diff --git a/Source/CarlaServer/source/carla/CarlaServer.cpp b/Source/CarlaServer/source/carla/CarlaServer.cpp
index 7360cbc0b..b35f4f1de 100644
--- a/Source/CarlaServer/source/carla/CarlaServer.cpp
+++ b/Source/CarlaServer/source/carla/CarlaServer.cpp
@@ -1,9 +1,13 @@
 #include "CarlaServer.h"
 
-#include <carla/server/Server.h>
+#include <carla/server/CarlaCommunication.h>
 
 namespace carla {
 
+  Image::Image() {}
+
+  Image::~Image() {}
+
   Reward_Values::Reward_Values() {}
 
   Reward_Values::~Reward_Values() {}
@@ -12,10 +16,13 @@ namespace carla {
 
   Scene_Values::~Scene_Values() {}
 
-  class CarlaServer::Pimpl : public carla::server::Server {
+  class CarlaServer::Pimpl {
   public:
-    Pimpl(uint32_t worldPort, uint32_t writePort, uint32_t readPort) :
-      carla::server::Server(worldPort, writePort, readPort) {}
+
+    template<typename... Args>
+    Pimpl(Args&&... args) : communication(std::forward<Args>(args)...) {}
+
+    carla::server::CarlaCommunication communication;
   };
 
   CarlaServer::CarlaServer(uint32_t writePort, uint32_t readPort, uint32_t worldPort) :
@@ -23,69 +30,77 @@ namespace carla {
 
   CarlaServer::~CarlaServer() {}
 
-  bool CarlaServer::init(uint32_t LevelCount) {
-    if (!worldConnected() && !clientConnected() && !serverConnected()) return false;
-    _pimpl->sendWorld(static_cast<uint32_t>(Mode::NUMBER_OF_MODES), LevelCount);
+  bool CarlaServer::init(uint32_t levelCount) {
+    if (!worldConnected() && !clientConnected() && !serverConnected())
+      return false;
+    _pimpl->communication.sendWorld(levelCount);
     return true;
   }
 
-  bool CarlaServer::tryReadSceneInit(Mode &mode, uint32_t &scene, bool &readed) {
-    if (!worldConnected()) return false;
-    readed = _pimpl->tryReadSceneInit(mode, scene);
+  bool CarlaServer::tryReadSceneInit(uint32_t &scene, bool &readed) {
+    if (!worldConnected())
+      return false;
+    readed = _pimpl->communication.tryReadSceneInit(scene);
     return true;
   }
 
   bool CarlaServer::tryReadEpisodeStart(uint32_t &startIndex, uint32_t &endIndex, bool &readed) {
-    if (!worldConnected()) return false;
-    readed = _pimpl->tryReadEpisodeStart(startIndex, endIndex);
+    if (!worldConnected())
+      return false;
+    readed = _pimpl->communication.tryReadEpisodeStart(startIndex, endIndex);
     return true;
   }
 
   bool CarlaServer::tryReadControl(float &steer, float &throttle, bool &readed) {
-    if (!clientConnected()) return false;
-    readed = _pimpl->tryReadControl(steer, throttle);
+    if (!clientConnected())
+      return false;
+    readed = _pimpl->communication.tryReadControl(steer, throttle);
     return true;
   }
 
   bool CarlaServer::newEpisodeRequested(bool &newEpisode) {
-    if (!worldConnected()) return false;
-    newEpisode = _pimpl->tryReadRequestNewEpisode();
+    if (!worldConnected())
+      return false;
+    newEpisode = _pimpl->communication.tryReadRequestNewEpisode();
     return true;
   }
 
   bool CarlaServer::sendReward(Reward_Values *values) {
     std::unique_ptr<Reward_Values> ptr(values);
-    if (!serverConnected()) return false;
-    _pimpl->sendReward(std::move(ptr));
+    if (!serverConnected())
+      return false;
+    _pimpl->communication.sendReward(std::move(ptr));
     return true;
   }
 
