public FullSimTransport()
{
// initialize the car mode to unknown so that we raised the changed event immediately
lastCarMode = CarMode.Unknown;
// get the DynamicsSimFacade
dynamicsSim = (DynamicsSimFacade)CommBuilder.GetObject(DynamicsSimFacade.ServiceName);
// set the sim state channel
simStateChannel = CommBuilder.GetChannel(OperationalSimVehicleState.ChannelName);
obstacleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.UntrackedClusterChannelName);
vehicleChannel = CommBuilder.GetChannel(SceneEstimatorObstacleChannelNames.TrackedClusterChannelName);
// add ourself as a listern
simStateChannel.Subscribe(this);
obstacleChannel.Subscribe(this);
vehicleChannel.Subscribe(this);
}