value, _) => App.Current.Dispatcher.Invoke(
+            _bench.ToleranceUpdated += (paramName, value, tolerance) => App.Current.Dispatcher.Invoke(
-                () => TestPanel.UpdateLiveIndicator(paramName, value));
+                () =>
+                {
+                    TestPanel.UpdateLiveIndicator(paramName, value);
+                    FlowmeterChart.SetTolerance(paramName, value, tolerance);
+                });
 
             // Unlock service status → verbose display
             _unlock.StatusChanged += msg => App.Current.Dispatcher.Invoke(
@@ -156,6 +174,7 @@ namespace HC_APTBS.ViewModels
 
             // Register the pump's CAN parameters with the bus adapter.
             _can.AddParameters(pump.ParametersById);
+            _can.RegisterPumpMessageIds(GetReceiveMessageIds(pump.ParametersById));
 
             // Configure pump control sliders.
             PumpControl.IsPreInVisible = pump.HasPreInjection;
@@ -177,8 +196,8 @@ namespace HC_APTBS.ViewModels
             }
 
             // Start periodic senders for the new pump.
-            _bench.StartElectronicMsgSender();
             _bench.StartMemoryRequestSender();
+            _bench.StartPumpSender();
 
             // Notify commands that depend on pump availability.
             StartTestCommand.NotifyCanExecuteChanged();
@@ -198,9 +217,18 @@ namespace HC_APTBS.ViewModels
         private void ConnectCan()
         {
             _can.SetParameters(_config.Bench.ParametersById);
+            _can.RegisterBenchMessageIds(GetReceiveMessageIds(_config.Bench.ParametersById));
             bool ok = _can.Connect();
             CanStatusText = ok ? "Connected" : "Connection failed";
             IsCanConnected = ok;
+
+            if (ok)
+            {
+                // ElectronicMsg keepalive (0x51) and relay bitmask (0x15) must
+                // begin transmitting as soon as the CAN bus is up.
+                _bench.StartElectronicMsgSender();
+                _bench.StartRelaySender();
+            }
         }
 
         /// <summary>Disconnects from the CAN bus adapter.</summary>
@@ -208,6 +236,7 @@ namespace HC_APTBS.ViewModels
         private void DisconnectCan()
         {
             _bench.StopElectronicMsgSender();
+            _bench.StopRelaySender();
             _bench.StopMemoryRequestSender();
             _bench.StopPumpSender();
             _can.Disconnect();
@@ -269,6 +298,9 @@ namespace HC_APTBS.ViewModels
         /// <summary>True when oil circulation has been detected.</summary>
         [ObservableProperty] private bool _isOilCirculating;
 
+        /// <summary>True when a K-Line session is active.</summary>
+        [ObservableProperty] private bool _isKLineConnected;
+
         // ── Test status ───────────────────────────────────────────────────────────
 
         /// <summary>True while a test sequence is running.</summary>
@@ -407,7 +439,14 @@ namespace HC_APTBS.ViewModels
 
             // Connect CAN bus.
             _can.SetParameters(_config.Bench.ParametersById);
-            _can.Connect();
+            _can.RegisterBenchMessageIds(GetReceiveMessageIds(_config.Bench.ParametersById));
+            bool canOk = _can.Connect();
+
+            if (canOk)
+            {
+                _bench.StartElectronicMsgSender();
+                _bench.StartRelaySender();
+            }
 
             // Start the UI refresh timer.
             StartRefreshTimer();
@@ -442,6 +481,10 @@ namespace HC_APTBS.ViewModels
             Pressure        = _bench.ReadBenchParameter(BenchParameterNames.Pressure);
             PsgEncoderValue = _bench.ReadBenchParameter(BenchParameterNames.PsgEncoderValue);
 
+            // Feed flowmeter charts and refresh bench controls.
+            FlowmeterChart.AddSamples(QDelivery, QOver);
+            BenchControl.RefreshFromTick();
+
             if (CurrentPump != null)
             {
                 PumpRpm  = _bench.ReadPumpParameter(PumpParameterNames.Rpm);
@@ -520,5 +563,24 @@ namespace HC_APTBS.ViewModels
             => MessageBox.Show(
                 "PSG sync pulse not detected. Check encoder connection.",
                 "PSG Error", MessageBoxButton.OK, MessageBoxImage.Warning);
+
+        // ── Helpers ───────────────────────────────────────────────────────────────
+
+        /// <summary>
+        /// Returns only the message IDs that contain at least one receive parameter.
+        /// Transmit-only IDs (RPM command, ElectronicMsg, etc.) are excluded because
+        /// they are frames we send, not frames the remote device sends to us.
+        /// </summary>
+        private static HashSet<uint> GetReceiveMessageIds(
+            Dictionary<uint, List<CanBusParameter>> parametersById)
+        {
+            var ids = new HashSet<uint>();
+            foreach (var kv in parametersById)
+            {
+                if (kv.Value.Any(p => p.IsReceive))
+                    ids.Add(kv.Key);
+            }
+            return ids;
+        }
     }
 }

