[SCNS-1196] ROS2 interface 빌드 속도 개선 작업 humble 반영

rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake

@@ -183,6 +183,20 @@ target_include_directories(${_target_name_lib}
   ${PythonExtra_INCLUDE_DIRS}
 )
 
+if(ROSIDL_ENABLE_PCH AND COMMAND target_precompile_headers)
+  target_precompile_headers(${_target_name_lib} PRIVATE
+    # _idl_pkg_typesupport_entry_point.c.em
+    <Python.h>
+    # _msg_pkg_typesupport_entry_point.c.em
+    <stdbool.h>
+    <stdint.h>
+    [["rosidl_runtime_c/visibility_control.h"]]
+    [["rosidl_runtime_c/message_type_support_struct.h"]]
+    [["rosidl_runtime_c/service_type_support_struct.h"]]
+    [["rosidl_runtime_c/action_type_support_struct.h"]]
+  )
+endif()
+
 # Check if numpy is in the include path
 find_file(_numpy_h numpy/numpyconfig.h
   PATHS ${PythonExtra_INCLUDE_DIRS}

rosidl_generator_py/rosidl_generator_py/generate_py_impl.py

@@ -13,7 +13,10 @@
 # limitations under the License.
 
 from ast import literal_eval
+from concurrent.futures import ProcessPoolExecutor
+from concurrent.futures import ThreadPoolExecutor
 import keyword
+from multiprocessing import cpu_count
 import os
 import pathlib
 import sys
@@ -53,7 +56,15 @@
 }
 
 
-def generate_py(generator_arguments_file, typesupport_impls):
+def _parse_elements_from_idl(idl_tuple: str):
+    idl_parts = idl_tuple.rsplit(':', 1)
+    assert len(idl_parts) == 2
+    locator = IdlLocator(*idl_parts)
+    idl_file = parse_idl_file(locator)
+    return idl_file.content.elements
+
+
+def generate_py(generator_arguments_file, typesupport_impls, jobs=None):
     mapping = {
         '_idl.py.em': '_%s.py',
         '_idl_support.c.em': '_%s_s.c',
@@ -66,22 +77,51 @@ def generate_py(generator_arguments_file, typesupport_impls):
     # expand init modules for each directory
     modules = {}
     idl_content = IdlContent()
-    for idl_tuple in args.get('idl_tuples', []):
+    idl_tuples = list(args.get('idl_tuples', []))
+    parse_inputs = []
+
+    for idl_tuple in idl_tuples:
         idl_parts = idl_tuple.rsplit(':', 1)
         assert len(idl_parts) == 2
 
         idl_rel_path = pathlib.Path(idl_parts[1])
         idl_stems = modules.setdefault(str(idl_rel_path.parent), set())
         idl_stems.add(idl_rel_path.stem)
 
-        locator = IdlLocator(*idl_parts)
-        idl_file = parse_idl_file(locator)
-        idl_content.elements += idl_file.content.elements
+        parse_inputs.append(idl_tuple)
+
+    def _parse_all_with_executor(executor_cls, max_workers):
+        elements = []
+        with executor_cls(max_workers=max_workers) as executor:
+            parsed_elements = executor.map(
+                _parse_elements_from_idl, parse_inputs, chunksize=1)
+            for result in parsed_elements:
+                elements.extend(result)
+        return elements
+
+    if jobs is None or jobs <= 0:
+        jobs = min(cpu_count(), max(1, len(idl_tuples)))
+
+    if parse_inputs and jobs > 1:
+        try:
+            idl_content.elements += _parse_all_with_executor(
+                ProcessPoolExecutor, jobs)
+        except Exception as e:
+            print(
+                '[rosidl_generator_py] ProcessPoolExecutor failed '
+                f'({type(e).__name__}: {e}). '
+                'Falling back to ThreadPoolExecutor.',
+                file=sys.stderr)
+            idl_content.elements += _parse_all_with_executor(
+                ThreadPoolExecutor, jobs)
+    else:
+        for idl_tuple in parse_inputs:
+            idl_content.elements += _parse_elements_from_idl(idl_tuple)
 
     # NOTE(sam): remove when a language specific name mangling is implemented
 
     def print_warning_if_reserved_keyword(member_name, interface_type, interface_name):
-        if (keyword.iskeyword(member.name)):
+        if (keyword.iskeyword(member_name)):
             print(
                 "Member name '{}' in the {} '{}' is a "
                 'reserved keyword in Python and is not supported '