9c7833faf9
* Vegetarian Filet o Fish model * fix.. atc.. * test cluster_speed_limit * fix.. cluster_speed_limit.. 2 * fix.. clusterspeedlimit3 * cruise speed to roadlimit speed * fix.. * fix.. eng * deltaUp/Down for lanechange * fix.. atc desire... * fix.. * ff * ff * fix.. * fix.. eng * fix engsound * Update desire_helper.py * fix.. connect... * fix curve_min speed * Revert "fix curve_min speed" This reverts commit fcc9c2eb14eb3504abef3e420db93e8882e56f37. * Reapply "fix curve_min speed" This reverts commit 2d2bba476c58a7b4e13bac3c3ad0e4694c95515d. * fix.. auto speed up.. roadlimit * fix.. atc auto lanechange... * Update desire_helper.py * Update cruise.py * debug atc... * fix.. waze alert offset.. * fix.. * test atc.. * fix.. * fix.. atc * atc test.. * fix.. atc * fix.. atc2 * fix.. atc3 * KerryGold Model. latsmooth_sec = 0.0 * lat smooth seconds 0.13 * fix comment * fix.. auto cruise, and speed unit * change lanemode switching. * erase mazda lkas button.
99 lines
4.9 KiB
Python
99 lines
4.9 KiB
Python
from __future__ import annotations
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import unittest
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from tinygrad import Tensor
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from tinygrad.codegen.kernel import Kernel
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from tinygrad.helpers import DEBUG
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from tinygrad.uop.ops import UOp, Ops, print_uops
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from tinygrad.uop.spec import type_verify, ast_spec
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from tinygrad.shape.shapetracker import ShapeTracker
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from tinygrad import dtypes
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from tinygrad.shape.view import View
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class InvalidASTException(Exception): pass
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def helper_test_verify_ast(*stores:UOp) -> Kernel:
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sink = UOp(Ops.SINK, dtypes.void, stores)
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if DEBUG >= 3:
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for op in stores: print(op)
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try: type_verify(list(sink.toposort()), ast_spec)
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except RuntimeError as e: raise InvalidASTException(e.args)
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k = Kernel(sink)
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k.linearize()
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if DEBUG >= 6: print_uops(k.uops)
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if DEBUG >= 4: print(k.to_program().src)
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return k
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class TestVerifyAST(unittest.TestCase):
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def test_tiny_add(self):
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dtype = dtypes.int
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buf_0 = UOp(Ops.DEFINE_GLOBAL, dtype.ptr(), (), 0)
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buf_1 = UOp(Ops.DEFINE_GLOBAL, dtype.ptr(), (), 1)
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buf_2 = UOp(Ops.DEFINE_GLOBAL, dtype.ptr(), (), 2)
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a = UOp(Ops.LOAD, dtype, (buf_1.view(ShapeTracker.from_shape((32, 1))),))
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b = UOp(Ops.LOAD, dtype, (buf_2.view(ShapeTracker.from_shape((32, 1))),))
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store = UOp(Ops.STORE, dtypes.void, (buf_0.view(ShapeTracker.from_shape((32, 1))), a+b))
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helper_test_verify_ast(store)
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def test_exactly_one_full_shape(self):
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dtype = dtypes.int
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bufs = [UOp(Ops.DEFINE_GLOBAL, dtype.ptr(), (), i) for i in range(6)]
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a = UOp(Ops.LOAD, dtype, (bufs[2].view(ShapeTracker.from_shape((32, 1))),))
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b = UOp(Ops.LOAD, dtype, (bufs[3].view(ShapeTracker.from_shape((32, 1))),))
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st0 = UOp.store(bufs[0], ShapeTracker.from_shape((32, 1)).to_uop(), a+b)
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a = UOp(Ops.LOAD, dtype, (bufs[4].view(ShapeTracker.from_shape((32, 32))),))
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b = UOp(Ops.LOAD, dtype, (bufs[5].view(ShapeTracker.from_shape((32, 32))),))
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st1 = UOp.store(bufs[1], ShapeTracker.from_shape((32, 32)).to_uop(), a+b)
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with self.assertRaises(InvalidASTException): helper_test_verify_ast(st0, st1)
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def test_no_implicit_broadcasting(self):
