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 unittest
from tinygrad import Tensor, UOp
from tinygrad.uop.ops import AxisType, Ops
class TestOuterworldReduce(unittest.TestCase):
def test_reduce(self):
x = Tensor.ones(5, 5).contiguous()
a = UOp.range(5, -1, AxisType.REDUCE)
out = x[a]
# TODO: syntax for this
t = Tensor(UOp(Ops.REDUCE, dtype=out.uop.dtype, src=(out.uop, a), arg=Ops.ADD))
self.assertListEqual(t.tolist(), [5.,5.,5.,5.,5.])
class TestOuterworld(unittest.TestCase):
def test_range_plus_1(self):
t = Tensor.arange(100).reshape(10,10).realize()
# passthrough ranges
a = UOp.range(10, -1)
sel = t[a] + 1
assert sel.shape == (10,)
cpy = sel.reshape(1, 10).expand(a, 10).contiguous().realize()
self.assertTrue((t+1==cpy).all().item())
def test_range_plus_1_transpose(self):
t = Tensor.arange(100).reshape(10,10).realize()
# passthrough ranges
a = UOp.range(10, -1)
sel = t[a] + 1
assert sel.shape == (10,)
cpy = sel.reshape(10, 1).expand(10, a).contiguous().realize()
self.assertTrue(((t+1).T==cpy).all().item())
def test_flip_range(self):
t = Tensor.rand(10, 10).realize()
# passthrough ranges
a = UOp.range(10, -1)
sel = t[9-a]
cpy = sel.reshape(1, 10).expand(a, 10).contiguous().realize()
self.assertTrue((t.flip(0)==cpy).all().item())
def test_vmap(self):
def f(x): return x.sum(axis=0)*2
x = Tensor.ones(3, 10, 2).contiguous()
# vmap across axis 0
a = UOp.range(3, -1)
out = f(x[a])
out = out.reshape(1, 2).expand(a, 2).contiguous()
# 3x2 grid of 20
out.realize()
self.assertTrue((out==20).all().item())
def test_fancy_vmap(self):
def f(x,y): return x+y
x = Tensor.arange(9).reshape(3,3).contiguous()
y = Tensor.arange(9).reshape(3,3).contiguous()
a = UOp.range(3, -1)
out = f(x[:,a], y[a,:])
# TODO: this should support flatten
out = out.reshape(1, 3).expand(a, 3).contiguous().realize()
self.assertListEqual([[0,4,8],[4,8,12],[8,12,16]], out.tolist())
if __name__ == '__main__':
unittest.main()