[8.0.0] ADAS LIB 障碍物轨迹预测2025（老版本完全废弃已移除）;增加域控障碍物类型转换成鹰眼使用的障碍物类型方法;

core/mogo-core-function-call/src/main/java/com/mogo/eagle/core/function/call/autopilot/CallerAutopilotIdentifyListenerManager.kt

@@ -2,9 +2,11 @@ package com.mogo.eagle.core.function.call.autopilot
 
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.base.CallerBase
+import com.zhjt.mogo.adas.data.Adas
 import mogo.telematics.pad.MessagePad
 import mogo.v2x.*
 import perception.FusionTrafficLightOuterClass
+import prediction2025.Prediction2025
 
 /**
  * 域控制器感知数据
@@ -13,6 +15,33 @@ import perception.FusionTrafficLightOuterClass
  */
 object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentifyListener>() {
 
+    private val typeMap: Map<Adas.TrackedObjectType, Adas.TrackedObjectClassID> = mapOf(
+        Adas.TrackedObjectType.TYPE_PEDESTRIAN to Adas.TrackedObjectClassID.Person,
+        Adas.TrackedObjectType.TYPE_MOTOR to Adas.TrackedObjectClassID.MotorCycle,
+        Adas.TrackedObjectType.TYPE_BICYCLE to Adas.TrackedObjectClassID.Bicycle,
+        Adas.TrackedObjectType.TYPE_CAR to Adas.TrackedObjectClassID.Car,
+        Adas.TrackedObjectType.TYPE_TRUCK to Adas.TrackedObjectClassID.Truck,
+        Adas.TrackedObjectType.TYPE_BUS to Adas.TrackedObjectClassID.Bus,
+        Adas.TrackedObjectType.TYPE_WARNINGTRIANGLE to Adas.TrackedObjectClassID.WarningTriangle,
+        Adas.TrackedObjectType.TYPE_ROADWORK_OCCUPY_0501 to Adas.TrackedObjectClassID.RoadWork_occupy_0501,
+        Adas.TrackedObjectType.TYPE_ROADWORK_BREAK_0502 to Adas.TrackedObjectClassID.RoadWork_break_0502,
+        Adas.TrackedObjectType.TYPE_ROAD_CONGESTION to Adas.TrackedObjectClassID.ROAD_CONGESTION
+    )
+
+    /**
+     * 域控障碍物类型转换成鹰眼使用的类型
+     *
+     * @param classType 域控障碍物类型（目前只有Prediction2025.mPredictionObjects.objs_app.classtype 是域控的障碍物类型）
+     */
+    fun trackedObjectTypeTransform(classType: Int): Int {
+        var type = Adas.TrackedObjectType.forNumber(classType)
+        if (type == null) {
+            type = Adas.TrackedObjectType.TYPE_UNKNOWN
+        }
+        val classId = typeMap[type] ?: Adas.TrackedObjectClassID.Unknown
+        return classId.number
+    }
+
     /**
      * 识别交通元素数据发生更新 回调
      */
@@ -24,6 +53,14 @@ object CallerAutopilotIdentifyListenerManager : CallerBase<IMoGoAutopilotIdentif
         }
     }
 
+    @Synchronized
+    fun invokePredictionObstacleTrajectory(predictionObjects: Prediction2025.mPredictionObjects) {
+        M_LISTENERS.forEach {
+            val listener = it.value
+            listener.onPredictionObstacleTrajectory(predictionObjects)
+        }
+    }
+
     /**
      * planning识别感知预警物体
      */