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Modifying LDM and Sending and Recieving V2X Messages Through Ethernet Files
Feature/ldm fixes
2 parents 833941e + 1aeac98 commit 1fc8c16

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‎docs/.nojekyll‎

Whitespace-only changes.

‎docs/_sources/modules/facilities/local_dynamic_map.rst.txt‎

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The Local Dynamic Map follows the `ETSI EN 302 895 V1.1.1
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(2014-09) <https://www.etsi.org/deliver/etsi_en/302800_302899/302895/01.01.01_60/en_302895v010101p.pdf>`__
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standard. Newer standards have been published, but no significant
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relevant changes have been introduced.
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relevant changes have been introduced. Please refer to the ETSI standard for more detailed information.
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The Local Dynamic Map is composed of two subcomponents:
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@@ -31,7 +31,7 @@ The Local Dynamic Map is composed of two subcomponents:
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--------------
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Local Dynamic Map Service
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LDM Service
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~~~~~~~~~~~~~~~~~~~~~~~~~
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The LDM is connected to authorized `LDM Data Providers <#ldm-data-providers>`__ and `LDM Data Consumers <#ldm-data-consumers>`__. `LDM Data
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The LDM provides:
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- Mechanisms for facilities to register and deregister as `LDM Data Providers <#ldm-data-providers>`__.
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- Mechanisms for applications to register and deregister as `LDM Data Providers <#ldm-data-providers>`__ or `LDM Data Consumers <#ldm-data-consumers>`__. - Verification of the authorization of `LDM Data Providers <#ldm-data-providers>`__ and `LDM Data Consumers <#ldm-data-consumers>`__ before granting data access.
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- Mechanisms for applications to register and deregister as `LDM Data Providers <#ldm-data-providers>`__ or `LDM Data Consumers <#ldm-data-consumers>`__.
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- Verification of the authorization of `LDM Data Providers <#ldm-data-providers>`__ and `LDM Data Consumers <#ldm-data-consumers>`__ before granting data access.
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Local Dynamic Map Maintenance
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LDM Maintenance
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~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
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The LDM is responsible for maintaining all `LDM Data
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Quickstart
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----------
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The Local Dynamic Map can be used in conjunction with the `VRU Awareness
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Message <vru-basic-service.md>`__ in its simplest form as follows:
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The Local Dynamic Map can be used in conjunction with any Facility Layer component, in this case the `VRU Awareness
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Message <vru-basic-service.md>`__ is presented;
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.. code:: py
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import logging
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import logging.config
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import logging
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import argparse
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from time import sleep
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from sys import exit
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from flexstack.facilities.vru_awareness_service.vru_awareness_service import VRUAwarenessService
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from flexstack.facilities.vru_awareness_service.vam_transmission_management import DeviceDataProvider
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from flexstack.utils.static_location_service import ThreadStaticLocationService as LocationService
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from flexstack.facilities.local_dynamic_map.factory import ldm_factory
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from flexstack.facilities.local_dynamic_map.ldm_classes import Location
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from flexstack.facilities.vru_awareness_service.vru_awareness_service import VRUAwarenessService
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from flexstack.facilities.vru_awareness_service.vam_transmission_management import DeviceDataProvider
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from flexstack.utils.static_location_service import ThreadStaticLocationService as LocationService
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from flexstack.btp.router import Router as BTPRouter
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from flexstack.facilities.local_dynamic_map.factory import LDMFactory
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from flexstack.facilities.local_dynamic_map.ldm_classes import (
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Location,
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RequestDataObjectsResp,
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)
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from flexstack.geonet.router import Router
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from flexstack.geonet.mib import MIB
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from flexstack.geonet.gn_address import GNAddress, M, ST, MID
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from flexstack.btp.router import Router as BTPRouter
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from flexstack.linklayer.raw_link_layer import RawLinkLayer
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from flexstack.geonet.router import Router
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from flexstack.geonet.mib import MIB
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from flexstack.geonet.gn_address import GNAddress, M, ST, MID
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from flexstack.linklayer.raw_link_layer import RawLinkLayer
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logging.basicConfig(level=logging.INFO)
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def __configure_logging(log_level: str) -> None:
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numeric_level = getattr(logging, log_level.upper(), None)
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if not isinstance(numeric_level, int):
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raise ValueError(f"Invalid log level: {log_level}")
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logging.basicConfig(level=numeric_level)
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# Geonet
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mac_address = b"\x00\x00\x00\x00\x00\x00"
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mib = MIB()
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gn_addr = GNAddress()
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gn_addr.set_m(M.GN_MULTICAST)
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gn_addr.set_st(ST.CYCLIST)
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gn_addr.set_mid(MID(mac_address))
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mib.itsGnLocalGnAddr = gn_addr
