efee1712aa
* fix.. speed_limit error... * draw tpms settings. * fix.. traffic light stopping only.. * fix.. waze cam * fix.. waze... * add setting (Enable comma connect ) * auto detect LFA2 * fix.. cruisespeed1 * vff2 driving model. * fix.. * agnos 12.3 * fix.. * ff * ff * test * ff * fix.. drawTurnInfo.. * Update drive_helpers.py * fix.. support eng voice eng sounds fix settings... english fix.. mph.. fix.. roadlimit speed bug.. * new vff model.. 250608 * fix soundd.. * fix safe exit speed.. * fix.. sounds. * fix.. radar timeStep.. * KerryGold model * Update drive_helpers.py * fix.. model. * fix.. * fix.. * Revert "fix.." This reverts commit b09ec459afb855c533d47fd7e8a1a6b1a09466e7. * Revert "fix.." This reverts commit 290bec6b83a4554ca232d531a911edccf94a2156. * fix esim * add more acc table. 10kph * kg update.. * fix cruisebutton mode3 * test atc..cond. * fix.. canfd * fix.. angle control limit
122 lines
8.3 KiB
Python
122 lines
8.3 KiB
Python
# ruff: noqa: E501
|
|
import unittest
|
|
|
|
from tinygrad import Device
|
|
from tinygrad.uop.ops import UOp, Ops
|
|
from tinygrad.engine.search import Opt, OptOps
|
|
from tinygrad.dtype import dtypes
|
|
from tinygrad.shape.shapetracker import ShapeTracker
|
|
from tinygrad.shape.view import View
|
|
from tinygrad.codegen.kernel import Kernel
|
|
|
|
class TestOpenpilotValidhack(unittest.TestCase):
|
|
def test_valid_removal(self):
|
|
Device.DEFAULT = "GPU"
|
|
|
|
ast = UOp(Ops.SINK, dtypes.void, arg=None, src=(
|
|
UOp(Ops.STORE, dtypes.void, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((64, 1024, 4)), arg=0, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 64, 128, 1, 1, 8, 4, 1, 1, 1, 1), strides=(0, 4096, 32, 0, 0, 4, 1, 0, 0, 0, 0), offset=0, mask=None, contiguous=True),)), src=()),
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.MAX, dtypes.float, arg=None, src=(
|
|
x5:=UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.REDUCE_AXIS, dtypes.float, arg=(Ops.ADD, (7, 8, 9, 10)), src=(
|
|
UOp(Ops.CAST, dtypes.float, arg=None, src=(
|
|
UOp(Ops.MUL, dtypes.float, arg=None, src=(
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((128, 768, 4)), arg=1, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 1, 1, 1, 1, 3, 1, 4, 4, 130, 4, 258), strides=(0, 0, 0, 0, 0, 4, 0, 1, 0, 3072, 0, 12), offset=-3084, mask=((0, 1), (0, 1), (0, 1), (0, 1), (0, 1), (0, 3), (0, 1), (0, 4), (0, 4), (1, 129), (0, 4), (1, 257)), contiguous=False), View(shape=(1, 64, 128, 1, 1, 8, 4, 3, 4, 3, 3), strides=(0, 2064, 2, 0, 0, 0, 0, 2146560, 536640, 135192, 259), offset=0, mask=None, contiguous=False))), src=()),)),
|
|
UOp(Ops.CAST, dtypes.float, arg=None, src=(
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((8, 108, 4)), arg=2, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 64, 128, 1, 1, 8, 4, 3, 4, 3, 3), strides=(0, 0, 0, 0, 0, 432, 1, 48, 4, 144, 16), offset=0, mask=None, contiguous=False),)), src=()),)),)),)),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), arg=3, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 64, 128, 1, 1, 8, 4, 1, 1, 1, 1), strides=(0, 0, 0, 0, 0, 4, 1, 0, 0, 0, 0), offset=0, mask=None, contiguous=False),)), src=()),)),)),
|
|
x19:=UOp(Ops.CONST, dtypes.float, arg=0.0, src=(
|
|
