[photon-lib] Invalidate pose cache when setting referencePose (#2040)

photon-lib/py/test/testUtil.py

@@ -0,0 +1,65 @@
+"""Test utilities."""
+
+from photonlibpy.targeting import PhotonPipelineMetadata
+
+
+class InvalidTestDataException(ValueError):
+    pass
+
+
+class PipelineTimestamps:
+    """Helper class to ensure timestamps are positive."""
+
+    def __init__(
+        self,
+        *,
+        captureTimestampMicros: int,
+        pipelineLatencyMicros=2_000,
+        receiveLatencyMicros=1_000,
+    ):
+        if captureTimestampMicros < 0:
+            raise InvalidTestDataException("captureTimestampMicros cannot be negative")
+        if pipelineLatencyMicros <= 0:
+            raise InvalidTestDataException("pipelineLatencyMicros must be positive")
+        if receiveLatencyMicros < 0:
+            raise InvalidTestDataException("receiveLatencyMicros cannot be negative")
+        self._captureTimestampMicros = captureTimestampMicros
+        self._pipelineLatencyMicros = pipelineLatencyMicros
+        self._receiveLatencyMicros = receiveLatencyMicros
+        self._sequenceID = 0
+
+    @property
+    def captureTimestampMicros(self) -> int:
+        return self._captureTimestampMicros
+
+    @captureTimestampMicros.setter
+    def captureTimestampMicros(self, micros: int) -> None:
+        if micros < 0:
+            raise InvalidTestDataException("captureTimestampMicros cannot be negative")
+        if micros < self._captureTimestampMicros:
+            raise InvalidTestDataException("time cannot go backwards")
+        self._captureTimestampMicros = micros
+        self._sequenceID += 1
+
+    @property
+    def pipelineLatencyMicros(self) -> int:
+        return self._pipelineLatencyMicros
+
+    def pipelineLatencySecs(self) -> float:
+        return self.pipelineLatencyMicros * 1e-6
+
+    def incrementTimeMicros(self, micros: int) -> None:
+        self.captureTimestampMicros += micros
+
+    def publishTimestampMicros(self) -> int:
+        return self._captureTimestampMicros + self.pipelineLatencyMicros
+
+    def receiveTimestampMicros(self) -> int:
+        return self.publishTimestampMicros() + self._receiveLatencyMicros
+
+    def toPhotonPipelineMetadata(self) -> PhotonPipelineMetadata:
+        return PhotonPipelineMetadata(
+            captureTimestampMicros=self.captureTimestampMicros,
+            publishTimestampMicros=self.publishTimestampMicros(),
+            sequenceID=self._sequenceID,
+        )