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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from tinygrad import Device
from tinygrad.helpers import getenv, DEBUG, BEAM
from tinygrad.engine.search import beam_search, time_linearizer, bufs_from_lin
from extra.optimization.helpers import load_worlds, ast_str_to_lin
if __name__ == "__main__":
filter_reduce = bool(getenv("FILTER_REDUCE"))
ast_strs = load_worlds(filter_reduce=filter_reduce, filter_novariable=True)
dev = Device[Device.DEFAULT]
test_n = getenv("TEST_N", 10)
single = getenv("NUM", -1)
if single != -1: ast_strs = ast_strs[single:single+1]
beam_won, tested = 0, 0
for num, ast in enumerate(ast_strs[:test_n]):
def new_lin(): return ast_str_to_lin(ast, opts=dev.renderer)
k = new_lin()
# k.required_optimizations()
if not (used_tensor_cores:=k.apply_tensor_cores(getenv("TC", 1))): k.hand_coded_optimizations()
assert BEAM > 0
lins = [(("tc" if used_tensor_cores else "hc"), k)]
if used_tensor_cores:
lins.append(("hc", new_lin()))
lins[-1][1].hand_coded_optimizations()
kb = new_lin()
# kb.required_optimizations()
test_rawbuffers = bufs_from_lin(kb) # allocate scratch buffers for optimization
lins.append((f"beam{BEAM.value}", beam_search(kb, test_rawbuffers, BEAM.value, bool(getenv("BEAM_ESTIMATE", 1)))))
timed = sorted([(nm, tk, time_linearizer(tk, test_rawbuffers, allow_test_size=False, clear_l2=True)) for nm, tk in lins], key=lambda x: x[2])
if DEBUG >= 1: print(" < ".join(f"{nm:6s} : {lin.colored_shape(30, dense=True)} : {tm*1e6:8.2f} us" for nm, lin, tm in timed))
tested += 1
if timed[0][0].startswith("beam"):
beam_won += 1
print(f"{beam_won=} / {tested=} = {beam_won/tested:.3f}")