Vehicle Researcher eff388b1b6 openpilot v0.9.4 release
date: 2023-07-27T18:38:32
master commit: fa310d9e2542cf497d92f007baec8fd751ffa99c
2023-09-27 15:45:31 -07:00

216 lines
10 KiB
Python

# ShapeTracker allows movement operations to a buffer that don't require a copy to be made.
from __future__ import annotations
import functools
from typing import Tuple, Union, List, Optional, cast
from tinygrad.helpers import prod, DEBUG
from tinygrad.shape.symbolic import Variable, MulNode, NumNode, Node
@functools.lru_cache(maxsize=None)
def to_shape_strides(shape:Tuple[int, ...], strides:Tuple[int, ...]) -> List[Tuple[int, int]]:
assert len(shape) == len(strides)
ret = [(shape[0], strides[0])] if len(shape) > 0 else []
for i in range(1, len(shape)):
if (strides[i] != 0 and ret[-1][1] == shape[i]*strides[i]) or ret[-1][0] == 1 or (strides[i] == 0 and ret[-1][1] == 0):
ret[-1] = (ret[-1][0] * shape[i], strides[i])
else:
ret.append((shape[i], strides[i]))
return ret
class View:
def __init__(self, shape:Tuple[int, ...], strides:Tuple[int, ...], offset:int=0):
self.shape, self.strides, self.offset = shape, tuple(stride if shp != 1 else 0 for stride,shp in zip(strides, shape)), offset
self.shape_strides = to_shape_strides(self.shape, self.strides)
self.contiguous : bool = self.offset == 0 and all(s1 == s2 or s == 1 for s,s1,s2 in zip(self.shape, self.strides, strides_for_shape(self.shape)))
def __repr__(self): return f"View({self.shape}, {self.strides}, {self.offset})"
def expr_node(self, idx=None, offset:Union[Node, int]=0):
if idx is None: idx = Variable('idx', 0, prod(self.shape))
ret = [Variable.num(self.offset)+offset]
acc = 1
for d,s in self.shape_strides[::-1]:
ret.append(((idx//acc)%d)*s)
acc *= d
return Variable.sum(ret)
# generate an expression if you have a variable or expression for each index
def expr_idxs(self, idxs, offset:Union[Node, int]=0):
return Variable.sum([Variable.num(self.offset)+offset] + [Variable(idx, 0, sh-1)*st for idx,sh,st in zip(idxs, self.shape, self.strides) if sh != 1 and st != 0])
class ZeroView:
def __init__(self, old_shape:Tuple[int, ...], arg):
self.old_shape, self.arg = old_shape, arg
self.shape : Tuple[int, ...] = tuple([y-x for x,y in self.arg])
# fake properties
self.strides, self.contiguous, self.offset = strides_for_shape(self.shape), False, 0
def __repr__(self): return f"ZeroView({self.old_shape}, {self.arg})"
def expr_node(self, idx=None, valid=None):
if idx is None: idx = Variable('idx', 0, prod([y-x for x,y in self.arg]))
expr, acc = [valid] if valid is not None else [], 1
for s,ns,(x,y) in list(zip(self.old_shape, self.shape, self.arg))[::-1]:
base = ((idx//acc) % ns) + x
expr += ([base >= 0] if x < 0 else []) + ([base < s] if y > s else [])
acc *= ns
return Variable.ands(expr)
def expr_idxs(self, idxs, offset=0): raise NotImplementedError("ZeroView doesn't support expr_idxs")
ViewTypes = Union[View, ZeroView]
@functools.lru_cache(maxsize=None)
def strides_for_shape(shape:Tuple[int, ...]) -> Tuple[int, ...]:
strides = [1]
for d in shape[::-1][:-1]: strides = [d*strides[0]] + strides
return tuple(st if s != 1 else 0 for st, s in zip(strides, shape))
@functools.lru_cache(maxsize=None)
def view_from_shape(shape:Tuple[int, ...]) -> View:
assert all(isinstance(x, int) for x in shape) and len(shape) != 0
return View(tuple(shape), strides_for_shape(shape))
def merge_views(vm2:View, vm1:View) -> Optional[View]:
new_strides, new_offset = [], vm2.expr_node(Variable.num(vm1.offset))
assert isinstance(new_offset, NumNode), "new_offset wasn't a number?!?"
