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Allow overriding sitl_gazebo build_cores with an environment variable #18047

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merged 3 commits into from
Nov 7, 2021
Merged

Allow overriding sitl_gazebo build_cores with an environment variable #18047

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f9e0b91
Allow overriding sitl_gazebo build_cores with environment variable BU…
guilhermelawless Aug 10, 2021
3990dfd
Alternative solution using memory information from the system to esti…
guilhermelawless Aug 11, 2021
3a28f56
Clarify message and make it DEBUG
guilhermelawless Aug 18, 2021
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36 changes: 29 additions & 7 deletions platforms/posix/cmake/sitl_target.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -21,15 +21,37 @@ px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")

# Add support for external project building
include(ExternalProject)
include(ProcessorCount)

set(build_cores 1)
# Estimate an appropriate number of parallel jobs
cmake_host_system_information(RESULT AVAILABLE_PHYSICAL_MEMORY QUERY AVAILABLE_PHYSICAL_MEMORY)
cmake_host_system_information(RESULT NUMBER_OF_LOGICAL_CORES QUERY NUMBER_OF_LOGICAL_CORES)

ProcessorCount(N)
if(N GREATER_EQUAL 4)
math(EXPR build_cores "${N} - 2")
set(parallel_jobs 1)

if(NOT NUMBER_OF_LOGICAL_CORES)
include(ProcessorCount)
ProcessorCount(NUMBER_OF_LOGICAL_CORES)
endif()

if(NOT AVAILABLE_PHYSICAL_MEMORY AND NUMBER_OF_LOGICAL_CORES GREATER_EQUAL 4)
# Memory estimate unavailable, use N-2 jobs
math(EXPR parallel_jobs "${NUMBER_OF_LOGICAL_CORES} - 2")
endif()

if (AVAILABLE_PHYSICAL_MEMORY)
# Allow an additional job for every 1.5GB of available physical memory
math(EXPR parallel_jobs "${AVAILABLE_PHYSICAL_MEMORY}/(3*1024/2)")
else()
set(AVAILABLE_PHYSICAL_MEMORY "?")
endif()

if(parallel_jobs GREATER NUMBER_OF_LOGICAL_CORES)
set(parallel_jobs ${NUMBER_OF_LOGICAL_CORES})
endif()

message(DEBUG "${NUMBER_OF_LOGICAL_CORES} logical cores detected and ${AVAILABLE_PHYSICAL_MEMORY} megabytes of memory available.
Limiting sitl_gazebo and simulation-ignition concurrent jobs to ${parallel_jobs}")

# project to build sitl_gazebo if necessary
px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
ExternalProject_Add(sitl_gazebo
Expand All @@ -45,7 +67,7 @@ ExternalProject_Add(sitl_gazebo
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)

px4_add_git_submodule(TARGET git_ign_gazebo PATH "${PX4_SOURCE_DIR}/Tools/simulation-ignition")
Expand All @@ -59,7 +81,7 @@ ExternalProject_Add(simulation-ignition
USES_TERMINAL_BUILD true
EXCLUDE_FROM_ALL true
BUILD_ALWAYS 1
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${build_cores}
BUILD_COMMAND ${CMAKE_COMMAND} --build <BINARY_DIR> -- -j ${parallel_jobs}
)

ExternalProject_Add(mavsdk_tests
Expand Down