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 Device
from tinygrad.tensor import Tensor
from tinygrad.helpers import getenv, CI
def multidevice_test(fxn):
exclude_devices = getenv("EXCLUDE_DEVICES", "").split(",")
def ret(self):
for device in Device._devices:
if device in ["REMOTE", "DISK", "NPY", "FAKE", "DSP", "NULL"]: continue
if not CI: print(device)
if device in exclude_devices:
if not CI: print(f"WARNING: {device} test is excluded")
continue
with self.subTest(device=device):
try:
Device[device]
except Exception:
if not CI: print(f"WARNING: {device} test isn't running")
continue
fxn(self, device)
return ret
class TestExample(unittest.TestCase):
@multidevice_test
def test_convert_to_cpu(self, device):
a = Tensor([[1,2],[3,4]], device=device)
assert a.numpy().shape == (2,2)
b = a.to("CPU")
assert b.numpy().shape == (2,2)
@multidevice_test
def test_2_plus_3(self, device):
a = Tensor([2], device=device)
b = Tensor([3], device=device)
result = a + b
print(f"{a.numpy()} + {b.numpy()} = {result.numpy()}")
assert result.numpy()[0] == 5.
@multidevice_test
def test_example_readme(self, device):
x = Tensor.eye(3, device=device, requires_grad=True)
y = Tensor([[2.0,0,-2.0]], device=device, requires_grad=True)
z = y.matmul(x).sum()
z.backward()
x.grad.numpy() # dz/dx
y.grad.numpy() # dz/dy
assert x.grad.device == device
assert y.grad.device == device
@multidevice_test
def test_example_matmul(self, device):
try:
Device[device]
except Exception:
print(f"WARNING: {device} test isn't running")
return
x = Tensor.eye(64, device=device, requires_grad=True)
y = Tensor.eye(64, device=device, requires_grad=True)
z = y.matmul(x).sum()
z.backward()
x.grad.numpy() # dz/dx
y.grad.numpy() # dz/dy
assert x.grad.device == device
assert y.grad.device == device
if __name__ == '__main__':
unittest.main()