   bool CarlaServer::sendSceneValues(const Scene_Values &values) {
-    if (!worldConnected()) return false;
-    _pimpl->sendSceneValues(values);
+    if (!worldConnected())
+      return false;
+    _pimpl->communication.sendScene(values);
     return true;
   }
 
   bool CarlaServer::sendEndReset() {
-    if (!worldConnected()) return false;
-    _pimpl->sendEndReset();
+    if (!worldConnected())
+      return false;
+    _pimpl->communication.sendReset();
     return true;
   }
 
   bool CarlaServer::worldConnected(){
-    return _pimpl->worldConnected() && !_pimpl->needsRestart();
+    return _pimpl->communication.worldConnected() && !_pimpl->communication.needsRestart();
   }
 
   bool CarlaServer::clientConnected(){
-    return _pimpl->clientConnected() && !_pimpl->needsRestart();
+    return _pimpl->communication.clientConnected() && !_pimpl->communication.needsRestart();
   }
 
   bool CarlaServer::serverConnected(){
-    return _pimpl->serverConnected() && !_pimpl->needsRestart();
+    return _pimpl->communication.serverConnected() && !_pimpl->communication.needsRestart();
   }
 
   bool CarlaServer::needsRestart(){
-    return _pimpl->needsRestart();
+    return _pimpl->communication.needsRestart();
   }
 
 } // namespace carla
diff --git a/Source/CarlaServer/source/carla/CarlaServer.h b/Source/CarlaServer/source/carla/CarlaServer.h
index fc307cabd..6b9fef1ee 100644
--- a/Source/CarlaServer/source/carla/CarlaServer.h
+++ b/Source/CarlaServer/source/carla/CarlaServer.h
@@ -27,12 +27,14 @@ namespace carla {
     uint8_t A;
   };
 
-  enum ImageType{
+  enum ImageType {
     IMAGE,
     DEPTH,
   };
 
   struct Image {
+    Image();
+    ~Image();
     std::vector<Color> image;
     ImageType type;
     uint32_t width, height;
@@ -61,14 +63,8 @@ namespace carla {
     float intersect_other_lane;
     /// Percentage of the car off-road.
     float intersect_offroad;
-    /// Width and height of the images.
-    //uint32_t image_width, image_height; 
-    /// RGB images.
+    /// Captured images.
     std::vector<Image> images;
-    //std::vector<Color> image_rgb_1;
-    /// Depth images.
-    //std::vector<Color> image_depth_0;
-    //std::vector<Color> image_depth_1;
   };
 
   struct Scene_Values {
@@ -76,18 +72,10 @@ namespace carla {
     ~Scene_Values();
     /// Possible world positions to spawn the player.
     std::vector<Vector2D> possible_positions;
-    /// Projection matrices of the cameras (1 in mode mono, 2 in stereo).
+    /// Projection matrices of the cameras.
     std::vector<std::array<float, 16u>> projection_matrices;
   };
 
-  enum class Mode : int8_t {
-    MONO,
-    STEREO,
-
-    NUMBER_OF_MODES,
-    INVALID = -1
-  };
-
   /// Asynchronous TCP server. Uses three ports, one for sending messages
   /// (write), one for receiving messages (read), and one for world level
   /// commands (world).
@@ -109,13 +97,11 @@ namespace carla {
     /// Initialize the server.
     ///
     /// @param LevelCount Number of levels available.
-    bool init(uint32_t LevelCount);
+    bool init(uint32_t levelCount);
 
     /// Try to read if the client has selected an scene and mode. Return false
     /// if the queue is empty.
-    ///
-    /// If returned mode INVALID, ignore scene.
-    bool tryReadSceneInit(Mode &mode, uint32_t &scene, bool &readed);
+    bool tryReadSceneInit(uint32_t &scene, bool &readed);
 
