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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# opt opinionatedly transforms an ast into an optimized ast using either heuristics or beam search
from tinygrad.opt.kernel import Kernel
from tinygrad.opt.heuristic import hand_coded_optimizations
from tinygrad.uop.ops import UOp
from tinygrad.helpers import NOOPT, BEAM, USE_TC, getenv
from tinygrad.renderer import Renderer
def get_optimized_ast(ast:UOp, renderer:Renderer) -> UOp:
"""
Optimize an AST based on heuristics or BEAM search.
Args:
ast: The Ops.SINK rooted AST
renderer: The renderer used to generate the code
Returns:
The Ops.SINK rooted AST transformed to apply the opts and with a KernelInfo in the arg.
"""
k = Kernel(ast, opts=renderer)
if not NOOPT:
if not k.apply_tensor_cores(USE_TC.value): k.apply_opts(hand_coded_optimizations(k))
if BEAM >= 1:
from tinygrad.opt.search import beam_search, bufs_from_lin
kb = Kernel(ast, opts=renderer)
rawbufs = bufs_from_lin(kb, allocate=False)
k = beam_search(kb, rawbufs, BEAM.value, bool(getenv("BEAM_ESTIMATE", 1)))
return k.get_optimized_ast()