carrot 9c7833faf9
KerryGold Model, AGNOS12.4, AdjustLaneChange, EnglighSound (#182)
* 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.
2025-06-22 10:51:42 +09:00

492 lines
21 KiB
JavaScript

// **** graph renderers
// ** UOp graph
function intersectRect(r1, r2) {
const dx = r2.x-r1.x;
const dy = r2.y-r1.y;
if (dx === 0 && dy === 0) throw new Error("Invalid node coordinates, rects must not overlap");
const scaleX = dx !== 0 ? (r1.width/2)/Math.abs(dx) : Infinity;
const scaleY = dy !== 0 ? (r1.height/2)/Math.abs(dy) : Infinity;
const scale = Math.min(scaleX, scaleY);
return {x:r1.x+dx*scale, y:r1.y+dy*scale};
}
const rect = (s) => document.querySelector(s).getBoundingClientRect();
let [workerUrl, worker, timeout] = [null, null, null];
async function renderDag(graph, additions, recenter=false) {
// start calculating the new layout (non-blocking)
if (worker == null) {
const resp = await Promise.all(["/assets/dagrejs.github.io/project/dagre/latest/dagre.min.js","/js/worker.js"].map(u => fetch(u)));
workerUrl = URL.createObjectURL(new Blob([(await Promise.all(resp.map((r) => r.text()))).join("\n")], { type: "application/javascript" }));
worker = new Worker(workerUrl);
} else {
worker.terminate();
worker = new Worker(workerUrl);
}
if (timeout != null) clearTimeout(timeout);
const progressMessage = document.querySelector(".progress-message");
timeout = setTimeout(() => {progressMessage.style.display = "block"}, 2000);
worker.postMessage({graph, additions, ctxs});
worker.onmessage = (e) => {
progressMessage.style.display = "none";
clearTimeout(timeout);
d3.select("#bars").html("");
const g = dagre.graphlib.json.read(e.data);
// draw nodes
const STROKE_WIDTH = 1.4;
const nodes = d3.select("#nodes").selectAll("g").data(g.nodes().map(id => g.node(id)), d => d).join("g")
.attr("transform", d => `translate(${d.x},${d.y})`).classed("clickable", d => d.ref != null)
.on("click", (_,d) => setCtxWithHistory(d.ref));
nodes.selectAll("rect").data(d => [d]).join("rect").attr("width", d => d.width).attr("height", d => d.height).attr("fill", d => d.color)
.attr("x", d => -d.width/2).attr("y", d => -d.height/2).attr("style", d => d.style ?? `stroke:#4a4b57; stroke-width:${STROKE_WIDTH}px;`);
nodes.selectAll("g.label").data(d => [d]).join("g").attr("class", "label").attr("transform", d => {
const x = (d.width-d.padding*2)/2;
const y = (d.height-d.padding*2)/2+STROKE_WIDTH;
return `translate(-${x}, -${y})`;
}).selectAll("text").data(d => [d.label.split("\n")]).join("text").selectAll("tspan").data(d => d).join("tspan").text(d => d).attr("x", "0")
.attr("dy", 14).attr("xml:space", "preserve");
const tags = nodes.selectAll("g.tag").data(d => d.tag != null ? [d] : []).join("g").attr("class", "tag")
.attr("transform", d => `translate(${-d.width/2+8}, ${-d.height/2+8})`);
tags.selectAll("circle").data(d => [d]).join("circle");
tags.selectAll("text").data(d => [d.tag]).join("text").text(d => d).attr("dy", "0.35em");
// draw edges
const line = d3.line().x(d => d.x).y(d => d.y).curve(d3.curveBasis);
d3.select("#edges").selectAll("path.edgePath").data(g.edges()).join("path").attr("class", "edgePath").attr("d", (e) => {
const edge = g.edge(e);
const points = edge.points.slice(1, edge.points.length-1);