ViewModels/SingleFlowChartViewModel.cs

@@ -0,0 +1,122 @@
+using System;
+using System.Collections.ObjectModel;
+using CommunityToolkit.Mvvm.ComponentModel;
+using LiveChartsCore;
+using LiveChartsCore.Defaults;
+using LiveChartsCore.SkiaSharpView;
+using LiveChartsCore.SkiaSharpView.Painting;
+using SkiaSharp;
+
+namespace HC_APTBS.ViewModels
+{
+    /// <summary>
+    /// Reusable ViewModel for a single real-time scrolling line chart.
+    /// Backed by LiveChartsCore with a fixed-width sample window.
+    /// </summary>
+    public sealed partial class SingleFlowChartViewModel : ObservableObject
+    {
+        private const int DefaultMaxSamples = 200;
+
+        private readonly ObservableCollection<double> _values = new();
+        private readonly int _maxSamples;
+
+        /// <summary>Chart title label.</summary>
+        [ObservableProperty] private string _title = string.Empty;
+
+        /// <summary>Series array bound to the CartesianChart.</summary>
+        public ISeries[] Series { get; }
+
+        /// <summary>X axes for the chart (auto-scrolling, no labels).</summary>
+        public Axis[] XAxes { get; }
+
+        /// <summary>Y axes for the chart.</summary>
+        public Axis[] YAxes { get; }
+
+        /// <summary>
+        /// Tolerance band sections overlaid on the chart.
+        /// Updated when <see cref="SetTolerance"/> is called.
+        /// </summary>
+        [ObservableProperty] private RectangularSection[] _sections = Array.Empty<RectangularSection>();
+
+        /// <summary>
+        /// Creates a new chart ViewModel.
+        /// </summary>
+        /// <param name="title">Display title for the chart.</param>
+        /// <param name="lineColor">SKColor for the line series.</param>
+        /// <param name="maxSamples">Maximum number of samples before the oldest is dropped.</param>
+        public SingleFlowChartViewModel(string title, SKColor lineColor, int maxSamples = DefaultMaxSamples)
+        {
+            _title = title;
+            _maxSamples = maxSamples;
+
+            Series = new ISeries[]
+            {
+                new LineSeries<double>
+                {
+                    Values = _values,
+                    Fill = null,
+                    GeometrySize = 0,
+                    Stroke = new SolidColorPaint(lineColor, 2),
+                    LineSmoothness = 0,
+                    AnimationsSpeed = TimeSpan.Zero
+                }
+            };
+
+            XAxes = new Axis[]
+            {
+                new Axis
+                {
+                    IsVisible = false,
+                    AnimationsSpeed = TimeSpan.Zero
+                }
+            };
+
+            YAxes = new Axis[]
+            {
+                new Axis
+                {
+                    AnimationsSpeed = TimeSpan.Zero,
+                    MinLimit = 0
+                }
+            };
+        }
+
+        /// <summary>
+        /// Appends a value to the chart. Drops the oldest value when the window is full.
+        /// Must be called on the UI thread.
+        /// </summary>
+        public void AddValue(double value)
+        {
+            _values.Add(value);
+            if (_values.Count > _maxSamples)
+                _values.RemoveAt(0);
+        }
+
+        /// <summary>
+        /// Sets the tolerance band (displayed as a shaded region on the chart).
+        /// </summary>
+        /// <param name="target">Center value of the tolerance band.</param>
+        /// <param name="tolerance">Half-width of the tolerance band.</param>
+        public void SetTolerance(double target, double tolerance)
+        {
+            Sections = new[]
+            {
+                new RectangularSection
+                {
+                    Yi = target - tolerance,
+                    Yj = target + tolerance,
+                    Fill = new SolidColorPaint(SKColors.LimeGreen.WithAlpha(40))
+                }
+            };
+        }
+
+        /// <summary>
+        /// Clears all sample data and tolerance bands.
+        /// </summary>
+        public void Clear()
+        {
+            _values.Clear();
+            Sections = Array.Empty<RectangularSection>();
+        }
+    }
+}

Views/UserControls/FlowmeterChartView.xaml

@@ -0,0 +1,23 @@
+<UserControl x:Class="HC_APTBS.Views.UserControls.FlowmeterChartView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:lvc="clr-namespace:LiveChartsCore.SkiaSharpView.WPF;assembly=LiveChartsCore.SkiaSharpView.WPF">
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="Auto"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+
+        <TextBlock Text="{Binding Title}" FontSize="11" FontWeight="SemiBold"
+                   Foreground="DimGray" Margin="4,0"/>
+
+        <lvc:CartesianChart Grid.Row="1" Height="120"
+                            Series="{Binding Series}"
+                            XAxes="{Binding XAxes}"
+                            YAxes="{Binding YAxes}"
+                            Sections="{Binding Sections}"
+                            TooltipPosition="Hidden"
+                            AnimationsSpeed="00:00:00"/>
+    </Grid>
+</UserControl>

Views/UserControls/FlowmeterChartView.xaml.cs

@@ -0,0 +1,16 @@
+using System.Windows.Controls;
+
+namespace HC_APTBS.Views.UserControls
+{
+    /// <summary>
+    /// UserControl hosting a single real-time flowmeter chart.
+    /// DataContext is expected to be a <see cref="HC_APTBS.ViewModels.SingleFlowChartViewModel"/>.
+    /// </summary>
+    public partial class FlowmeterChartView : UserControl
+    {
+        public FlowmeterChartView()
+        {
+            InitializeComponent();
+        }
+    }
+}