for s,st in zip(vm1.shape, vm1.strides):
this_dim = View(vm2.shape, vm2.strides).expr_node(Variable('idx', 0, s-1)*st)
if s == 1:
new_strides.append(0) # all shape 1 can have stride 0
elif isinstance(this_dim, NumNode) and this_dim.b == 0:
new_strides.append(0)
elif isinstance(this_dim, Variable):
new_strides.append(1)
elif isinstance(this_dim, MulNode) and isinstance(this_dim.a, Variable):
new_strides.append(this_dim.b)
else:
if DEBUG >= 4: print("can't simplify", s, this_dim.render())
break
return View(vm1.shape, tuple(new_strides), new_offset.b) if len(new_strides) == len(vm1.strides) else None
class ShapeTracker:
def __init__(self, shape:Union[ShapeTracker, Tuple[int, ...]], views:Optional[List[ViewTypes]]=None):
self.views : List[ViewTypes] = views if views is not None else (shape.views[:] if isinstance(shape, ShapeTracker) else [view_from_shape(shape)])
def __repr__(self): return f"ShapeTracker(shape={self.shape}, views={self.views})"
def copy(self) -> ShapeTracker: return ShapeTracker(self.shape, self.views[:])
@property
def contiguous(self) -> bool: return len(self.views) == 1 and self.views[-1].contiguous
@property
def shape(self) -> Tuple[int, ...]: return self.views[-1].shape
@property
def strides(self) -> Tuple[int, ...]: return self.views[-1].strides
@property
def offset(self) -> int: return self.views[-1].offset
# this is the real size
def size(self): return prod([s for s,st in zip(self.shape, self.strides) if st != 0])
def _expr_idx(self, idx):
valid = Variable.num(1)
for v in self.views[0:-1][::-1]:
if isinstance(v, ZeroView): valid = v.expr_node(idx, valid)
else: idx = v.expr_node(idx)
return idx, valid
def simplify(self):
if len(self.views) >= 2 and isinstance(self.views[-2], View) and isinstance(self.views[-1], View):
new_view = merge_views(self.views[-2], self.views[-1])
if new_view:
if DEBUG >= 4: print(f"st simplify : {self.views[-2]} + {self.views[-1]} = {new_view}")
self.views = self.views[:-2] + [new_view]
self.simplify()
# TODO: arg order is reversed here
def expr_idxs(self, offset=0, idxs=None):
if idxs is None: idxs = [f"idx{i}" for i in range(len(self.shape))]
return self._expr_idx(self.views[-1].expr_idxs(idxs, offset))
def expr_node(self, idx='idx', offset=0):
return self._expr_idx(self.views[-1].expr_node(Variable(idx, 0, prod(self.shape)-1), offset))
def movement_op(self, op, arg:Union[Tuple[int, ...], Tuple[Tuple[int, int], ...]]) -> ShapeTracker:
return getattr(self, str(op).split(".")[1].lower())(arg)
def needs_valid(self) -> bool:
return any(isinstance(v, ZeroView) for v in self.views)
def reshape(self, new_shape : Tuple[int, ...]) -> ShapeTracker:
assert isinstance(new_shape, tuple)
if self.shape == new_shape: return self
assert all(isinstance(x, int) and x != 0 for x in new_shape), f"shape must be ints and can't contain 0 {new_shape}"
assert prod(self.shape) == prod(new_shape), f"can't reshape {self.shape} -> {new_shape}"
view = View(new_shape, strides_for_shape(new_shape))
if self.contiguous: self.views[-1] = view # NOTE: if it's contiguous it can't have an offset
else:
# NOTE: the last view in self.views is never a ZeroView
if (merged_view := merge_views(cast(View, self.views[-1]), view)) is not None: self.views[-1] = merged_view
else: self.views.append(view)
return self