points.unshift(intersectRect(g.node(e.v), points[0]));
points.push(intersectRect(g.node(e.w), points[points.length-1]));
return line(points);
}).attr("marker-end", "url(#arrowhead)");
const edgeLabels = d3.select("#edge-labels").selectAll("g").data(g.edges().filter(e => g.edge(e).label != null)).join("g").attr("transform", (e) => {
// get a point near the end
const [p1, p2] = g.edge(e).points.slice(-2);
const dx = p2.x-p1.x;
const dy = p2.y-p1.y;
// normalize to the unit vector
const len = Math.sqrt(dx*dx + dy*dy);
const ux = dx / len;
const uy = dy / len;
// avoid overlap with the arrowhead
const offset = 17;
const x = p2.x - ux * offset;
const y = p2.y - uy * offset;
return `translate(${x}, ${y})`
}).attr("class", "tag");
edgeLabels.selectAll("circle").data(e => [g.edge(e).label]).join("circle");
edgeLabels.selectAll("text").data(e => [g.edge(e).label]).join("text").text(d => d).attr("dy", "0.35em");
if (recenter) document.getElementById("zoom-to-fit-btn").click();
};
}
// ** Memory graph (WIP)
DTYPE_SIZE = {"bool": 1, "char": 1, "uchar": 1, "short": 2, "ushort": 2, "int": 4, "uint": 4,
"long": 8, "ulong": 8, "half": 2, "bfloat": 2, "float": 4, "double": 8}
function getBuffer(e) {
const [_, size, dtype, num, device] = e.label.split("\n");
return {nbytes:size*DTYPE_SIZE[dtype.split("dtypes.")[1]], dtype, device:device.split(" ")[1], num:parseInt(num.split(" ")[1])};
}
function pluralize(num, name, alt=null) {
return num === 1 ? `${num} ${name}` : `${num} ${alt ?? name+'s'}`
}
function renderMemoryGraph(graph) {
// ** construct alloc/free traces
// we can map reads/writes from the kernel graph
const actions = [];
const children = new Map(); // {buffer: [...assign]}
for (const [k,v] of Object.entries(graph)) {
if (!v.label.startsWith("ASSIGN")) continue;
actions.push({ op: "write", buffer: v.src[0] });
for (const ks of graph[v.src[1]].src) {
const node = graph[ks];
const s = node.label.startsWith("ASSIGN") ? node.src[0] : ks;
if (!children.has(s)) children.set(s, []);
children.get(s).push(v);
if (s !== v.src[0]) actions.push({ op: "read", buffer: s });
}
}
const prealloc = new Set();
const traces = [];
for (const a of actions) {
// a buffer is allocated immediately before the first write
// TODO: we don't know the buffer is preallocated if there's only an assign in the graph
if (a.op === "write") {
traces.push({ type: "alloc", buffer: a.buffer });
}
else {
if (traces.find(t => t.buffer === a.buffer && t.type === "alloc") == null) {
prealloc.add(a.buffer);
}
else if (a === actions.findLast(({ buffer }) => buffer === a.buffer)) {
traces.push({type: "free", buffer: a.buffer });
}
}
}
// ** get coordinates and layout for each buffer
const ret = {};
let timestep = 0; // x
let memUsed = 0; // y
for (const id of prealloc) {
const buf = getBuffer(graph[id]);
ret[id] = { x: [timestep], y: [memUsed], buf, id };
memUsed += buf.nbytes;
}
let peak = memUsed;
const liveBufs = [...prealloc];
for (const t of traces) {
const buf = getBuffer(graph[t.buffer]);
const idx = liveBufs.findLastIndex(b => t.buffer === b);
// alloc
if (idx === -1) {
liveBufs.push(t.buffer);
ret[t.buffer] = { x: [timestep], y: [memUsed], buf, id: t.buffer };
memUsed += buf.nbytes;