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gn_router = Router(mib=mib, sign_service=None)
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# Link-Layer
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ll = RawLinkLayer(iface="eth0", mac_address=mac_address,
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receive_callback=gn_router.gn_data_indicate)
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gn_router.link_layer = ll
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def ldm_subscription_callback(response: RequestDataObjectsResp) -> None:
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print(response.data_objects)
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# BTP
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btp_router = BTPRouter(gn_router)
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gn_router.register_indication_callback(btp_router.btp_data_indication)
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def configure_v2x(station_id: int, log_level: str) -> None | Exception:
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# Configure logging level
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__configure_logging(log_level)
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# Facility - Location Service
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location_service = LocationService()
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# Geonet
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mac_address = b"\x00\x00\x00\x00\x00" + bytes([station_id])
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mib = MIB()
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gn_addr = GNAddress()
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gn_addr.set_m(M.GN_MULTICAST)
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gn_addr.set_st(ST.CYCLIST)
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gn_addr.set_mid(MID(mac_address))
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gn_router = Router(mib=mib, sign_service=None)
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location_service.add_callback(gn_router.refresh_ego_position_vector)
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# Link-Layer
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ll = RawLinkLayer(iface="lo", mac_address=mac_address, receive_callback=gn_router.gn_data_indicate)
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gn_router.link_layer = ll
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# Facility - Local Dynamic Maps
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ldm_location = Location.initializer()
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location_service.add_callback(ldm_location.location_service_callback)
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local_dynamic_map = ldm_factory(
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ldm_location, ldm_maintenance_type="Reactive", ldm_service_type="Reactive", ldm_database_type="Dictionary"
461-
)
463+
# BTP
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btp_router = BTPRouter(gn_router)
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gn_router.register_indication_callback(btp_router.btp_data_indication)
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# Facility - Location Service
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location_service = LocationService()
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# Facility - Device Data Provider
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device_data_provider = DeviceDataProvider()
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device_data_provider.station_id = 1
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device_data_provider.station_type = 2 # Cyclist
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location_service.add_callback(gn_router.refresh_ego_position_vector)
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# Facility - VRU Awareness Service
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vru_awareness_service = VRUAwarenessService(btp_router=btp_router,
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device_data_provider=device_data_provider,
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ldm=local_dynamic_map)
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# Facility - Local Dynamic Maps
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ldm_location = Location.initializer()
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location_service.add_callback(ldm_location.location_service_callback)
476+
ldm_factory = LDMFactory()
477+
local_dynamic_map = ldm_factory.create_ldm(
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ldm_location, ldm_maintenance_type="Reactive", ldm_service_type="Reactive", ldm_database_type="Dictionary"
479+
)
480+
ldm_factory.subscribe_to_ldm(
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own_station_id=station_id,
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ldm_location=ldm_location,
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callback_function=ldm_subscription_callback,
484+
)
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location_service.add_callback(vru_awareness_service.vam_transmission_management.location_service_callback)
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# Facility - Device Data Provider
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device_data_provider = DeviceDataProvider(station_id=station_id)
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# Applications would be declared here
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# Facility - VRU Awareness Service
490+
vru_awareness_service = VRUAwarenessService(
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btp_router=btp_router, device_data_provider=device_data_provider, ldm=local_dynamic_map
492+
)
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btp_router.freeze_callbacks()
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location_service.add_callback(vru_awareness_service.vam_transmission_management.location_service_callback)
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if __name__ == "__main__":
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args = argparse.ArgumentParser(description="FlexStack CAM Sender/Receiver")
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args.add_argument("--station-id", type=int, default=0, help="Station ID")
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args.add_argument("--log-level", type=str, default="INFO", help="Logging level (DEBUG, INFO)")
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args = args.parse_args()
502+
503+
configure_v2x(args.station_id, args.log_level)
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try:
505+
while True:
506+
sleep(1)
507+
except KeyboardInterrupt:
508+
print("\nKeyboardInterrupt caught. Cleaning up...")
509+
exit(0)
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The only issue that may be encountered here is `Networking
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Interface <issues-networking-interface.md>`__.
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Logging is included to provide a way to visualize sent messages. View
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`Logging <logging.md>`__ for detailed usage instructions.
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--------------
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Interfacing with the VRU Basic Service
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--------------------------------------
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Interaction between the application layer and lower facility layers is
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done through the `Local Dynamic Map <local-dynamic-map.md>`__.
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--------------
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‎docs/_sources/modules/tutorials/rawlinklayer-ethernet-deployment.rst.txt‎

