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 python
import unittest
from tinygrad.shape.view import View, merge_dims
# from tinygrad.shape.shapetracker import ShapeTracker
class TestView(unittest.TestCase):
def test_canonicalize_empty_mask(self):
v = View.create(shape=(2,2,2), strides=(4,2,1), mask=((0,2),(0,2),(0,2)))
self.assertIsNone(v.mask)
v = View.create(shape=(4,3,2), strides=(1,4,10), mask=((0,4),(0,3),(0,2)))
self.assertIsNone(v.mask)
def test_minify_zero_strided_dims(self):
target = View.create(shape=(2,2), strides=(30,2), offset=7, mask=None)
v = View.create(shape=(2,1,2), strides=(30,0,2), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(1,2,2), strides=(0,30,2), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(2,2,1), strides=(30,2,0), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(2,1,1,2), strides=(30,0,0,2), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(1,1,2,2), strides=(0,0,30,2), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(2,2,1,1), strides=(30,2,0,0), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(1,2,2,1), strides=(0,30,2,0), offset=7, mask=None)
self.assertEqual(v.minify(), target)
v = View.create(shape=(1,2,1,2), strides=(0,30,0,2), offset=7, mask=None)
self.assertEqual(v.minify(), target)
def test_empty_mask_contiguous(self):
v1 = View.create(shape=(2,2,2), strides=(4,2,1), mask=None)
v2 = View.create(shape=(2,2,2), strides=(4,2,1), mask=((0,2),(0,2),(0,2)))
self.assertEqual(v1.contiguous, v2.contiguous)
v1 = View.create(shape=(1,1,1,4), strides=(0,0,0,1), offset=0, mask=None)
v2 = View.create(shape=(1,1,1,4), strides=(0,0,0,1), offset=0, mask=((0,1),(0,1),(0,1),(0,4)))
self.assertEqual(v1.contiguous, v2.contiguous)
v = View.create(shape=(2,3,4), mask=((0,2),(0,3),(0,4)))
self.assertTrue(v.contiguous)
def test_reshape_all_invalid(self):
v = View.create((4,5), mask=((0,0), (0,0))).reshape((20,))
self.assertIsNotNone(v)
self.assertEqual(v, View.create((20,), mask=((0,0),)))
class TestMergeDims(unittest.TestCase):
def test_contiguous(self):
shape = (2, 3, 4)
strides = (12, 4, 1) #=strides_for_shape(shape)
m = merge_dims(shape, strides)
self.assertEqual(m, ((24, 1, 24),))
def test_0_in_strides(self):
shape = (2, 3, 4)
self.assertEqual(merge_dims(shape, (0, 4, 1)), ((2, 0, 0), (12, 1, 12)))
self.assertEqual(merge_dims(shape, (0, 0, 1)), ((6, 0, 0), (4, 1, 4)))
self.assertEqual(merge_dims(shape, (3, 1, 0)), ((6, 1, 6), (4, 0, 4)))
self.assertEqual(merge_dims(shape, (0, 0, 0)), ((24, 0, 0),))
def test_pad(self):
# print(ShapeTracker.from_shape((1, 2)).pad(((1, 0), (0, 1))).views[-1])
self.assertEqual(merge_dims((2, 3), (0, 1), ((1, 2), (0, 2))), ((6, 1, 3),))
# print(f"{ShapeTracker.from_shape((1, 1, 2)).pad(((1, 0), (1, 0), (0, 1))).views[-1]}")
self.assertEqual(merge_dims((2, 2, 3), (0, 0, 1), ((1, 2), (1, 2), (0, 2))), ((12, 1, 3),))
# print(f"{ShapeTracker.from_shape((1, 1, 2, 2)).pad(((1, 0), (1, 0), (0, 1), (0, 1))).views[-1]}")
self.assertEqual(merge_dims((2, 2, 3, 3), (0, 0, 2, 1), ((1, 2), (1, 2), (0, 2), (0, 2))), ((12, 2, 3), (3, 1, 3)))
# print(f"{ShapeTracker.from_shape((2, 1, 2)).pad(((0, 0), (1, 0), (0, 1))).views[-1]}")
self.assertEqual(merge_dims((2, 2, 3), (2, 0, 1), ((0, 2), (1, 2), (0, 2))), ((2, 2, 2), (6, 1, 3)))
def test_different_1_pad(self):
# print(f"{ShapeTracker.from_shape((2, 2, 1)).pad(((0, 0), (0, 0), (0, 1))).views[-1]}")
self.assertEqual(merge_dims((2, 2, 2), (2, 1, 0), ((0, 2), (0, 2), (0, 1))), ((4, 1, 4), (2, 0, 2)))
