Files
carrotpilot/tinygrad_repo/tinygrad/codegen/__init__.py
carrot 77a8919349 TR16 Model, fix radar routine (#211)
* UV+DTR model

* DTR model.. again.

* fix naviGPS

* fix radar...

* fix..

* test

* fix..

* carrot serv

* fix..

* fix.. fleet

* fix.. radar

* fix atc

* Steam Powered model..

* fix.. radarLatFactor range.. 200->500

* fix.. dbc..

* side

* SP v2

* brake light

* fix brakelight

* fix..

* add datetime...

* fix..

* fix..

* fix..

* fix..

* blind spot

* fix tz

* fix..

* ff

* radarLatFactor

* fix.. bsd

* Revert "fix.. bsd"

This reverts commit 1d0d143447.

* fix.. bsd side..

* test

* fix.. e2e conditions

* Revert "test"

This reverts commit 0ce791dbd6.

* TR16

* fix cut-in detect threshold  3.4 -> 2.6

* fix.. jerk_l limit 5->10

* fix..

* fix.. gm

* fix.. OPTIMA_H mass

* fix.. radar..

* fix radar..

* fix..

* Radar...

* fix..

* fix..

* fix..

* fix.. radartrack 3

* fix..

* fix..

* fix..

* merge..

* fix.. canfd

* fix..

* fix..

* fix..

* fix.. radard

* new cut_in

* Revert "new cut_in"

This reverts commit b9b6e9b333.

* fix..

* new cut_in detect...

* fix.. disp..

* fix..

* fix..

* fix.. center radar..

* fix.. radar y_sane..

* fix..

* fix..

* hkg jerk 10 -> 5

* fix..

* fix..

* fix.. radar dbc..

* fix..

* fix.. jLead filter..

* test new radar interface..

* fix..

* fix..

* test time...

* Revert "test time..."

This reverts commit 63e9187736.

* fix radar..

* fix..

* FireHose model..

* tinygrad

* Update interface.py

* fix..

* fix.. nff toyota corolla_tss2

* fix..

* fix..

* fix.. radar

* fix..

* fix.. radar, y_gate

* fix.. radar..

* fix.. for clone..

* scc radar enable at low speed..

* fix.. settings..

* fix.

* fix..

* fix.. radarTimeStep.

* TR16 model again..

* RELEASE.md

* fix cut-in detection...

* fix.. registeration timeout 15sec..

* fix..

* fix.. radar processing.

* fix..

* fix..

* fix..

* fix..

* fix..

