carrot/tinygrad_repo/test/test_graph.py
carrot efee1712aa
KerryGoldModel, AGNOS12.3, ButtonMode3, autoDetectLFA2, (#181)
* 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
2025-06-13 15:59:36 +09:00

262 lines
9.5 KiB
Python

import numpy as np
import functools, unittest, ctypes
from tinygrad.device import Device, Buffer
from tinygrad.tensor import Tensor, _to_np_dtype
from tinygrad.helpers import Context, CI, dedup, from_mv
from tinygrad.dtype import dtypes
from tinygrad.engine.jit import MultiGraphRunner
from tinygrad.engine.realize import ExecItem, BufferXfer, get_runner, CompiledRunner
np.random.seed(1337)
Tensor.manual_seed(1337)
BUF_SIZE = 4096 if CI else 4096 * 128
RUN_CNT = 4 if CI else 32
cached_prgs = {}
def helper_exec_op(device, outbuf, inbufs):
if (device, len(inbufs)) not in cached_prgs:
with Context(DEBUG=0):
fst = [Tensor.randn(BUF_SIZE, dtype=dtypes.int).realize() for i in range(len(inbufs))]
s = fst[0]
for i in range(1, len(inbufs)): s = s.bitwise_xor(fst[i])
si = s.schedule()[-1]
prg = get_runner(device, si.ast)
cached_prgs[(device, len(inbufs))] = prg
return ExecItem(cached_prgs[(device, len(inbufs))], [outbuf] + inbufs)
def helper_copy_op(device, dest, src):
prg = BufferXfer(dest.nbytes, device, src.device)
return ExecItem(prg, [dest, src])
def helper_alloc_rawbuffer(device, fill=False):
rawbuf = Buffer(device, BUF_SIZE, dtypes.int).ensure_allocated()
if fill:
with Context(DEBUG=0):
data = np.random.randint(-10000, 10000, size=rawbuf.size, dtype=_to_np_dtype(rawbuf.dtype))
rawbuf.copyin(Tensor(data).realize().lazydata.base.realized.as_buffer())
return rawbuf
def helper_create_offset_rawbuffer(base, offset=0):
x = Buffer(base.device, base.size-offset, base.dtype, base=base, offset=offset)
return x.ensure_allocated()
def helper_run_jit(jis, bufs, out_buffers):
for rawbuf in out_buffers:
mv = memoryview(bytearray(rawbuf.size * rawbuf.dtype.itemsize))
ctypes.memset(from_mv(mv), 0, len(mv))
rawbuf.copyin(mv)
for ei in jis: ei.run({}, jit=True)
return [rawbuf.as_buffer() for rawbuf in bufs]
def helper_test_graphs(graph_impl, graphs, runs=RUN_CNT):
reg_ji = []
bufs = []
out_buffers = set()
for graph in graphs:
for ji in graph:
out_buffers.update([ji.bufs[i] for i in (ji.prg.p.outs if isinstance(ji.prg, CompiledRunner) else [0])])
bufs += ji.bufs
reg_ji.append(ji)
bufs = dedup(bufs)
ground_thruth_bufs = helper_run_jit(reg_ji, bufs, out_buffers)
ground_truth_np = [np.frombuffer(x, _to_np_dtype(bufs[i].dtype)) for i,x in enumerate(ground_thruth_bufs)]
# Build graphs
gr_ji = [ExecItem(graph_impl(graph, [], {}), []) for graph in graphs]
for _ in range(runs):
test_bufs = helper_run_jit(gr_ji, bufs, out_buffers)
test_bufs_np = [np.frombuffer(x, _to_np_dtype(bufs[i].dtype)) for i,x in enumerate(test_bufs)]
for i in range(len(ground_thruth_bufs)): np.testing.assert_equal(ground_truth_np[i], test_bufs_np[i])
@unittest.skipUnless(Device[Device.DEFAULT].graph is not None, "graph support required")
class TestGraph(unittest.TestCase):
def test_order_2_writes_to_same_buf(self):
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
graphs = [
[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[0], [b0[3], b0[4]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_order_read_write_same_buf(self):
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
graphs = [
[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[1], [b0[3], b0[4]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_order_write_read_same_buf(self):
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(5)]
graphs = [
[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_exec_op(d0, b0[1], [b0[0], b0[4]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def skip_if_not_multigraph(self):
graph = g.func if isinstance(g:=Device[Device.DEFAULT].graph, functools.partial) else g
if not issubclass(graph, MultiGraphRunner): self.skipTest("graph is not supported (not MultiGraphRunner)")
def test_order_copy_writed(self):
self.skip_if_not_multigraph()
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(4)]
graphs = [
[helper_exec_op(d0, b0[0], [b0[1], b0[2]]), helper_copy_op(d0, b0[3], b0[0])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_order_copy_then_read(self):
