From 8a286043c74dd0f178950443b669e415d5079129 Mon Sep 17 00:00:00 2001
From: RedMellon <gamevancony@gmail.com>
Date: Sat, 13 Aug 2022 20:29:55 -0700
Subject: [PATCH] added simulation time

---
 ROAR_Sim                        | 2 +-
 runner_competition_evaluator.py | 6 ++++--
 runner_sim.py                   | 1 -
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/ROAR_Sim b/ROAR_Sim
index 4b7c2c55..12e6c772 160000
--- a/ROAR_Sim
+++ b/ROAR_Sim
@@ -1 +1 @@
-Subproject commit 4b7c2c5504773f33f29cedb3e1a5abf400c21246
+Subproject commit 12e6c77214839dd8436efe676c6ad7ea581ded78
diff --git a/runner_competition_evaluator.py b/runner_competition_evaluator.py
index 49bdb168..dc4c8746 100644
--- a/runner_competition_evaluator.py
+++ b/runner_competition_evaluator.py
@@ -23,7 +23,9 @@ def compute_score(carla_runner: CarlaRunner) -> Tuple[float, int, int]:
         laps_completed: Number of laps completed
 
     """
-    time_elapsed: float = carla_runner.end_simulation_time - carla_runner.start_simulation_time
+    # time_elapsed: float = carla_runner.end_simulation_time - carla_runner.start_simulation_time
+    # use simulation time, not real time
+    time_elapsed: float = carla_runner.end_sim_time - carla_runner.start_sim_time
     num_collision: int = carla_runner.agent_collision_counter
     laps_completed = 0 if carla_runner.completed_lap_count < 0 else carla_runner.completed_lap_count
 
@@ -57,7 +59,7 @@ def run(agent_class, agent_config_file_path: Path, carla_config_file_path: Path,
     try:
         my_vehicle = carla_runner.set_carla_world()
         agent = agent_class(vehicle=my_vehicle, agent_settings=agent_config)
-        carla_runner.start_game_loop(agent=agent, use_manual_control=False)
+        carla_runner.start_game_loop(agent=agent, use_manual_control=True)
         return compute_score(carla_runner)
     except Exception as e:
         print(f"something bad happened during initialization: {e}")
diff --git a/runner_sim.py b/runner_sim.py
index 27fbf66e..676d9997 100644
--- a/runner_sim.py
+++ b/runner_sim.py
@@ -8,7 +8,6 @@
 from misc.utils import str2bool
 from ROAR.agent_module.michael_pid_agent import PIDAgent
 from ROAR.agent_module.forward_only_agent import ForwardOnlyAgent
-from ROAR.agent_module.full_mpc_agent import MPCAgent
 
 
 def main(args):