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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// ** graph helpers
const displaySelection = (sel) => {
for (const e of document.getElementsByClassName("view")) e.style.display = e.matches(sel) ? "flex" : "none";
}
const metadata = document.querySelector(".metadata");
const darkenHex = (h, p = 0) =>
`#${(
c = parseInt(h.slice(1), 16),
f = 1 - p / 100,
((c >> 16 & 255) * f | 0) << 16 |
((c >> 8 & 255) * f | 0) << 8 |
((c & 255) * f | 0)
).toString(16).padStart(6, '0')}`;
const ANSI_COLORS = ["#b3b3b3", "#ff6666", "#66b366", "#ffff66", "#6666ff", "#ff66ff", "#66ffff", "#ffffff"];
const ANSI_COLORS_LIGHT = ["#d9d9d9","#ff9999","#99cc99","#ffff99","#9999ff","#ff99ff","#ccffff","#ffffff"];
const parseColors = (name, defaultColor="#ffffff") => Array.from(name.matchAll(/(?:\u001b\[(\d+)m([\s\S]*?)\u001b\[0m)|([^\u001b]+)/g),
([_, code, colored_st, st]) => ({ st: colored_st ?? st, color: code != null ? (code>=90 ? ANSI_COLORS_LIGHT : ANSI_COLORS)[(parseInt(code)-30+60)%60] : defaultColor }));
const colored = n => d3.create("span").call(s => s.selectAll("span").data(typeof n === "string" ? parseColors(n) : n).join("span")
.style("color", d => d.color).text(d => d.st)).node();
const rect = (s) => (typeof s === "string" ? document.querySelector(s) : s).getBoundingClientRect();
let timeout = null;
const updateProgress = ({ start, err }) => {
clearTimeout(timeout);
const msg = document.getElementById("progress-message");
msg.style.display = "none";
if (start) {
msg.innerText = "Rendering new graph...";
timeout = setTimeout(() => { msg.style.display = "block"; }, 2000);
}
d3.select("#custom").html("");
if (err) {
displaySelection("#custom");
d3.select("#custom").append(() => d3.create("div").classed("raw-text", true).call(s => s.append(() => codeBlock(err, "txt"))).node());
}
}
function intersectRect(r1, r2) {
const dx = r2.x-r1.x;
const dy = r2.y-r1.y;
if (dx === 0 && dy === 0) throw new Error("Invalid node coordinates, rects must not overlap");
const scaleX = dx !== 0 ? (r1.width/2)/Math.abs(dx) : Infinity;
const scaleY = dy !== 0 ? (r1.height/2)/Math.abs(dy) : Infinity;
const scale = Math.min(scaleX, scaleY);
return {x:r1.x+dx*scale, y:r1.y+dy*scale};
}
function addTags(root) {
root.selectAll("circle").data(d => [d]).join("circle").attr("r", 5);
root.selectAll("text").data(d => [d]).join("text").text(d => d).attr("dy", "0.35em");
}
const drawGraph = (data) => {
const g = dagre.graphlib.json.read(data);
// draw nodes
d3.select("#graph-svg").on("click", () => d3.selectAll(".highlight").classed("highlight", false));
const nodes = d3.select("#nodes").selectAll("g").data(g.nodes().map(id => g.node(id)), d => d).join("g").attr("class", d => d.className ?? "node")
.attr("transform", d => `translate(${d.x},${d.y})`).classed("clickable", d => d.ref != null).on("click", (e,d) => {
if (d.ref != null) return switchCtx(d.ref);
const parents = g.predecessors(d.id);
const children = g.successors(d.id);
if (parents == null && children == null) return;
const src = [...parents, ...children, d.id];
nodes.classed("highlight", n => src.includes(n.id)).classed("child", n => children.includes(n.id));
const matchEdge = (v, w) => (v===d.id && children.includes(w)) ? "highlight child " : (parents.includes(v) && w===d.id) ? "highlight " : "";
d3.select("#edges").selectAll("path.edgePath").attr("class", e => matchEdge(e.v, e.w)+"edgePath");
d3.select("#edge-labels").selectAll("g.port").attr("class", (_, i, n) => matchEdge(...n[i].id.split("-"))+"port");
e.stopPropagation();
});
nodes.selectAll("rect").data(d => [d]).join("rect").attr("width", d => d.width).attr("height", d => d.height).attr("fill", d => d.color)
.attr("x", d => -d.width/2).attr("y", d => -d.height/2);
const STROKE_WIDTH = 1.4;
const labels = nodes.selectAll("g.label").data(d => [d]).join("g").attr("class", "label");
const hasLabelDims = data.nodes[0]?.value.labelWidth != null;
if (hasLabelDims) labels.attr("transform", d => `translate(-${d.labelWidth/2}, -${d.labelHeight/2+STROKE_WIDTH*2})`);
labels.selectAll("text").data(d => {
const ret = [[]];
for (const { st, color } of parseColors(d.label, defaultColor="initial")) {
const lines = st.split("\n");
ret.at(-1).push({ st:lines[0], color });
for (let i=1; i<lines.length; i++) ret.push([{ st:lines[i], color }]);
}
return [ret];
}).join("text").selectAll("tspan").data(d => d).join("tspan").attr("x", "0").attr("dy", 14).selectAll("tspan").data(d => d).join("tspan")