     /// Try to read if the client has selected an end & start point. Return
     /// false if the queue is empty.
diff --git a/Source/CarlaServer/source/carla/server/CarlaCommunication.cpp b/Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
index a3d486bdf..7bc863632 100644
--- a/Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
+++ b/Source/CarlaServer/source/carla/server/CarlaCommunication.cpp
@@ -10,16 +10,6 @@ namespace server {
 
   // -- Static methods ---------------------------------------------------------
 
-  std::mutex _generalMutex;
-
-  static Mode getMode(int modeInt) {
-    switch (modeInt) {
-      case 0:   return Mode::MONO;
-      case 1:   return Mode::STEREO;
-      default:  return Mode::INVALID;
-    }
-  }
-
   template<typename ERROR_CODE>
   static void logTCPError(const std::string &text, const ERROR_CODE &errorCode) {
     std::cerr << "CarlaConnection - TCP Server: " << text << ": " << errorCode.message() << std::endl;
@@ -141,9 +131,11 @@ namespace server {
   }
 
   static void ReconnectAll(CarlaCommunication &communication) {
-    std::lock_guard<std::mutex> lock(_generalMutex);
+    /// @todo This blocks every CarlaCommunication with a single mutex.
+    static std::mutex MUTEX;
+    std::lock_guard<std::mutex> lock(MUTEX);
 
-    if (!communication.NeedsRestart()) {
+    if (!communication.needsRestart()) {
 
       std::cout << " ---- RECONNECT ALL ...." << std::endl;
 
@@ -165,7 +157,7 @@ namespace server {
         communication.getClientThread().restart();
       }
 
-      communication.Restart();
+      communication.restart();
     }
   }
 
@@ -174,7 +166,6 @@ namespace server {
     _server(writePort),
     _client(readPort),
     _needsRestart(false),
-    _mode(Mode::MONO),
     _proto(std::make_unique<Protocol>(this)),
     _worldThread{
       [this]() { return worldReceiveThread(this->_world, this->_worldThread); },
@@ -213,13 +204,14 @@ namespace server {
     return true;
   }
 
-  void CarlaCommunication::sendWorld(const uint32_t modes, const uint32_t scenes) {
+  void CarlaCommunication::sendWorld(const uint32_t scenes) {
     //ClearThreads
     _worldThread.clear();
     _clientThread.clear();
     _serverThread.clear();
 
     World world;
+    constexpr int modes = 0; /// @todo #18
     _proto->LoadWorld(world, modes, scenes);
 
     auto message = std::make_unique<std::string>();
@@ -253,8 +245,7 @@ namespace server {
     }
   }
 
-  bool CarlaCommunication::tryReadSceneInit(Mode &mode, uint32_t &scene) {
-    mode = Mode::INVALID;
+  bool CarlaCommunication::tryReadSceneInit(uint32_t &scene) {
     scene = 0u;
 
     std::unique_ptr<std::string> info = _worldThread.tryPop();
@@ -264,11 +255,7 @@ namespace server {
 
     if (!sceneInit.ParseFromString(*info)) { return false; }
 
-    mode = getMode(sceneInit.mode());
     scene = sceneInit.scene();
-
-    _mode = mode;
-
     return true;
   }
 
@@ -303,17 +290,14 @@ namespace server {
 
   void CarlaCommunication::restartServer() {
     _server.close();
-    //_server =  TCPServer(_serverPort);
   }
 
   void CarlaCommunication::restartWorld() {
     _world.close();
-    //_world = TCPServer(_worldPort);
   }
 
   void CarlaCommunication::restartClient() {
     _client.close();
-    //_client = TCPServer(_clientPort);
   }
 
   void CarlaCommunication::checkRestart() {
@@ -347,15 +331,11 @@ namespace server {
     return _server.Connected();
   }
 
-  Mode CarlaCommunication::GetMode() {
-    return _mode;
-  }
-
-  bool CarlaCommunication::NeedsRestart() {
+  bool CarlaCommunication::needsRestart() {
     return _needsRestart;
   }
 
