static void Main(string[] args)
        {
            // Initialize Communications
            Console.WriteLine("1. Initializing Communications...");
            Communicator communicator = new Communicator();
            Console.WriteLine("   > Communications Initialized\n");

            // Wait for Rndf,Mdf to continue
            Console.WriteLine("2. Waiting for Rndf, Mdf to continue...");
            communicator.InitializeTestServer();
            Console.WriteLine("   > Rndf, Mdf Received\n");

            // Wait for User continue
            Console.WriteLine("3. Ready To Start Testing, Press ENTER to Continue...");
            Console.ReadLine();

            // Wait for 1 second
            Thread.Sleep(1000);

            /*
            // Turn => Stopped at Stop
            // Create a fake vehicle state
            RndfWayPoint position = communicator.RndfNetwork.Goals[1].Waypoint;
            Console.WriteLine("  > Position: " + position.WaypointID.ToString());
            VehicleState vehicleState = new VehicleState();
            vehicleState.xyPosition = position.Position;
            LaneEstimate laneEstimate = new LaneEstimate(position.Lane.LaneID, position.Lane.LaneID, 1);
            List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
            laneEstimates.Add(laneEstimate);
            vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
            communicator.PublishVehicleState(vehicleState);
            Console.WriteLine("  > Published Position");*/

            /*
            // Road
            // Create a fake vehicle state
            RndfWaypointID tmpID = new RndfWaypointID(new LaneID(new WayID(new SegmentID(1), 1), 1), 1);
            RndfWayPoint position = communicator.RndfNetwork.Waypoints[tmpID];
            Console.WriteLine("  > Position: " + position.WaypointID.ToString());
            VehicleState vehicleState = new VehicleState();
            vehicleState.xyPosition = position.Position;
            LaneEstimate laneEstimate = new LaneEstimate(position.Lane.LaneID, position.Lane.LaneID, 1);
            List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
            laneEstimates.Add(laneEstimate);
            vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
            vehicleState.speed = 3;
            communicator.PublishVehicleState(vehicleState);
            Console.WriteLine("  > Published Position");*/

            /*
            // Intersection
            // Create a fake vehicle state
            RndfWaypointID tmpID = new RndfWaypointID(new LaneID(new WayID(new SegmentID(1), 1), 1), 2);
            RndfWaypointID tmpEndID = new RndfWaypointID(new LaneID(new WayID(new SegmentID(26), 2), 3), 1);
            InterconnectID testID = new InterconnectID(tmpID, tmpEndID);
            Interconnect testInter = communicator.RndfNetwork.Interconnects[testID];
            RndfWayPoint position = communicator.RndfNetwork.Waypoints[tmpID];
            VehicleState vehicleState = new VehicleState();
            vehicleState.xyPosition = position.Position + new UrbanChallenge.Common.Coordinates(4, 4);
            LaneEstimate laneEstimate = new LaneEstimate(tmpID.LaneID, tmpEndID.LaneID, 1);
            List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
            laneEstimates.Add(laneEstimate);
            vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
            vehicleState.speed = 3;
            communicator.PublishVehicleState(vehicleState);
            Console.WriteLine("  > Published Position");
             */

            // In Lane
            // Create a fake vehicle state
            RndfWayPoint position = communicator.RndfNetwork.Goals[2].Waypoint;
            Console.WriteLine("  > Position: " + position.WaypointID.ToString());
            VehicleState vehicleState = new VehicleState();
            vehicleState.xyPosition = position.Position;
            LaneEstimate laneEstimate = new LaneEstimate(position.Lane.LaneID, position.Lane.LaneID, 1);
            List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
            laneEstimates.Add(laneEstimate);
            vehicleState.speed = 0;
            vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);
            communicator.PublishVehicleState(vehicleState);
            //Console.WriteLine("  > Published Position");

            /*// Read the configuration file.
            RemotingConfiguration.Configure("..\\..\\App.config", false);
            WellKnownServiceTypeEntry[] wkst = RemotingConfiguration.GetRegisteredWellKnownServiceTypes();

            // "Activate" the NameService singleton.
            ObjectDirectory objectDirectory = (ObjectDirectory)Activator.GetObject(typeof(ObjectDirectory), wkst[0].ObjectUri);

            // Receive the facades of components we want to use
            RndfEditorFacade editorFacade = (RndfEditorFacade)objectDirectory.Resolve("RndfEditor");

            // Get the RndfNetwork
            RndfNetwork rndfNetwork = editorFacade.RndfNetwork;

            // Create the Goals from the RndfNetwork
            Queue<Goal> goals = generateGoals(rndfNetwork);
            Console.WriteLine("Created Goals");

            // Create Speed Limits from the RndfNetwork
            List<SpeedInformation> speedLimits = generateSpeedLimits(rndfNetwork);
            Console.WriteLine("Created speed limits");

            // Create Mdf
            Mdf mdf = new Mdf(goals, speedLimits);
            Console.WriteLine("Created Mdf");

            // Create a fake vehicle state
            RndfWayPoint position = rndfNetwork.Goals[1].Waypoint;
            Console.WriteLine("Position: " + position.WaypointID.ToString());
            VehicleState vehicleState = new VehicleState();
            vehicleState.xyPosition = position.Position;
            LaneEstimate laneEstimate = new LaneEstimate(position.Lane.LaneID, position.Lane.LaneID, 1);
            List<LaneEstimate> laneEstimates = new List<LaneEstimate>();
            laneEstimates.Add(laneEstimate);
            vehicleState.vehicleRndfState = new VehicleRndfState(laneEstimates);

            // Test
            Console.WriteLine("Number of RndfNetwork Segments: " + rndfNetwork.Segments.Values.Count);

            // Bind the facades of components we implement.
            objectDirectory.Rebind(TestDataServerFacadeImpl.Instance(rndfNetwork, mdf, vehicleState), "TestServer");*/

            // Show that the navigation system is ready and waiting for input
            Console.WriteLine("");
            Console.WriteLine("4. Test Serve Complete, Waiting. Press ENTER to Shut Down");
            Console.ReadLine();
            Console.WriteLine("");
            communicator.ShutDown();
        }