From 6528fd79a552b4742bdb469b490d017d61eec48a Mon Sep 17 00:00:00 2001 From: Adil Faisal Date: Mon, 28 Sep 2026 10:43:17 -0400 Subject: [PATCH 1/4] test(runtime): add Zig-native VM tests, split C-ABI export into entry.zig MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Address issue #14: shinro_step's path previously had only the Python ctypes oracle. Add a Zig-native test that compiles the comptime VM against a small committed fixture graph and drives it in-process — no .so, no ctypes, no Python — so a VM regression fails in the plain `zig build test` step. To let the VM take any graph, separate the deployment binding from the VM: - lower.zig is now graph-agnostic: `pub fn Vm(Ctx)` wraps the VM, with `step` marked `inline` so entry.zig's exported wrapper compiles to exactly the pre-split body (the shipped ReleaseFast .so is byte-identical). - entry.zig (new): the only file that imports graph_data (plus solver_meta/qp for QP graphs), assembles Ctx, and exports shinro_step. - build.zig roots the shared library at entry.zig; the VM test binds its own fixture graph instead of relying on a module-level graph_data import. - README.md / docs/codegen.md updated for entry.zig and the generic VM. Verified: `zig build test` 51/51; `make test-zig` 91 passed, 2 skipped (ctypes oracle matches interpret() for KF+LQR, MPC/.solve_qp, ONNX, recurrent). The pre-refactor ReleaseFast .so is byte-identical (sha256 7d42e97b...). --- docs/codegen.md | 12 +- lab-notes/daily/2026-09-28.md | 120 ++ src/shinro/runtime/README.md | 17 +- src/shinro/runtime/build.zig | 35 +- src/shinro/runtime/entry.zig | 34 + src/shinro/runtime/lower.zig | 1302 +++++++++-------- src/shinro/runtime/tests/lower.zig | 66 + .../runtime/tests/lower_fixture_graph.zig | 128 ++ 8 files changed, 1061 insertions(+), 653 deletions(-) create mode 100644 src/shinro/runtime/entry.zig create mode 100644 src/shinro/runtime/tests/lower.zig create mode 100644 src/shinro/runtime/tests/lower_fixture_graph.zig diff --git a/docs/codegen.md b/docs/codegen.md index 9c67d84..afff62d 100644 --- a/docs/codegen.md +++ b/docs/codegen.md @@ -46,11 +46,11 @@ The pipeline lives in `src/shinro/codegen/`; the Zig VM lives in `src/shinro/run 3. **Interpret** (`interpret`). Replay the graph on real numpy inputs as a correctness oracle. If the interpreter's output matches a live `NumpyBackend` run to float-exactness, the tracer is sound. -4. **Lower** (`lower_zig`). Walk the graph and emit Zig — a `src/shinro/runtime/` - module exposing a `shinro_step` C-ABI function with baked constants, - compiled to a `.so`. The generated graph is written to - `src/shinro/runtime/graph_data.zig`; the comptime VM that executes it is - `src/shinro/runtime/lower.zig`. +4. **Lower** (`lower_zig`). Walk the graph and emit Zig — the generated graph is + written to `src/shinro/runtime/graph_data.zig`; the comptime VM that executes + it is `src/shinro/runtime/lower.zig` (graph-agnostic, instantiated via + `Vm(Ctx)`), and `src/shinro/runtime/entry.zig` binds that graph and exposes + the `shinro_step` C-ABI function, compiled to a `.so`. ## Module map @@ -65,7 +65,7 @@ The pipeline lives in `src/shinro/codegen/`; the Zig VM lives in `src/shinro/run | `codegen/compose.py` | `compose` — merge per-component graphs into one closed-loop step graph, auto-inserting `reshape`/`clip`. | | `codegen/lower_zig.py` | Emit `src/shinro/runtime/graph_data.zig` (the graph as Zig constants) from a composed graph. | | `demos/demo_codegen.py` | Runnable demo: traces KF+LQR for the base and cartpole plants, composes, and verifies each stage against a live numpy loop. | -| `src/shinro/runtime/` (Zig) | `build.zig` (build script), `lower.zig` (comptime-unrolled VM), `linalg.zig` (shared linear-algebra kernels), `graph_data.zig` (generated graph). | +| `src/shinro/runtime/` (Zig) | `build.zig` (build script), `entry.zig` (deployment entry: binds the graph and exports `shinro_step`), `lower.zig` (graph-agnostic comptime-unrolled