CarlaWheeledVehicle: Added debug telemetry

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.cpp

@@ -17,6 +17,12 @@ void ACarlaHUD::DrawHUD()
     return;
   }
 
+  if(DebugVehicle) {
+    float YL = 1600.0f;
+    float Y0 = 0.0f;
+    DebugVehicle->DrawDebug(Canvas, YL, Y0);
+  }
+
   double Now = FPlatformTime::Seconds();
   int i = 0;
   while (i < StringList.Num())

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Game/CarlaHUD.h

@@ -23,7 +23,7 @@
 
 #include "Containers/Array.h"
 #include "GameFramework/HUD.h"
-
+#include "WheeledVehicleMovementComponent.h"
 #include "CarlaHUD.generated.h"
 
 struct HUDString
@@ -50,6 +50,9 @@ public:
 
   virtual void DrawHUD() override;
 
+  UWheeledVehicleMovementComponent* DebugVehicle{nullptr};
+  void AddDebugVehicleForTelemetry(UWheeledVehicleMovementComponent* Veh) { DebugVehicle = Veh; }
+
   void AddHUDString(const FString Str, const FVector Location, const FColor Color, double LifeTime);
 
 private:

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.cpp

@@ -5,23 +5,24 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-#include "Carla.h"
-#include "Carla/Vehicle/CarlaWheeledVehicle.h"
-#include "Carla/Game/CarlaStatics.h"
-
 #include "Components/BoxComponent.h"
 #include "Engine/CollisionProfile.h"
+#include "MovementComponents/DefaultMovementComponent.h"
+#include "Rendering/SkeletalMeshRenderData.h"
+
 #include "PhysXPublic.h"
 #include "PhysXVehicleManager.h"
 #include "TireConfig.h"
 #include "VehicleWheel.h"
+
+#include "Carla.h"
+#include "Carla/Game/CarlaHUD.h"
+#include "Carla/Game/CarlaStatics.h"
+#include "Carla/Trigger/FrictionTrigger.h"
 #include "Carla/Util/ActorAttacher.h"
 #include "Carla/Util/EmptyActor.h"
-#include "MovementComponents/DefaultMovementComponent.h"
-#include "Carla/Trigger/FrictionTrigger.h"
 #include "Carla/Util/BoundingBoxCalculator.h"
-
-#include "Rendering/SkeletalMeshRenderData.h"
+#include "Carla/Vehicle/CarlaWheeledVehicle.h"
 
 // =============================================================================
 // -- Constructor and destructor -----------------------------------------------
@@ -472,6 +473,31 @@ void ACarlaWheeledVehicle::DeactivateVelocityControl()
   VelocityControl->Deactivate();
 }
 
+void ACarlaWheeledVehicle::EnableDebugTelemetry()
+{
+  if (GetWorld()->GetFirstPlayerController())
+  {
+    ACarlaHUD* hud = Cast<ACarlaHUD>(GetWorld()->GetFirstPlayerController()->GetHUD());
+    if (hud)
+      hud->AddDebugVehicleForTelemetry(GetVehicleMovementComponent());
+    else
+      UE_LOG(LogCarla, Warning, TEXT("ACarlaWheeledVehicle::EnableDebugTelemetry:: Cannot find HUD for debug info"));
+  }
+}
+
+void ACarlaWheeledVehicle::DisableDebugTelemetry()
+{
+  if (GetWorld()->GetFirstPlayerController())
+  {
+   ACarlaHUD* hud = Cast<ACarlaHUD>(GetWorld()->GetFirstPlayerController()->GetHUD());
+
+   if (hud)
+     hud->AddDebugVehicleForTelemetry(nullptr);
+   else
+     UE_LOG(LogCarla, Warning, TEXT("ACarlaWheeledVehicle::DisableDebugTelemetry:: Cannot find HUD for debug info"));
+  }
+}
+
 void ACarlaWheeledVehicle::SetVehicleLightState(const FVehicleLightState &LightState)
 {
   InputControl.LightState = LightState;
@@ -562,3 +588,8 @@ FVector ACarlaWheeledVehicle::GetVelocity() const
 {
   return BaseMovementComponent->GetVelocity();
 }
+
+void ACarlaWheeledVehicle::EndPlay(const EEndPlayReason::Type EndPlayReason)
+{
+  DisableDebugTelemetry();
+}

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Vehicle/CarlaWheeledVehicle.h

@@ -176,6 +176,12 @@ public:
   UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
   void DeactivateVelocityControl();
 
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  void EnableDebugTelemetry();
+
+  UFUNCTION(Category = "CARLA Wheeled Vehicle", BlueprintCallable)
+  void DisableDebugTelemetry();
+
   /// @todo This function should be private to AWheeledVehicleAIController.
   void FlushVehicleControl();
 
@@ -240,6 +246,7 @@ public:
 protected:
 
   virtual void BeginPlay() override;
+  virtual void EndPlay(const EEndPlayReason::Type EndPlayReason);
 
   UFUNCTION(BlueprintImplementableEvent)
   void RefreshLightState(const FVehicleLightState &VehicleLightState);