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 os, mmap
from typing import Optional
from typing import Callable, Dict, Tuple
from tinygrad.helpers import prod, DType
from tinygrad.runtime.lib import RawBufferMapped
from tinygrad.ops import Interpreted, Op, MovementOps, UnaryOps, BufferOps
class RawDiskBuffer(RawBufferMapped):
def __init__(self, size, dtype:DType, device:Optional[str]=None, buf=None, shape=None, offset=0): # pylint: disable=super-init-not-called
self.shape = (size, ) if shape is None else shape
self.offset = offset # this is an offset in bytes
assert device is not None or buf is not None, "disk tensor needs a path or a buf"
if device is not None:
f = open(device, "a+b")
if os.path.getsize(device) < size * dtype.itemsize: os.ftruncate(f.fileno(), size * dtype.itemsize)
buf = [f, mmap.mmap(f.fileno(), size * dtype.itemsize), 1]
else:
buf[2] += 1
# NOTE: we don't call super since disk tensors don't use RAM
self.size, self.dtype, self._buf = size, dtype, buf
def __del__(self):
self._buf[2] -= 1
if self._buf[2] == 0: self._buf[0].close()
def cast(self, arg:Tuple[DType, bool]): return RawDiskBuffer(self.size, arg[0], buf=self._buf, shape=self.shape, offset=self.offset)
def reshape(self, arg): return RawDiskBuffer(self.size, self.dtype, buf=self._buf, shape=arg, offset=self.offset)
def shrink(self, arg):
assert arg[1:] == tuple([(0,x) for x in self.shape[1:]]), f"can only slice the first dim of disk tensor {arg}"
offset = arg[0][0]*prod(self.shape[1:])*self.dtype.itemsize
size = (arg[0][1]-arg[0][0]) * prod(self.shape[1:])
return RawDiskBuffer(size, self.dtype, buf=self._buf, offset=self.offset+offset, shape=(arg[0][1]-arg[0][0],)+self.shape[1:])
def as_strided(self, arg):
return RawDiskBuffer(prod(arg[0]), self.dtype, buf=self._buf, offset=self.offset+arg[2]*self.dtype.itemsize, shape=arg[0])
def _buffer(self): return memoryview(self._buf[1])[self.offset:self.offset+self.size*self.dtype.itemsize]
def readinto(self, buf):
self._buf[0].seek(self.offset)
self._buf[0].readinto(buf)
disk_fxn_for_op: Dict[Op, Callable] = { BufferOps.MEM: lambda x: x, UnaryOps.NOOP: lambda x: x, UnaryOps.CAST: RawDiskBuffer.cast, MovementOps.AS_STRIDED: RawDiskBuffer.as_strided }
DiskBuffer = Interpreted(RawDiskBuffer, disk_fxn_for_op, from_underlying=lambda x:x)