VM), `linalg.zig` (shared linear-algebra kernels), `graph_data.zig` (generated graph). | | `codegen/recipes.py` | The graph-recipe registry (`@register_graph` / `build_recipe`) + the shipped recipes (`closed_loop_tracking`, `policy_only`) and the two shipped default graphs (`build_base_graph` / `build_mpc_composed_graph`). | | `scripts/gen_base.py` / `scripts/gen_mpc.py` | Shims over `codegen/recipes.py` (`make zig-gen` / `make zig-mpc-gen` run them). | | `codegen/component_cli.py` | The "does my component trace?" gate (`shinro check` / `shinro trace`, plus the kept `scripts/trace_component.py` shim): inventory of registered components, inferred trace contract (`--list`), and trace + interpret-vs-live oracle check (bit-exact) for any config TOML. | diff --git a/lab-notes/daily/2026-09-28.md b/lab-notes/daily/2026-09-28.md index c77cf79..3e69d93 100644 --- a/lab-notes/daily/2026-09-28.md +++ b/lab-notes/daily/2026-09-28.md @@ -104,3 +104,123 @@ Zig linalg suite **48 passed** (was 47); full VM (`zig build`) exits 0. `lower.zig`'s `matmul`/`vecmat` call sites still compile against the shipped graph. - `make lint` is unaffected (Zig runtime is outside ruff/pyrefly's surface). + +## Zig-native C-ABI tests for `lower.zig` (issue #14) + +Branch: `feat/zig-native-lower-tests` (off `main` @ 9547ada) + +### Why + +Issue #14: `lower.zig`'s C-ABI `shinro_step` had only (a) Zig unit tests for +`linalg.zig` and (b) the Python ctypes oracle (`tests/test_zig_lowering.py`, +which builds a `.so` and drives it via `ctypes`). Nothing drove the VM +natively. The blocker was that `lower.zig` hard-imports the generated +`graph_data.zig`, which `build.zig` only supplies through `-Dgraph` on the +deployed lib module. + +### What changed + +- `src/shinro/runtime/tests/lower_fixture_graph.zig` (new): hand-authored + fixture `graph_data.zig` — a 10-node graph (`inp` x, `inp` r → `cst`@`matmul` + → `add` → `clip` → named `out`; `tanh`(r) → state `out`). Mirrors the + generated `Op`/`Node` schema. +- `src/shinro/runtime/tests/lower.zig` (new): two native tests driving + `shinro_step` directly — named-output + state-output routing, and cross-tick + recurrent state feedback (state output fed back as the next tick's input). +- `src/shinro/runtime/build.zig`: a new test module rooted at `lower.zig` with + `addAnonymousImport("graph_data", tests/lower_fixture_graph.zig)`, exposed to + `tests/lower.zig` as the `lower` module; added to the `test` step. +- `src/shinro/runtime/lower.zig`: `export fn shinro_step` → `pub export fn + shinro_step` (Zig-level import visibility; the C symbol is unchanged). +- `src/shinro/runtime/README.md`: two new rows in the files table + a note on + the native test. + +### Design decisions + +- Chose the fixture-graph route over the comptime-injection refactor + (`Vm(comptime G: type)`). The fixture is ~60 lines across four files, leaves + `lower.zig` untouched apart from one visibility word, and — critically — is + **decoupled from `make zig-gen`**: the deployed graph churns (last-build-wins) + while the fixture does not, so a graph regeneration cannot silently invalidate + the test. +- The fixture must carry the **full `Op` enum**: `lower.zig`'s `switch + (node.op)` is exhaustive with no `else`, so the enum must stay in sync. That + is a deliberate loud coupling — a new VM op fails the fixture compile. +- Only the per-op tables the *present* ops read need to exist (`clip_lo`/ + `clip_hi` here); the arms of absent ops are comptime-skipped. +- Prototyping gotcha: `lower.zig`'s `@import("qp.zig")` is resolved **even when + `has_solve_qp = false`** (relative file imports are not lazily elided the way + the `solver_meta` anonymous import is). `qp.zig` sits next to `lower.zig`, so + the test module finds it — but the test module must stay rooted at + `lower.zig` for that relative import to resolve. No OSQP bake is needed. + +### Verification + +- `zig build test`: **51/51 passed** (48 linalg + 1 emosqp + 2 lower). +- `make