# print(f"{ShapeTracker.from_shape((2, 1, 1)).pad(((0, 0), (0, 1), (0, 1))).views[-1]}")
self.assertEqual(merge_dims((2, 2, 2), (1, 0, 0), ((0, 2), (0, 2), (0, 1))), ((2, 1, 2), (4, 0, 4)))
class TestMergeViews(unittest.TestCase):
def test_with_mask_0(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
v0 = View(shape=(1, 1, 5, 8), strides=(0, 0, 5, 1), offset=-3, mask=((0, 1), (0, 1), (0, 5), (3, 8)), contiguous=False)
v1 = View(shape=(1, 1, 2, 2), strides=(0, 0, 8, 1), offset=3, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(1, 1, 2, 2), strides=(0, 0, 5, 1), offset=0, mask=None, contiguous=False))
def test_with_mask_1(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
v0 = View(shape=(3, 3, 5, 3), strides=(27, 9, 3, 1), offset=-6, mask=((0, 3), (0, 3), (2, 4), (1, 3)), contiguous=False)
v1 = View(shape=(3, 3, 2, 2), strides=(45, 15, 3, 1), offset=7, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(3, 3, 2, 2), strides=(27, 9, 3, 1), offset=1, mask=None, contiguous=False))
def test_with_mask_2(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
v0 = View(shape=(3, 3, 5, 3), strides=(27, 9, -3, 1), offset=6, mask=((0, 3), (0, 3), (0, 2), (0, 2)), contiguous=False)
v1 = View(shape=(3, 3, 2, 2), strides=(45, 15, -3, 1), offset=3, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(3, 3, 2, 2), strides=(27, 9, 3, 1), offset=3, mask=None, contiguous=False))
def test_with_mask_3(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
# has a mask in the final view
v0 = View(shape=(3, 3, 4, 4), strides=(27, 9, 3, 1), offset=-5, mask=((0, 3), (0, 3), (2, 4), (0, 2)), contiguous=False)
v1 = View(shape=(3, 3, 4, 2), strides=(48, 16, 4, 1), offset=0, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(3, 3, 4, 2), strides=(27, 9, 3, 1), offset=-5, mask=((0, 3), (0, 3), (2, 4), (0, 2)), contiguous=False))
def test_with_mask_4(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
# has a mask in the final view
v0 = View(shape=(3, 3, 5, 3), strides=(27, 9, -3, 1), offset=6, mask=((0, 3), (0, 3), (0, 2), (1, 3)), contiguous=False)
v1 = View(shape=(3, 3, 3, 3), strides=(45, 15, 3, 1), offset=6, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(3, 3, 3, 3), strides=(0, 0, 0, 0), offset=0, mask=((0, 0), (0, 0), (0, 0), (0, 0)), contiguous=False))
def test_with_mask_5(self):
# from test/test_ops.py::TestOps::test_pad_reflect_mode
# has a mask in the final view
v0 = View(shape=(1, 1, 6, 5), strides=(0, 0, 5, 1), offset=-5, mask=((0, 1), (0, 1), (1, 6), (0, 5)), contiguous=False)
v1 = View(shape=(1, 1, 6, 3), strides=(0, 0, 5, -1), offset=3, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(1, 1, 6, 3), strides=(0, 0, 5, -1), offset=-2, mask=((0, 1), (0, 1), (1, 6), (0, 3)), contiguous=False))
@unittest.expectedFailure # TODO: fix these
def test_merges_from_fuzzer1(self):
v0 = View(shape=(2, 4), strides=(2, 1), offset=-2, mask=((0, 2), (2, 4)), contiguous=False)
v1 = View(shape=(2, 4, 2, 2), strides=(4, 0, -2, -1), offset=3, mask=None, contiguous=False)
target = View(shape=(2, 4, 2, 2), strides=(2, 0, 0, -1), offset=1, mask=((0, 2), (0, 4), (0, 1), (0, 2)), contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, target)
@unittest.expectedFailure # TODO: fix these
def test_merges_from_fuzzer2(self):
v0 = View(shape=(5, 10, 12), strides=(100, 1, 10), offset=-20, mask=((0, 5), (0, 10), (2, 12)), contiguous=False)
v1 = View(shape=(10, 6, 5, 2, 2), strides=(12, 2, 120, 1, 0), offset=0, mask=None, contiguous=False)
target = View(shape=(10, 6, 5, 2, 2), strides=(1, 20, 100, 10, 0), offset=-20, mask=((0, 10), (1, 6), (0, 5), (0, 2), (0, 2)), contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, target)