.attr("fill", d => darkenHex(d.color, 25)).text(d => d.st).attr("xml:space", "preserve");
// recenter after drawing texts if needed
if (!hasLabelDims) labels.attr("transform", (_,i,els) => {
const b = els[i].getBBox();
return `translate(${-b.x-b.width/2}, ${-b.y-b.height/2})`
});
addTags(nodes.selectAll("g.tag").data(d => d.tag != null ? [d] : []).join("g").attr("class", "tag")
.attr("transform", d => `translate(${-d.width/2+8}, ${-d.height/2+8})`).datum(e => e.tag));
// draw edges
const line = d3.line().x(d => d.x).y(d => d.y).curve(d3.curveBasis), edges = g.edges();
d3.select("#edges").selectAll("path.edgePath").data(edges).join("path").attr("class", "edgePath").attr("d", (e) => {
const edge = g.edge(e);
const points = edge.points.slice(1, edge.points.length-1);
points.unshift(intersectRect(g.node(e.v), points[0]));
points.push(intersectRect(g.node(e.w), points[points.length-1]));
return line(points);
}).attr("marker-end", "url(#arrowhead)");
}
// ** UOp graph
let workerUrl = null, worker = null;
async function initWorker() {
const resp = await Promise.all(["/assets/dagrejs.github.io/project/dagre/latest/dagre.min.js","/js/worker.js"].map(u => fetch(u)));
workerUrl = URL.createObjectURL(new Blob([(await Promise.all(resp.map((r) => r.text()))).join("\n")], { type: "application/javascript" }));
}
function renderDag(graph, additions, recenter, layoutOpts) {
// start calculating the new layout (non-blocking)
updateProgress({ start:true });
if (worker != null) worker.terminate();
worker = new Worker(workerUrl);
worker.postMessage({graph, additions, opts:layoutOpts });
worker.onmessage = (e) => {
displaySelection("#graph");
updateProgress({ start:false });
drawGraph(e.data);
addTags(d3.select("#edge-labels").selectAll("g").data(e.data.edges).join("g").attr("transform", (e) => {
// get a point near the end
const [p1, p2] = e.value.points.slice(-2);
const dx = p2.x-p1.x;
const dy = p2.y-p1.y;
// normalize to the unit vector
const len = Math.sqrt(dx*dx + dy*dy);
const ux = dx / len;
const uy = dy / len;
// avoid overlap with the arrowhead
const offset = 17;
const x = p2.x - ux * offset;
const y = p2.y - uy * offset;
return `translate(${x}, ${y})`
}).attr("class", e => e.value.label.type).attr("id", e => `${e.v}-${e.w}`).datum(e => e.value.label.text));
if (recenter) document.getElementById("zoom-to-fit-btn").click();
};
worker.onerror = (e) => {
e.preventDefault();
updateProgress({ err:"Error in graph layout:\n"+e.message });
}
}
// ** profiler graph
function formatTime(ts, dur=ts) {
if (dur<=1e3) return `${ts.toFixed(2)}us`;
if (dur<=1e6) return `${(ts*1e-3).toFixed(2)}ms`;
return `${(ts*1e-6).toFixed(2)}s`;
}
const formatUnit = (d, unit="") => d3.format(".3~s")(d)+unit;
const colorScheme = {TINY:["#1b5745", "#354f52", "#354f52", "#1d2e62", "#63b0cd"],
DEFAULT:["#2b2e39", "#2c2f3a", "#31343f", "#323544", "#2d303a", "#2e313c", "#343746", "#353847", "#3c4050", "#404459", "#444862", "#4a4e65"],
BUFFER:["#342483", "#3E2E94", "#4938A4", "#5442B4", "#5E4CC2", "#674FCA"],
CATEGORICAL:["#ff8080", "#F4A261", "#C8F9D4", "#8D99AE", "#F4A261", "#ffffa2", "#ffffc0", "#87CEEB"],}
const cycleColors = (lst, i) => lst[i%lst.length];
const rescaleTrack = (source, tid, k) => {
for (const shapes of source.views)
for (const e of shapes) {
for (let i=0; i<e.y0.length; i++) {
e.y0[i] = e.y0[i]*k;
e.y1[i] = e.y1[i]*k;
}
}
const change = (source.height*k)-source.height;
const div = document.getElementById(tid);
div.style.height = rect(div).height+change+"px";
source.height = source.height*k;
return change;
}
const drawLine = (ctx, x, y, opts) => {
ctx.beginPath();
ctx.moveTo(x[0], y[0]);
ctx.lineTo(x[1], y[1]);
ctx.fillStyle = ctx.strokeStyle = opts?.color || "#f0f0f5";
ctx.stroke();
}
function tabulate(rows) {
const root = d3.create("div").style("display", "grid").style("grid-template-columns", `${Math.max(...rows.map(x => x[0].length), 0)}ch 1fr`).style("gap", "0.2em");
for (const [k,v] of rows) { root.append("div").text(k); root.append("div").node().append(v); }
return root;
}
var data, focusedDevice, focusedShape, canvasZoom, zoomLevel = d3.zoomIdentity, shapeMetadata = new Map();
function focusShape(shape) {
saveToHistory({ shape:focusedShape });
focusedShape = shape?.key; d3.select("#timeline").call(canvasZoom.transform, zoomLevel);
return metadata.replaceChildren(shapeMetadata.get(focusedShape) ?? "");
}
async function renderProfiler() {
displaySelection("#profiler");
metadata.replaceChildren(shapeMetadata.get(focusedShape) ?? "");
// layout once!
