[Unitree][cross] set make job num to CPU threads

jsk_unitree_robot/cross/build_ros1.sh

@@ -1,10 +1,20 @@
 #!/bin/bash
 
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    JOBS=$(cat /proc/cpuinfo | grep "processor" | wc -l)
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+    JOBS=$(sysctl -n hw.logicalcpu)
+else
+    JOBS=8
+fi
+
+echo "NUM JOBS=${JOBS}"
+
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
 SOURCE_ROOT=${TARGET_MACHINE}_ws_system
-MAKEFLAGS=${MAKEFLAGS:-'-j4'}
+MAKEFLAGS=${MAKEFLAGS:-'-j'}${JOBS}
 
 UPDATE_SOURCE_ROOT=1  # TRUE
 if [ -e "${SOURCE_ROOT}" ]; then
@@ -31,7 +41,7 @@ mkdir -p ${SOURCE_ROOT}/src
 mkdir -p ${HOST_INSTALL_ROOT}/ros1_inst
 
 if [ ${UPDATE_SOURCE_ROOT} -eq 1 ]; then
-    vcs import --force --retry 10 --shallow ${SOURCE_ROOT}/src < repos/roseus_no_window.repos
+    vcs import --force --workers ${JOBS} --retry 10 --shallow ${SOURCE_ROOT}/src < repos/roseus_no_window.repos
     for dir in euslisp jskeus; do ls ${SOURCE_ROOT}/src/$dir/patches/; rsync -avz ${SOURCE_ROOT}/src/$dir/patches/ ${SOURCE_ROOT}/src/$dir; done
     sed -i s@:{version}@0.0.0@ ${SOURCE_ROOT}/src/euslisp/package.xml ${SOURCE_ROOT}/src/jskeus/package.xml
 fi
@@ -63,7 +73,7 @@ docker run -it --rm \
     rospack list && \
     cd ${SOURCE_ROOT} && \
     [ ${UPDATE_SOURCE_ROOT} -eq 0 ] || ROS_PACKAGE_PATH=src:\$ROS_PACKAGE_PATH rosinstall_generator ${EUSCOLLADA_DEPENDS} ${ROSEUS_DEPENDS} ${ROSEUS_MONGO_DEPENDS} ${ROSEUS_SMACH_DEPENDS} ${JSK_ROBOT_STARTUP_DEPENDS} ${DIAGNOSTIC_AGGREGATOR} ${PR2EUS} --verbose --deps --rosdistro melodic --exclude RPP --depend-type buildtool buildtool_export build run | tee unitree_ros1_system.repos && \
-    [ ${UPDATE_SOURCE_ROOT} -eq 0 ] || PYTHONPATH= vcs import --force --retry 10 --shallow src < unitree_ros1_system.repos && \
+    [ ${UPDATE_SOURCE_ROOT} -eq 0 ] || PYTHONPATH= vcs import --force --workers ${JOBS} --retry 10 --shallow src < unitree_ros1_system.repos && \
     [ ! -e pr2_mechanism-346.diff ] || OUT=\"\$(patch -p1 --forward --directory src/pr2_mechanism < pr2_mechanism-346.diff | tee /dev/tty)\" || echo \"\${OUT}\" | grep \"Skipping patch\" -q || (echo \"\$OUT\" && false) && \
     catkin_make_isolated --install --install-space /opt/jsk/${INSTALL_ROOT}/ros1_inst -DCMAKE_BUILD_TYPE=Release \
         -DCATKIN_ENABLE_TESTING=FALSE \

jsk_unitree_robot/cross/build_ros1_dependencies.sh

@@ -1,10 +1,22 @@
 #!/bin/bash
 
+IMAGE_NAME="${IMAGE_NAME:-ros1-unitree}"
+
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    JOBS=$(cat /proc/cpuinfo | grep "processor" | wc -l)
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+    JOBS=$(sysctl -n hw.logicalcpu)
+else
+    JOBS=8
+fi
+
+echo "NUM JOBS=${JOBS}"
+
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
 SOURCE_ROOT=${TARGET_MACHINE}_ws_ros1_dependencies_sources
-MAKEFLAGS=${MAKEFLAGS:-'-j4'}
+MAKEFLAGS=${MAKEFLAGS:-'-j'}${JOBS}
 
