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 random
from tinygrad.helpers import DEBUG, getenv
from test.unit.test_shapetracker import CheckingShapeTracker
def do_permute(st):
perm = list(range(0, len(st.shape)))
random.shuffle(perm)
perm = tuple(perm)
if DEBUG >= 1: print("st.permute(", perm, ")")
st.permute(perm)
def do_pad(st):
c = random.randint(0, len(st.shape)-1)
pad = tuple((random.randint(0,2), random.randint(0,2)) if i==c else (0,0) for i in range(len(st.shape)))
if DEBUG >= 1: print("st.pad(", pad, ")")
st.pad(pad)
def do_reshape_split_one(st):
c = random.randint(0, len(st.shape)-1)
poss = [n for n in [1,2,3,4,5] if st.shape[c]%n == 0]
spl = random.choice(poss)
shp = st.shape[0:c] + (st.shape[c]//spl, spl) + st.shape[c+1:]
if DEBUG >= 1: print("st.reshape(", shp, ")")
st.reshape(shp)
def do_reshape_combine_two(st):
if len(st.shape) < 2: return
c = random.randint(0, len(st.shape)-2)
shp = st.shape[:c] + (st.shape[c] * st.shape[c+1], ) + st.shape[c+2:]
if DEBUG >= 1: print("st.reshape(", shp, ")")
st.reshape(shp)
def do_shrink(st):
c = random.randint(0, len(st.shape)-1)
while 1:
shrink = tuple((random.randint(0,s), random.randint(0,s)) if i == c else (0,s) for i,s in enumerate(st.shape))
if all(x<y for (x,y) in shrink): break
if DEBUG >= 1: print("st.shrink(", shrink, ")")
st.shrink(shrink)
def do_flip(st):
flip = tuple(random.random() < 0.5 for _ in st.shape)
if DEBUG >= 1: print("st.flip(", flip, ")")
st.flip(flip)
def do_expand(st):
c = [i for i,s in enumerate(st.shape) if s==1]
if len(c) == 0: return
c = random.choice(c)
expand = tuple(random.choice([2,3,4]) if i==c else s for i,s in enumerate(st.shape))
if DEBUG >= 1: print("st.expand(", expand, ")")
st.expand(expand)
shapetracker_ops = [do_permute, do_pad, do_shrink, do_reshape_split_one, do_reshape_combine_two, do_flip, do_expand]
if __name__ == "__main__":
random.seed(42)
for _ in range(getenv("CNT", 200)):
st = CheckingShapeTracker((random.randint(2, 10), random.randint(2, 10), random.randint(2, 10)))
for i in range(8): random.choice(shapetracker_ops)(st)
st.assert_same()