if (data != null) return updateProgress({ start:false });
const profiler = d3.select("#profiler").html("");
const buf = await (await fetch("/get_profile")).arrayBuffer();
const view = new DataView(buf);
let offset = 0;
const u8 = () => { const ret = view.getUint8(offset); offset += 1; return ret; }
const u32 = () => { const ret = view.getUint32(offset, true); offset += 4; return ret; }
const u64 = () => { const ret = new Number(view.getBigUint64(offset, true)); offset += 8; return ret; }
const f32 = () => { const ret = view.getFloat32(offset, true); offset += 4; return ret; }
const optional = (i) => i === 0 ? null : i-1;
const dur = u32(), tracePeak = u64(), indexLen = u32(), layoutsLen = u32();
const textDecoder = new TextDecoder("utf-8");
const { strings, dtypeSize, markers } = JSON.parse(textDecoder.decode(new Uint8Array(buf, offset, indexLen))); offset += indexLen;
// place devices on the y axis and set vertical positions
const [tickSize, padding] = [10, 8];
const deviceList = profiler.append("div").attr("id", "device-list").style("padding-top", tickSize+padding+"px");
const canvas = profiler.append("canvas").attr("id", "timeline").node();
// NOTE: scrolling via mouse can only zoom the graph
canvas.addEventListener("wheel", e => (e.stopPropagation(), e.preventDefault()), { passive:false });
const ctx = canvas.getContext("2d");
const canvasTop = rect(canvas).top;
// color by key (name/device)
const colorMap = new Map();
// map shapes by event key
const shapeMap = new Map();
data = {tracks:new Map(), axes:{}};
const heightScale = d3.scaleLinear().domain([0, tracePeak]).range([4,maxheight=100]);
for (let i=0; i<layoutsLen; i++) {
const nameLen = view.getUint8(offset, true); offset += 1;
const k = textDecoder.decode(new Uint8Array(buf, offset, nameLen)); offset += nameLen;
const div = deviceList.append("div").attr("id", k).text(k).style("padding", padding+"px");
const { y:baseY, height:baseHeight } = rect(div.node());
const offsetY = baseY-canvasTop+padding/2;
const shapes = [], visible = [];
const EventTypes = {TIMELINE:0, MEMORY:1};
const eventType = u8(), eventsLen = u32();
if (eventType === EventTypes.TIMELINE) {
const levelHeight = baseHeight-padding;
const levels = [];
data.tracks.set(k, { shapes, visible, offsetY, pcolor:"#9ea2ad" });
let colorKey, ref;
for (let j=0; j<eventsLen; j++) {
const e = {name:strings[u32()], ref:optional(u32()), key:optional(u32()), st:u32(), dur:f32(), info:strings[u32()] || null};
// find a free level to put the event
let depth = levels.findIndex(levelEt => e.st >= levelEt);
const et = e.st+Math.trunc(e.dur);
if (depth === -1) {
depth = levels.length;
levels.push(et);
} else levels[depth] = et;
if (depth === 0) colorKey = e.name.split(" ")[0];
if (!colorMap.has(colorKey)) colorMap.set(colorKey, d3.rgb(cycleColors(colorScheme[k.split(":")[0]] ?? colorScheme.DEFAULT, colorMap.size)));
const base = colorMap.get(colorKey), s = Math.min(Math.pow(1/0.7, depth), 240 / Math.max(base.r, base.g, base.b));
const fillColor = d3.rgb(base.r*s, base.g*s, base.b*s).toString();
const label = parseColors(e.name).map(({ color, st }) => ({ color, st, width:ctx.measureText(st).width }));
let shapeRef = e.ref;
if (shapeRef != null) { ref = {ctx:e.ref, step:0}; shapeRef = ref; }
else if (ref != null) {
const start = ref.step>0 ? ref.step+1 : 0;
const stepIdx = ctxs[ref.ctx+1].steps.findIndex((s, i) => i >= start && s.name == e.name);
if (stepIdx !== -1) { ref.step = stepIdx; shapeRef = ref; }
}
const html = d3.create("div").classed("info", true);
html.append(() => tabulate([["Name", colored(e.name)], ["Duration", formatTime(e.dur)], ["Start Time", formatTime(e.st)]]).node());
html.append("div").classed("args", true);
if (e.info != null) html.append("p").style("white-space", "pre-wrap").text(e.info);
if (shapeRef != null) {
html.append("a").text("View codegen rewrite").on("click", () => switchCtx(shapeRef.ctx, shapeRef.step));
html.append("a").text("View program").on("click", () => switchCtx(shapeRef.ctx, ctxs[shapeRef.ctx+1].steps.findIndex(s => s.name==="View Program")));
}
// tiny device events go straight to the rewrite rule
const key = k.startsWith("TINY") ? null : `${k}-${j}`;
if (key != null) shapeMetadata.set(key, html.node());
const arg = { tooltipText:colored(e.name).outerHTML+"\n"+formatTime(e.dur)+(e.info != null ? "\n"+e.info : ""), key, ...shapeRef };
if (e.key != null) shapeMap.set(e.key, arg);
// offset y by depth
shapes.push({x:e.st, y:levelHeight*depth, width:e.dur, height:levelHeight, arg, label, fillColor });
}
div.style("height", levelHeight*levels.length+padding+"px").style("pointerEvents", "none");
