Added ShowDebugTelemetry to API

LibCarla/source/carla/client/Vehicle.cpp

@@ -44,6 +44,10 @@ namespace client {
     }
   }
 
+  void Vehicle::ShowDebugTelemetry(bool enabled) {
+    GetEpisode().Lock()->ShowVehicleDebugTelemetry(*this, enabled);
+  }
+
   void Vehicle::ApplyControl(const Control &control) {
     if (!_is_control_sticky || (control != _control)) {
       GetEpisode().Lock()->ApplyControlToVehicle(*this, control);

LibCarla/source/carla/client/Vehicle.h

@@ -41,6 +41,9 @@ namespace client {
     /// Switch on/off this vehicle's autopilot.
     void SetAutopilot(bool enabled = true, uint16_t tm_port = TM_DEFAULT_PORT);
 
+    /// Switch on/off this vehicle's autopilot.
+    void ShowDebugTelemetry(bool enabled = true);
+
     /// Apply @a control to this vehicle.
     void ApplyControl(const Control &control);
 

LibCarla/source/carla/client/detail/Client.cpp

@@ -385,6 +385,10 @@ namespace detail {
     _pimpl->AsyncCall("set_actor_autopilot", vehicle, enabled);
   }
 
+  void Client::ShowVehicleDebugTelemetry(rpc::ActorId vehicle, const bool enabled) {
+    _pimpl->AsyncCall("show_vehicle_debug_telemetry", vehicle, enabled);
+  }
+
   void Client::ApplyControlToVehicle(rpc::ActorId vehicle, const rpc::VehicleControl &control) {
     _pimpl->AsyncCall("apply_control_to_vehicle", vehicle, control);
   }

LibCarla/source/carla/client/detail/Client.h

@@ -218,6 +218,10 @@ namespace detail {
         rpc::ActorId vehicle,
         bool enabled);
 
+    void ShowVehicleDebugTelemetry(
+        rpc::ActorId vehicle,
+        bool enabled);
+
     void ApplyControlToVehicle(
         rpc::ActorId vehicle,
         const rpc::VehicleControl &control);

LibCarla/source/carla/client/detail/Simulator.h

@@ -441,6 +441,10 @@ namespace detail {
       _client.SetActorAutopilot(vehicle.GetId(), enabled);
     }
 
+    void ShowVehicleDebugTelemetry(Vehicle &vehicle, bool enabled = true) {
+      _client.ShowVehicleDebugTelemetry(vehicle.GetId(), enabled);
+    }
+
     void SetLightsToVehicle(Vehicle &vehicle, const rpc::VehicleControl &control) {
       _client.ApplyControlToVehicle(vehicle.GetId(), control);
     }

LibCarla/source/carla/rpc/Command.h

@@ -208,6 +208,18 @@ namespace rpc {
       MSGPACK_DEFINE_ARRAY(actor, enabled);
     };
 
+    struct ShowDebugTelemetry : CommandBase<ShowDebugTelemetry> {
+      ShowDebugTelemetry() = default;
+      ShowDebugTelemetry(
+          ActorId id,
+          bool value)
+        : actor(id),
+          enabled(value) {}
+      ActorId actor;
+      bool enabled;
+      MSGPACK_DEFINE_ARRAY(actor, enabled);
+    };
+
     struct SetVehicleLightState : CommandBase<SetVehicleLightState> {
       SetVehicleLightState() = default;
       SetVehicleLightState(
@@ -237,6 +249,7 @@ namespace rpc {
         SetSimulatePhysics,
         SetEnableGravity,
         SetAutopilot,
+        ShowDebugTelemetry,
         SetVehicleLightState>;
 
     CommandType command;

PythonAPI/carla/source/libcarla/Actor.cpp

@@ -165,6 +165,7 @@ void export_actor() {
       .def("apply_physics_control", &cc::Vehicle::ApplyPhysicsControl, (arg("physics_control")))
       .def("get_physics_control", CONST_CALL_WITHOUT_GIL(cc::Vehicle, GetPhysicsControl))
       .def("set_autopilot", CALL_WITHOUT_GIL_2(cc::Vehicle, SetAutopilot, bool, uint16_t), (arg("enabled") = true, arg("tm_port") = ctm::TM_DEFAULT_PORT))
+      .def("show_debug_telemetry", &cc::Vehicle::ShowDebugTelemetry, (arg("enabled") = true))
       .def("get_speed_limit", &cc::Vehicle::GetSpeedLimit)
       .def("get_traffic_light_state", &cc::Vehicle::GetTrafficLightState)
       .def("is_at_traffic_light", &cc::Vehicle::IsAtTrafficLight)

PythonAPI/carla/source/libcarla/Commands.cpp

@@ -194,6 +194,13 @@ void export_commands() {
     .def_readwrite("enabled", &cr::Command::SetAutopilot::enabled)
   ;
 
