mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-09 22:13:43 +08:00
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
128 lines
4.6 KiB
Python
128 lines
4.6 KiB
Python
import random
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import numpy as np
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from tinygrad.device import Buffer, Device
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from tinygrad.helpers import Context, getenv
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from tinygrad.dtype import dtypes
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from tinygrad.tensor import Tensor, _to_np_dtype
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from tinygrad.engine.realize import BufferXfer, get_runner, ExecItem
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from tinygrad.uop.ops import UOp, Ops
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from tinygrad.engine.jit import apply_graph_to_jit
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BUF_LEN = getenv("BUF_LEN", 128)
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cached_prgs = {}
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def gen_prg(device, inputs_cnt):
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if (device, inputs_cnt) in cached_prgs: return cached_prgs[(device, inputs_cnt)]
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with Context(DEBUG=0):
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fst = [Tensor.randn(BUF_LEN, dtype=dtypes.int).realize() for i in range(inputs_cnt)]
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s = fst[0]
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for i in range(1, inputs_cnt): s = s.bitwise_xor(fst[i])
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linear = s.schedule_linear()
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prg = get_runner(device, linear.src[-1].src[0])
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cached_prgs[(device, inputs_cnt)] = prg
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return prg
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def alloc_rawbuffer(device, fill=False):
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rawbuf = Buffer(device, BUF_LEN, dtypes.int).ensure_allocated()
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if fill:
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with Context(DEBUG=0):
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data = np.random.randint(-10000, 10000, size=rawbuf.size, dtype=_to_np_dtype(rawbuf.dtype))
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rawbuf.copy_from(Tensor(data).realize().uop.base.realized)
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return rawbuf
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def gen_kernel_ji(device, deps):
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assert len(deps) >= 2
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out = alloc_rawbuffer(device)
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prg = gen_prg(device, len(deps))
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return ExecItem(UOp(Ops.NOOP), [out] + deps, prg=prg)
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def gen_copy_ji(device, deps):
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assert len(deps) == 1
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out = alloc_rawbuffer(device)
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prg = BufferXfer(deps[0].nbytes, device, deps[0].device)
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return ExecItem(UOp(Ops.NOOP), [out] + deps, prg=prg)
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def gen_graph():
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input_buffers = []
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all_buffers = []
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jis = []
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last_n_deps = getenv("LAST_N_DEPS", 0)
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kernel_count = random.randint(2, getenv("MAX_KERNELS", 128))
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for i in range(kernel_count):
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target_device_id = random.randint(0, getenv("MAX_DEVICES", 6) - 1)
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target_device = f"{Device.DEFAULT}:{target_device_id}"
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is_copy = random.randint(0, 10) < 3
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if is_copy:
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deps_pool = [buf for buf in all_buffers[-last_n_deps:] if buf.device != target_device]
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if len(deps_pool) == 0: deps = []
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else: deps = random.sample(deps_pool, 1)
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else:
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deps_pool = [buf for buf in all_buffers[-last_n_deps:] if buf.device == target_device]
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deps_count = random.randint(0, min(getenv("MAX_DEPS_COUNT", 6), len(deps_pool)))
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if deps_count == 0: deps = []
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else: deps = random.sample(deps_pool, deps_count)
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if len(deps) == 0 or (not is_copy and len(deps) < 2):
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buf = alloc_rawbuffer(target_device, fill=True)
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input_buffers.append(buf)
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all_buffers.append(buf)
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elif is_copy:
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jis.append(gen_copy_ji(target_device, deps))
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all_buffers.append(jis[-1].bufs[0])
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else:
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jis.append(gen_kernel_ji(target_device, deps))
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all_buffers.append(jis[-1].bufs[0])
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return jis, all_buffers, input_buffers
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def run_jit(jis, all_buffers, input_buffers, var_vals):
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with Context(DEBUG=0):
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for rawbuf in all_buffers:
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if rawbuf in input_buffers: continue
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rawbuf.copy_from(Buffer("PYTHON", rawbuf.size, rawbuf.dtype, opaque=memoryview(bytearray(rawbuf.nbytes))))
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for ei in jis: ei.run(var_vals, jit=True)
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with Context(DEBUG=0):
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res_buffers = []
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for rawbuf in all_buffers: res_buffers.append(rawbuf.as_memoryview())
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return res_buffers
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def fuzz_graph(jis, all_buffers, input_buffers):
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ground_thruth_bufs = run_jit(jis, input_buffers, all_buffers, {})
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ground_truth_np = [np.frombuffer(x, _to_np_dtype(all_buffers[i].dtype)) for i,x in enumerate(ground_thruth_bufs)]
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for _ in range(getenv("FUZZ_GRAPH_SPLIT_RUNS", 64)):
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max_split_points = len(jis) // 3
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split_points = random.randint(0, min(max_split_points, getenv("FUZZ_GRAPH_MAX_SPLITS", 8)))
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split = [0]
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for i in range(split_points - 1):
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split.append(random.randint(split[-1] + 2, len(jis) - 2 * (max_split_points - i)))
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split.append(len(jis))
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graphed_jit = []
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for sp in range(len(split)-1):
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graphed_jit += apply_graph_to_jit(jis[split[sp]:split[sp+1]], [], {})
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for _ in range(getenv("FUZZ_GRAPH_SPLIT_RETRY_RUNS", 4)):
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test_bufs = run_jit(graphed_jit, input_buffers, all_buffers, {})
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test_bufs_np = [np.frombuffer(x, _to_np_dtype(all_buffers[i].dtype)) for i,x in enumerate(test_bufs)]
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for i in range(len(ground_thruth_bufs)): np.testing.assert_equal(ground_truth_np[i], test_bufs_np[i])
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if __name__ == "__main__":
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SEED = getenv("SEED", 42)
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random.seed(SEED)
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np.random.seed(SEED)
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next_graph_id = 0
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for i in range(getenv("ITERS", 1000)):
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print("Running graph", next_graph_id)
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jis, all_buffers, input_buffers = gen_graph()
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fuzz_graph(jis, all_buffers, input_buffers)
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next_graph_id += 1
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