} else {
const peak = u64();
let x = 0, y = 0;
const buf_shapes = new Map(), temp = new Map();
const timestamps = [], valueMap = new Map();
for (let j=0; j<eventsLen; j++) {
const alloc = u8(), ts = u32(), key = u32();
if (alloc) {
const dtype = strings[u32()], sz = u64(), nbytes = dtypeSize[dtype]*sz;
const shape = {x:[x], y:[y], dtype, sz, nbytes, key};
buf_shapes.set(key, shape); temp.set(key, shape);
timestamps.push(ts);
x += 1; y += nbytes; valueMap.set(ts, y);
} else {
const free = buf_shapes.get(key);
free.users = Array.from({ length: u32() }, () => ({shape:shapeMap.get(u32()), repr:strings[u32()], num:u8(), mode:u8()}));
timestamps.push(ts); valueMap.set(ts, y);
x += 1; y -= free.nbytes;
free.x.push(x);
free.y.push(free.y.at(-1));
temp.delete(key);
for (const [k, v] of temp) {
if (k <= key) continue;
v.x.push(x, x);
v.y.push(v.y.at(-1), v.y.at(-1)-free.nbytes);
}
}
}
timestamps.push(dur);
const height = heightScale(peak);
const yscale = d3.scaleLinear().domain([0, peak]).range([height, 0]);
for (const [num, {dtype, sz, nbytes, y, x:steps, users}] of buf_shapes) {
const x = steps.map(s => timestamps[s]);
const dur = x.at(-1)-x[0];
const html = d3.create("div").classed("info", true);
const rows = [["DType", dtype], ["Len", formatUnit(sz)], ["Size", formatUnit(nbytes, "B")], ["Lifetime", formatTime(dur)]];
if (users != null) rows.push(["Users", users.length]);
const info = html.append(() => tabulate(rows).node());
const arg = {tooltipText:info.node().outerHTML, key:`${k}-${num}`};
const kernels = html.append("div").classed("args", true);
for (let u=0; u<users?.length; u++) {
const { repr, num, mode, shape } = users[u];
const bufInfo = `${mode == 2 ? 'read+write' : mode == 1 ? 'write' : 'read'}@data${num}`
const p = kernels.append("p").append(() => colored(`[${u}] ${repr} ${bufInfo}`));
const shapeTxt = shape?.tooltipText?.split("\n").at(-1);
if (shapeTxt != null) p.append("span").text(" "+shapeTxt);
if (shape != null) {
p.style("cursor", "pointer").on("click", () => focusShape(shape))
const args = shapeMetadata.get(shape.key).querySelector(".args");
const bufArg = d3.create("p").text(`${bufInfo} ${rows[2][1]}`).style("cursor", "pointer").on("click", () => {
const device = document.getElementById(k);
if (!isExpanded(device)) device.click();
focusShape(arg);
}).node();
bufArg.dataset.num = num;
let before = null;
for (const c of args.children) { if (+c.dataset.num > num) { before = c; break; } }
args.insertBefore(bufArg, before);
}
}
shapeMetadata.set(arg.key, html.node())
shapes.push({ x, y0:y.map(yscale), y1:y.map(y0 => yscale(y0+nbytes)), arg, fillColor:cycleColors(colorScheme.BUFFER, shapes.length) });
}
// generic polygon merger
const base0 = yscale(0);
const allX = Array.from(new Set(shapes.flatMap(s => s.x))).sort((a,b)=>a-b);
const idxs = new Map(allX.map((x,i) => [x, i]));
const maxY = new Map(allX.map(x => [x, base0]));
// for every [a,b) update the max y at x
for (const sh of shapes) {
for (let i=0; i<sh.x.length-1; i++) {
const startIdx = idxs.get(sh.x[i]), endIdx = idxs.get(sh.x[i+1]);
const shapeY = sh.y1[i];
for (let k=startIdx; k<endIdx; k++) {
const x = allX[k]; maxY.set(x, Math.min(maxY.get(x), shapeY));
}
}
}
const sum = {x:[], y0:[], y1:[], fillColor:"#2B1B72"};
for (let i=0; i<allX.length-1; i++) {
sum.x.push(allX[i], allX[i+1]);
const y = maxY.get(allX[i]); sum.y1.push(y, y); sum.y0.push(base0, base0);
}
data.tracks.set(k, { shapes:[sum], visible, offsetY, pcolor:"#c9a8ff", height, peak, scaleFactor:maxheight*4/height, views:[[sum], shapes], valueMap });
div.style("height", height+padding+"px").style("cursor", "pointer").on("click", (e) => {
const newFocus = e.currentTarget.id === focusedDevice ? null : e.currentTarget.id;
let offset = 0;
for (const [tid, track] of data.tracks) {
track.offsetY += offset;
if (tid === newFocus) { track.shapes = track.views[1]; offset += rescaleTrack(track, tid, track.scaleFactor); }
else if (tid === focusedDevice) { track.shapes = track.views[0]; offset += rescaleTrack(track, tid, 1/track.scaleFactor); }
}
data.axes.y = newFocus != null ? { domain:[0, (t=data.tracks.get(newFocus)).peak], range:[t.offsetY+t.height, t.offsetY], fmt:"B" } : null;
toggleCls(document.getElementById(focusedDevice), document.getElementById(newFocus), "expanded");
focusedDevice = newFocus;
return resize();
});
}
}
updateProgress({ start:false });
// draw events on a timeline
const dpr = window.devicePixelRatio || 1;
const ellipsisWidth = ctx.measureText("...").width;
function render(transform) {
zoomLevel = transform;
ctx.clearRect(0, 0, canvas.clientWidth, canvas.clientHeight);