@unittest.expectedFailure # TODO: fix these
def test_merges_from_fuzzer3(self):
v0 = View(shape=(8, 7, 3), strides=(1, 12, -4), offset=6, mask=((2, 6), (0, 7), (0, 3)), contiguous=False)
v1 = View(shape=(4, 2, 6, 2, 1), strides=(42, 21, 3, 1, 0), offset=4, mask=None, contiguous=False)
target = View(shape=(4, 2, 6, 2, 1), strides=(2, 1, 12, -4, 0), offset=14, mask=((1, 3), (0, 2), (0, 6), (0, 2), (0, 1)), contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, target)
@unittest.expectedFailure # TODO: fix these
def test_merges_from_fuzzer4(self):
v0 = View(shape=(7, 21, 3), strides=(54, 3, 1), offset=-9, mask=((0, 6), (3, 21), (0, 3)), contiguous=False)
v1 = View(shape=(5, 3, 3, 7), strides=(63, 1, 3, 9), offset=63, mask=None, contiguous=False)
target = View(shape=(5, 3, 3, 7), strides=(54, 1, 3, 9), offset=45, mask=((0, 5), (0, 3), (0, 3), (1, 7)), contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, target)
@unittest.expectedFailure # TODO: fix these
def test_merges_from_fuzzer5(self):
v0 = View(shape=(5, 1, 24), strides=(20, 0, 1), offset=-2, mask=((0, 5), (0, 1), (2, 22)), contiguous=False)
v1 = View(shape=(12, 2, 5, 2, 1), strides=(2, 1, 24, 0, 0), offset=0, mask=None, contiguous=False)
target = View(shape=(12, 2, 5, 2, 1), strides=(2, 1, 20, 0, 0), offset=-2, mask=((1, 11), (0, 2), (0, 5), (0, 2), (0, 1)), contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, target)
def test_view_padded_area1(self):
# test_multinomial
v0 = View(shape=(2,), strides=(0,), offset=0, mask=((1, 2),), contiguous=False)
v1 = View(shape=(1,), strides=(0,), offset=0, mask=None, contiguous=True)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(1,), strides=(0,), offset=0, mask=((0, 0),), contiguous=False))
def test_view_padded_area2(self):
# test_pad_reflect_mode
v0 = View(shape=(1, 1, 10, 7), strides=(0, 0, 5, 1), offset=-15, mask=((0, 1), (0, 1), (3, 8), (0, 5)), contiguous=False)
v1 = View(shape=(0, 0, 0, 0), strides=(0, 0, 0, 0), offset=0, mask=None, contiguous=True)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(0, 0, 0, 0), strides=(0, 0, 0, 0), offset=0, mask=None, contiguous=True))
def test_view_padded_area3(self):
# test_roll
v0 = View(shape=(2, 4), strides=(0, 1), offset=4, mask=((0, 1), (0, 4)), contiguous=False)
v1 = View(shape=(1, 4), strides=(0, 1), offset=4, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(1, 4), strides=(0, 0), offset=0, mask=((0, 0), (0, 0)), contiguous=False))
def test_view_padded_area4(self):
# test_std_mean
v0 = View(shape=(2,), strides=(0,), offset=0, mask=((0, 1),), contiguous=False)
v1 = View(shape=(1, 1, 1), strides=(0, 0, 0), offset=1, mask=None, contiguous=False)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(1, 1, 1), strides=(0, 0, 0), offset=0, mask=((0, 0), (0, 0), (0, 0)), contiguous=False))
def test_empty_shape_view1(self):
# test_stack_slice
v0 = View(shape=(3, 5), strides=(0, 1), offset=0, mask=((0, 1), (0, 5)), contiguous=False)
v1 = View(shape=(), strides=(), offset=0, mask=None, contiguous=True)
v = v0 + v1
self.assertIsNotNone(v)
self.assertEqual(v, View(shape=(), strides=(), offset=0, mask=None, contiguous=True))
def test_empty_shape_view2(self):
# test_std_mean
v0 = View(shape=(2,), strides=(0,), offset=0, mask=((1, 2),), contiguous=False)
v1 = View(shape=(), strides=(), offset=0, mask=None, contiguous=True)
v = v0 + v1
# TODO: why is this different?
self.assertIsNone(v)
if __name__ == '__main__':
unittest.main()