+  class_<cr::Command::ShowDebugTelemetry>("ShowDebugTelemetry")
+    .def("__init__", &command_impl::CustomInit<ActorPtr, bool, uint16_t>, (arg("actor"), arg("enabled")))
+    .def(init<cr::ActorId, bool>((arg("actor_id"), arg("enabled"))))
+    .def_readwrite("actor_id", &cr::Command::ShowDebugTelemetry::actor)
+    .def_readwrite("enabled", &cr::Command::ShowDebugTelemetry::enabled)
+  ;
+
   class_<cr::Command::SetVehicleLightState>("SetVehicleLightState")
     .def("__init__", &command_impl::CustomInit<ActorPtr, bool>, (arg("actor"), arg("light_state")))
     .def(init<cr::ActorId, cr::VehicleLightState::flag_type>((arg("actor_id"), arg("light_state"))))

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp

@@ -824,6 +824,23 @@ ECarlaServerResponse FVehicleActor::SetActorAutopilot(bool bEnabled, bool bKeepS
   return ECarlaServerResponse::Success;
 }
 
+ECarlaServerResponse FVehicleActor::ShowVehicleDebugTelemetry(bool bEnabled)
+{
+  if (IsDormant())
+  {
+  }
+  else
+  {
+    auto Vehicle = Cast<ACarlaWheeledVehicle>(GetActor());
+    if (Vehicle == nullptr)
+    {
+      return ECarlaServerResponse::NotAVehicle;
+    }
+    Vehicle->ShowDebugTelemetry(bEnabled);
+  }
+  return ECarlaServerResponse::Success;
+}
+
 ECarlaServerResponse FVehicleActor::EnableCarSim(const FString& SimfilePath)
 {
   if (IsDormant())

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Actor/CarlaActor.h

@@ -284,6 +284,11 @@ public:
     return ECarlaServerResponse::ActorTypeMismatch;
   }
 
+  virtual ECarlaServerResponse ShowVehicleDebugTelemetry(bool)
+  {
+    return ECarlaServerResponse::ActorTypeMismatch;
+  }
+
   virtual ECarlaServerResponse EnableCarSim(const FString&)
   {
     return ECarlaServerResponse::ActorTypeMismatch;
@@ -444,6 +449,8 @@ public:
 
   virtual ECarlaServerResponse SetActorAutopilot(bool bEnabled, bool bKeepState = false) final;
 
+  virtual ECarlaServerResponse ShowVehicleDebugTelemetry(bool bEnabled) final;
+
   virtual ECarlaServerResponse EnableCarSim(const FString& SimfilePath) final;
 
   virtual ECarlaServerResponse UseCarSimRoad(bool bEnabled) final;

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Server/CarlaServer.cpp

@@ -1285,6 +1285,31 @@ void FCarlaServer::FPimpl::BindActions()
     return R<void>::Success();
   };
 
+  BIND_SYNC(show_vehicle_debug_telemetry) << [this](
+      cr::ActorId ActorId,
+      bool bEnabled) -> R<void>
+  {
+    REQUIRE_CARLA_EPISODE();
+    FCarlaActor* CarlaActor = Episode->FindCarlaActor(ActorId);
+    if (!CarlaActor)
+    {
+      return RespondError(
+          "show_vehicle_debug_telemetry",
+          ECarlaServerResponse::ActorNotFound,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    ECarlaServerResponse Response =
+        CarlaActor->ShowVehicleDebugTelemetry(bEnabled);
+    if (Response != ECarlaServerResponse::Success)
+    {
+      return RespondError(
+          "show_vehicle_debug_telemetry",
+          Response,
+          " Actor Id: " + FString::FromInt(ActorId));
+    }
+    return R<void>::Success();
+  };
+
   BIND_SYNC(enable_carsim) << [this](
       cr::ActorId ActorId,
       std::string SimfilePath) -> R<void>
@@ -1798,6 +1823,7 @@ void FCarlaServer::FPimpl::BindActions()
       [=](auto, const C::SetEnableGravity &c) {   MAKE_RESULT(set_actor_enable_gravity(c.actor, c.enabled)); },
       // TODO: SetAutopilot should be removed. This is the old way to control the vehicles
       [=](auto, const C::SetAutopilot &c) {         MAKE_RESULT(set_actor_autopilot(c.actor, c.enabled)); },
+      [=](auto, const C::ShowDebugTelemetry &c) {   MAKE_RESULT(show_vehicle_debug_telemetry(c.actor, c.enabled)); },
       [=](auto, const C::SetVehicleLightState &c) { MAKE_RESULT(set_vehicle_light_state(c.actor, c.light_state)); },
       [=](auto, const C::ApplyWalkerState &c) {     MAKE_RESULT(set_walker_state(c.actor, c.transform, c.speed)); });