// rescale to match current zoom
const xscale = d3.scaleLinear().domain([0, dur]).range([0, canvas.clientWidth]);
const visibleX = xscale.range().map(zoomLevel.invertX, zoomLevel).map(xscale.invert, xscale);
const st = visibleX[0], et = visibleX[1];
xscale.domain(visibleX);
// draw shapes
const paths = [];
for (const [_, { offsetY, shapes, visible, valueMap, pcolor }] of data.tracks) {
visible.length = 0;
for (const e of shapes) {
const p = new Path2D();
if (e.width == null) { // generic polygon
if (e.x[0]>et || e.x.at(-1)<st) continue;
const x = e.x.map(xscale);
p.moveTo(x[0], offsetY+e.y0[0]);
for (let i=1; i<x.length; i++) {
p.lineTo(x[i], offsetY+e.y0[i]);
let arg = e.arg;
if (arg == null && valueMap != null) arg = {tooltipText: `Total: ${formatUnit(valueMap.get(e.x[i-1]), 'B')}`}
visible.push({ x0:x[i-1], x1:x[i], y0:offsetY+e.y1[i-1], y1:offsetY+e.y0[i], arg });
}
for (let i=x.length-1; i>=0; i--) p.lineTo(x[i], offsetY+e.y1[i]);
p.closePath();
ctx.fillStyle = e.fillColor; ctx.fill(p);
} else { // contiguous rect
if (e.x>et || e.x+e.width<st) continue;
const x = xscale(e.x);
const y = offsetY+e.y;
const width = xscale(e.x+e.width)-x;
p.rect(x, y, width, e.height);
visible.push({ y0:y, y1:y+e.height, x0:x, x1:x+width, arg:e.arg });
ctx.fillStyle = e.fillColor; ctx.fill(p);
// add label
let lw = 0;
const lx = x+2, ly = y+e.height/2;
for (let li=0; li<e.label?.length; li++) {
if (lw+e.label[li].width+(li===e.label.length-1 ? 0 : ellipsisWidth)+2 > width) {
if (lw>0) ctx.fillText("...", lx+lw, ly);
break;
}
ctx.textBaseline = "middle";
ctx.fillStyle = e.label[li].color;
ctx.fillText(e.label[li].st, lx+lw, ly);
lw += e.label[li].width;
}
}
if (focusedShape != null && e.arg?.key === focusedShape) { paths.push([p, pcolor]); }
}
}
// draw axes
drawLine(ctx, xscale.range(), [0, 0]);
for (const tick of xscale.ticks()) {
// tick line
const x = xscale(tick);
drawLine(ctx, [x, x], [0, tickSize])
// tick label
ctx.textBaseline = "top";
ctx.fillText(formatTime(tick, dur), x+ctx.lineWidth+2, tickSize);
}
if (data.axes.y != null) {
drawLine(ctx, [0, 0], data.axes.y.range);
const yscale = d3.scaleLinear().domain(data.axes.y.domain).range(data.axes.y.range);
for (const tick of yscale.ticks()) {
const y = yscale(tick);
drawLine(ctx, [0, tickSize], [y, y]);
ctx.textBaseline = "middle";
ctx.fillText(formatUnit(tick, data.axes.y.fmt), tickSize+2, y);
}
}
// draw markers
ctx.textBaseline = "top";
for (const m of markers) {
const x = xscale(m.ts);
drawLine(ctx, [x, x], [0, canvas.clientHeight], { color:m.color });
ctx.fillText(m.name, x+2, 1);
}
for (const [p, color] of paths) { ctx.lineWidth = 1.4; ctx.strokeStyle = color; ctx.stroke(p); }
}
function resize() {
const profiler = document.querySelector("#profiler");
const sideRect = rect("#device-list");
const width = profiler.clientWidth-(sideRect.width+padding), height = Math.round(sideRect.height);
if (canvas.width === width*dpr && canvas.height === height*dpr) return;
canvas.width = width*dpr;
canvas.height = height*dpr;
canvas.style.height = `${height}px`;
canvas.style.width = `${width}px`;
ctx.scale(dpr, dpr);
d3.select(canvas).call(canvasZoom.transform, zoomLevel);
}
canvasZoom = d3.zoom().filter(vizZoomFilter).scaleExtent([1, Infinity]).translateExtent([[0,0], [Infinity,0]]).on("zoom", e => render(e.transform));
d3.select(canvas).call(canvasZoom);
document.addEventListener("contextmenu", e => e.ctrlKey && e.preventDefault());
new ResizeObserver(([e]) => e.contentRect.width > 0 && resize()).observe(profiler.node());
function findRectAtPosition(x, y) {
let tid = null;
for (const k of data.tracks.keys()) {
const r = rect(document.getElementById(k));
if (y >= r.y && y <= r.y+r.height) { tid = k; break; }
}
if (tid == null) return;
const { top, left, width, height } = rect(canvas);
const X = ((x-left) * (canvas.width/width))/dpr;
const Y = ((y-top) * (canvas.height/height))/dpr;
for (const r of data.tracks.get(tid).visible) {
if (Y>=r.y0 && Y<=r.y1 && X>=r.x0 && X<=r.x1) return r.arg;
}
}
const clickShape = (e) => {
e.preventDefault();
const foundRect = findRectAtPosition(e.clientX, e.clientY);
if (foundRect?.step != null && (foundRect?.key == null || e.type == "dblclick")) { return switchCtx(foundRect.ctx, foundRect.step); }
if (foundRect?.key != focusedShape) { focusShape(foundRect); }
}
canvas.addEventListener("click", clickShape);
canvas.addEventListener("dblclick", clickShape);
canvas.addEventListener("mousemove", e => {
const foundRect = findRectAtPosition(e.clientX, e.clientY);
if (foundRect?.tooltipText != null) {
const tooltip = document.getElementById("tooltip");
