def testAll(self):
metrics_list = {}
for design in designs:
json_file = os.path.join(
os.path.dirname(os.path.abspath(__file__)),
"%s.json" % (design))
params = Params.Params()
params.load(json_file)
# control numpy multithreading
os.environ["OMP_NUM_THREADS"] = "%d" % (params.num_threads)
metrics_list[design] = []
for device_name in ["gpu"] * 5 + ["cpu"] * 2:
for deterministic_name in ["indeterministic"]:
params.gpu = 0 if device_name == "cpu" else 1
params.deterministic_flag = 0 if deterministic_name == "indeterministic" else 1
params.global_place_flag = 1
params.legalize_flag = 1
params.detaield_place_flag = 1
params.detailed_place_engine = ""
logging.info("%s, %s, %s" %
(design, device_name, deterministic_name))
logging.info("parameters = %s" % (params))
# run placement
tt = time.time()
metrics = Placer.place(params)
logging.info("placement takes %.3f seconds" %
(time.time() - tt))
# verify global placement results
metrics_list[design].append((
metrics[-3][-1][-1].hpwl.cpu().numpy(),
metrics[-2].hpwl.cpu().numpy(),
metrics[-1].hpwl.cpu().numpy(),
))
m = np.array(metrics_list[design])
metrics_list[design] = m
gp, lg, dp = m[:, 0], m[:, 1], m[:, 2]
gp_mean, lg_mean, dp_mean = np.mean(gp), np.mean(lg), np.mean(dp)
rtol = lambda x, avg: max(avg - np.min(x), np.max(x) - avg) / avg
gp_rtol, lg_rtol, dp_rtol = rtol(gp,
gp_mean), rtol(lg, lg_mean), rtol(
dp, dp_mean)
logging.info(
f"Avg metrics for {design}\n{m}\nGP={gp_mean:g} ({gp_rtol}), LG={lg_mean:g} ({lg_rtol}), DP={dp_mean:g} ({dp_rtol})"
)
logging.info("Overall Summary")
for design in designs:
m = metrics_list[design]
gp, lg, dp = m[:, 0], m[:, 1], m[:, 2]
gp_mean, lg_mean, dp_mean = np.mean(gp), np.mean(lg), np.mean(dp)
rtol = lambda x, avg: max(avg - np.min(x), np.max(x) - avg) / avg
gp_rtol, lg_rtol, dp_rtol = rtol(gp,
gp_mean), rtol(lg, lg_mean), rtol(
dp, dp_mean)
logging.info(
f"Avg metrics for {design}\n{m}\nGP={gp_mean:g} ({gp_rtol}), LG={lg_mean:g} ({lg_rtol}), DP={dp_mean:g} ({dp_rtol})"
)
def testAll(self):
for design in designs:
json_file = os.path.join(
os.path.dirname(os.path.abspath(__file__)),
"%s.json" % (design))
params = Params.Params()
params.load(json_file)
# control numpy multithreading
os.environ["OMP_NUM_THREADS"] = "%d" % (params.num_threads)
for device_name in devices:
for deterministic_name in deterministics:
params.gpu = 0 if device_name == "cpu" else 1
params.deterministic_flag = 0 if deterministic_name == "indeterministic" else 1
params.global_place_flag = 1
params.legalize_flag = 1
params.detaield_place_flag = 1
params.detailed_place_engine = ""
logging.info("%s, %s, %s" %
(design, device_name, deterministic_name))
logging.info("parameters = %s" % (params))
# run placement
tt = time.time()
metrics = Placer.place(params)
logging.info("placement takes %.3f seconds" %
(time.time() - tt))
# verify global placement results
np.testing.assert_allclose(
golden[(design, device_name,
deterministic_name)]["GP"],
metrics[-3][-1][-1].hpwl.cpu().numpy(),
rtol=tolerance[design][0],
)
np.testing.assert_allclose(
golden[(design, device_name,
deterministic_name)]["LG"],
metrics[-2].hpwl.cpu().numpy(),
rtol=tolerance[design][1],
)
np.testing.assert_allclose(
golden[(design, device_name,
deterministic_name)]["DP"],
metrics[-1].hpwl.cpu().numpy(),
rtol=tolerance[design][2],
)
class Builder():
ready = True
picker = None
placer = None
status_publisher = None
block_status_publisher = None
def __init__(self):
self.status_publisher = rospy.Publisher('/pr2_block_builder/status',
Status,
latch=True)
self.block_status_publisher = rospy.Publisher(
'/pr2_block_builder/completion', BlockStatus)
self.picker = Picker()
self.placer = Placer()
rospy.sleep(1)
self.sendStatus("ready")
def start(self, blocks):
if (self.ready):
# Prevent further invocations
self.ready = False
# Send the start status
self.sendStatus("started")
# Sort the blocks
self.sortBlocks(blocks, 0)
# Do construction
status = self.construct(blocks)
# Send the completion status
self.sendStatus(status)
def stop(self):
self.ready = False
if self.picker != None:
self.picker.cancel()
if self.placer != None:
self.placer.cancel()
def restart(self):
self.stop()
self.ready = True
self.sendStatus("ready")
def construct(self, blocks):
for i in range(0, len(blocks)):
block = blocks[i]
# Send the status
self.sendBlockStatus(block, "started")