self.skip_if_not_multigraph()
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(4)]
graphs = [
[helper_copy_op(d0, b0[1], b0[0]), helper_exec_op(d0, b0[3], [b0[1], b0[2]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_read_write_several_graphs(self):
d0 = Device.DEFAULT
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
graphs = [
[helper_exec_op(d0, b0[3], [b0[1], b0[2]])],
[helper_exec_op(d0, b0[4], [b0[1], b0[3]])],
[helper_exec_op(d0, b0[5], [b0[4], b0[2]])]
]
helper_test_graphs(Device[d0].graph, graphs)
graphs = [
[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]])],
[helper_exec_op(d0, b0[2], [b0[6], b0[7]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_copies_2_devs(self):
self.skip_if_not_multigraph()
d0, d1 = Device.DEFAULT, f"{Device.DEFAULT}:1"
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(3)]
b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(1)]
graphs = [
[helper_copy_op(d0, b1[0], b0[0]), helper_exec_op(d0, b0[2], [b0[0], b0[1]])]
]
helper_test_graphs(Device[d0].graph, graphs)
def test_copies_after_graph_global(self):
self.skip_if_not_multigraph()
d0, d1, d2, d3 = Device.DEFAULT, f"{Device.DEFAULT}:1", f"{Device.DEFAULT}:2", f"{Device.DEFAULT}:3"
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(6)]
b2 = [helper_alloc_rawbuffer(d2, fill=True) for _ in range(6)]
b3 = [helper_alloc_rawbuffer(d3, fill=True) for _ in range(6)]
graphs = [
[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]]),
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]])],
[helper_copy_op(d1, b0[2], b1[0])],
[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]]),
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]])],
[helper_copy_op(d3, b0[2], b3[0])],
]
helper_test_graphs(Device[d0].graph, graphs)
graphs = [
[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]]),
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]),
helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
[helper_copy_op(d1, b0[2], b1[0])],
[helper_exec_op(d0, b0[2], [b0[0], b0[1]])],
[helper_copy_op(d3, b0[2], b3[0])],
]
helper_test_graphs(Device[d0].graph, graphs)
graphs = [
[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]]),
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]),
helper_exec_op(d0, b0[7], [b0[0], b0[2]])],
[helper_copy_op(d1, b0[5], b1[0])],
[helper_copy_op(d3, b0[5], b3[0])],
]
helper_test_graphs(Device[d0].graph, graphs)
graphs = [
[helper_copy_op(d1, b0[5], b1[0])],
[helper_copy_op(d3, b0[5], b3[0])],
]
helper_test_graphs(Device[d0].graph, graphs)
def test_graph_after_copies_devs(self):
self.skip_if_not_multigraph()
d0, d1, d2, d3 = Device.DEFAULT, f"{Device.DEFAULT}:1", f"{Device.DEFAULT}:2", f"{Device.DEFAULT}:3"
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(8)]
b1 = [helper_alloc_rawbuffer(d1, fill=True) for _ in range(1)]
b2 = [helper_alloc_rawbuffer(d2, fill=True) for _ in range(2)]
b3 = [helper_alloc_rawbuffer(d3, fill=True) for _ in range(2)]
graphs = [
[helper_copy_op(d1, b0[0], b1[0])],
[helper_copy_op(d2, b0[1], b2[0]), helper_copy_op(d3, b0[2], b3[0])],
[helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
helper_exec_op(d0, b0[5], [b0[0], b0[2]])],
]
helper_test_graphs(Device[d0].graph, graphs)
graphs = [
[helper_copy_op(d1, b0[0], b1[0])],
[helper_exec_op(d0, b0[2], [b0[0], b0[1]])],
[helper_copy_op(d2, b0[1], b2[0]), helper_copy_op(d3, b0[2], b3[0])],
[helper_exec_op(d0, b0[3], [b0[0], b0[2]]), helper_exec_op(d0, b0[4], [b0[3], b0[2]]),
helper_exec_op(d0, b0[5], [b0[0], b0[2]])],
]
helper_test_graphs(Device[d0].graph, graphs)
def test_graph_offset_bufs(self):
self.skip_if_not_multigraph()
d0 = Device.DEFAULT
if not hasattr(Device[d0].allocator, "_offset"): self.skipTest("device does not support _offset")
b0 = [helper_alloc_rawbuffer(d0, fill=True) for _ in range(1)]
b0 += [helper_create_offset_rawbuffer(b0[0]), helper_create_offset_rawbuffer(b0[0])]
graphs = [
[helper_copy_op(d0, b0[0], b0[2]), helper_exec_op(d0, b0[1], [b0[0], b0[2]])],
]
helper_test_graphs(Device[d0].graph, graphs)
if __name__ == '__main__':
unittest.main()