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 ctypes, platform
from tinygrad.device import Compiled, Compiler, MallocAllocator, CPUProgram
from tinygrad.helpers import OSX, getenv, capstone_flatdump, DEBUG
from tinygrad.renderer.llvmir import LLVMRenderer
import tinygrad.runtime.autogen.llvm as llvm
from tinygrad.runtime.support.elf import jit_loader
def cerr(): return ctypes.pointer(ctypes.pointer(ctypes.c_char()))
def expect(x, err, ret=None):
if x: raise RuntimeError(llvm.string_cast(err.contents) if not isinstance(err, str) else err)
return ret
class LLVMCompiler(Compiler):
jit = True
target_arch = {'arm64': 'AArch64', 'aarch64': 'AArch64', 'x86_64': 'X86', 'AMD64': 'X86'}[platform.machine()]
def __init__(self, processor:str, feats:str):
for component in ['Target', 'TargetInfo', 'TargetMC', 'AsmParser', 'AsmPrinter']: getattr(llvm, f'LLVMInitialize{self.target_arch}{component}')()
triple = {'AArch64': b'aarch64-none-unknown-elf', 'X86': b'x86_64-none-unknown-elf', 'AMDGPU': b'amdgcn-amd-amdhsa'}[self.target_arch]
target = expect(llvm.LLVMGetTargetFromTriple(triple, ctypes.pointer(tgt:=llvm.LLVMTargetRef()), err:=cerr()), err, tgt)
if DEBUG >= 2: print(f"LLVM init for {processor!r} with {feats!r}")
self.target_machine = llvm.LLVMCreateTargetMachine(target, triple, processor.encode(), feats.encode(),
llvm.LLVMCodeGenLevelDefault, llvm.LLVMRelocPIC, llvm.LLVMCodeModelDefault)
self.pbo = llvm.LLVMCreatePassBuilderOptions()
if (opt:=bool(getenv("LLVMOPT", "1"))):
self.passes = b'default<O2>'
llvm.LLVMPassBuilderOptionsSetLoopUnrolling(self.pbo, True)
llvm.LLVMPassBuilderOptionsSetLoopVectorization(self.pbo, True)
llvm.LLVMPassBuilderOptionsSetSLPVectorization(self.pbo, True)
llvm.LLVMPassBuilderOptionsSetVerifyEach(self.pbo, True)
else:
self.passes = b'default<O0>'
super().__init__(f"compile_llvm_{self.target_arch}{'_jit' if self.jit else ''}{'_opt' if opt else ''}")
def __del__(self): llvm.LLVMDisposePassBuilderOptions(self.pbo)
def compile(self, src:str) -> bytes:
src_buf = llvm.LLVMCreateMemoryBufferWithMemoryRangeCopy(ctypes.create_string_buffer(src_bytes:=src.encode()), len(src_bytes), b'src')
mod = expect(llvm.LLVMParseIRInContext(llvm.LLVMGetGlobalContext(), src_buf, ctypes.pointer(m:=llvm.LLVMModuleRef()), err:=cerr()), err, m)
expect(llvm.LLVMVerifyModule(mod, llvm.LLVMReturnStatusAction, err:=cerr()), err)
expect(llvm.LLVMRunPasses(mod, self.passes, self.target_machine, self.pbo), 'failed to run passes')
if DEBUG >= 7: print(ctypes.string_at(llvm.LLVMPrintModuleToString(mod)).decode())
obj_buf = expect(llvm.LLVMTargetMachineEmitToMemoryBuffer(self.target_machine, mod, llvm.LLVMObjectFile, err:=cerr(),
ctypes.pointer(buf:=llvm.LLVMMemoryBufferRef())), err, buf)
llvm.LLVMDisposeModule(mod)
obj = ctypes.string_at(llvm.LLVMGetBufferStart(obj_buf), llvm.LLVMGetBufferSize(obj_buf))
llvm.LLVMDisposeMemoryBuffer(obj_buf)
return jit_loader(obj) if self.jit else obj
def disassemble(self, lib:bytes): capstone_flatdump(lib)
class HostLLVMCompiler(LLVMCompiler):
def __init__(self):
# +reserve-x18 here does the same thing as -ffixed-x18 in ops_cpu.py, see comments there for why it's needed on arm osx
cpu, feats = ctypes.string_at(llvm.LLVMGetHostCPUName()), (b'+reserve-x18,' if OSX else b'') + ctypes.string_at(llvm.LLVMGetHostCPUFeatures())
super().__init__(cpu.decode(), feats.decode())
class LLVMDevice(Compiled):
def __init__(self, device:str):
super().__init__(device, MallocAllocator, LLVMRenderer(), HostLLVMCompiler(), CPUProgram)