@startuml Comms_Overview

title Leahi Real-time CDT — Signal/Slot Wiring Overview

participant "Can::CanInterface" as CANI
participant "LeahiRtController" as LRC
participant "Can::MessageDispatcher" as MDISP
participant "AgentInterface" as AI
participant "Unix Domain\nSocket" as UDS
participant "AgentSimController" as ASC

== CAN frame → assembled message ==

CANI -> LRC : didFrameReceive(QCanBusFrame)\n→ onFrameReceive()
LRC -> MDISP : onFrameReceive(canId, payload)
MDISP -> LRC : didActionReceive(Can::Message)\n→ onMessageReceive()

== Message handling & forwarding ==

LRC -> LRC : look up policy in _msgHandling\n(drop / send_always / send_delta)
LRC -> AI : send(topic, sequence, protobuf payload)
AI -> UDS : write(AgentMessage frame)

== AgentSim receives ==

UDS -> ASC : readyRead → onReadyRead()
ASC -> ASC : feed() → didMessageReceive()

== Connection events ==

AI -> LRC : didConnect()\n→ (future)
AI -> LRC : didDisconnect()\n→ onAgentDisconnect()\n  resets _msgCache received flags
AI -> LRC : didMessageReceive()\n→ (future inbound)

@enduml