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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import platform, subprocess, sys
from tinygrad.helpers import capstone_flatdump, getenv
from tinygrad.device import Compiled, Compiler, MallocAllocator, CPUProgram
from tinygrad.runtime.support.elf import jit_loader
from tinygrad.renderer.cstyle import ClangRenderer
class ClangJITCompiler(Compiler):
def __init__(self, cachekey="compile_clang_jit"): super().__init__(cachekey)
def compile(self, src:str) -> bytes:
# -fno-math-errno is required for __builtin_sqrt to become an instruction instead of a function call
# x18 is a reserved platform register. It is clobbered on context switch in macos and is used to store TEB pointer in windows on arm, don't use it
target = 'x86_64' if sys.platform == 'win32' else platform.machine()
args = ['-march=native', f'--target={target}-none-unknown-elf', '-O2', '-fPIC', '-ffreestanding', '-fno-math-errno', '-nostdlib']
arch_args = ['-ffixed-x18'] if target == 'arm64' else []
obj = subprocess.check_output([getenv("CC", 'clang'), '-c', '-x', 'c', *args, *arch_args, '-', '-o', '-'], input=src.encode('utf-8'))
return jit_loader(obj)
def disassemble(self, lib:bytes): return capstone_flatdump(lib)
class ClangDevice(Compiled):
def __init__(self, device:str): super().__init__(device, MallocAllocator, ClangRenderer(), ClangJITCompiler(), CPUProgram)
CPUDevice = ClangDevice