Added text to new debug system

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

@@ -6,6 +6,7 @@
 
 #include "Carla.h"
 #include "Carla/Game/CarlaGameModeBase.h"
+#include "Carla/Game/CarlaHUD.h"
 
 #include <compiler/disable-ue4-macros.h>
 #include <carla/rpc/WeatherParameters.h>
@@ -22,6 +23,9 @@ ACarlaGameModeBase::ACarlaGameModeBase(const FObjectInitializer& ObjectInitializ
 
   Recorder = CreateDefaultSubobject<ACarlaRecorder>(TEXT("Recorder"));
 
+  // HUD
+  HUDClass = ACarlaHUD::StaticClass();
+
   TaggerDelegate = CreateDefaultSubobject<UTaggerDelegate>(TEXT("TaggerDelegate"));
   CarlaSettingsDelegate = CreateDefaultSubobject<UCarlaSettingsDelegate>(TEXT("CarlaSettingsDelegate"));
 }

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

@@ -0,0 +1,55 @@
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#include "CarlaHUD.h"
+
+void ACarlaHUD::DrawHUD()
+{
+  Super::DrawHUD();
+
+  double Now = FPlatformTime::Seconds();
+  int ScreenWidth = 0;
+  int ScreenHeight = 0;
+
+  auto Player = GetOwningPlayerController();
+  if (Player == nullptr)
+  {
+    UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
+    return;
+  }
+
+  // get viewport size for culling
+  Player->GetViewportSize(ScreenWidth, ScreenHeight);
+
+  int i = 0;
+  while (i < StringList.Num())
+  {
+    // project position from camera
+    FVector2D Screen;
+    Player->ProjectWorldLocationToScreen(StringList[i].Location, Screen, true);
+    if (Screen.X >= 0 && Screen.Y >= 0 && Screen.X < ScreenWidth && Screen.Y < ScreenHeight)
+    {
+      // draw text
+      DrawText(StringList[i].Str, StringList[i].Color, Screen.X, Screen.Y, nullptr, 1.0f, false);
+    }
+
+    // check to remove the string
+    if (Now >= StringList[i].TimeToDie)
+    {
+      // remove the string
+      StringList.RemoveAt(i);
+    }
+    else
+      ++i;
+  }
+}
+
+void ACarlaHUD::AddHUDString(FString Str, FVector Location, FColor Color, double LifeTime)
+{
+  double Now = FPlatformTime::Seconds();
+  HUDString Obj { Str, Location, Color, Now + LifeTime };
+  StringList.Add(std::move(Obj));
+}

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

@@ -0,0 +1,42 @@
+// Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "Containers/Array.h"
+#include "GameFramework/HUD.h"
+
+#include "CarlaHUD.generated.h"
+
+struct HUDString
+{
+  FString Str { "" };
+  FVector Location;
+  FColor Color;
+  double TimeToDie;
+};
+
+/// Class to draw on HUD
+UCLASS()
+class CARLA_API ACarlaHUD : public AHUD
+{
+  GENERATED_BODY()
+
+public:
+
+  ACarlaHUD(const FObjectInitializer& ObjectInitializer)
+    : Super(ObjectInitializer)
+  {
+    PrimaryActorTick.bCanEverTick = false;
+  }
+
+  virtual void DrawHUD() override;
+
+  void AddHUDString(FString Str, FVector Location, FColor Color, double LifeTime);
+
+private:
+  TArray<HUDString> StringList;
+};

Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Util/DebugShapeDrawer.cpp

@@ -159,14 +159,14 @@ struct FShapeVisitor
 
   void operator()(const Shape::String &Str) const
   {
-    DrawDebugString(
-        World,
-        Str.location,
-        carla::rpc::ToFString(Str.text),
-        nullptr,
-        Color,
-        LifeTime,
-        Str.draw_shadow);
+    auto PlayerController = UGameplayStatics::GetPlayerController(World, 0);
+    if (PlayerController == nullptr)
+    {
+      UE_LOG(LogCarla, Error, TEXT("Can't find player controller!"));
+      return;
+    }
+    ACarlaHUD *Hud = Cast<ACarlaHUD>(PlayerController->GetHUD());
+    Hud->AddHUDString(carla::rpc::ToFString(Str.text), Str.location, Color, LifeTime);
   }
 
 private: