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 random
from tinygrad import Device
from tinygrad.helpers import getenv, DEBUG
def main():
seed = getenv("SEED", 1337)
n_gpus = getenv("GPUS", 3)
iters = getenv("ITERS", 10000000)
only_compute = bool(getenv("ONLY_COMPUTE", 0))
print(f"{n_gpus} GPUs for {iters} iterations, {only_compute=}, seed {seed}")
devs = tuple([Device[f"{Device.DEFAULT}:{x}"] for x in range(n_gpus)])
for i in range(iters):
dev = random.choice(devs)
q_t = random.choice([dev.hw_copy_queue_t, dev.hw_compute_queue_t] if not only_compute else [dev.hw_compute_queue_t])
deps_sigs = random.randint(0, len(devs))
wait_devs = random.sample(devs, deps_sigs)
q = q_t()
for d in wait_devs: q.wait(d.timeline_signal, d.timeline_value - 1)
q.wait(dev.timeline_signal, dev.timeline_value - 1).signal(dev.timeline_signal, dev.timeline_value).submit(dev)
dev.timeline_value += 1
if sync:=random.randint(0, 10) < 3: dev.synchronize()
if DEBUG >= 2: print(f"{i}: {q_t.__name__} {dev.device_id} timeline {dev.timeline_value}, wait for {[d.device_id for d in wait_devs]}, {sync=}")
elif i % 100 == 0: print(f"\rCompleted {i} iterations", end='')
if __name__ == "__main__":
main()