build: PIC static archives, cap CI build at 4 compile jobs

.github/workflows/docker-image.yaml

@@ -170,6 +170,10 @@ jobs:
             --volume "${RUNNER_TEMP}/archive":/archive                                                    \
             --env CCACHE_DIR=/ccache                                                                      \
             --env CCACHE_MAXSIZE=20G                                                                      \
+            --env CMAKE_C_COMPILER_LAUNCHER=ccache                                                        \
+            --env CMAKE_CXX_COMPILER_LAUNCHER=ccache                                                      \
+            --env CMAKE_BUILD_PARALLEL_LEVEL=4                                                            \
+            --env CARGO_BUILD_JOBS=4                                                                      \
             --env BUILD_LIST="${{ matrix.os_base.build-list }}"                                           \
             "${{ steps.image-name-base.outputs.name }}:${{ steps.docker-metadata.outputs.version }}"      \
             bash -c '
@@ -180,11 +184,13 @@ jobs:
               cmake -S /tmp/robotFarm-src                                                        \
                     -B /tmp/robotFarm-build                                                      \
                     --preset ${{ matrix.preset }}                                                \
-                    ${BUILD_LIST:+-DROBOT_FARM_REQUESTED_BUILD_LIST="${BUILD_LIST}"}             \
-                    -DCMAKE_C_COMPILER_LAUNCHER=ccache                                           \
-                    -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+                    ${BUILD_LIST:+-DROBOT_FARM_REQUESTED_BUILD_LIST="${BUILD_LIST}"}
 
-              cmake --build   /tmp/robotFarm-build
+              # The external projects build serially, each capped at 4 compile jobs by the
+              # CMAKE_BUILD_PARALLEL_LEVEL (and CARGO_BUILD_JOBS) environment above, so the
+              # build never exceeds 4 cores and stays within memory. NOTE: this script runs
+              # inside single quotes, so it must never contain an apostrophe.
+              cmake --build   /tmp/robotFarm-build --parallel 1
               cmake --install /tmp/robotFarm-build
 
               ccache --show-stats

CMakeLists.txt

@@ -53,6 +53,10 @@ set(CMAKE_POLICY_VERSION_MINIMUM 3.5)
 set(CMAKE_INSTALL_RPATH "$ORIGIN")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH ON)
 
+# Static archives must be position-independent so that the language binding modules, which
+# are shared objects even in static builds, can link them.
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
 if(CMAKE_INSTALL_PREFIX)
   list(PREPEND CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX})
 endif()
@@ -72,8 +76,24 @@ compose_forwarded_cache_args(
     CMAKE_INSTALL_RPATH
     CMAKE_INSTALL_RPATH_USE_LINK_PATH
     CMAKE_POLICY_VERSION_MINIMUM
+    CMAKE_POSITION_INDEPENDENT_CODE
     CMAKE_PREFIX_PATH)
 
+#[[ Upstream gz does not support static consumption: gz-rendering fails to export its
+    vendored terra target, and the installed static configs of gz-common and gz-plugin
+    reference TINYXML2::TINYXML2 and DL::DL targets that consumers cannot resolve. Static
+    builds therefore skip the projects that consume those configs; the base gz libraries,
+    gz-transport, and sdformat build statically and stay in. ]]
+if(NOT BUILD_SHARED_LIBS)
+  set(ROBOT_FARM_SKIP_GzFuelToolsExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzGuiExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzLaunchExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzPhysicsExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzRenderingExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzSensorsExternalProject ON)
+  set(ROBOT_FARM_SKIP_GzSimExternalProject ON)
+endif()
+
 set(ROBOT_FARM_REQUESTED_BUILD_LIST
   AbseilExternalProject
   BoostExternalProject

externalProjects/CudssExternalProject.cmake

@@ -33,6 +33,13 @@ else()
     URL ${ROBOT_FARM_CUDSS_URL}
     URL_HASH ${ROBOT_FARM_CUDSS_URL_HASH}
     DOWNLOAD_NO_PROGRESS ON
+    #[[ The shipped config promotes its imported targets to global scope unconditionally,
+        which CMake rejects when a second directory includes the config (seen when
+        opencv_contrib's sfm module re-finds Ceres, whose config finds cuDSS again). Guard
+        the config with an early return so only the first inclusion creates and promotes. ]]
+    PATCH_COMMAND sed -i
+      "1i # robotFarm: return early when already loaded. The IMPORTED_GLOBAL promotion\\n# below fails when a second directory includes this config.\\nif(TARGET cudss)\\n    return()\\nendif()"
+      lib/cmake/cudss/cudss-config.cmake
     CONFIGURE_COMMAND ""
     BUILD_COMMAND ""
     INSTALL_COMMAND ${CMAKE_COMMAND} -E copy_directory <SOURCE_DIR>/include ${CMAKE_INSTALL_PREFIX}/include

