From 6fa4007727e6cacf7a89c2c4eec3d7a740e5a6b2 Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Thu, 5 Aug 2021 13:45:22 +0200
Subject: [PATCH] Move timer to a separate module

---
 active_grasp/baselines.py  |  3 +--
 active_grasp/controller.py | 27 +++------------------------
 active_grasp/timer.py      | 22 ++++++++++++++++++++++
 3 files changed, 26 insertions(+), 26 deletions(-)
 create mode 100644 active_grasp/timer.py

diff --git a/active_grasp/baselines.py b/active_grasp/baselines.py
index 32afbb1..cec0141 100644
--- a/active_grasp/baselines.py
+++ b/active_grasp/baselines.py
@@ -2,8 +2,7 @@ import numpy as np
 import scipy.interpolate
 import rospy
 
-from active_grasp.policy import BasePolicy
-from robot_helpers.ros import tf
+from .policy import BasePolicy
 from vgn.utils import look_at
 
 
diff --git a/active_grasp/controller.py b/active_grasp/controller.py
index 519e2f3..abf937f 100644
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -4,10 +4,10 @@ from geometry_msgs.msg import PoseStamped
 import numpy as np
 import rospy
 from sensor_msgs.msg import CameraInfo, Image
-import time
 
-from active_grasp.bbox import from_bbox_msg
-from active_grasp.policy import make
+from .bbox import from_bbox_msg
+from .policy import make
+from .timer import Timer
 from active_grasp.srv import Reset, ResetRequest
 from robot_helpers.ros import tf
 from robot_helpers.ros.conversions import *
@@ -132,24 +132,3 @@ class GraspController:
         }
         info.update(Timer.timers)
         return info
-
-
-class Timer:
-    timers = dict()
-
-    def __init__(self, name):
-        self.name = name
-
-    def __enter__(self):
-        self.start()
-        return self
-
-    def __exit__(self, *exc_info):
-        self.stop()
-
-    def start(self):
-        self.tic = time.perf_counter()
-
-    def stop(self):
-        elapsed_time = time.perf_counter() - self.tic
-        self.timers[self.name] = elapsed_time
diff --git a/active_grasp/timer.py b/active_grasp/timer.py
new file mode 100644
index 0000000..7363167
--- /dev/null
+++ b/active_grasp/timer.py
@@ -0,0 +1,22 @@
+import time
+
+
+class Timer:
+    timers = dict()
+
+    def __init__(self, name):
+        self.name = name
+
+    def __enter__(self):
+        self.start()
+        return self
+
+    def __exit__(self, *exc_info):
+        self.stop()
+
+    def start(self):
+        self.tic = time.perf_counter()
+
+    def stop(self):
+        elapsed_time = time.perf_counter() - self.tic
+        self.timers[self.name] = elapsed_time