Address comments on PR#83

interfaces/ros1/wavemap_ros/app/rosbag_processor.cc

@@ -91,13 +91,10 @@ int main(int argc, char** argv) {
 
   // Report the resource usage
   resource_monitor.stop();
-  LOG(INFO) << "Processing complete.\nResource usage:\n* RAM total: "
-            << ResourceMonitor::getCurrentRamUsageInKB().value_or(0u)
-            << " kB\n* Map size: "
-            << wavemap_server.getMap()->getMemoryUsage() / 1000
-            << " kB\n* CPU time: " << resource_monitor.getLastEpisodeCpuTime()
-            << " s\n* Wall time: " << resource_monitor.getLastEpisodeWallTime()
-            << " s\n";
+  LOG(INFO) << "Processing complete.\nResource usage:\n"
+            << resource_monitor.getLastEpisodeResourceUsageStats()
+            << "\n* Map size: "
+            << wavemap_server.getMap()->getMemoryUsage() / 1024 << " kB\n";
 
   if (nh_private.param("keep_alive", false)) {
     ros::spin();

library/cpp/include/wavemap/core/utils/profile/resource_monitor.h

@@ -2,9 +2,8 @@
 #define WAVEMAP_CORE_UTILS_PROFILE_RESOURCE_MONITOR_H_
 
 #include <ctime>
-#include <fstream>
 #include <optional>
-#include <sstream>
+#include <string>
 
 #include "wavemap/core/common.h"
 #include "wavemap/core/utils/time/time.h"
@@ -15,8 +14,8 @@ namespace wavemap {
  *        and RAM usage.
  *
  * The `ResourceMonitor` class tracks CPU and wall clock time over timed
- * episodes, much like wavemap's Stopwatch class. It also provides functionality
- * to retrieve the total RAM usage of the current process.
+ * episodes, much like wavemap's Stopwatch class. It also provides
+ * functionality to retrieve the total RAM usage of the current process.
  */
 class ResourceMonitor {
  public:
@@ -31,9 +30,9 @@ class ResourceMonitor {
   /**
    * @brief Stops timing the current episode.
    *
-   * Records the end CPU and wall clock times for the current episode,
-   * updating the last episode duration and total accumulated duration.
-   * If monitoring is not running, calling `stop()` has no effect.
+   * Records the end CPU and wall clock times for the current episode, updating
+   * the last episode duration and total accumulated duration. If no episode is
+   * in progress, calling `stop()` has no effect.
    */
   void stop();
 
@@ -44,14 +43,23 @@ class ResourceMonitor {
    */
   bool isRunning() const { return running_; }
 
+  /**
+   * @brief Gets the current RAM usage of the application.
+   *
+   * @return The current RAM usage in kilobytes, or `std::nullopt` (an empty
+   *         optional) if retrieving RAM usage is not supported on the given
+   *         platform.
+   */
+  static std::optional<size_t> getCurrentRamUsageInKB();
+
   /**
    * @brief Gets the CPU time duration of the last episode.
    *
    * @return The CPU time duration of the last episode in seconds.
    *
-   * The value represents the CPU time elapsed between the most recent
-   * `start()` and `stop()` calls. If no episode has been monitored, this
-   * returns 0.
+   * The value represents the CPU time elapsed during the most recently
+   * completed pair of `start()` and `stop()` calls. If no episode has been
+   * completed, this returns 0.
    */
   double getLastEpisodeCpuTime() const {
     return time::to_seconds<double>(last_episode_cpu_duration_);
@@ -62,14 +70,27 @@ class ResourceMonitor {
    *
    * @return The wall clock time duration of the last episode in seconds.
    *
-   * The value represents the real-world time elapsed between the most recent
-   * `start()` and `stop()` calls. If no episode has been monitored, this
-   * returns 0.
+   * The value represents the real-world time elapsed during the most recently
+   * completed pair of `start()` and `stop()` calls. If no episode has been
+   * completed, this returns 0.
    */
   double getLastEpisodeWallTime() const {
     return time::to_seconds<double>(last_episode_wall_duration_);
   }
 
+  /**
+   * @brief Get the last episode's resource usage stats formatted as a string.
+   *
+   * @return A string with the CPU time, wall time, and RAM usage statistics.
+   *
+   * The returned string provides a human-readable summary of the resource
+   * usage for the most recently completed episode. CPU and wall times are
+   * displayed in seconds with two decimal places, while RAM usage is reported
+   * in kilobytes. If RAM usage information is unavailable, it will be labeled
+   * as "Unknown". Each statistic is printed on a new line, with a leading `*`.
+   */
+  std::string getLastEpisodeResourceUsageStats() const;
+
   /**
    * @brief Gets the total accumulated CPU time of all episodes.
    *
@@ -97,13 +118,18 @@ class ResourceMonitor {
   }
 