tooltip.style.display = "block";
tooltip.style.left = (e.pageX+10)+"px";
tooltip.style.top = (e.pageY)+"px";
tooltip.innerHTML = foundRect.tooltipText;
} else tooltip.style.display = "none";
});
canvas.addEventListener("mouseleave", () => document.getElementById("tooltip").style.display = "none");
}
// ** zoom and recentering
const vizZoomFilter = e => (!e.ctrlKey || e.type === 'wheel' || e.type === 'mousedown') && !e.button && e.type !== 'dblclick';
const svgZoom = d3.zoom().filter(vizZoomFilter).on("zoom", (e) => d3.select("#render").attr("transform", e.transform));
d3.select("#graph-svg").call(svgZoom);
// zoom to fit into view
document.getElementById("zoom-to-fit-btn").addEventListener("click", () => {
const canvas = d3.select("#timeline");
if (!canvas.empty() && rect(canvas.node()).width !== 0) {
return canvas.call(canvasZoom.transform, d3.zoomIdentity);
}
const svg = d3.select("#graph-svg");
svg.call(svgZoom.transform, d3.zoomIdentity);
const mainRect = rect(".main-container");
const x0 = rect(".ctx-list-parent").right;
const x1 = rect(".metadata-parent").left;
const pad = 16;
const R = { x: x0+pad, y: mainRect.top+pad, width: (x1>0 ? x1-x0 : mainRect.width)-2*pad, height: mainRect.height-2*pad };
const r = rect("#render");
if (r.width === 0) return;
const scale = Math.min(R.width/r.width, R.height/r.height);
const [tx, ty] = [R.x+(R.width-r.width*scale)/2-r.left*scale, R.y+(R.height-r.height*scale)/2];
svg.call(svgZoom.transform, d3.zoomIdentity.translate(tx, ty).scale(scale));
});
// **** main VIZ interfacae
const pathLink = (fp, lineno) => d3.create("a").attr("href", "vscode://file/"+fp+":"+lineno).text(`${fp.split("/").at(-1)}:${lineno}`);
function codeBlock(st, language, { loc, wrap }={}) {
const code = document.createElement("code");
// plaintext renders like a terminal print, otherwise render with syntax highlighting
if (language === "txt") code.appendChild(colored(st));
else code.innerHTML = hljs.highlight(st, { language }).value;
code.className = "hljs";
const ret = document.createElement("pre");
if (wrap) ret.className = "wrap";
if (loc != null) ret.appendChild(pathLink(loc[0], loc[1]).style("margin-bottom", "4px").node());
ret.appendChild(code);
return ret;
}
function toggleCls(prev, next, cls, value) {
prev?.classList.remove(cls);
next?.classList.toggle(cls, value ?? true);
requestAnimationFrame(() => next?.scrollIntoView({ behavior: "auto", block: "nearest" }));
}
// ** hljs extra definitions for UOps and float4
hljs.registerLanguage("python", (hljs) => ({
...hljs.getLanguage("python"),
case_insensitive: false,
contains: [
{ begin: 'dtypes\\.[a-zA-Z_][a-zA-Z0-9_-]*(\\.[a-zA-Z_][a-zA-Z0-9_-]*)*' + '(?=[.\\s\\n[:,(])', className: "type" },
{ begin: 'dtypes\\.[a-zA-Z_][a-zA-Z0-9_-].vec*' + '(?=[.\\s\\n[:,(])', className: "type" },
{ begin: '[a-zA-Z_][a-zA-Z0-9_-]*\\.[a-zA-Z_][a-zA-Z0-9_-]*' + '(?=[.\\s\\n[:,()])', className: "operator" },
{ begin: '[A-Z][a-zA-Z0-9_]*(?=\\()', className: "section", ignoreEnd: true },
...hljs.getLanguage("python").contains,
]
}));
hljs.registerLanguage("cpp", (hljs) => ({
...hljs.getLanguage('cpp'),
contains: [{ begin: '\\b(?:float|half)[0-9]+\\b', className: 'type' }, ...hljs.getLanguage('cpp').contains]
}));
var ret = [];
var cache = {};
var ctxs = null;
const evtSources = [];
// VIZ displays graph rewrites in 3 levels, from bottom-up:
// rewrite: a single UOp transformation
// step: collection of rewrites
// context: collection of steps
const state = {currentCtx:-1, currentStep:0, currentRewrite:0, expandSteps:false};
function setState(ns) {
const { ctx:prevCtx, step:prevStep } = select(state.currentCtx, state.currentStep);
const prevRewrite = state.currentRewrite;
Object.assign(state, ns);
// update element styles if needed
const { ctx, step } = select(state.currentCtx, state.currentStep);
toggleCls(prevCtx, ctx, "expanded", state.expandSteps);
if (ctx?.id !== prevCtx?.id) {
saveToHistory({ currentCtx:deselect(prevCtx).ctx, currentStep:deselect(prevStep).step || 0, currentRewrite:prevRewrite, expandSteps:true });
toggleCls(prevCtx, ctx, "active");
}
if (ctx?.id !== prevCtx?.id || step?.id !== prevStep?.id) {
toggleCls(prevStep, step, "active");
// walk the tree back until all parents expanded so that the child is visible
let e = step;
while (e?.parentElement?.id.startsWith("step")) {
e.parentElement.classList.add("expanded");
e = e.parentElement;
}
}
// re-render
main();
}
const getSubrewrites = (ul) => ul.querySelectorAll(":scope > ul");
function saveToHistory(ns) {
// NOTE: browser does a structured clone, passing a mutable object is safe.
