Index: LeahiRt/LeahiRtController.cpp
===================================================================
diff -u -r401d8ad0e5c070f9c6ecb41ed3ba25ba3d1c69a0 -r808df723cf9d1b0097796815e5229abfa18f2d8f
--- LeahiRt/LeahiRtController.cpp	(.../LeahiRtController.cpp)	(revision 401d8ad0e5c070f9c6ecb41ed3ba25ba3d1c69a0)
+++ LeahiRt/LeahiRtController.cpp	(.../LeahiRtController.cpp)	(revision 808df723cf9d1b0097796815e5229abfa18f2d8f)
@@ -1,20 +1,44 @@
+/*!
+ *
+ * Copyright (c) 2024-2026 Diality Inc. - All Rights Reserved.
+ * \copyright
+ * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
+ * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
+ *
+ * \file    LeahiRtController.cpp
+ * \author  (original)  Stephen Quong
+ * \date    (original)  24-May-2026
+ *
+ */
 #include <QDebug>
 #include <QString>
 
 #include "LeahiRtController.h"
 #include "LeahiMsgDefs.h"
 
+/*!
+ * \brief   LeahiRtController::LeahiRtController
+ * \details Constructor. Starts the CAN interface and wires the frame→dispatcher→
+ *          completed-message pipeline.
+ * \param   configPath - path to the settings file
+ * \param   parent     - optional QObject parent
+ */
 LeahiRtController::LeahiRtController(const QString &configPath, QObject *parent) :
     QObject(parent),
     _settings(configPath, QSettings::IniFormat),
     _canInterface(),
     _canThread(this),
-    _msgBuilder(this)
+    _dispatcher(this)
 {
     _canInterface.init(_canThread);
     connect(&_canInterface, &Can::CanInterface::didFrameReceive, this, &LeahiRtController::onFrameReceive);
+    connect(&_dispatcher, &Can::MessageDispatcher::didActionReceive, this, &LeahiRtController::onMessageReceive);
 }
 
+/*!
+ * \brief   LeahiRtController::~LeahiRtController
+ * \details Destructor. Stops and joins the CAN and Agent worker threads.
+ */
 LeahiRtController::~LeahiRtController()
 {
     _canThread.quit();
@@ -24,21 +48,50 @@
     _agentThread.wait();
 }
 
+/*!
+ * \brief   LeahiRtController::connectToAgent
+ * \details Initialises the AgentInterface using the socket path and reconnect
+ *          interval from the settings file.
+ */
 void LeahiRtController::connectToAgent()
 {
     const QString socketPath = _settings.value("Socket/LocalSocketName", "/tmp/leahi_rt.sock").toString();
     const int reconnectIntervalMs = _settings.value("Socket/ReconnectIntervalMs", 5000).toInt();
     _agentInterface.init(socketPath, reconnectIntervalMs, _agentThread);
 }
 
+/*!
+ * \brief   LeahiRtController::onFrameReceive
+ * \details Unpacks a CAN frame and feeds it to the dispatcher, which reassembles
+ *          multi-frame messages per CAN id.
+ * \param   frame - the received CAN frame
+ */
 void LeahiRtController::onFrameReceive(const QCanBusFrame frame)
 {
-    const Can::CanId canId = Can::CanId(frame.frameId());
-    Can::Message &msg = _messages[canId];
-    if (_msgBuilder.buildMessage(frame.payload(), msg, canId) && msg.isComplete()) {
-        qDebug().noquote() << QString("Received message with MsgId=0x%1").arg(QString("%1").arg(msg.msgId, 4, 16, QChar('0')).toUpper());
-        const QByteArray payload = leahi::canMessageToProtobufByteArray(QDateTime::currentDateTime(), QStringLiteral("test_device"), msg);
-        _agentInterface.send(AgentMessage::MsgId::ClinicalData, _txSequence++, payload);
-        msg.clear();
-    }
+    _dispatcher.onFrameReceive(Can::CanId(frame.frameId()), frame.payload());
 }
+
+/*!
+ * \brief   LeahiRtController::onMessageReceive
+ * \details Converts a fully reassembled message to protobuf and forwards it to
+ *          the Agent.
+ * \param   msg - the reassembled message
+ */
+void LeahiRtController::onMessageReceive(const Can::Message &msg)
+{
+    Can::Message &cachedMsg = _msgCache[msg.msgId];
+    qDebug().noquote() << QString("Received message with MsgId=0x%1").arg(QString("%1").arg(msg.msgId, 4, 16, QChar('0')).toUpper());
+
+    // only send the message if the data is different
+    // SQ if (cachedMsg.data != msg.data) {
+    // SQ     if (msg.msgId == leahi::MSG_ID_TD_OP_MODE_DATA) {
+            const QByteArray payload = leahi::canMessageToProtobufByteArray(
+                    QDateTime::currentDateTime(),
+                    QStringLiteral("test_device"),
+                    msg);
+            _agentInterface.send(AgentMessage::MsgId::ClinicalData, _txSequence++, payload);
+    // SQ     }
+    // SQ }
+    cachedMsg = msg;
+    msg.dump();
+}