peak = Math.max(memUsed, peak);
timestep += 1;
} // free
else {
memUsed -= buf.nbytes;
timestep += 1;
const removed = ret[liveBufs.splice(idx, 1)[0]];
removed.x.push(timestep);
removed.y.push(removed.y.at(-1));
if (idx < liveBufs.length) {
for (let j=idx; j<liveBufs.length; j++) {
const b = ret[liveBufs[j]];
b.x.push(timestep, timestep);
b.y.push(b.y.at(-1), b.y.at(-1)-buf.nbytes);
}
}
}
}
for (const id of liveBufs) {
const b = ret[id];
b.x.push(timestep);
b.y.push(b.y.at(-1));
}
// ** render traces
// clear existing groups
document.querySelector(".progress-message").style.display = "none";
for (c of document.getElementById("render").children) c.innerHTML = "";
const render = d3.select("#bars");
const yscale = d3.scaleLinear().domain([0, peak]).range([576, 0]);
const xscale = d3.scaleLinear().domain([0, timestep]).range([0, 1024]);
const axesGroup = render.append("g").attr("id", "axes");
const nbytes_format = (d) => d3.format(".3~s")(d)+"B";
axesGroup.append("g").call(d3.axisLeft(yscale).tickFormat(nbytes_format));
axesGroup.append("g").attr("transform", `translate(0, ${yscale.range()[0]})`).call(d3.axisBottom(xscale).tickFormat(() => ""));
const polygonGroup = render.append("g").attr("id", "polygons");
const colors = ["7aa2f7", "ff9e64", "f7768e", "2ac3de", "7dcfff", "1abc9c", "9ece6a", "e0af68", "bb9af7", "9d7cd8", "ff007c"];
const polygons = polygonGroup.selectAll("polygon").data(Object.values(ret)).join("polygon").attr("points", (d) => {
const xs = d.x.map(t => xscale(t));
const y1 = d.y.map(t => yscale(t));
const y2 = d.y.map(t => yscale(t+d.buf.nbytes));
const p0 = xs.map((x, i) => `${x},${y1[i]}`);
const p1 = xs.map((x, i) => `${x},${y2[i]}`).reverse();
return `${p0.join(' ')} ${p1.join(' ')}`;
}).attr("fill", d => `#${colors[d.buf.num % colors.length]}`).on("mouseover", (e, { id, buf, x }) => {
d3.select(e.currentTarget).attr("stroke", "rgba(26, 27, 38, 0.8)").attr("stroke-width", 0.8);
const metadata = document.querySelector(".metadata");
document.getElementById("current-buf")?.remove();
const { num, dtype, nbytes, ...rest } = buf;
let label = `<BUFFER n${num} ${dtype} ${nbytes_format(nbytes)}>\nalive for ${pluralize(x[x.length-1]-x[0], 'timestep')}`;
label += '\n'+Object.entries(rest).map(([k, v]) => `${k}=${v}`).join('\n');
const buf_children = children.get(id);
if (buf_children) {
label += `\n${pluralize(buf_children.length, 'child', 'children')}\n`;
label += buf_children.map((c,i) => `[${i+1}] `+graph[c.src[1]].label.split("\n")[1]).join("\n");
}
metadata.appendChild(Object.assign(document.createElement("pre"), { innerText: label, id: "current-buf", className: "wrap" }));
}).on("mouseout", (e, _) => {
d3.select(e.currentTarget).attr("stroke", null).attr("stroke-width", null);
document.getElementById("current-buf")?.remove()
});
// TODO: add the kernel line here
document.getElementById("zoom-to-fit-btn").click();
}
// ** zoom and recentering
const svgZoom = d3.zoom().on("zoom", (e) => d3.select("#render").attr("transform", e.transform));
d3.select("#graph-svg").call(svgZoom);
// zoom to fit into view
document.getElementById("zoom-to-fit-btn").addEventListener("click", () => {
const svg = d3.select("#graph-svg");
svg.call(svgZoom.transform, d3.zoomIdentity);
