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.

70 lines
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1 month ago
import unittest
import time
import numpy as np
from tinygrad import Tensor, dtypes
from tinygrad.engine.schedule import create_schedule
from tinygrad.engine.realize import lower_schedule_item, run_schedule
class TestFusionOp(unittest.TestCase):
def test_contiguous_add(self):
def test(contig=False):
bt = Tensor(np.arange(16), dtype=dtypes.float32).reshape(4,4)
x = bt.permute(1,0)
if contig: x = x.contiguous()
return (x.permute(1,0) + bt).data()
assert test() == test(True)
def test_expand_fuse(self):
bt = Tensor(np.ones((10, 1)), dtype=dtypes.float32)
out = (bt*2).expand(10,10).sum(1)
sched = create_schedule([out.lazydata])
run_schedule(sched)
outd = out.tolist()
assert all(x == 20.0 for x in outd)
def test_recursive_add(self):
st = time.perf_counter()
a = Tensor([1,2,3,4])
for _ in range(24): a = a + a
sched = create_schedule([a.lazydata])
ei = lower_schedule_item(sched[-1])
self.assertLess(time.perf_counter()-st, 2.0)
assert len(ei.prg.p.src.splitlines()) < 250
def test_recursive_add_cmp(self):
st = time.perf_counter()
a = Tensor([1,2,3,4])
for _ in range(24): a = a + a
sched1 = create_schedule([a.lazydata])
b = Tensor([1,2,3,4])
for _ in range(24): b = b + b
sched2 = create_schedule([b.lazydata])
c = Tensor([1,2,3,4])
for _ in range(23): c = c + c
sched3 = create_schedule([c.lazydata])
self.assertEqual(sched1[-1].ast, sched2[-1].ast)
with self.assertRaises(AssertionError): self.assertEqual(sched1[-1].ast, sched3[-1].ast)
self.assertLess(time.perf_counter()-st, 2.0)
def test_recursive_pad(self):
st = time.perf_counter()
val = 1.0
a = Tensor(val).realize()
for _ in range(24): a = Tensor.stack(a, a)[0]
r = a.item()
self.assertEqual(r, val)
self.assertLess(time.perf_counter()-st, 2.0)
def test_recursive_reshape(self):
st = time.perf_counter()
a = Tensor.empty(32, 32).realize()
b = Tensor.empty(16, 2).realize()
r = a.sum(1)
for _ in range(24): r = r.reshape(16, 2) + b
sched = r.schedule()
self.assertEqual(len(sched), 1)
self.assertLess(time.perf_counter()-st, 2.0)
if __name__ == '__main__':
unittest.main(verbosity=2)