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 unittest, random
from tinygrad.dtype import dtypes
from tinygrad.ops import print_uops, UOp, Ops
from tinygrad.codegen.linearize import block_reorder
from tinygrad.renderer.cstyle import OpenCLRenderer
def is_toposorted(lst:list[UOp]):
seen = set()
for u in lst:
if any(p not in seen for p in u.src): return False
seen.add(u)
return True
class TestBlockReorder(unittest.TestCase):
def _test_randomize(self, golden:list[UOp]):
# test random order is always same
for _ in range(50):
# shuffle and form a valid toposort
lst = golden[:]
random.shuffle(lst)
topolst = []
for u in lst:
for p in u.toposort():
if p not in topolst: topolst.append(p)
assert is_toposorted(topolst)
for x,y in zip(golden, this_order:=block_reorder(topolst)):
if x is not y:
print_uops(golden)
print_uops(this_order)
self.assertIs(x, y)
def _test_render(self, golden:list[UOp]):
return OpenCLRenderer().render(golden)
def test_loads(self):
a = UOp(Ops.DEFINE_GLOBAL, dtype=dtypes.float.ptr(), arg=0)
b = UOp(Ops.DEFINE_GLOBAL, dtype=dtypes.float.ptr(), arg=1)
c = UOp(Ops.DEFINE_GLOBAL, dtype=dtypes.float.ptr(), arg=2)
v1 = UOp(Ops.SPECIAL, dtype=dtypes.int, arg=("gidx0", 4))
v2 = UOp(Ops.SPECIAL, dtype=dtypes.int, arg=("gidx1", 4))
v1 = v1*27
v2 = v2*4
loads = [
a.index(v1).load(dtype=dtypes.float),
a.index(v1+1).load(dtype=dtypes.float),
a.index(v1+2).load(dtype=dtypes.float),
a.index(v1+3).load(dtype=dtypes.float),
b.index(v2).load(dtype=dtypes.float),
b.index(v2+1).load(dtype=dtypes.float),
b.index(v2+2).load(dtype=dtypes.float),
b.index(v2+3).load(dtype=dtypes.float)]
#random.shuffle(loads)
sink = c.store(sum(loads)).sink()
# determine golden order
golden = block_reorder(sink.toposort())
# render for test
print(self._test_render(golden))
#print_uops(golden)
# assert the loads are in this order
self.assertListEqual([g.src[0].src[1].render() for g in golden if g.op is Ops.LOAD],
['(gidx1*4)', '((gidx1*4)+1)', '((gidx1*4)+2)', '((gidx1*4)+3)',
'(gidx0*27)', '((gidx0*27)+1)', '((gidx0*27)+2)', '((gidx0*27)+3)'])
# assert math is after loads
first_math = [i for i,g in enumerate(golden) if g.op is Ops.ADD and g.dtype == dtypes.float][0]
assert not any(x.op is Ops.LOAD for x in golden[first_math:])
# confirm the sort is stable
self._test_randomize(golden)
if __name__ == '__main__':
unittest.main()