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AttributeError: 'RawLinkLayer' object has no attribute 'sock'
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To fix this use ``sudo``. To use ``sudo`` the current path must be
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exported. To run the script run;
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To fix this use ``sudo``. Two options are possible;
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.. code:: py
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1. Enter the command ``sudo su`` to become root.
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.. code:: py
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sudo su
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source <name_of_virtual_environment>/bin/activate
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python <name_of_script>.py
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2. Run the script with ``sudo`` directly.
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.. code:: py
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sudo env PATH=$PATH python test.py
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sudo env PATH=$PATH python <name_of_script>.py
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This should work and logging messages showing the components internal
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logs should start appearing.

‎docs/architecture.html‎

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</li>
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<li class="toctree-l1"><a class="reference internal" href="modules/facilities/local_dynamic_map.html">Local Dynamic Map</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-overview">Local Dynamic Map Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-service">LDM Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#quickstart">Quickstart</a></li>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#interfacing-with-the-vru-basic-service">Interfacing with the VRU Basic Service</a></li>
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‎docs/genindex.html‎

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</li>
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<li class="toctree-l1"><a class="reference internal" href="modules/facilities/local_dynamic_map.html">Local Dynamic Map</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-overview">Local Dynamic Map Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-service">LDM Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#interfacing-with-the-vru-basic-service">Interfacing with the VRU Basic Service</a></li>
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‎docs/getting_started.html‎

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<li class="toctree-l1"><a class="reference internal" href="modules/facilities/local_dynamic_map.html">Local Dynamic Map</a><ul>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-overview">Local Dynamic Map Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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<li class="toctree-l2"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#interfacing-with-the-vru-basic-service">Interfacing with the VRU Basic Service</a></li>
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‎docs/index.html‎

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<li class="toctree-l1"><a class="reference internal" href="modules/facilities/local_dynamic_map.html">Local Dynamic Map</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-service">LDM Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="modules/facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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‎docs/modules/applications.html‎

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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#ldm-service">LDM Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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<li class="toctree-l2"><a class="reference internal" href="facilities/local_dynamic_map.html#interfacing-with-the-vru-basic-service">Interfacing with the VRU Basic Service</a></li>
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‎docs/modules/btp.html‎

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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#local-dynamic-map-service">Local Dynamic Map Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#local-dynamic-map-maintenance">Local Dynamic Map Maintenance</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#ldm-service">LDM Service</a></li>
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<li class="toctree-l3"><a class="reference internal" href="facilities/local_dynamic_map.html#ldm-maintenance">LDM Maintenance</a></li>
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<li class="toctree-l2"><a class="reference internal" href="facilities/local_dynamic_map.html#interfacing-with-the-vru-basic-service">Interfacing with the VRU Basic Service</a></li>
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