 if [ -e "${SOURCE_ROOT}" ]; then
     echo "WARNING: Source directory is found ${SOURCE_ROOT}" 1>&2
@@ -38,7 +50,9 @@ docker run -it --rm \
   bash -c "\
     set -xeuf -o pipefail && \
     cd /home/user/ros1_dependencies_sources && \
-    vcs import --skip-existing --retry 10 --shallow src < ros1_dependencies.repos && \
+    vcs import --skip-existing --workers ${JOBS} --retry 10 --shallow src < ros1_dependencies.repos && \
+    export JOBS=${JOBS} && \
+    export MAKEFLAGS=${MAKEFLAGS} && \
     for script_file in \$(ls /home/user/ros1_dependencies_build_scripts/|sort); do
       /home/user/ros1_dependencies_build_scripts/\$script_file || exit 1;
     done && \

jsk_unitree_robot/cross/build_user.sh

@@ -1,5 +1,15 @@
 #!/bin/bash
 
+if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    JOBS=$(cat /proc/cpuinfo | grep "processor" | wc -l)
+elif [[ "$OSTYPE" == "darwin"* ]]; then
+    JOBS=$(sysctl -n hw.logicalcpu)
+else
+    JOBS=8
+fi
+
+echo "NUM JOBS=${JOBS}"
+
 TARGET_MACHINE="${TARGET_MACHINE:-arm64v8}"
 HOST_INSTALL_ROOT="${BASE_ROOT:-${PWD}}/"${TARGET_MACHINE}_System
 INSTALL_ROOT=System
@@ -35,7 +45,7 @@ for dir in $(find ${SOURCE_ROOT}/src/jsk_robot -maxdepth 1 -mindepth 1 -type d);
 done
 
 # add unitree repos
-[ ${UPDATE_SOURCE_ROOT} -eq 0 ] || vcs import ${SOURCE_ROOT}/src < repos/unitree.repos
+[ ${UPDATE_SOURCE_ROOT} -eq 0 ] || vcs import --workers ${JOBS} ${SOURCE_ROOT}/src < repos/unitree.repos
 
 # check if /proc/sys/fs/binfmt_misc/qemu-* is updated
 # See https://github.com/k-okada/jsk_robot/issues/61

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1001-urdfdom-headers

@@ -8,6 +8,7 @@ cd /home/user/ros1_dependencies_sources/build/urdfdom-headers
 cmake \
   -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
   -DCMAKE_BUILD_TYPE=Release \
+  -j ${JOBS} \
   ../../src/urdfdom-headers/urdfdom_headers-1.0.0
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1002-urdfdom

@@ -8,6 +8,7 @@ cd /home/user/ros1_dependencies_sources/build/urdfdom
 cmake \
   -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
   -DCMAKE_BUILD_TYPE=Release \
+  -j ${JOBS} \
   ../../src/urdfdom/urdfdom-1.0.0
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1003-assimp

@@ -21,6 +21,7 @@ cmake \
   -DBUILD_DOCS=OFF \
   -DCMAKE_DEBUG_POSTFIX='' \
   -DASSIMP_ENABLE_BOOST_WORKAROUND=OFF \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1004-colladadom

@@ -27,4 +27,5 @@ cmake \
   -DOPT_DOUBLE_PRECISION=ON \
   ${SOURCE_DIR}
 
+# ${MAKEFLAGS} causes error?
 make install

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1005-yaml-cpp

@@ -17,6 +17,7 @@ cmake \
   -DCMAKE_BUILD_TYPE=Release \
   -DBUILD_SHARED_LIBS=ON \
   -DYAML_CPP_BUILD_TOOLS=ON \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1007-snappy

@@ -16,6 +16,7 @@ cmake \
   -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
   -DCMAKE_BUILD_TYPE=Release \
   -DBUILD_SHARED_LIBS=on \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1008-opencv

@@ -48,6 +48,7 @@ cmake \
   -DWITH_OPENEXR=OFF \
   -DPYTHON2_PACKAGES_PATH=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib/python2.7/site-packages \
   -DOPENCV_CONFIG_INSTALL_PATH=lib/cmake/OpenCV \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1009-python-sip

