openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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import argparse
from extra.optimization.helpers import ast_str_to_lin, time_linearizer
from tinygrad import dtypes
from tinygrad.helpers import BEAM, getenv
from tinygrad.device import Device, Compiled
from tinygrad.codegen.kernel import Kernel
from tinygrad.engine.search import beam_search, bufs_from_lin
if __name__ == '__main__':
parser = argparse.ArgumentParser(description="Run a search for the optimal opts for a kernel", formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--ast", type=str, default=None, help="the ast for the kernel to be optimized")
parser.add_argument("--file", type=str, default=None, help="a file containing asts to be optimized, one per line")
args = parser.parse_args()
device: Compiled = Device[Device.DEFAULT]
print(f"optimizing for {Device.DEFAULT}")
if args.ast is not None:
ast_strs = [args.ast]
elif args.file is not None:
with open(args.file, 'r') as file:
ast_strs = file.readlines()
for i, ast_str in enumerate(ast_strs):
print(f"optimizing {i}/{len(ast_strs)}\nast={ast_str}")
lin = ast_str_to_lin(ast_str, opts=device.renderer)
rawbufs = bufs_from_lin(lin)
lin = beam_search(lin, rawbufs, getenv("BEAM", 8), bool(getenv("BEAM_ESTIMATE", 1)))
tm = time_linearizer(lin, rawbufs, allow_test_size=False, cnt=10)
print(f"final time {tm*1e6:9.0f} us: {lin.colored_shape()}")
print(lin.applied_opts)