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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#!/usr/bin/env python3
import random
from tqdm import trange
from typing import List
from tinygrad import Device
from tinygrad.runtime.ops_amd import AMDDevice, HWQueue
if __name__ == "__main__":
dev: List[AMDDevice] = [Device[f"KFD:{i}"] for i in range(6)]
print(f"got {len(dev)} devices")
buffers = [(rd:=random.choice(dev), rd.allocator.alloc(random.randint(1, 10000))) for i in range(100)]
for _ in trange(100000):
d1, b1 = random.choice(buffers)
d2, b2 = random.choice(buffers)
d1._gpu_map(b2)
q = HWQueue()
q.signal(sig:=AMDDevice._alloc_signal(10))
qc = HWQueue()
qc.wait(sig)
qc.copy(b1.va_addr, b2.va_addr, min(b1.size, b2.size))
d1.completion_signal.value = 1
qc.signal(d1.completion_signal)
qc.submit(d1)
q.wait(d1.completion_signal)
q.submit(d1)
AMDDevice._wait_on(d1.completion_signal.event_id)