@@ -18,4 +18,4 @@ python \
     -e /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/include \
     -b /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/bin \
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1024-liblcm

@@ -20,4 +20,4 @@ automake --add-missing
 autoconf
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1025-alsa-lib

@@ -16,4 +16,4 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1026-db5

@@ -16,4 +16,5 @@ cd ${SOURCE_DIR}/build_unix
 
 ../dist/configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies --build $(uname -m)-unknown-linux-gnu --enable-cxx --enable-compat185
 
+# Why j1?
 make -j1 install

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1027-jack-audio-connection-kit

@@ -17,4 +17,4 @@ cd ${SOURCE_DIR}
 ./autogen.sh
 CFLAGS="-I/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/include" LIBS="-L/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib" ./configure --enable-force-install --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1028-libportaudio2

@@ -20,4 +20,4 @@ cmake \
   -DCMAKE_BUILD_TYPE=Release \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1030-flac

@@ -18,4 +18,4 @@ automake --add-missing
 autoconf
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1031-libncurses

@@ -14,4 +14,4 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies -with-shared
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1032-speech-tools

@@ -30,6 +30,7 @@ export PROJECT_MAJOR_VERSION=2
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
+# Why j1?
 make -j1 PULSEAUDIO=none
 
 cp lib/*.a    /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/lib

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1033-festival

@@ -28,6 +28,7 @@ libtoolize
 autoconf
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
+# Why j1 ?
 EST="../speech_tools" make -j1 all
 
 cp src/main/festival src/main/festival_client bin/text2wave /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/bin/

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1034-festlex-cmu

@@ -14,7 +14,7 @@ fi
 ##
 
 cd ${SOURCE_DIR}
-make -C lib/dicts/cmu
+make -C lib/dicts/cmu ${MAKEFLAGS}
 
 mkdir -p /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/share/festival/dicts/cmu
 cp lib/dicts/cmu/cmudict-*.out     /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/share/festival/dicts/cmu

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1037-mailutils

@@ -16,4 +16,4 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1038-tcl

@@ -16,4 +16,4 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1039-expect

@@ -16,5 +16,5 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies --build=arm --verbose --enable-shared --exec-prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make
-make install
+make ${MAKEFLAGS}
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1040-openssl

@@ -7,8 +7,8 @@ cd ${SOURCE_DIR}
 
 ./config --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies --openssldir=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies/openssl
 
-make
-make install
+make ${MAKEFLAGS}
+make install ${MAKEFLAGS}
 
 # download pem (ssl.get_default_verify_paths)
 wget https://curl.haxx.se/ca/cacert.pem -O /opt/jsk/${INSTALL_ROOT}/ros1_dependencies/openssl/cert.pem

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1041-libsasl

@@ -7,4 +7,4 @@ cd ${SOURCE_DIR}
 
 ./configure --prefix=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1042-postfix

@@ -21,7 +21,7 @@ make makefiles \
              -I${INSTALL_DIR}/include/openssl" \
      AUXLIBS="-L${INSTALL_DIR}/lib -L${INSTALL_DIR}/lib/sasl2 -L${INSTALL_DIR}/openssl -lsasl2 -lssl -lcrypto -lz -lm"
 
-make
+make ${MAKEFLAGS}
 LD_LIBRARY_PATH="${INSTALL_DIR}"/lib "${INSTALL_DIR}"/bin/expect -c "
 set timeout 100
 spawn make install

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1043-libccd-dev

@@ -18,6 +18,7 @@ cmake \
   -DCMAKE_INSTALL_PREFIX=/opt/jsk/${INSTALL_ROOT}/ros1_dependencies \
   -DCMAKE_BUILD_TYPE=Release \
   -DCMAKE_SKIP_RPATH=ON \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}

jsk_unitree_robot/cross/ros1_dependencies_build_scripts/1044-libfcl-dev

@@ -16,6 +16,7 @@ cmake \
   -DCMAKE_BUILD_TYPE=Release \
   -DCMAKE_SKIP_RPATH=ON \
   -DFCL_BUILD_TESTS=FALSE \
+  -j ${JOBS} \
   ${SOURCE_DIR}
 
-make install
+make install ${MAKEFLAGS}