history.replaceState(ns, "");
history.pushState(ns, "");
}
// switch to the start of a new graph and expand all the steps
const switchCtx = (newCtx, step) => setState({ expandSteps:true, currentCtx:newCtx+1, currentStep:step ?? 0, currentRewrite:0 });
window.addEventListener("popstate", (e) => {
if (e.state?.shape != null) return focusShape({ key:e.state?.shape });
if (e.state != null) setState(e.state);
});
const toggleLabel = d3.create("label").text("Show indexing (r)").node();
const toggle = d3.create("input").attr("type", "checkbox").attr("id", "show-indexing").property("checked", true).node();
toggleLabel.prepend(toggle);
async function main() {
// ** left sidebar context list
if (ctxs == null) {
ctxs = [{ name:"Profiler", steps:[] }];
for (const r of (await (await fetch("/ctxs")).json())) ctxs.push(r);
const ctxList = document.querySelector(".ctx-list");
for (const [i,{name, steps}] of ctxs.entries()) {
const ul = ctxList.appendChild(document.createElement("ul"));
ul.id = `ctx-${i}`;
const p = ul.appendChild(document.createElement("p"));
p.appendChild(colored(name));
p.onclick = () => {
setState(i === state.currentCtx ? { expandSteps:!state.expandSteps } : { expandSteps:true, currentCtx:i, currentStep:0, currentRewrite:0 });
}
const stack = []; let list = ul;
for (const [j,u] of steps.entries()) {
while (stack.length && stack.at(-1).depth >= u.depth) stack.pop();
const list = stack.length > 0 ? stack.at(-1).li : ul;
u.li = list.appendChild(document.createElement("ul"));
u.li.id = `step-${i}-${j}`;
const p = u.li.appendChild(document.createElement("p"));
p.appendChild(colored(`${u.name}`+(u.match_count ? ` - ${u.match_count}` : '')));
p.onclick = (e) => {
e.stopPropagation();
const subrewrites = getSubrewrites(e.currentTarget.parentElement);
if (subrewrites.length) { e.currentTarget.parentElement.classList.toggle("expanded"); }
setState({ currentStep:j, currentCtx:i, currentRewrite:0 });
}
stack.push(u);
}
for (const l of ul.querySelectorAll("ul > ul > p")) {
const subrewrites = getSubrewrites(l.parentElement);
if (subrewrites.length > 0) { l.appendChild(d3.create("span").text(` (${subrewrites.length})`).node()); l.parentElement.classList.add("has-children"); }
}
}
return setState({ currentCtx:-1 });
}
// ** center graph
const { currentCtx, currentStep, currentRewrite, expandSteps } = state;
if (currentCtx == -1) return;
const ctx = ctxs[currentCtx];
const step = ctx.steps[currentStep];
const ckey = step?.query;
// close any pending event sources
let activeSrc = null;
for (const e of evtSources) {
const url = new URL(e.url);
if (url.pathname+url.search !== ckey) e.close();
else if (e.readyState === EventSource.OPEN) activeSrc = e;
}
if (ctx.name === "Profiler") return renderProfiler();
if (workerUrl == null) await initWorker();
if (ckey in cache) {
ret = cache[ckey];
}
// ** Disassembly view
if (ckey.startsWith("/render")) {
if (!(ckey in cache)) cache[ckey] = ret = await (await fetch(ckey)).json();
displaySelection("#custom");
metadata.innerHTML = "";
const root = d3.create("div").classed("raw-text", true).node();
// detailed assembly view
if (ret.cols != null) {
const asm = root.appendChild(document.createElement("table"));
const thead = asm.appendChild(document.createElement("thead"));
for (const c of ret.cols) thead.appendChild(document.createElement("th")).innerText = c.title ?? c;
for (const r of ret.rows) {
const tr = asm.appendChild(document.createElement("tr"));
tr.className = "main-row code-row";
for (const [i,value] of r.entries()) {
// string format scalar values
if (!Array.isArray(value)) tr.appendChild(document.createElement("td")).innerText = value;
// display arrays in a bar graph
else {
const segmentsTd = tr.appendChild(document.createElement("td"));
segmentsTd.className = "pct-row";
const usageBar = segmentsTd.appendChild(document.createElement("div"));
for (const [k, v, width] of value) {
const seg = usageBar.appendChild(document.createElement("div"));
seg.style.width = width+"%";
seg.title = `${ret.cols[i].labels[k]} ${v}`;
seg.style.background = cycleColors(colorScheme.CATEGORICAL, parseInt(k));
}
}
}
}
metadata.appendChild(tabulate(ret.summary.map(s => {
const div = d3.create("div").style("background", cycleColors(colorScheme.CATEGORICAL, s.idx)).style("width", "100%").style("height", "100%");
return [s.label.trim(), div.text(s.value.toLocaleString()).node()];
})).node());
} else root.appendChild(codeBlock(ret.src, ret.lang || "txt"));
return document.querySelector("#custom").replaceChildren(root);
}
// ** UOp view (default)
// if we don't have a complete cache yet we start streaming rewrites in this step
if (!(ckey in cache) || (cache[ckey].length !== step.match_count+1 && activeSrc == null)) {
ret = [];
cache[ckey] = ret;
const eventSource = new EventSource(ckey);
evtSources.push(eventSource);
eventSource.onmessage = (e) => {
if (e.data === "END") return eventSource.close();
const chunk = JSON.parse(e.data);
ret.push(chunk);
// if it's the first one render this new rgaph
if (ret.length === 1) return main();
// otherwise just enable the graph selector
const ul = document.getElementById(`rewrite-${ret.length-1}`);
if (ul != null) ul.classList.remove("disabled");
};
}
if (ret.length === 0) return;
// ** center UOp graph
const render = (opts) => renderDag(ret[currentRewrite].graph, ret[currentRewrite].changed_nodes ?? [], currentRewrite === 0, opts);
render({ showIndexing:toggle.checked });
toggle.onchange = (e) => render({ showIndexing:e.target.checked });
// ** right sidebar code blocks
const codeElement = codeBlock(ret[currentRewrite].uop, "python", { wrap:false });
