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 extra.optimization.helpers import load_worlds, ast_str_to_lin
from tinygrad.engine.search import bufs_from_lin, time_linearizer, get_kernel_actions
if __name__ == "__main__":
ast_strs = load_worlds()
for i, ast_str in enumerate(ast_strs):
lin = ast_str_to_lin(ast_str)
rawbufs = bufs_from_lin(lin)
test_tm = time_linearizer(lin, rawbufs)
if test_tm < 1e-2: continue
print(f"EXAMPLE {i}")
acted_lins = get_kernel_actions(lin)
ok_avg, short_avg = 0, 0
for k,v in acted_lins.items():
tm1 = time_linearizer(v, rawbufs)
tm2 = time_linearizer(v, rawbufs)
tm3 = time_linearizer(v, rawbufs, False)
print(v.colored_shape(50), f"{tm1*1e3:10.2f} {tm2*1e3:10.2f} {tm3*1e3:10.2f} : {((tm1-tm2)/tm1)*100:5.2f}% vs {((tm1-tm3)/tm1)*100:5.2f}%")
ok_avg += (tm1-tm2)/tm1
short_avg += (tm1-tm3)/tm1
print(f"{ok_avg/len(acted_lins)*100:5.2f}% vs {short_avg/len(acted_lins)*100:5.2f}%")