carrot
77a8919349
* UV+DTR model * DTR model.. again. * fix naviGPS * fix radar... * fix.. * test * fix.. * carrot serv * fix.. * fix.. fleet * fix.. radar * fix atc * Steam Powered model.. * fix.. radarLatFactor range.. 200->500 * fix.. dbc.. * side * SP v2 * brake light * fix brakelight * fix.. * add datetime... * fix.. * fix.. * fix.. * fix.. * blind spot * fix tz * fix.. * ff * radarLatFactor * fix.. bsd * Revert "fix.. bsd" This reverts commit 1d0d1434470e1b92c65eaffaeb8dd7cd779f85ee. * fix.. bsd side.. * test * fix.. e2e conditions * Revert "test" This reverts commit 0ce791dbd66c17260366ed1a4df2626c602dbb7d. * TR16 * fix cut-in detect threshold 3.4 -> 2.6 * fix.. jerk_l limit 5->10 * fix.. * fix.. gm * fix.. OPTIMA_H mass * fix.. radar.. * fix radar.. * fix.. * Radar... * fix.. * fix.. * fix.. * fix.. radartrack 3 * fix.. * fix.. * fix.. * merge.. * fix.. canfd * fix.. * fix.. * fix.. * fix.. radard * new cut_in * Revert "new cut_in" This reverts commit b9b6e9b33318fe1ce7d626468139b17848efcdcd. * fix.. * new cut_in detect... * fix.. disp.. * fix.. * fix.. * fix.. center radar.. * fix.. radar y_sane.. * fix.. * fix.. * hkg jerk 10 -> 5 * fix.. * fix.. * fix.. radar dbc.. * fix.. * fix.. jLead filter.. * test new radar interface.. * fix.. * fix.. * test time... * Revert "test time..." This reverts commit 63e9187736985c4dc4b4f3736674ba7cda6adc3f. * fix radar.. * fix.. * FireHose model.. * tinygrad * Update interface.py * fix.. * fix.. nff toyota corolla_tss2 * fix.. * fix.. * fix.. radar * fix.. * fix.. radar, y_gate * fix.. radar.. * fix.. for clone.. * scc radar enable at low speed.. * fix.. settings.. * fix. * fix.. * fix.. radarTimeStep. * TR16 model again.. * RELEASE.md * fix cut-in detection... * fix.. registeration timeout 15sec.. * fix.. * fix.. radar processing. * fix.. * fix.. * fix.. * fix.. * fix.. * fix..
263 lines
9.6 KiB
Python
263 lines
9.6 KiB
Python
import numpy as np
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import functools, unittest, ctypes
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from tinygrad.device import Device, Buffer
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from tinygrad.tensor import Tensor, _to_np_dtype
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from tinygrad.helpers import Context, CI, dedup, from_mv
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from tinygrad.dtype import dtypes
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from tinygrad.engine.jit import MultiGraphRunner
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from tinygrad.engine.realize import ExecItem, BufferXfer, get_runner, CompiledRunner
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np.random.seed(1337)
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Tensor.manual_seed(1337)
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BUF_SIZE = 4096 if CI else 4096 * 128
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RUN_CNT = 4 if CI else 32
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cached_prgs = {}
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def helper_exec_op(device, outbuf, inbufs):
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if (device, len(inbufs)) not in cached_prgs:
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with Context(DEBUG=0):
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fst = [Tensor.randn(BUF_SIZE, dtype=dtypes.int).realize() for i in range(len(inbufs))]
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s = fst[0]
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for i in range(1, len(inbufs)): s = s.bitwise_xor(fst[i])
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si = s.schedule()[-1]
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prg = get_runner(device, si.ast)
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cached_prgs[(device, len(inbufs))] = prg
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return ExecItem(cached_prgs[(device, len(inbufs))], [outbuf] + inbufs)
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def helper_copy_op(device, dest, src):
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prg = BufferXfer(dest.nbytes, device, src.device)
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return ExecItem(prg, [dest, src])
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def helper_alloc_rawbuffer(device, fill=False):
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rawbuf = Buffer(device, BUF_SIZE, 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.copyin(Tensor(data).realize().uop.base.realized.as_buffer())
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return rawbuf
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def helper_create_offset_rawbuffer(base, offset=0):
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x = Buffer(base.device, base.size-offset, base.dtype, base=base, offset=offset)
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return x.ensure_allocated()
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def helper_run_jit(jis, bufs, out_buffers):
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for rawbuf in out_buffers:
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mv = memoryview(bytearray(rawbuf.size * rawbuf.dtype.itemsize))
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ctypes.memset(from_mv(mv), 0, len(mv))
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rawbuf.copyin(mv)
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for ei in jis: ei.run({}, jit=True)
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return [rawbuf.as_buffer() for rawbuf in bufs]
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def helper_test_graphs(graph_impl, graphs, runs=RUN_CNT):
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reg_ji = []
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bufs = []
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out_buffers = set()
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for graph in graphs:
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for ji in graph:
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out_buffers.update([ji.bufs[i] for i in (ji.prg.p.outs if isinstance(ji.prg, CompiledRunner) else [0])])
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bufs += ji.bufs
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reg_ji.append(ji)
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bufs = dedup(bufs)
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ground_thruth_bufs = helper_run_jit(reg_ji, bufs, out_buffers)
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ground_truth_np = [np.frombuffer(x, _to_np_dtype(bufs[i].dtype)) for i,x in enumerate(ground_thruth_bufs)]
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# Build graphs
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gr_ji = [ExecItem(graph_impl(graph, [], {}), []) for graph in graphs]
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for _ in range(runs):
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test_bufs = helper_run_jit(gr_ji, bufs, out_buffers)
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test_bufs_np = [np.frombuffer(x, _to_np_dtype(bufs[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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@unittest.skipUnless(Device[Device.DEFAULT].graph is not None, "graph support required")
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class TestGraph(unittest.TestCase):
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def test_order_2_writes_to_same_buf(self):
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
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graphs = [
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[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[0], [b0[3], b0[4]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_order_read_write_same_buf(self):
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
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graphs = [
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[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[1], [b0[3], b0[4]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_order_write_read_same_buf(self):
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
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graphs = [
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[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[1], [b0[0], b0[4]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def skip_if_not_multigraph(self):
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graph = g.func if isinstance(g:=(d:=Device[Device.DEFAULT]).graph, functools.partial) else g