test-zig` (zig-gen → build real `.so` → `zig build test` → + `pytest tests/test_zig_lowering.py`): **91 passed, 2 skipped** — the + `pub export` change did not disturb the ctypes oracle or the `.so` symbol. +- Prototype sanity check: a deliberately wrong expected output fails the native + test, so it genuinely executes the VM. + +### Follow-ups + +- The fixture covers the ABI plumbing + a representative op mix; full op + coverage stays with the Python oracle (`tests/test_zig_lowering.py`, + `tests/test_op_shape_matrix.py`). +- The comptime-injection refactor remains an option if arbitrary inline Zig + fixture graphs are wanted later. + +## Split the C-ABI export out of `lower.zig` into `entry.zig` + +### Why + +`lower.zig` conflated three concerns: the VM, the graph binding +(`@import("graph_data")` + `solver_meta`/`qp`), and the C-ABI surface +(`export fn shinro_step`). That coupling is what forced a graph fixture to be +wired into the *module* for every test graph. Separating the binding/export +from the VM lets the VM take the graph as a comptime parameter +(`Vm(Ctx)`), so tests — and, later, a multi-graph fixture table — inject their +own graph with no per-graph anonymous-import choreography. + +### What changed + +- `src/shinro/runtime/lower.zig` — now graph-agnostic: `pub fn Vm(comptime Ctx: + type) type` wraps the whole VM (`workspace`, `step`, and the four helpers) in + a container, with `const g = Ctx.graph;` aliasing the injected graph so the + **body is byte-for-byte unchanged** (every `g.nodes` / `g.offsets` reference + stands). The `graph_data`/`solver_meta`/`qp` imports and the `export fn` are + gone; `sm`/`qp` now come from `Ctx` (only referenced for QP graphs). +- `src/shinro/runtime/entry.zig` (new) — the deployment entry: the only file + that imports `graph_data` (plus `solver_meta`/`qp.zig` when QP), assembles + `Ctx`, and declares `pub export fn shinro_step` forwarding to + `lower.Vm(Ctx).step`. +- `src/shinro/runtime/build.zig` — lib module root `lower.zig` → `entry.zig`; + the VM test module is now an anonymous-import-free `vm_mod`, and the fixture + graph is wired to the *driver* (`tests/lower.zig`) instead. +- `src/shinro/runtime/tests/lower.zig` — binds the fixture itself + (`const Ctx = struct { pub const graph = g; … }`) and calls + `lower.Vm(Ctx).step`. +- `src/shinro/runtime/README.md` + `docs/codegen.md` — table/narrative rows for + `entry.zig` and the graph-agnostic VM. + +### Verification + +- `zig build test`: **51/51 passed** (48 linalg + 1 emosqp + 2 VM). +- `make test-zig` (real ReleaseFast `.so` + ctypes oracle + pytest): **91 + passed, 2 skipped** — the shipped KF+LQR oracle, the MPC/`.solve_qp` oracle, + and the ONNX/recurrent oracles all still match `interpret()`, so the QP path + through `entry.zig`'s conditional `solver_meta`/`qp` wiring is intact. +- Binary check: built pre-refactor HEAD in a scratch worktree and diffed the + `.so`. With `step` marked `inline` (needed so the exported wrapper compiles + to exactly the old body), the shipped **ReleaseFast `.so` is byte-identical** + to pre-refactor (`sha256 7d42e97b…`) — so production is provably unchanged, + not merely behaviorally equivalent. The Debug build differs by 32 B of + argument-spill slots on the exported wrapper (debug-info only); behavior is + oracle-verified in both modes. + +### Follow-ups + +- The multi-graph fixture table (one shared `Vm(Ctx)` driver + N generated + `(graph, vectors)` pairs) is now a pure build.zig table addition — no VM + changes, no per-graph module instances. diff --git a/src/shinro/runtime/README.md b/src/shinro/runtime/README.md index 666061f..44332e0 100644 --- a/src/shinro/runtime/README.md +++ b/src/shinro/runtime/README.md @@ -12,14 +12,17 @@ pipeline narrative and the XLA-fidelity model. | File | Role | |------|------| -| `build.zig` | Build script. Produces `libbase.so` from `lower.zig` + `graph_data.zig`; it links the generated OSQP codegen solver **only when the graph contains `.solve_qp`**. | +| `build.zig` | Build script. Produces `libbase.so` from `entry.zig` (+ the graph-agnostic `lower.zig`); it links the generated OSQP codegen solver **only when the graph contains `.solve_qp`**. | | `build.zig.zon` | Package/dependency manifest for the Zig build. | -| `lower.zig` | The comptime VM. Exports the `shinro_step` C-ABI function: one `inline for` over the node table, dispatching each node's op with `rows`/`cols` as comptime constants. | +| `entry.zig` | The deployment entry point: the **only** file that imports `graph_data` (and, for QP graphs, `solver_meta`/`qp.zig`), binds them into the VM's context, and exports the `shinro_step` C-ABI symbol. | +| `lower.zig` | The comptime VM, graph-agnostic. `pub fn Vm(Ctx)` instantiates it over an injected graph context; its `step` runs one tick by one `inline for` over the node table, dispatching each node's op with `rows`/`cols` as comptime constants. | | `linalg.zig` | Shared linear-algebra kernels (matmul, elementwise ops, `inv`, ...) used by the VM. | | `qp.zig` | The `.solve_qp` op wrapper: drives the generated static OSQP solver (update q → solve → copy solution out). | | `graph_data.zig` | **Generated** — the graph as Zig constants (op enum, node table, offsets, `const_blob`, `has_solve_qp`). Produced by `scripts/gen_base.py` / `shinro.codegen.lower_zig`. Not hand-edited. | | `codegen/emosqp/` | **Generated** — the statically-allocated OSQP solver for the base MPC problem (no malloc, no libosqp). Emitted by `scripts/gen_emosqp_test.py`. | | `tests/linalg.zig` | Zig unit tests for the linear-algebra kernels. | +| `tests/lower.zig` | Zig-native C-ABI tests for `lower.zig`: drives `shinro_step` in-process, no `.so`/ctypes/Python. | +| `tests/lower_fixture_graph.zig` | Hand-authored fixture `graph_data.zig` (tiny node table) compiled into the `tests/lower.zig` test module. | | `tests/emosqp.zig` | Handwritten Zig test driving the codegen static solver, compared against the Python oracle. | | `tests/emosqp_data.zig` | **Generated** — the oracle test vectors (sample `q` + expected solution, hex floats). Emitted by `scripts/gen_emosqp_test.py`. | @@ -71,6 +74,14 @@ against the Python interpreter lives in `tests/test_zig_lowering.py` (the `.solve_qp` op is exercised by the MPC graph fixture, which traces `MPC_LTI` and compares `shinro_step` against `interpret()`). +`zig build test` also runs `tests/lower.zig`, which instantiates the VM with +`lower.Vm(Ctx).step(...)` and drives the C-ABI entry path **natively** — +directly in the test process, compiled against the committed fixture graph +`tests/lower_fixture_graph.zig` (bound by `build.zig` as the test module's +`graph_data` anonymous import). It needs no shared-library build, no ctypes, +and no Python, so a VM/ABI regression surfaces in the Zig test step alone. The +fixture is solver-free, so it pulls in no OSQP bake. + ## Generated artifacts — shared paths, last build wins Three paths feed `zig build`, and all of them are **generated, single-instance, @@ -96,7 +107,7 @@ zig build --build-file src/shinro/runtime/build.zig --prefix build/ \ -Dgraph= -Dsolver_dir= ``` -- `-Dgraph` — the generated graph (default `graph_data.zig`). `lower.zig` +- `-Dgraph` — the generated graph (default `graph_data.zig`). `entry.zig` imports it as an anonymous module, so a build can consume a graph from any path (e.g. a pytest tmp dir). - `-Dsolver_dir` — the baked OSQP codegen solver tree (default diff --git a/src/shinro/runtime/build.zig b/src/shinro/runtime/build.zig index 6e3a1ee..e2b7434 100644 --- a/src/shinro/runtime/build.zig +++ b/src/shinro/runtime/build.zig @@ -82,13 +82,14 @@ pub fn build(b: *std.Build) void { }); // base.so — the C-ABI graph VM the Python host dlopen-s via ctypes. - // lower.zig is the module root; @import("linalg.zig") and @import("qp.zig") - // resolve next to it, while the generated graph and the bake's n_vars - // arrive as anonymous imports selected by -Dgraph / -Dsolver_dir. The - // `.solve_qp` op compiles the codegen static solver into the library, - // but only when the lowered graph contains that op. + // entry.zig is the module root: it binds the generated graph (selected by + // -Dgraph) and the bake (selected by -Dsolver_dir) into the VM's context + // and exports shinro_step. lower.zig itself is graph-agnostic; the VM is + // instantiated through entry.zig's Ctx. The `.solve_qp` op compiles the + // codegen static solver into the library, but only when the lowered graph + // contains that op. const lib_mod = b.createModule(.