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
import numpy as np
from tinygrad import Tensor, Variable
class TestTensorVariable(unittest.TestCase):
def test_add_tvar(self):
vv = Variable("a", 0, 10).bind(1)
ret = (Tensor(vv) + 3).item()
assert ret == 4
def test_inner_tvar_node(self):
vv = Variable("w", 0, 10).bind(2)
ret = Tensor.from_uop(vv * 4).item()
assert ret == 8
def test_inner_tvar_mul(self):
vv = Variable("w", 0, 10).bind(2)
assert (Tensor(3) * vv).item() == 6
def test_inner_tvar_mul_node(self):
vv = Variable("w", 0, 10).bind(2)
assert (Tensor(3) * (vv * 4)).item() == 24
def test_symbolic_mean(self):
vv = Variable("a", 1, 10).bind(2)
t = Tensor.ones(2, 2).contiguous().reshape(2, vv)
ret = t.mean().item()
assert ret == 1
def test_symbolic_mean_2d(self):
vv = Variable("a", 1, 10).bind(2)
vv2 = Variable("b", 1, 10).bind(2)
t = Tensor.ones(2, 2).contiguous().reshape(vv2, vv)
ret = t.mean().item()
assert ret == 1
def test_symbolic_mean_2d_axis_1(self):
vv = Variable("a", 1, 10).bind(2)
vv2 = Variable("b", 1, 10).bind(2)
t = Tensor.ones(2, 2).contiguous().reshape(vv2, vv)
ret = t.mean(axis=1).reshape(2, 1).numpy()
assert np.all(ret == 1)
def test_symbolic_mean_2d_add(self):
add_term = Variable("c", 0, 10).bind(1)
vv = Variable("a", 1, 10).bind(1)
vv2 = Variable("b", 1, 10).bind(1)
t = Tensor.ones(2, 2).contiguous().reshape(vv2+add_term, vv+add_term)
ret = t.mean().item()
assert ret == 1
def test_symbolic_var(self):
vv = Variable("a", 1, 10).bind(2)
t = Tensor.ones(2, 2).contiguous().reshape(2, vv)
ret = t.var().item()
assert ret == 0
def test_symbolic_pad(self):
vv = Variable("a", 1, 10).bind(2)
t = Tensor.ones(2, 2).contiguous()
t = t.pad([vv, vv, vv, vv]).mean()
ones = 4
zeros = 6+6+4+4+6+6
self.assertAlmostEqual(t.item(), ones/(ones+zeros))
def test_symbolic_arange(self):
vv = Variable("a", 1, 10)
ret = Tensor.arange(0, vv.bind(4))
self.assertListEqual(ret.reshape(4).tolist(), [0,1,2,3])
def test_symbolic_arange_sym_start(self):
vv = Variable("a", 1, 6)
ret = Tensor.arange(vv.bind(4), 7)
self.assertListEqual(ret.reshape(3).tolist(), [4,5,6])
# TODO: add vmin/vmax pattern for symbolic denominator
@unittest.expectedFailure
def test_symbolic_arange_sym_step(self):
vv = Variable("step", 1, 3)
ret = Tensor.arange(0, 10, vv.bind(2))
self.assertListEqual(ret.reshape(5).tolist(), [0,2,4,6,8])
def test_symbolic_arange_two_vars(self):
begin = Variable("b", 1, 5)
end = Variable("e", 6, 10)
ret = Tensor.arange(begin.bind(4), end.bind(7))
self.assertListEqual(ret.reshape(3).tolist(), [4,5,6])
if __name__ == '__main__':
unittest.main()