From d3289165bd398f3bd990d62cc157d9ae1ba0128a Mon Sep 17 00:00:00 2001
From: Rick Lan <ricklan@gmail.com>
Date: Wed, 12 Jun 2024 12:46:22 +0800
Subject: [PATCH] added knight scanner

---
 selfdrive/ui/qt/onroad/annotated_camera.cc | 4 ++++
 selfdrive/ui/qt/onroad/annotated_camera.h  | 1 +
 2 files changed, 5 insertions(+)

diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 73448070a..47de272c3 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -26,6 +26,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 
   #ifdef DP
+  knight_scanner = new KnightScanner;
   rainbow_path = new RainbowPath;
   #endif
 
@@ -284,6 +285,9 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
   painter.setBrush(bg);
   painter.drawPolygon(scene.track_vertices);
+  #ifdef DP
+  knight_scanner->paint(painter, rect().height());
+  #endif
 
   painter.restore();
 }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index ad15f536f..86e95e5fe 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -41,6 +41,7 @@ private:
   bool wide_cam_requested = false;
 
   #ifdef DP
+  KnightScanner *knight_scanner;
   RainbowPath *rainbow_path;
   #endif