feat(colcon-build): enable cpu resource control (#309)

Signed-off-by: M. Fatih Cırıt <[email protected]>
autowarefoundation · Aug 20, 2024 · 0dbf0d4 · 0dbf0d4
1 parent 89245b3
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diff --git a/colcon-build/README.md b/colcon-build/README.md
@@ -30,16 +30,18 @@ jobs:
 
 ## Inputs
 
-| Name                | Required | Description                                                                  |
-| ------------------- | -------- | ---------------------------------------------------------------------------- |
-| rosdistro           | true     | ROS distro.                                                                  |
-| target-packages     | true     | The target packages to build.                                                |
-| build-depends-repos | false    | The `.repos` file that includes build dependencies.                          |
-| cmake-build-type    | false    | The value for `CMAKE_BUILD_TYPE`.                                            |
-| token               | false    | The token for build dependencies.                                            |
-| include-eol-distros | false    | If true, adds `--include-eol-distros` to `rosdep update`.                    |
-| cache-key-element   | false    | This value is added to the github actions cache key.                         |
-| nice-command        | false    | This command is prepended to the `colcon build` to avoid draining resources. |
+| Name                         | Required | Description                                                                                                             |
+| ---------------------------- | -------- | ----------------------------------------------------------------------------------------------------------------------- |
+| rosdistro                    | true     | ROS distro.                                                                                                             |
+| target-packages              | true     | The target packages to build.                                                                                           |
+| build-depends-repos          | false    | The `.repos` file that includes build dependencies.                                                                     |
+| cmake-build-type             | false    | The value for `CMAKE_BUILD_TYPE`.                                                                                       |
+| token                        | false    | The token for build dependencies.                                                                                       |
+| include-eol-distros          | false    | If true, adds `--include-eol-distros` to `rosdep update`.                                                               |
+| cache-key-element            | false    | This value is added to the github actions cache key.                                                                    |
+| nice-command                 | false    | This command is prepended to the `colcon build` to avoid draining resources.                                            |
+| colcon-parallel-workers-flag | false    | Will be appended to the colcon build command to limit number of packages built in parallel. e.g. "--parallel-workers 3" |
+| makeflags                    | false    | Will be exported as MAKEFLAGS environment variable for colcon build step. e.g. "-j 4"                                   |
 
 ## Outputs
 

diff --git a/colcon-build/action.yaml b/colcon-build/action.yaml
@@ -30,6 +30,14 @@ inputs:
     description: See `man nice` for details
     required: false
     default: nice -n 19
+  colcon-parallel-workers-flag:
+    description: Will be appended to the colcon build command to limit number of packages built in parallel. e.g. "--parallel-workers 3"
+    default: ""
+    required: false
+  makeflags:
+    description: Will be exported as MAKEFLAGS environment variable. e.g. "-j 4"
+    default: ""
+    required: false
 
 runs:
   using: composite
@@ -84,7 +92,10 @@ runs:
         cat /etc/nsswitch.conf
         sed -e 's#hosts:\(.*\)dns\(.*\)#hosts:\1\2#g' -i.bak /etc/nsswitch.conf
         cat /etc/nsswitch.conf
-        ${{ inputs.nice-command }} colcon build --event-handlers console_cohesion+ \
+        MAKEFLAGS="${{ inputs.makeflags }}"
+        echo "MAKEFLAGS=$MAKEFLAGS"  # for debugging
+        ${{ inputs.nice-command }} colcon build ${{ inputs.colcon-parallel-workers-flag }} \
+          --event-handlers console_cohesion+ \
           --packages-above-and-dependencies ${{ inputs.target-packages }} \
           --cmake-args -DCMAKE_BUILD_TYPE=${{ inputs.cmake-build-type }} \
           --mixin coverage-gcc coverage-pytest compile-commands