-  void CarlaCommunication::Restart() {
+  void CarlaCommunication::restart() {
     _needsRestart = true;
   }
 
diff --git a/Source/CarlaServer/source/carla/server/CarlaCommunication.h b/Source/CarlaServer/source/carla/server/CarlaCommunication.h
index 5a3c71ffb..d8111cee9 100644
--- a/Source/CarlaServer/source/carla/server/CarlaCommunication.h
+++ b/Source/CarlaServer/source/carla/server/CarlaCommunication.h
@@ -36,10 +36,9 @@ namespace server {
 
     void sendReset();
 
-    //void sendWorld(const World &world);
-    void sendWorld(const uint32_t modes, const uint32_t scenes);
+    void sendWorld(const uint32_t scenes);
 
-    bool tryReadSceneInit(Mode &mode, uint32_t &scene);
+    bool tryReadSceneInit(uint32_t &scene);
 
     bool tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index);
 
@@ -63,10 +62,9 @@ namespace server {
 
     std::mutex getGeneralMutex();
 
-    Mode GetMode();
+    bool needsRestart();
 
-    bool NeedsRestart();
-    void Restart();
+    void restart();
 
   private:
 
@@ -78,8 +76,6 @@ namespace server {
 
     std::atomic_bool _needsRestart;
 
-    std::atomic<Mode> _mode;
-
     const std::unique_ptr<Protocol> _proto;
 