metadata.replaceChildren(toggleLabel, codeBlock(step.code_line, "python", { loc:step.loc, wrap:true }), codeElement);
if (step.trace) {
const trace = d3.create("pre").append("code").classed("hljs", true);
for (let i=step.trace.length-1; i>=0; i--) {
const [fp, lineno, fn, code] = step.trace[i];
trace.append("div").style("margin-bottom", "2px").style("display","flex").text(fn+" ").append(() => pathLink(fp, lineno).node());
trace.append("div").html(hljs.highlight(code, { language: "python" }).value).style("margin-bottom", "1ex");
}
metadata.insertBefore(trace.node().parentNode, codeElement);
}
// ** rewrite steps
if (step.match_count >= 1) {
const rewriteList = metadata.appendChild(document.createElement("div"));
rewriteList.className = "rewrite-list";
for (let s=0; s<=step.match_count; s++) {
const ul = rewriteList.appendChild(document.createElement("ul"));
ul.id = `rewrite-${s}`;
const p = ul.appendChild(document.createElement("p"));
p.innerText = s;
ul.onclick = () => setState({ currentRewrite:s });
ul.className = s > ret.length-1 ? "disabled" : s === currentRewrite ? "active" : "";
if (s > 0 && s === currentRewrite) {
const { upat, diff } = ret[s];
metadata.appendChild(codeBlock(upat[1], "python", { loc:upat[0], wrap:true }));
const diffCode = metadata.appendChild(document.createElement("pre")).appendChild(document.createElement("code"));
for (const line of diff) {
diffCode.appendChild(colored([{st:line, color:line.startsWith("+") ? "#3aa56d" : line.startsWith("-") ? "#d14b4b" : "#f0f0f5"}]));
diffCode.appendChild(document.createElement("br"));
}
diffCode.className = "wrap";
}
}
} else codeElement.classList.add("full-height");
}
// **** collapse/expand
let isCollapsed = false;
document.querySelector(".collapse-btn").addEventListener("click", (e) => {
isCollapsed = !isCollapsed;
document.querySelector(".main-container").classList.toggle("collapsed", isCollapsed);
e.currentTarget.blur();
e.currentTarget.style.transform = isCollapsed ? "rotate(180deg)" : "rotate(0deg)";
window.dispatchEvent(new Event("resize"));
});
// **** resizer
function appendResizer(element, { minWidth, maxWidth }, left=false) {
const handle = Object.assign(document.createElement("div"), { className: "resize-handle", style: left ? "right: 0" : "left: 0; margin-top: 0" });
element.appendChild(handle);
const resize = (e) => {
const change = e.clientX - element.dataset.startX;
let newWidth = ((Number(element.dataset.startWidth)+(left ? change : -change))/Number(element.dataset.containerWidth))*100;
element.style.width = `${Math.max(minWidth, Math.min(maxWidth, newWidth))}%`;
};
handle.addEventListener("mousedown", (e) => {
e.preventDefault();
element.dataset.startX = e.clientX;
element.dataset.containerWidth = rect(".main-container").width;
element.dataset.startWidth = element.getBoundingClientRect().width;
document.documentElement.addEventListener("mousemove", resize, false);
document.documentElement.addEventListener("mouseup", () => {
document.documentElement.removeEventListener("mousemove", resize, false);
element.style.userSelect = "initial";
}, { once: true });
});
}
appendResizer(document.querySelector(".ctx-list-parent"), { minWidth: 15, maxWidth: 50 }, left=true);
appendResizer(document.querySelector(".metadata-parent"), { minWidth: 20, maxWidth: 50 });
// **** keyboard shortcuts
const select = (ctx, step) => ({ ctx:document.getElementById(`ctx-${ctx}`), step:document.getElementById(`step-${ctx}-${step}`) });
const deselect = (element) => {
const parts = element?.id.split("-").map(Number);
return element?.id.startsWith("ctx") ? { ctx:parts[1], step:null } : element?.id.startsWith("step") ? {ctx:parts[1], step:parts[2]} : {};
}
const isExpanded = (el) => el?.classList.contains("expanded");
document.addEventListener("keydown", (event) => {
const { currentCtx, currentStep, currentRewrite, expandSteps } = state;
// up and down change the step or context from the list
const changeStep = expandSteps && ctxs[currentCtx].steps?.length;
const { step, ctx } = select(currentCtx, currentStep);
if (event.key == "ArrowUp") {
event.preventDefault();
if (changeStep) {
let prev = deselect(step.previousElementSibling);
if (prev.step == null && isExpanded(step.parentElement)) prev = deselect(step.parentElement);
return prev.step != null && !isExpanded(step) && setState({ currentRewrite:0, currentStep:prev.step });
}
return setState({ currentStep:0, currentRewrite:0, currentCtx:Math.max(0, currentCtx-1), expandSteps:false });
}
if (event.key == "ArrowDown") {
event.preventDefault();
if (changeStep) {
const next = deselect(isExpanded(step) ? step.children[1] : step.nextElementSibling);
return next.step != null && setState({ currentRewrite:0, currentStep:next.step });
}
return setState({ currentStep:0, currentRewrite:0, currentCtx:Math.min(ctxs.length-1, currentCtx+1), expandSteps:false });
}
// enter toggles focus on a single rewrite stage
if (event.key == "Enter") {
event.preventDefault()
if (currentCtx === -1) {
return setState({ currentCtx:0, expandSteps:true });
}
if (expandSteps && getSubrewrites(step).length) return step.children[0].click();
return setState({ expandSteps:!expandSteps });
}
// left and right go through rewrites in a single UOp
if (event.key == "ArrowLeft") {
event.preventDefault()
return setState({ currentRewrite:Math.max(0, currentRewrite-1) });
}
if (event.key == "ArrowRight") {
event.preventDefault()
const totalRewrites = ret.length-1;
return setState({ currentRewrite:Math.min(totalRewrites, currentRewrite+1) });
}
// space recenters the graph
if (event.key == " ") {
event.preventDefault()
document.getElementById("zoom-to-fit-btn").click();
}
// r key toggles indexing
if (event.key === "r") {
toggle.click();
}
});
main()