# Pick
status = self.picker.pick(i)
# Place
if status == "completed":
status = self.placer.place(block)
# Send the status
self.sendBlockStatus(block, status)
# Stop if we've failed or aborted
if status != "completed":
return status
return "completed"
def sendStatus(self, status, message=""):
rospy.loginfo("Status: %s", status)
statusObject = Status()
statusObject.status.data = status
statusObject.message.data = message
self.status_publisher.publish(statusObject)
def sendBlockStatus(self, block, status, message=""):
rospy.loginfo("Block (%s, %s, %s) %s", block.position.x,
block.position.y, block.position.z, status)
statusObject = BlockStatus()
statusObject.block = block
statusObject.status.data = status
statusObject.message.data = message
self.block_status_publisher.publish(statusObject)
def sortBlocks(self, blocks, start):
nextBlock = blocks[start]
nextBlockIndex = start
for i in range(start, len(blocks)):
if (blocks[i].position.z < nextBlock.position.z):
nextBlock = blocks[i]
nextBlockIndex = i
elif (blocks[i].position.z == nextBlock.position.z
and blocks[i].position.x > nextBlock.position.x):
nextBlock = blocks[i]
nextBlockIndex = i
elif (blocks[i].position.z == nextBlock.position.z
and blocks[i].position.x == nextBlock.position.x
and blocks[i].position.y > nextBlock.position.y):
nextBlock = blocks[i]
nextBlockIndex = i
blocks[nextBlockIndex] = blocks[start]
blocks[start] = nextBlock
if (start == len(blocks) - 1):
return blocks
return self.sortBlocks(blocks, start + 1)
class Builder():
ready = True
picker = None
placer = None
status_publisher = None
block_status_publisher = None
def __init__(self):
self.status_publisher = rospy.Publisher('/pr2_block_builder/status', Status, latch=True)
self.block_status_publisher = rospy.Publisher('/pr2_block_builder/completion', BlockStatus)
self.picker = Picker()
self.placer = Placer()
rospy.sleep(1)
self.sendStatus("ready")
def start(self, blocks):
if (self.ready):
# Prevent further invocations
self.ready = False
# Send the start status
self.sendStatus("started")
# Sort the blocks
self.sortBlocks(blocks, 0)
# Do construction
status = self.construct(blocks)
# Send the completion status
self.sendStatus(status)
def stop(self):
self.ready = False
if self.picker!=None:
self.picker.cancel()
if self.placer!=None:
self.placer.cancel()
def restart(self):
self.stop()
self.ready = True
self.sendStatus("ready")
def construct(self, blocks):
for i in range(0, len(blocks)):
block = blocks[i]
# Send the status
self.sendBlockStatus(block, "started")
# Pick
status = self.picker.pick(i)
# Place
if status=="completed":
status = self.placer.place(block, false)
# Send the status
self.sendBlockStatus(block, status);
# Stop if we've failed or aborted
if status!="completed":
return status
return "completed"
def sendStatus(self, status, message=""):
rospy.loginfo("Status: %s", status)
statusObject = Status()
statusObject.status.data = status
statusObject.message.data = message
self.status_publisher.publish(statusObject)
def sendBlockStatus(self, block, status, message=""):
rospy.loginfo("Block (%s, %s, %s) %s", block.position.x, block.position.y, block.position.z, status)
statusObject = BlockStatus()
statusObject.block = block
statusObject.status.data = status
statusObject.message.data = message
self.block_status_publisher.publish(statusObject)
def sortBlocks(self, blocks, start):
dist_block = blocks[i].position.x * blocks[i].position.x + blocks[i].position.y * blocks[i].position.y
nextBlock = blocks[start]
nextBlockIndex = start
dist_nextBlock = dist_block
for i in range(start, len(blocks)):
dist_block = blocks[i].position.x * blocks[i].position.x + blocks[i].position.y * blocks[i].position.y
if (blocks[i].position.z < nextBlock.position.z):
nextBlock = blocks[i]
nextBlockIndex = i
dist_nextBlock = dist_block
elif (blocks[i].position.z == nextBlock.position.z and dist_block < dist_nextBlock):
nextBlock = blocks[i]
nextBlockIndex = i
dist_nextBlock = dist_block
elif (blocks[i].position.z == nextBlock.position.z and dist_block == dist_nextBlock and blocks[i].position.x < nextBlock.position.x):
nextBlock = blocks[i]
nextBlockIndex = i
dist_nextBlock = dist_block
blocks[nextBlockIndex] = blocks[start]
blocks[start] = nextBlock
if (start == len(blocks)-1):
return blocks
return self.sortBlocks(blocks, start + 1)