     thread::AsyncReadWriteJobQueue< std::string, std::string> _worldThread;
diff --git a/Source/CarlaServer/source/carla/server/Server.cpp b/Source/CarlaServer/source/carla/server/Server.cpp
deleted file mode 100644
index eda16c97f..000000000
--- a/Source/CarlaServer/source/carla/server/Server.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
-
-#include "Server.h"
-
-#include "CarlaCommunication.h"
-#include "carla_protocol.pb.h"
-
-#include <iostream>
-#include <memory>
-
-namespace carla {
-namespace server {
-
-
-
-  // -- CarlaServer ------------------------------------------------------------
-
-  Server::Server(uint32_t worldPort, uint32_t writePort, uint32_t readPort) :
-    _communication(std::make_unique<CarlaCommunication>(worldPort, writePort, readPort)){}
-
-  Server::~Server() {
-  }
-
-  void Server::sendReward( std::unique_ptr<Reward_Values> values) {
-    //Reward reward;
-    //_proto->LoadReward(reward, values);
-    //_communication->sendReward(reward);
-    _communication->sendReward(std::move(values));
-  }
-
-  void Server::sendSceneValues(const Scene_Values &values) {
-    _communication->sendScene(values);
-  }
-
-  void Server::sendEndReset() {
-
-    _communication->sendReset();
-  }
-
-  void Server::sendWorld(const uint32_t modes, const uint32_t scenes) {
-    //World world;
-    //_proto->LoadWorld(world, modes, scenes);
-    //_communication->sendWorld(world);
-    _communication->sendWorld(modes, scenes);
-  }
-
-  bool Server::tryReadControl(float &steer, float &gas) {
-    return _communication->tryReadControl(steer, gas);
-  }
-
-  bool Server::tryReadSceneInit(Mode &mode, uint32_t &scene) {
-    return _communication->tryReadSceneInit(mode, scene);
-  }
-
-  bool Server::tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index) {
-    return _communication->tryReadEpisodeStart(start_index, end_index);
-  }
-
-  bool Server::tryReadRequestNewEpisode(){
-    return _communication->tryReadRequestNewEpisode();
-  }
-
-  Mode Server::GetMode() const {
-    return _communication->GetMode();
-  }
-
-  void Server::SetScene(int scene) {
-    _scene = scene;
-  }
-
-  bool Server::worldConnected() const{
-    return _communication->worldConnected();
-  }
-
-  bool Server::clientConnected() const{
-    return _communication->clientConnected();
-  }
-
-  bool Server::serverConnected() const{
-    return _communication->serverConnected();
-  }
-
-  bool Server::needsRestart() const {
-    return _communication->NeedsRestart();
-  }
-
-} // namespace server
-} // namespace carla
diff --git a/Source/CarlaServer/source/carla/server/Server.h b/Source/CarlaServer/source/carla/server/Server.h
deleted file mode 100644
index 64d63ed2a..000000000
--- a/Source/CarlaServer/source/carla/server/Server.h
+++ /dev/null
@@ -1,88 +0,0 @@
-// CARLA, Copyright (C) 2017 Computer Vision Center (CVC)
-
-#pragma once
-
-#include <carla/NonCopyable.h>
-#include <carla/CarlaServer.h>
-
-#include <atomic>
-#include <memory>
-#include <mutex>
-#include <string>
-#include <vector>
-
-namespace carla {
-namespace server {
-
-  class CarlaCommunication;
-
-  /// Asynchronous TCP server. Uses two ports, one for sending messages (write)
-  /// and one for receiving messages (read).
-  ///
-  /// Writing and reading are executed in two different threads. Each thread has
-  /// its own queue of messages.
-  ///
-  /// Note that a new socket is created for every connection (every write and
-  /// read).
-  class Server : private NonCopyable {
-  public:
-
-    /// Starts two threads for writing and reading.
-    explicit Server(uint32_t worldPort, uint32_t writePort, uint32_t readPort);
-
-    ~Server();
-
-    ///// Send values of the current player status
-    void sendReward(std::unique_ptr<Reward_Values> values);
-
-    //// Send the values of the generated scene
-    void sendSceneValues(const Scene_Values &values);
-
-    //// Send a signal to the client to notify that the car is ready
-    void sendEndReset();
-
-    void sendWorld(uint32_t modes, uint32_t scenes);
-
-    ///// Try to read the response of the client. Return false if the queue
-    ///// is empty.
-    bool tryReadControl(float &steer, float &gas);
-
-    ////Try to read if the client has selected an scene and mode. Return false if the queue is empty
-    bool tryReadSceneInit(Mode &mode, uint32_t &scene);
-
-    ////Try to read if the client has selected an end & start point. Return false if the queue is empty
-    bool tryReadEpisodeStart(uint32_t &start_index, uint32_t &end_index);
-
-
-    bool tryReadRequestNewEpisode();
-
-    void setMode(Mode mode);
-
-    Mode GetMode() const;
-
-    void SetScene(int scene);
-
-    int GetScene() const;
-
-    bool worldConnected() const;
-
-    bool clientConnected() const;
-
-    bool serverConnected() const;
-
-    bool needsRestart() const;
-
-  private:
-
-    //std::mutex _mutex;
-
-    
-    std::atomic_int _scene;
-
-    const std::unique_ptr<CarlaCommunication> _communication;
-
-    //const std::unique_ptr<Protocol> _proto;
-  };
-
-} // namespace server
-} // namespace carla
diff --git a/Source/CarlaServer/source/test/async_server.cpp b/Source/CarlaServer/source/test/async_server.cpp
index 2771aa0a4..baef9b46d 100644
--- a/Source/CarlaServer/source/test/async_server.cpp
+++ b/Source/CarlaServer/source/test/async_server.cpp
@@ -43,42 +43,41 @@ static std::vector<carla::Color> makeImage(uint32_t width, uint32_t height) {
   return image;
 }
 
-std::unique_ptr<carla::Reward_Values> makeReward(){
-
+std::unique_ptr<carla::Reward_Values> makeReward() {
   auto reward = std::make_unique<carla::Reward_Values>();
 
   const uint32_t imageWidth = 512u;
-    const uint32_t imageHeight = 512u;
+  const uint32_t imageHeight = 512u;
 
