Merge remote-tracking branch 'origin/develop' into reorg_file

Jenkinsfile

@@ -61,7 +61,7 @@ def cmake_build(Map conf=[:]){
         """
     def setup_cmd = conf.get("setup_cmd", "${cmake_envs} cmake ${setup_args}   .. ")
     // reduce parallelism when compiling, clang uses too much memory
-    def build_cmd = conf.get("build_cmd", "${build_envs} dumb-init make  -j\$(( \$(nproc) / 5 )) ${config_targets}")
+    def build_cmd = conf.get("build_cmd", "${build_envs} dumb-init make  -j\$(( \$(nproc) / 1 )) ${config_targets}")
     def execute_cmd = conf.get("execute_cmd", "")
 
     def cmd = conf.get("cmd", """