def permute(self, axis : Tuple[int, ...]) -> ShapeTracker:
assert isinstance(axis, tuple)
assert all(isinstance(x, int) and x >= 0 and x < len(self.shape) for x in axis), f"invalid permute {axis} for {self.shape}"
assert len(set(axis)) == len(axis) and len(axis) == len(self.shape), f"can't permute {self.shape} with {axis}"
self.views[-1] = View(tuple(self.shape[a] for a in axis), tuple(self.strides[a] for a in axis), self.offset)
return self
# TODO: this is a special case of slice with strides, remove it
# though it's nice that it can't change size
def flip(self, axis : Tuple[int, ...]) -> ShapeTracker:
return self.stride(tuple(-1 if i in axis else 1 for i in range(len((self.shape)))))
# *** under this line are not invertible ***
# TODO: take this functionality out of slice
def pad(self, arg : Tuple[Tuple[int, int], ...]) -> ShapeTracker:
assert isinstance(arg, tuple)
assert all((b>=0 and e>=0) for b,e in arg) and len(arg) == len(self.shape)
return self.shrink(tuple((-b,s+e) for s,(b,e) in zip(self.shape, arg)))
# TODO: take the pad functionality out of shrink
def shrink(self, arg : Tuple[Tuple[int, int], ...]) -> ShapeTracker:
assert isinstance(arg, tuple)
assert len(arg) == len(self.shape)
offset = sum([self.strides[i]*x for i,(x,_) in enumerate(arg)])
zeroview = ZeroView(self.shape, arg)
self.views[-1] = View(tuple(y-x for x,y in arg), self.strides, self.offset+offset)
if zeroview.expr_node().min == 0: # may be invalid
# if we add a ZeroView, we add another (stock) view also for modding
self.views += [zeroview, View(self.shape, strides_for_shape(self.shape))]
return self
def expand(self, new_shape : Tuple[int, ...]) -> ShapeTracker:
assert isinstance(new_shape, tuple)
assert all(isinstance(x, int) for x in new_shape), f"non ints for expand in {new_shape}"
assert all(x == y or x == 1 for x,y in zip(self.shape, new_shape)), f"can't expand {self.shape} into {new_shape}"
strides : Tuple[int, ...] = tuple(s if x == y else 0 for s,(x,y) in zip(self.strides, zip(self.shape, new_shape)))
self.views[-1] = View(new_shape, strides, self.offset)
return self
# TODO: combine with slice? this doesn't require a ZeroView, though slice shouldn't always either
def stride(self, mul : Tuple[int, ...]) -> ShapeTracker:
assert isinstance(mul, tuple)
assert all(isinstance(x, int) for x in mul)
strides = tuple(z*m for z,m in zip(self.strides, mul))
new_shape = tuple((s+(abs(m)-1))//abs(m) for s,m in zip(self.shape, mul))
offset = sum([(s-1)*z for s,z,m in zip(self.shape, self.strides, mul) if m < 0])
self.views[-1] = View(new_shape, strides, self.offset + offset)
return self
# returns the axes to create new_shape if new_shape can be created by combining axis from old_shape
def get_contraction(old_shape:Tuple[int, ...], new_shape:Tuple[int, ...]):
if len(new_shape) > len(old_shape): return None
new_shape_i : int = 0
shape_idx_groups : List[List[int]] = [[] for _ in range(len(new_shape))]
for old_shape_i, t in enumerate(old_shape):
if new_shape[new_shape_i] % t != 0 or prod([old_shape[x] for x in shape_idx_groups[new_shape_i]]) * t > new_shape[new_shape_i]:
return None
shape_idx_groups[new_shape_i].append(old_shape_i)
if prod([old_shape[x] for x in shape_idx_groups[new_shape_i]]) == new_shape[new_shape_i] and new_shape_i < len(new_shape) - 1:
new_shape_i += 1
return shape_idx_groups