x20:=UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 64, 128, 1, 1, 8, 4, 1, 1, 1, 1), strides=(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), offset=0, mask=None, contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.MUL, dtypes.float, arg=None, src=(
|
|
UOp(Ops.MAX, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.CONST, dtypes.float, arg=1.0, src=(
|
|
x20,)),
|
|
UOp(Ops.MUL, dtypes.float, arg=None, src=(
|
|
UOp(Ops.EXP2, dtypes.float, arg=None, src=(
|
|
UOp(Ops.MUL, dtypes.float, arg=None, src=(
|
|
x5,
|
|
UOp(Ops.CONST, dtypes.float, arg=1.4426950408889634, src=(
|
|
x20,)),)),)),
|
|
x29:=UOp(Ops.CONST, dtypes.float, arg=-1.0, src=(
|
|
x20,)),)),)),
|
|
x19,)),
|
|
x29,)),)),)),))
|
|
|
|
opts = [Opt(op=OptOps.UPCAST, axis=3, arg=4), Opt(op=OptOps.UNROLL, axis=1, arg=4), Opt(op=OptOps.UPCAST, axis=1, arg=4), Opt(op=OptOps.NOLOCALS, axis=None, arg=None)]
|
|
kernel = Kernel(ast)
|
|
|
|
kernel.apply_opts(opts)
|
|
|
|
p = kernel.to_program()
|
|
print(p.src)
|
|
|
|
def test_const_idx(self):
|
|
Device.DEFAULT = "GPU"
|
|
|
|
ast = UOp(Ops.SINK, dtypes.void, arg=None, src=(
|
|
UOp(Ops.STORE, dtypes.void, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((10, 128, 4)), arg=0, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 512, 1), offset=0, mask=None, contiguous=True),)), src=()),
|
|
UOp(Ops.CAST, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((1, 128, 4)), arg=1, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=0, mask=((0, 1), (0, 1), (0, 512)), contiguous=False),)), src=()),)),
|
|
UOp(Ops.CAST, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.ADD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18:=UOp(Ops.DEFINE_GLOBAL, dtypes.float.ptr(), arg=2, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=48128, mask=((0, 1), (1, 2), (0, 512)), contiguous=False),)), src=()),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=45568, mask=((0, 1), (2, 3), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=43008, mask=((0, 1), (3, 4), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=40448, mask=((0, 1), (4, 5), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=37888, mask=((0, 1), (5, 6), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=35328, mask=((0, 1), (6, 7), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=32768, mask=((0, 1), (7, 8), (0, 512)), contiguous=False),)), src=()),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
x18,
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=30208, mask=((0, 1), (8, 9), (0, 512)), contiguous=False),)), src=()),)),)),)),)),
|
|
UOp(Ops.LOAD, dtypes.float, arg=None, src=(
|
|
UOp(Ops.DEFINE_GLOBAL, dtypes.imagef((1, 128, 4)), arg=3, src=()),
|
|
UOp(Ops.VIEW, dtypes.void, arg=ShapeTracker(views=(View(shape=(1, 10, 512), strides=(0, 0, 1), offset=0, mask=((0, 1), (9, 10), (0, 512)), contiguous=False),)), src=()),)),)),)),)),))
|
|
|
|
opts = [Opt(op=OptOps.UPCAST, axis=1, arg=4), Opt(op=OptOps.NOLOCALS, axis=None, arg=None)]
|
|
kernel = Kernel(ast)
|
|
|
|
kernel.apply_opts(opts)
|
|
|
|
p = kernel.to_program()
|
|
# ((idx1<1)?read_imagef(data1, smp, (int2)(idx0,0)):(float4)(0.0f,0.0f,0.0f,0.0f))
|
|
print(p.src)
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|