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if not issubclass(graph, MultiGraphRunner): self.skipTest("graph is not supported (not MultiGraphRunner)")
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if not hasattr(d.allocator, '_transfer'): self.skipTest("device is not supported (no transfers)")
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def test_order_copy_writed(self):
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self.skip_if_not_multigraph()
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(4)]
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graphs = [
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[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_copy_op(d0, b0[3], b0[0])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_order_copy_then_read(self):
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self.skip_if_not_multigraph()
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(4)]
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graphs = [
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[helper_copy_op(d0, b0[1], b0[0]), helper_exec_op(d0, b0[3], [b0[1], b0[2]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_read_write_several_graphs(self):
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d0 = Device.DEFAULT
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
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graphs = [
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[helper_exec_op(d0, b0[3], [b0[1], b0[2]])],
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[helper_exec_op(d0, b0[4], [b0[1], b0[3]])],
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[helper_exec_op(d0, b0[5], [b0[4], b0[2]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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graphs = [
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[helper_exec_op(d0, b0[3], [b0[1], b0[2]]), helper_exec_op(d0, b0[4], [b0[1], b0[2]]), helper_exec_op(d0, b0[5], [b0[1], b0[2]])],
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[helper_exec_op(d0, b0[2], [b0[6], b0[7]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_copies_2_devs(self):
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self.skip_if_not_multigraph()
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d0, d1 = Device.DEFAULT, f"{Device.DEFAULT}:1"
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(3)]
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b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(1)]
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graphs = [
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[helper_copy_op(d0, b1[0], b0[0]), helper_exec_op(d0, b0[2], [b0[0], b0[1]])]
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_copies_after_graph_global(self):
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self.skip_if_not_multigraph()
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d0, d1, d2, d3 = Device.DEFAULT, f"{Device.DEFAULT}:1", f"{Device.DEFAULT}:2", f"{Device.DEFAULT}:3"
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
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b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(6)]
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b2 = [helper_alloc_rawbuffer(d2, fill=True) for _ in range(6)]
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b3 = [helper_alloc_rawbuffer(d3, fill=True) for _ in range(6)]
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graphs = [
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]]), helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]]), helper_exec_op(d0, b0[6], [b0[1], b0[2]]), helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
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[helper_copy_op(d1, b0[2], b1[0])],
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]]), helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]]), helper_exec_op(d0, b0[6], [b0[1], b0[2]]), helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
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[helper_copy_op(d3, b0[2], b3[0])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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graphs = [
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]]), helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]]), helper_copy_op(d0, b2[0], b0[2]), helper_copy_op(d0, b2[1], b0[5]),
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helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
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[helper_copy_op(d1, b0[2], b1[0])],
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]])],
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[helper_copy_op(d3, b0[2], b3[0])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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graphs = [
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]]), helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]]), helper_copy_op(d0, b2[0], b0[2]), helper_copy_op(d0, b2[1], b0[5]),
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helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
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[helper_copy_op(d1, b0[5], b1[0])],
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[helper_copy_op(d3, b0[5], b3[0])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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graphs = [
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[helper_copy_op(d1, b0[5], b1[0])],
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[helper_copy_op(d3, b0[5], b3[0])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_graph_after_copies_devs(self):
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self.skip_if_not_multigraph()
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d0, d1, d2, d3 = Device.DEFAULT, f"{Device.DEFAULT}:1", f"{Device.DEFAULT}:2", f"{Device.DEFAULT}:3"
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
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b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(1)]
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b2 = [helper_alloc_rawbuffer(d2, fill=True) for _ in range(2)]
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b3 = [helper_alloc_rawbuffer(d3, fill=True) for _ in range(2)]
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graphs = [
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[helper_copy_op(d1, b0[0], b1[0])],
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[helper_copy_op(d2, b0[1], b2[0]), helper_copy_op(d3, b0[2], b3[0])],
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[helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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graphs = [
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[helper_copy_op(d1, b0[0], b1[0])],
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[helper_exec_op(d0, b0[2], [b0[0], b0[1]])],
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[helper_copy_op(d2, b0[1], b2[0]), helper_copy_op(d3, b0[2], b3[0])],
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[helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
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helper_exec_op(d0, b0[5], [b0[0], b0[2]])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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def test_graph_offset_bufs(self):
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self.skip_if_not_multigraph()
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d0 = Device.DEFAULT
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if not hasattr(Device[d0].allocator, "_offset"): self.skipTest("device does not support _offset")
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b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(1)]
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b0 += [helper_create_offset_rawbuffer(b0[0]), helper_create_offset_rawbuffer(b0[0])]
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graphs = [
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[helper_copy_op(d0, b0[0], b0[2]), helper_exec_op(d0, b0[1], [b0[0], b0[2]])],
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]
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helper_test_graphs(Device[d0].graph, graphs)
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if __name__ == '__main__':
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unittest.main()
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