const mainRect = rect(".main-container");
const x0 = rect(".ctx-list-parent").right;
const x1 = rect(".metadata-parent").left;
const pad = 16;
const R = { x: x0+pad, y: mainRect.top+pad, width: (x1>0 ? x1-x0 : mainRect.width)-2*pad, height: mainRect.height-2*pad };
const r = rect("#render");
if (r.width === 0) return;
const scale = Math.min(R.width/r.width, R.height/r.height);
const [tx, ty] = [R.x+(R.width-r.width*scale)/2-r.left*scale, R.y+(R.height-r.height*scale)/2];
svg.call(svgZoom.transform, d3.zoomIdentity.translate(tx, ty).scale(scale));
});
// **** main VIZ interfacae
function codeBlock(st, language, { loc, wrap }) {
const code = document.createElement("code");
code.innerHTML = hljs.highlight(st, { language }).value;
code.className = "hljs";
const ret = document.createElement("pre");
if (wrap) ret.className = "wrap";
if (loc != null) {
const link = ret.appendChild(document.createElement("a"));
link.href = "vscode://file"+loc.join(":");
link.textContent = `${loc[0].split("/").at(-1)}:${loc[1]}`+"\n\n";
}
ret.appendChild(code);
return ret;
}
function setActive(e) {
e.classList.add("active");
requestAnimationFrame(() => e.scrollIntoView({ behavior: "auto", block: "nearest" }));
}
// ** hljs extra definitions for UOps and float4
hljs.registerLanguage("python", (hljs) => ({
...hljs.getLanguage("python"),
case_insensitive: false,
contains: [
{ begin: 'dtypes\\.[a-zA-Z_][a-zA-Z0-9_-]*(\\.[a-zA-Z_][a-zA-Z0-9_-]*)*' + '(?=[.\\s\\n[:,(])', className: "type" },
{ begin: 'dtypes\\.[a-zA-Z_][a-zA-Z0-9_-].vec*' + '(?=[.\\s\\n[:,(])', className: "type" },
{ begin: '[a-zA-Z_][a-zA-Z0-9_-]*\\.[a-zA-Z_][a-zA-Z0-9_-]*' + '(?=[.\\s\\n[:,()])', className: "operator" },
{ begin: '[A-Z][a-zA-Z0-9_]*(?=\\()', className: "section", ignoreEnd: true },
...hljs.getLanguage("python").contains,
]
}));
hljs.registerLanguage("cpp", (hljs) => ({
...hljs.getLanguage('cpp'),
contains: [{ begin: '\\b(?:float|half)[0-9]+\\b', className: 'type' }, ...hljs.getLanguage('cpp').contains]
}));
var ret = [];
var cache = {};
var ctxs = null;
const evtSources = [];
// VIZ displays graph rewrites in 3 levels, from bottom-up:
// rewrite: a single UOp transformation
// step: collection of rewrites
// context: collection of steps
const state = {currentCtx:-1, currentStep:0, currentRewrite:0, expandSteps:false};
function setState(ns) {
const { currentCtx:prevCtx, currentStep:prevStep } = state;
Object.assign(state, ns);
// update element styles if needed
document.getElementById(`ctx-${state.currentCtx}`)?.classList.toggle("expanded", state.expandSteps);
if (state.currentCtx !== prevCtx) {
document.getElementById(`ctx-${prevCtx}`)?.classList.remove("active", "expanded");
setActive(document.getElementById(`ctx-${state.currentCtx}`));
}
if (state.currentCtx !== prevCtx || state.currentStep !== prevStep) {
document.getElementById(`step-${prevCtx}-${prevStep}`)?.classList.remove("active");
setActive(document.getElementById(`step-${state.currentCtx}-${state.currentStep}`));
}
// re-render
main();
}
// set a new context and keep the old one in browser history
function setCtxWithHistory(newCtx) {
if (newCtx == null) return;
// NOTE: browser does a structured clone, passing a mutable object is safe.
