Update sdk.

src/driver_nodelet.cpp

@@ -60,11 +60,10 @@ void DriverNodelet::onInit() {
   // Initialize sdk
   cepton_sdk::SensorErrorCode error_code;
 
-  const int ver = 11;
   auto options = cepton_sdk::create_options();
   options.control_flags = control_flags;
   options.frame.mode = CEPTON_SDK_FRAME_CYCLE;
-  error_code = cepton_sdk::initialize(ver, options, global_on_error, this);
+  error_code = cepton_sdk::initialize(13, options, global_on_error, this);
   if (error_code) {
     NODELET_FATAL("cepton_sdk::initialize failed: %s",
                   cepton_sdk::get_error_code_name(error_code));

third_party/cepton_sdk/include/cepton_sdk.h

@@ -15,7 +15,7 @@ extern "C" {
 
 #include "cepton_export.h"
 
-#define CEPTON_SDK_VERSION 11
+#define CEPTON_SDK_VERSION 13
 
 //------------------------------------------------------------------------------
 // Errors
@@ -87,7 +87,7 @@ struct EXPORT CeptonSensorInformation {
   float last_reported_age;          ///< [hours]
   float padding;
 
-  uint64_t ptp_ts;
+  int64_t ptp_ts;
 
   uint8_t gps_ts_year;   ///< 0-99 (2017 -> 17)
   uint8_t gps_ts_month;  ///< 1-12
@@ -113,14 +113,14 @@ EXPORT extern const size_t cepton_sensor_information_size;
  * To convert to 3d point, refer to `cepton_sdk_util.hpp`.
 */
 struct EXPORT CeptonSensorImagePoint {
-  uint64_t timestamp;  ///< unix time [microseconds]
+  int64_t timestamp;  ///< unix time [microseconds]
   float image_x;       ///< x image coordinate
   float distance;      ///< distance [meters]
   float image_z;       ///< z image coordinate
   float intensity;     ///< 0-1 scaled intensity
   uint8_t return_number; ///< 0=first return, 1=second return
   uint8_t valid;       ///< 1=valid; 0=clipped/invalid
-  uint8_t saturated;   ///< If satruated, intensity cannot be trusted
+  uint8_t saturated;   ///< If saturated, intensity cannot be trusted
   uint8_t reserved;
 };
 EXPORT extern const size_t cepton_sensor_image_point_size;
@@ -255,7 +255,7 @@ EXPORT CeptonSensorErrorCode cepton_sdk_listen_network_packet(
     FpCeptonNetworkReceiveCallback cb, void *const user_data);
 EXPORT CeptonSensorErrorCode cepton_sdk_unlisten_network_packet();
 
-EXPORT CeptonSensorErrorCode cepton_sdk_set_mock_time_base(uint64_t time_base);
+EXPORT CeptonSensorErrorCode cepton_sdk_set_mock_time_base(int64_t time_base);
 
 EXPORT CeptonSensorErrorCode cepton_sdk_mock_network_receive(
     CeptonSensorHandle handle, const uint8_t *const buffer, size_t buffer_size);
@@ -268,7 +268,7 @@ EXPORT CeptonSensorErrorCode
 cepton_sdk_capture_replay_open(const char *const path);
 EXPORT CeptonSensorErrorCode cepton_sdk_capture_replay_close();
 
-EXPORT uint64_t cepton_sdk_capture_replay_get_start_time();
+EXPORT int64_t cepton_sdk_capture_replay_get_start_time();
 EXPORT float cepton_sdk_capture_replay_get_position();
 EXPORT float cepton_sdk_capture_replay_get_length();
 EXPORT int cepton_sdk_capture_replay_is_end();

third_party/cepton_sdk/include/cepton_sdk.hpp

@@ -113,10 +113,11 @@ static bool is_initialized() { return (bool)cepton_sdk_is_initialized(); }
 /**
  * Must be called before any other sdk function listed below.
  */
-static SensorErrorCode initialize(int ver, const Options &options,
-                                  const FpSensorErrorCallback &cb,
-                                  void *const user_data) {
-  return cepton_sdk_initialize(ver, &options, cb, user_data);
+static SensorErrorCode initialize(int version,
+                                  const Options &options = create_options(),
+                                  const FpSensorErrorCallback &cb = nullptr,
+                                  void *const user_data = nullptr) {
+  return cepton_sdk_initialize(version, &options, cb, user_data);
 }
 
 /// Resets everything and deallocates memory.

third_party/cepton_sdk/include/cepton_sdk_api.hpp

@@ -27,7 +27,7 @@ static uint64_t get_time() {
 
 /// Sleeps or resumes capture replay for duration.
 static SensorErrorCode wait(float t_length = 0.1f) {
-  if (is_live()) {
+  if (is_live() || capture_replay::is_running()) {
     std::this_thread::sleep_for(
         std::chrono::milliseconds((int)(1e3f * t_length)));
     return CEPTON_SUCCESS;
@@ -77,7 +77,7 @@ static void check_error_code(SensorErrorCode error_code,
 /**
  * Calls `cepton_sdk::api::check_error_code`.
  */
-static void default_on_error(SensorHandle h, int error_code,
+static void default_on_error(SensorHandle h, SensorErrorCode error_code,
                              const char *const error_msg,
                              const void *const error_data,
                              std::size_t error_data_size,
@@ -94,8 +94,8 @@ inline static SensorErrorCode initialize(Options options = create_options(),
   // Initialize
   if (!capture_path.empty())
     options.control_flags |= CEPTON_SDK_CONTROL_DISABLE_NETWORK;
-  auto error_code = ::cepton_sdk::initialize(CEPTON_SDK_VERSION, options,
-                                             default_on_error, nullptr);
+  auto error_code =
+      ::cepton_sdk::initialize(CEPTON_SDK_VERSION, options, default_on_error);
   if (error_code) return error_code;
 
   // Open capture replay