红绿灯—感知融合

增加工控机感知红绿灯
感知红绿灯和AI云红绿灯融合

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

@@ -4,6 +4,7 @@ import androidx.annotation.Nullable
 import com.mogo.eagle.core.function.api.autopilot.IMoGoAutopilotIdentifyListener
 import com.mogo.eagle.core.function.call.base.CallerBase
 import mogo.telematics.pad.MessagePad
+import perception.TrafficLightOuterClass
 import java.util.concurrent.ConcurrentHashMap
 
 /**
@@ -79,5 +80,15 @@ object CallerAutopilotIdentifyListenerManager : CallerBase() {
         }
     }
 
+    /**
+     * 感知红绿灯
+     */
+    fun invokeAutopilotPerceptionTrafficLight(trafficLights: TrafficLightOuterClass.TrafficLights?){
+        M_AUTOPILOT_IDENTIFY_LISTENERS.forEach{
+            val tag = it.key
+            val listener = it.value
+            listener.onAutopilotPerceptionTrafficLight(trafficLights)
+        }
+    }
 
 }