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  • Logging
  • Waiting for the HLC to join the domain & send a ready message
  • Periodically calling the HLC to request commands for the vehicle
  • Forwarding vehicle state information to the HLC periodically (always the newest information is sent) + timing information s.t. the HLC does not need to care about getting the right timestamps itself
  • Forwarding commands sent by the HLC to the vehicle
  • Forwarding stop signals to the HLC
  • Receiving (some) parameters from the parameter server, e.g. the period with which to call the HLC script