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bufs = [UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), i) for i in range(2)]
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a = UOp(Ops.LOAD, dtypes.float, (bufs[1].view(ShapeTracker.from_shape((4, 32))),))
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b = a + UOp(Ops.REDUCE_AXIS, dtypes.float, (a,), (Ops.MAX, (1,)))
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st = UOp(Ops.STORE, dtypes.void, (bufs[0].view(ShapeTracker.from_shape((4, 32))), b))
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with self.assertRaises(InvalidASTException): helper_test_verify_ast(st)
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def test_shrink_ok(self):
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bufs = [UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), i) for i in range(2)]
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a = UOp(Ops.LOAD, dtypes.float, (bufs[1].view(ShapeTracker((View((32, 32), strides=(32, 1), offset=0, mask=None, contiguous=True),))),))
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b = UOp(Ops.LOAD, dtypes.float, (bufs[1].view(ShapeTracker((View((32, 32), strides=(0, 1), offset=0, mask=None, contiguous=False),))),))
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st = UOp.store(bufs[0].view(ShapeTracker.from_shape((32, 32))), a+b)
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helper_test_verify_ast(st)
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def test_reduce_store(self):
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bufs = [UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), i) for i in range(2)]
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a = UOp(Ops.LOAD, dtypes.float, (bufs[1].view(ShapeTracker.from_shape((32, 1))),))
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r = UOp(Ops.REDUCE_AXIS, dtypes.float, (a,), (Ops.ADD, (0,)))
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st = UOp.store(bufs[0], ShapeTracker.from_shape((32, 1)).to_uop(), r)
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with self.assertRaises(InvalidASTException): helper_test_verify_ast(st)
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def test_reduce_add_store(self):
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bufs = [UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), i) for i in range(2)]
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a = UOp(Ops.LOAD, dtypes.float, (bufs[1].view(ShapeTracker.from_shape((32, 1))),))
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r = UOp(Ops.REDUCE_AXIS, dtypes.float, (a,), (Ops.ADD, (0,)))
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st = UOp.store(bufs[0], ShapeTracker.from_shape((32, 1)).to_uop(), r+a)
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with self.assertRaises(InvalidASTException): helper_test_verify_ast(st)
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def test_buffer_uops_st(self):
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a = Tensor.randn(4, 4)+2
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helper_test_verify_ast(ast:=a.schedule()[-1].ast)
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store_st = [u.st for u in ast.toposort() if u.op is Ops.STORE][0]
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self.assertEqual(store_st, ShapeTracker.from_shape((4, 4)))
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const_st = [u.st for u in ast.toposort() if u.op is Ops.CONST][0]
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self.assertEqual(const_st, ShapeTracker.from_shape((1, 1)).expand((4, 4)))
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def test_assert_swizzle(self):
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buf = UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), 0)
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a = UOp(Ops.LOAD, dtypes.float, (buf.view(ShapeTracker.from_shape((32, 1))),))
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r = UOp(Ops.REDUCE_AXIS, dtypes.float, (a,), (Ops.ADD, (0,)))
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st = UOp.store(buf, ShapeTracker.from_shape((32, 1)).to_uop(), r.view(r.st.expand((32, 1)))+a)
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with self.assertRaisesRegex(InvalidASTException, "UOp verification failed"): helper_test_verify_ast(st)
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def test_const_view_always_valid(self):
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buf = UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), (), 0)
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a = UOp.const(dtypes.int, 0).replace(src=(UOp(Ops.VIEW, dtypes.void, (), ShapeTracker.from_shape(())),))
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st = UOp.store(buf.view(ShapeTracker.from_shape(())), a.cast(dtypes.float))
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helper_test_verify_ast(st)
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if __name__ == '__main__':
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unittest.main()
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