history.replaceState(state, "");
history.pushState(state, "");
setState({ expandSteps:true, currentCtx:newCtx, currentStep:0, currentRewrite:0 });
}
window.addEventListener("popstate", (e) => {
if (e.state != null) setState(e.state);
});
async function main() {
// ** left sidebar context list
if (ctxs == null) {
ctxs = await (await fetch("/ctxs")).json();
const ctxList = document.querySelector(".ctx-list");
for (const [i,{name, steps}] of ctxs.entries()) {
const ul = ctxList.appendChild(document.createElement("ul"));
ul.id = `ctx-${i}`;
const p = ul.appendChild(document.createElement("p"));
p.innerHTML = name.replace(/\u001b\[(\d+)m(.*?)\u001b\[0m/g, (_, code, st) => {
const colors = ['gray','red','green','yellow','blue','magenta','cyan','white'];
return `<span style="${`color: color-mix(in srgb, ${colors[(parseInt(code)-30+60)%60]} 60%, white)`}">${st}</span>`;
});
p.onclick = () => {
setState(i === state.currentCtx ? { expandSteps:!state.expandSteps } : { expandSteps:true, currentCtx:i, currentStep:0, currentRewrite:0 });
}
for (const [j,u] of steps.entries()) {
const inner = ul.appendChild(document.createElement("ul"));
inner.id = `step-${i}-${j}`;
inner.innerText = `${u.name ?? u.loc[0].replaceAll("\\", "/").split("/").pop()+':'+u.loc[1]} - ${u.match_count}`;
inner.style.marginLeft = `${8*u.depth}px`;
inner.onclick = (e) => {
e.stopPropagation();
setState({ currentStep:j, currentCtx:i, currentRewrite:0 });
}
}
}
return setState({ currentCtx:-1 });
}
// ** center graph
const { currentCtx, currentStep, currentRewrite, expandSteps } = state;
if (currentCtx == -1) return;
const ctx = ctxs[currentCtx];
const step = ctx.steps[currentStep];
const ckey = `ctx=${currentCtx}&idx=${currentStep}`;
// close any pending event sources
let activeSrc = null;
for (const e of evtSources) {
if (e.url.split("?")[1] !== ckey) e.close();
else if (e.readyState === EventSource.OPEN) activeSrc = e;
}
if (ckey in cache) {
ret = cache[ckey];
}
// if we don't have a complete cache yet we start streaming rewrites in this step
if (!(ckey in cache) || (cache[ckey].length !== step.match_count+1 && activeSrc == null)) {
ret = [];
cache[ckey] = ret;
const eventSource = new EventSource(`/ctxs?${ckey}`);
evtSources.push(eventSource);
eventSource.onmessage = (e) => {
if (e.data === "END") return eventSource.close();
const chunk = JSON.parse(e.data);
ret.push(chunk);
// if it's the first one render this new rgaph
if (ret.length === 1) return main();
// otherwise just enable the graph selector
const ul = document.getElementById(`rewrite-${ret.length-1}`);
if (ul != null) ul.classList.remove("disabled");
};
}
if (ret.length === 0) return;
if (step.name == "View Memory Graph") {
renderMemoryGraph(ret[currentRewrite].graph);
} else {
renderDag(ret[currentRewrite].graph, ret[currentRewrite].changed_nodes || [], recenter=currentRewrite === 0);
}
// ** right sidebar code blocks
const metadata = document.querySelector(".metadata");
const [code, lang] = ctx.kernel_code != null ? [ctx.kernel_code, "cpp"] : [ret[currentRewrite].uop, "python"];
metadata.replaceChildren(codeBlock(step.code_line, "python", { loc:step.loc, wrap:true }), codeBlock(code, lang, { wrap:false }));
// ** rewrite steps
if (step.match_count >= 1) {
const rewriteList = metadata.appendChild(document.createElement("div"));
rewriteList.className = "rewrite-list";
for (let s=0; s<=step.match_count; s++) {
const ul = rewriteList.appendChild(document.createElement("ul"));
ul.innerText = s;
ul.id = `rewrite-${s}`;
ul.onclick = () => setState({ currentRewrite:s });
ul.className = s > ret.length-1 ? "disabled" : s === currentRewrite ? "active" : "";
if (s > 0 && s === currentRewrite) {
const { upat, diff } = ret[s];