* fix..
2025-09-05 15:43:10 +09:00

118 lines
5.2 KiB
Python

from typing import Any, Callable
import functools
from dataclasses import dataclass
from tinygrad.helpers import QUANTIZE, DEVECTORIZE, TRANSCENDENTAL
from tinygrad.uop.ops import PatternMatcher, graph_rewrite, UOp
from tinygrad.uop.spec import type_verify
from tinygrad.renderer import Renderer
# import all pattern matchers here
from tinygrad.codegen.lowerer import pm_lowerer, get_index
from tinygrad.codegen.quantize import pm_quant
from tinygrad.codegen.gpudims import pm_add_gpudims
from tinygrad.uop.symbolic import sym, symbolic_simple, gep_pushing
from tinygrad.uop.decompositions import get_late_rewrite_patterns
from tinygrad.codegen.late.expander import migrate_indexing, expander
from tinygrad.codegen.late.devectorizer import load_store_folding, load_store_indexing, devectorize, pm_reduce, \
ReduceContext, correct_load_store, pm_render
from tinygrad.codegen.late.linearize import block_create, pm_blockend_merge, block_merge, pm_finalize, BlockContext
from tinygrad.codegen.opt import pm_get_optimization, pm_do_optimize
from tinygrad.codegen.opt.swizzler import view_left, view_right, fix_kernel_ops
@dataclass
class RewriteStep:
pm: PatternMatcher
ctx: Callable[[UOp], Any]|None = None
name: str|None = None
bottom_up: bool = False
def __call__(self, sink:UOp):
return graph_rewrite(sink, self.pm, ctx=self.ctx(sink) if self.ctx is not None else None, name=self.name, bottom_up=self.bottom_up)
def apply_rewrites(sink:UOp, rewrites:list[RewriteStep]): return functools.reduce(lambda x,f: f(x), rewrites, sink)
rewrites_for_views = [
RewriteStep(view_left, name="Main View Left"),
RewriteStep(view_right, name="Main View Right"),
RewriteStep(view_left+fix_kernel_ops, bottom_up=True, name="Finalize Kernel"),
]
rewrites_for_linearizer = [
RewriteStep(block_create, ctx=BlockContext.from_sink, name="Linearizer: Create Blocks", bottom_up=True),
RewriteStep(pm_blockend_merge, name="Linearizer: Merge Blockends"),
RewriteStep(block_merge, name="Linearizer: Merge Blocks"),
RewriteStep(pm_finalize, name="Linearizer: Finalize")]
def get_rewrites_for_renderer(opts:Renderer, linearizer:bool=True) -> list[RewriteStep]:
# cache with the values of the context vars
return _get_rewrites_for_renderer(opts, linearizer, QUANTIZE.value, DEVECTORIZE.value, TRANSCENDENTAL.value)
@functools.cache
def _get_rewrites_for_renderer(opts:Renderer, linearizer:bool, _QUANTIZE, _DEVECTORIZE, _TRANSCENDENTAL) -> list[RewriteStep]:
# ** lowerer (rewrite_shapetracker_with_index) **
ret: list[RewriteStep] = []
# view pushing
ret.extend(rewrites_for_views)
# this is kernel.py
ret.append(RewriteStep(pm_get_optimization, ctx=lambda _: opts, name="get optimization"))
ret.append(RewriteStep(pm_do_optimize, ctx=lambda _: opts, name="optimize ast"))
if _QUANTIZE and opts.device in {"CPU", "DSP"}: ret.append(RewriteStep(pm_quant, name="quantize"))
ret.append(RewriteStep(pm_lowerer, get_index, name="lowerer", bottom_up=True))
# ** expander (expand_rewrite) **
ret.append(RewriteStep(sym+migrate_indexing, name="initial symbolic"))
# add gpu dims (late). this also handles UNROLL range
ret.append(RewriteStep(pm_add_gpudims, lambda _: opts, name="add gpudims"))
# expand
ret.append(RewriteStep(sym+expander, name="expander"))
# ** devectorizer (full_graph_rewrite) **
# remove reduce
ret.append(RewriteStep(pm_reduce+gep_pushing, lambda _: ReduceContext(), name="remove_reduce"))
# devectorize (TODO: does this need opts?)
if _DEVECTORIZE >= 2: pm_devectorize = sym+load_store_folding+load_store_indexing
elif _DEVECTORIZE: pm_devectorize = sym+devectorize+load_store_folding+correct_load_store+load_store_indexing
else: pm_devectorize = sym+load_store_folding+correct_load_store+load_store_indexing
ret.append(RewriteStep(pm_devectorize, lambda _: opts, name="devectorize"))
supported_ops = tuple(opts.code_for_op.keys())
extra_matcher = opts.extra_matcher if opts.extra_matcher is not None else PatternMatcher([])
# optional pre matcher
if opts.pre_matcher is not None: ret.append(RewriteStep(opts.pre_matcher, name="pre_matcher"))
# decompositions
pm_decomp = symbolic_simple+get_late_rewrite_patterns(supported_ops, _TRANSCENDENTAL>=2)
ret.append(RewriteStep(pm_decomp, lambda _: opts.device, name="decompositions"))
# final rules for the renderer (without sym)
pm_final_rewrite = pm_decomp+pm_render+extra_matcher
ret.append(RewriteStep(pm_final_rewrite, lambda _: opts.device, name="final rewrite"))
# return the list (with optional linearizer)
return ret + (rewrites_for_linearizer if linearizer else [])
def full_rewrite_to_sink(sink:UOp, opts:Renderer|None=None, linearizer:bool=False) -> UOp:
return apply_rewrites(sink, get_rewrites_for_renderer(opts if opts is not None else Renderer(), linearizer))
def full_rewrite(sink:UOp, opts:Renderer|None=None) -> list[UOp]:
"""
Function to transform the Kernel UOp graph into a linearized program.
Args:
sink: The Ops.SINK rooting the Kernel graph.
opts: The Renderer (can change how things are processed, fix this).
Returns:
Linear program in UOps.
"""
lst = list(full_rewrite_to_sink(sink, opts, linearizer=True).arg.lst)
if __debug__: type_verify(lst)
return lst