-    reward->player_location = {1.0f, 1.0f};
-    reward->player_orientation = {1.0f, 0.0f, 0.0f};
-    reward->player_acceleration = {1.0f, 0.0f, 0.0f};
-    reward->forward_speed = 100.0f;
-    reward->collision_general = 10.0f;
-    reward->collision_pedestrian = 10.0f;
-    reward->collision_car = 10.0f;
-    reward->intersect_other_lane = 0.5f;
-    reward->intersect_offroad = 0.5f;
-    
-    for (int i = 0; i < 4; ++i){
-      carla::Image img;
-      img.image = makeImage(imageWidth, imageHeight);
-      img.width = imageWidth;
-      img.height = imageHeight;
-      if (i < 2) img.type = carla::IMAGE;
-      else  img.type = carla::DEPTH;
-      reward->images.push_back(img);
-    }
+  reward->player_location = {1.0f, 1.0f};
+  reward->player_orientation = {1.0f, 0.0f, 0.0f};
+  reward->player_acceleration = {1.0f, 0.0f, 0.0f};
+  reward->forward_speed = 100.0f;
+  reward->collision_general = 10.0f;
+  reward->collision_pedestrian = 10.0f;
+  reward->collision_car = 10.0f;
+  reward->intersect_other_lane = 0.5f;
+  reward->intersect_offroad = 0.5f;
+
+  for (int i = 0; i < 4; ++i) {
+    carla::Image img;
+    img.image = makeImage(imageWidth, imageHeight);
+    img.width = imageWidth;
+    img.height = imageHeight;
+    if (i < 2) img.type = carla::IMAGE;
+    else  img.type = carla::DEPTH;
+    reward->images.push_back(img);
+  }
 /*
-    reward->image_rgb_0 = makeImage(imageWidth, imageHeight);
-    reward->image_rgb_1 = makeImage(imageWidth, imageHeight);
-    reward->image_depth_0 = makeImage(imageWidth, imageHeight);
-    reward->image_depth_1 = makeImage(imageWidth, imageHeight);
+  reward->image_rgb_0 = makeImage(imageWidth, imageHeight);
+  reward->image_rgb_1 = makeImage(imageWidth, imageHeight);
+  reward->image_depth_0 = makeImage(imageWidth, imageHeight);
+  reward->image_depth_1 = makeImage(imageWidth, imageHeight);
 */
-    static decltype(carla::Reward_Values::timestamp) timestamp = 0u;
-    reward->timestamp = timestamp++;
+  static decltype(carla::Reward_Values::timestamp) timestamp = 0u;
+  reward->timestamp = timestamp++;
 
-    return reward;
+  return reward;
 }
 
 
@@ -91,67 +90,57 @@ int main(int argc, char *argv[]) {
     const uint32_t worldPort = toInt(argv[1u]);
     const uint32_t writePort = toInt(argv[2u]);
     const uint32_t readPort  = toInt(argv[3u]);
-    // const uint32_t mode      = toInt(argv[4u]);
-    // const uint32_t scene     = toInt(argv[5u]);
 
     // This already starts the two threads.
     carla::CarlaServer server(writePort, readPort, worldPort);
 
     // Let's simulate the game loop.
-
-
-
-    for (;;){
-      if (server.init(1u)){
+    for (;;) {
+      if (server.init(1u)) {
 
         {
-          carla::Mode mode;
           uint32_t scene;
           bool error = false, readed = false;
-          do{
-            error = !server.tryReadSceneInit(mode, scene, readed);
-          }while(!readed && !error);
+          do {
+            error = !server.tryReadSceneInit(scene, readed);
+          } while (!readed && !error);
 
-          if (error) std::cerr << "ERROR while sending SceneValues" << std::endl;
-          else std::cout << "Received: mode = " << (mode == carla::Mode::MONO ? "MONO" : "STEREO")
-                    << ", scene = " << scene << std::endl;
+          if (error) {
+            std::cerr << "ERROR while sending SceneValues" << std::endl;
+          }
+          else std::cout << "Received: scene = " << scene << std::endl;
         }
 
+        carla::Scene_Values sceneValues;
 
