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 time
from extra.optimization.helpers import load_worlds, ast_str_to_ast
from tinygrad import Device
from tinygrad.codegen.lowerer import pm_lowerer, get_index
from tinygrad.uop.ops import graph_rewrite
from tinygrad.codegen.opt.kernel import Kernel
from tinygrad.codegen.opt.postrange import Scheduler
from tinygrad.codegen.opt.heuristic import hand_coded_optimizations
from tinygrad.helpers import getenv
if __name__ == "__main__":
renderer = Device.default.renderer
ast_strs = load_worlds()
if (n:=getenv("N", -1)) != -1: ast_strs = ast_strs[n:n+1]
good = 0
for i, ast_str in enumerate(ast_strs):
ast = ast_str_to_ast(ast_str)
st = time.perf_counter()
lin = Kernel(ast, renderer)
opt1 = hand_coded_optimizations(lin)
et_lin = time.perf_counter() - st
lowered = graph_rewrite(ast, pm_lowerer, ctx=get_index(ast), bottom_up=True)
st = time.perf_counter()
sch = Scheduler(lowered, renderer)
sch.convert_loop_to_global()
sch.simplify_merge_adjacent()
opt2 = hand_coded_optimizations(sch)
et_sch = time.perf_counter() - st
if opt1 != opt2:
print(f"******* {i:6d}")
print("Kernel: ", lin.colored_shape(), "->", lin.apply_opts(opt1).colored_shape())
print("Scheduler: ", sch.colored_shape(), "->", sch.apply_opts(opt2).colored_shape())
print(opt1)
print(opt2)
else:
good += 1
print(f"******* {i:6d} MATCH {good/(i+1)*100:.2f}% -- {et_lin/et_sch:4.2f}x speedup")