externalProjects/OpenCVExternalProject.cmake

@@ -227,12 +227,19 @@ else()
       algorithms inside contrib. ]]
   if(CUDAToolkit_FOUND AND ROBOT_FARM_OPENCV_WITH_CONTRIB)
     message(STATUS "Turning on CUDA options for OpenCV")
+    #[[ OpenCV builds CUDA through its legacy FindCUDA path, which probes nvcc itself and
+        never sees the toolchain's CMAKE_CUDA_* settings. The fresh bases carry host
+        compilers newer than nvcc admits (clang 22 on ubuntu 26.04), so hand OpenCV the
+        architecture list and the override flag the toolchain files already use. ]]
     list(APPEND ROBOT_FARM_OPENCV_CMAKE_ARGS
       -DWITH_CUDA:BOOL=ON
       -DWITH_CUBLAS:BOOL=ON
       -DWITH_CUDNN:BOOL=ON
       -DWITH_CUFFT:BOOL=ON
       -DCUDA_FAST_MATH=1
+      -DCUDA_ARCH_BIN:STRING=7.5,8.0
+      -DCUDA_NVCC_FLAGS:STRING=-allow-unsupported-compiler
+      -DOPENCV_CUDA_DETECTION_NVCC_FLAGS:STRING=-allow-unsupported-compiler
       -DWITH_NVCUVID:BOOL=ON
       -DBUILD_opencv_cudacodec:BOOL=OFF
       -DBUILD_opencv_world:BOOL=OFF)
@@ -248,6 +255,15 @@ else()
       -DBUILD_opencv_world:BOOL=OFF)
   endif()
 
+  #[[ In a static build the cv2 python module links every module directly, and OpenCV's
+      legacy CUDA path emits bare linker names (cublas, cudnn) that the binding generator
+      hands to ninja as file dependencies, so the module cannot link. Python consumers use
+      the shared flavors, where the bindings stay enabled. ]]
+  if(NOT BUILD_SHARED_LIBS)
+    list(APPEND ROBOT_FARM_OPENCV_CMAKE_ARGS
+      -DBUILD_opencv_python3:BOOL=OFF)
+  endif()
+
   if(ROBOT_FARM_OPENCV_WITH_CONTRIB)
     #[[ The 5.0.0 viz module relies on VTK headers to transitively provide <iostream>,
         which stops holding with VTK 9.6 and GCC 15. Same fix as vcpkg's

systemDependencies.json

@@ -131,9 +131,9 @@
     },
     {
       "group": "OpenCVExternalProject",
-      "ubuntu:22.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy qt6-base-dev v4l-utils",
-      "ubuntu:24.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev libjxl-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy qt6-base-dev v4l-utils",
-      "ubuntu:26.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev libjxl-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy qt6-base-dev v4l-utils",
+      "ubuntu:22.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy libqt6core5compat6-dev qt6-base-dev v4l-utils",
+      "ubuntu:24.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev libjxl-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy qt6-5compat-dev qt6-base-dev v4l-utils",
+      "ubuntu:26.04": "libcudnn9-dev-cuda-13 libavcodec-dev libavformat-dev libavif-dev libavutil-dev libdc1394-dev libgdal-dev libgphoto2-dev libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev libhdf5-dev libjpeg-dev libjxl-dev liblapacke-dev libopenexr-dev libopenjp2-7-dev libpng-dev libswresample-dev libswscale-dev libtbb-dev libtesseract-dev libtiff-dev libv4l-dev libwebp-dev python3-dev python3-numpy qt6-5compat-dev qt6-base-dev v4l-utils",
       "tag": "all"
     },
     {
@@ -158,9 +158,9 @@
     },
     {
       "group": "VTKExternalProject",
-      "ubuntu:22.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev",
-      "ubuntu:24.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev",
-      "ubuntu:26.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev",
+      "ubuntu:22.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libqt6opengl6-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev qt6-declarative-dev",
+      "ubuntu:24.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev qt6-declarative-dev",
+      "ubuntu:26.04": "libavcodec-dev libavformat-dev libavutil-dev libgdal-dev libgl1-mesa-dev libswresample-dev libswscale-dev libtbb-dev libxt-dev mpi-default-dev python3-dev qt6-base-dev qt6-declarative-dev",
       "tag": "all"
     },
     {