   /**
-   * @brief Gets the current RAM usage of the application.
+   * @brief Get the total accumulated resource usage stats formatted as a
+   *        string.
    *
-   * @return The current RAM usage in kilobytes, or `std::nullopt` (an empty
-   *         optional) if retrieving RAM usage is not supported on the given
-   *         platform.
+   * @return A string with the CPU time, wall time, and RAM usage statistics.
+   *
+   * The returned string provides a human-readable summary of the total resource
+   * usage for all episodes. CPU and wall times are displayed in seconds with
+   * two decimal places, while RAM usage is reported in kilobytes. If RAM usage
+   * information is unavailable, it will be labeled as "Unknown". Each statistic
+   * is printed on a new line, with a leading `*`.
    */
-  static std::optional<size_t> getCurrentRamUsageInKB();
+  std::string getTotalResourceUsageStats() const;
 
   /**
    * @brief Resets the stopwatch to its initial state.

library/cpp/include/wavemap/core/utils/time/stopwatch.h

@@ -25,9 +25,9 @@ class Stopwatch {
   /**
    * @brief Stops the stopwatch for the current timing episode.
    *
-   * Records the end time for the current episode and updates the
-   * total accumulated duration. If the stopwatch is not running,
-   * calling `stop()` has no effect.
+   * Records the end time for the current episode and updates the total
+   * accumulated duration. If the stopwatch is not running, calling `stop()`
+   * has no effect.
    */
   void stop();
 
@@ -43,8 +43,8 @@ class Stopwatch {
    *
    * @return The duration of the last episode in seconds as a `double`.
    *
-   * The value represents the time elapsed between the most recent
-   * `start()` and `stop()` calls. If no episode has been timed,
+   * The value represents the time elapsed during the most recently completed
+   * pair of `start()` and `stop()` calls. If no episode has been completed,
    * this returns 0.
    */
   double getLastEpisodeDuration() const {
@@ -56,9 +56,9 @@ class Stopwatch {
    *
    * @return The total duration in seconds as a `double`.
    *
-   * The value represents the sum of the durations of all episodes
-   * that have been timed since the creation of the stopwatch or
-   * since it was last reset.
+   * The value represents the sum of the durations of all episodes that have
+   * been completed since the creation of the stopwatch or since it was last
+   * reset.
    */
   double getTotalDuration() const {
     return time::to_seconds<double>(total_duration_);
@@ -67,8 +67,8 @@ class Stopwatch {
   /**
    * @brief Resets the stopwatch to its initial state.
    *
-   * This method resets all member variables by reassigning
-   * the object to a default-constructed instance.
+   * This method resets all member variables by reassigning the object to a
+   * default-constructed instance.
    */
   void reset() { *this = Stopwatch{}; }
 

library/cpp/src/core/utils/profile/resource_monitor.cc

@@ -1,6 +1,8 @@
 #include "wavemap/core/utils/profile/resource_monitor.h"
 
-#include <string>
+#include <fstream>
+#include <iomanip>
+#include <sstream>
 
 namespace wavemap {
 void ResourceMonitor::start() {
@@ -67,6 +69,32 @@ std::optional<size_t> ResourceMonitor::getCurrentRamUsageInKB() {
   return ram_usage;
 }
 
+std::string ResourceMonitor::getLastEpisodeResourceUsageStats() const {
+  std::ostringstream oss;
+  oss << std::fixed << std::setprecision(2);  // Print with two decimals
+  oss << "* CPU time: " << getLastEpisodeCpuTime() << " s\n"
+      << "* Wall time: " << getLastEpisodeWallTime() << " s\n";
+  if (const auto ram_usage = getCurrentRamUsageInKB(); ram_usage) {
+    oss << "* RAM total: " << *ram_usage << " kB";
+  } else {
+    oss << "* RAM total: Unknown";
+  }
+  return oss.str();
+}
+
+std::string ResourceMonitor::getTotalResourceUsageStats() const {
+  std::ostringstream oss;
+  oss << std::fixed << std::setprecision(2);  // Print with two decimals
+  oss << "* CPU time: " << getTotalCpuTime() << " s\n"
+      << "* Wall time: " << getTotalWallTime() << " s\n";
+  if (const auto ram_usage = getCurrentRamUsageInKB(); ram_usage) {
+    oss << "* RAM total: " << *ram_usage << " kB";
+  } else {
+    oss << "* RAM total: Unknown";
+  }
+  return oss.str();
+}
+
 Duration ResourceMonitor::computeDuration(const timespec& start,
                                           const timespec& stop) {
   return std::chrono::seconds(stop.tv_sec - start.tv_sec) +

library/cpp/test/src/core/CMakeLists.txt

@@ -34,7 +34,7 @@ target_sources(test_wavemap_core PRIVATE
     utils/neighbors/test_grid_adjacency.cc
     utils/neighbors/test_grid_neighborhood.cc
     utils/neighbors/test_ndtree_adjacency.cc
-    utils/profile/test_usage_monitor.cc
+    utils/profile/test_resource_monitor.cc
     utils/query/test_classified_map.cc
     utils/query/test_map_interpolator.cpp
     utils/query/test_occupancy_classifier.cc