metadata.appendChild(codeBlock(upat[1], "python", { loc:upat[0], wrap:true }));
const diffCode = metadata.appendChild(document.createElement("pre")).appendChild(document.createElement("code"));
for (const line of diff) {
const span = diffCode.appendChild(document.createElement("span"));
span.style.color = line.startsWith("+") ? "#3aa56d" : line.startsWith("-") ? "#d14b4b" : "#f0f0f5";
span.innerText = line;
diffCode.appendChild(document.createElement("br"));
}
diffCode.className = "wrap";
}
}
}
}
// **** collapse/expand
let isCollapsed = false;
document.querySelector(".collapse-btn").addEventListener("click", (e) => {
isCollapsed = !isCollapsed;
document.querySelector(".main-container").classList.toggle("collapsed", isCollapsed);
e.currentTarget.blur();
e.currentTarget.style.transform = isCollapsed ? "rotate(180deg)" : "rotate(0deg)";
});
// **** resizer
function appendResizer(element, { minWidth, maxWidth }, left=false) {
const handle = Object.assign(document.createElement("div"), { className: "resize-handle", style: left ? "right: 0" : "left: 0; margin-top: 0" });
element.appendChild(handle);
const resize = (e) => {
const change = e.clientX - element.dataset.startX;
let newWidth = ((Number(element.dataset.startWidth)+(left ? change : -change))/Number(element.dataset.containerWidth))*100;
element.style.width = `${Math.max(minWidth, Math.min(maxWidth, newWidth))}%`;
};
handle.addEventListener("mousedown", (e) => {
e.preventDefault();
element.dataset.startX = e.clientX;
element.dataset.containerWidth = rect(".main-container").width;
element.dataset.startWidth = element.getBoundingClientRect().width;
document.documentElement.addEventListener("mousemove", resize, false);
document.documentElement.addEventListener("mouseup", () => {
document.documentElement.removeEventListener("mousemove", resize, false);
element.style.userSelect = "initial";
}, { once: true });
});
}
appendResizer(document.querySelector(".ctx-list-parent"), { minWidth: 15, maxWidth: 50 }, left=true);
appendResizer(document.querySelector(".metadata-parent"), { minWidth: 20, maxWidth: 50 });
// **** keyboard shortcuts
document.addEventListener("keydown", async function(event) {
const { currentCtx, currentStep, currentRewrite, expandSteps } = state;
// up and down change the step or context from the list
const changeStep = expandSteps && ctxs[currentCtx].steps?.length;
if (event.key == "ArrowUp") {
event.preventDefault();
if (changeStep) {
return setState({ currentRewrite:0, currentStep:Math.max(0, currentStep-1) });
}
return setState({ currentStep:0, currentRewrite:0, currentCtx:Math.max(0, currentCtx-1), expandSteps:false });
}
if (event.key == "ArrowDown") {
event.preventDefault();
if (changeStep) {
const totalUOps = ctxs[currentCtx].steps.length-1;
return setState({ currentRewrite:0, currentStep:Math.min(totalUOps, currentStep+1) });
}
return setState({ currentStep:0, currentRewrite:0, currentCtx:Math.min(ctxs.length-1, currentCtx+1), expandSteps:false });
}
// enter toggles focus on a single rewrite stage
if (event.key == "Enter") {
event.preventDefault()
if (currentCtx === -1) {
return setState({ currentCtx:0, expandSteps:true });
}
return setState({ expandSteps:!expandSteps });
}
// left and right go through rewrites in a single UOp
if (event.key == "ArrowLeft") {
event.preventDefault()
return setState({ currentRewrite:Math.max(0, currentRewrite-1) });
}
if (event.key == "ArrowRight") {
event.preventDefault()
const totalRewrites = ret.length-1;
return setState({ currentRewrite:Math.min(totalRewrites, currentRewrite+1) });
}
// space recenters the graph
if (event.key == " ") {
event.preventDefault()
document.getElementById("zoom-to-fit-btn").click();
}
});
main()