-          carla::Scene_Values sceneValues;
+        sceneValues.possible_positions.push_back({0.0f, 0.0f});
+        sceneValues.possible_positions.push_back({1.0f, 2.0f});
+        sceneValues.possible_positions.push_back({3.0f, 4.0f});
+        const std::array<float, 16u> pMatrix = {{ 10.0 }};
+        sceneValues.projection_matrices.push_back(pMatrix);
 
+        if (!server.sendSceneValues(sceneValues)) {
+          std::cerr << "ERROR while sending SceneValues" << std::endl;
+        }
 
-          sceneValues.possible_positions.push_back({0.0f, 0.0f});
-          sceneValues.possible_positions.push_back({1.0f, 2.0f});
-          sceneValues.possible_positions.push_back({3.0f, 4.0f});
-          const std::array<float, 16u> pMatrix = {{ 10.0 }};
-          sceneValues.projection_matrices.push_back(pMatrix);
-
-         /*  std::cout << "POSSIBLE POSITIONS "<< std::endl;
-           for (int i=0; i<sceneValues.possible_positions.size(); ++i){
-            std::cout << "   x: " << sceneValues.possible_positions[i].x << " y: " << sceneValues.possible_positions[i].y << std::endl;
-          }*/
-
-
-          if (!server.sendSceneValues(sceneValues)) std::cerr << "ERROR while sending SceneValues" << std::endl;
-
-
-          std::cout << "New episode" << std::endl;
-
-          {
-
-            uint32_t start, end;
-            bool error = false, readed = false;
-            do{
-              error = !server.tryReadEpisodeStart(start, end, readed);
-            }while (!readed && !error);
-
-            if (error) std::cerr << "ERROR while reading EpisodeStart" << std::endl;
-            else std::cout << "Received: startIndex = " << start << ", endIndex = " << end << std::endl;
+        std::cout << "New episode" << std::endl;
+        {
+          uint32_t start, end;
+          bool error = false, readed = false;
+          do {
+            error = !server.tryReadEpisodeStart(start, end, readed);
+          } while (!readed && !error);
 
+          if (error) {
+            std::cerr << "ERROR while reading EpisodeStart" << std::endl;
+          } else {
+            std::cout << "Received: startIndex = " << start << ", endIndex = " << end << std::endl;
           }
+        }
 
-        if (!server.sendEndReset()) std::cerr << "ERROR while sending EndReset" << std::endl;
+        if (!server.sendEndReset()) {
+          std::cerr << "ERROR while sending EndReset" << std::endl;
+        }
 
         while (true) {
           float steer, gas;
@@ -172,39 +161,35 @@ int main(int argc, char *argv[]) {
 
             uint32_t startPoint, endPoint;
             bool error = false, readed = false;
-            do{
+            do {
               error = !server.tryReadEpisodeStart(startPoint, endPoint, readed);
-            }while (!readed && !error);
+            } while (!readed && !error);
 
             if (error) {
               std::cerr << "ERROR while reading EpisodeStart" << std::endl;
               break;
-            }
-            else{
+            } else {
               std::cout << "--> Start: " << startPoint << " End: " << endPoint << " <--" << std::endl;
               server.sendEndReset();
             }
 
-          }else {
+          } else {
 
             bool readed = false;
             if (!server.tryReadControl(steer, gas, readed)){
               std::cerr << "ERROR while reading Control" << std::endl;
               break;
-            }
-            else if (readed)
+            } else if (readed) {
               std::cout << "CONTROL -->  gas: " << gas << " steer: " << steer << std::endl;
-
+            }
 
             if (!server.sendReward(makeReward().release())) {
               std::cerr << "ERROR while sending Reward" << std::endl;
               break;
             }
-
           }
         }
-
-      std::cout << " -----  RESTARTING -----" <<  std::endl;
+        std::cout << " -----  RESTARTING -----" <<  std::endl;
       }
     }
   } catch (const std::exception &e) {