{ - .root_source_file = b.path("lower.zig"), + .root_source_file = b.path("entry.zig"), .target = target, .optimize = optimize, .link_libc = true, @@ -158,6 +159,27 @@ pub fn build(b: *std.Build) void { const tests = b.addTest(.{ .root_module = test_mod }); const run_tests = b.addRunArtifact(tests); + // Zig-native C-ABI test of the VM: the graph-agnostic lower.zig exposed to + // tests/lower.zig as the `lower` module, plus the small committed fixture + // graph (tests/lower_fixture_graph.zig) as its `graph_data`. Because the VM + // now takes the graph via `Vm(Ctx)`, the test binds the fixture itself — + // nothing here is the deployed graph_data.zig, so no .so/ctypes/Python and + // no OSQP bake are needed. + const vm_mod = b.createModule(.{ + .root_source_file = b.path("lower.zig"), + .target = target, + .optimize = optimize, + }); + const lower_driver_mod = b.createModule(.{ + .root_source_file = b.path("tests/lower.zig"), + .target = target, + .optimize = optimize, + .imports = &.{.{ .name = "lower", .module = vm_mod }}, + }); + lower_driver_mod.addAnonymousImport("graph_data", .{ .root_source_file = b.path("tests/lower_fixture_graph.zig") }); + const lower_tests = b.addTest(.{ .root_module = lower_driver_mod }); + const run_lower_tests = b.addRunArtifact(lower_tests); + // OSQP codegen static solver test — compiles the generated C // (runtime/codegen/emosqp/) into the test and drives the static solver. // This remains in the test step even when the deployment graph is @@ -178,6 +200,7 @@ pub fn build(b: *std.Build) void { const test_step = b.step("test", "Run Zig unit tests"); test_step.dependOn(&run_tests.step); test_step.dependOn(&run_emosqp_tests.step); + test_step.dependOn(&run_lower_tests.step); // Build manifest (audit trail): a deterministic report of what this .so // contains, written next to the artifact after every build, plus a diff --git a/src/shinro/runtime/entry.zig b/src/shinro/runtime/entry.zig new file mode 100644 index 0000000..d8cd54f --- /dev/null +++ b/src/shinro/runtime/entry.zig @@ -0,0 +1,34 @@ +// runtime/entry.zig — the deployment entry point. +// +// This is the only file that binds the generated graph to the VM and the only +// one that declares the `shinro_step` C-ABI symbol. `lower.zig` holds the +// graph-agnostic VM (`Vm(Ctx)`); here we assemble the context from the graph +// selected by `-Dgraph` (plus the bake selected by `-Dsolver_dir`) and expose +// its `step` under the stable C name. +// +// Why the split: the graph binding and the ABI surface change with deployment +// (which graph, which bake), while the VM must not. Keeping the binding here +// lets the VM be compiled against any graph — tests instantiate `Vm(Ctx)` +// directly with their own fixture — and keeps every build option +// (`-Dgraph`, `-Dsolver_dir`) touching exactly one small file. + +const lower = @import("lower.zig"); +const g = @import("graph_data"); +// OSQP is deliberately conditional: the generated graph declares whether it +// contains a .solve_qp node. Non-QP graphs (LQR, PID, ...) build without the +// OSQP C sources, headers, or solver_meta module at all. +const solver_meta = if (g.has_solve_qp) @import("solver_meta") else struct {}; +const qp_mod = if (g.has_solve_qp) @import("qp.zig") else struct {}; + +/// The VM context for the deployed graph: the graph plus the (optional) bake. +pub const Ctx = struct { + pub const graph = g; + pub const sm = solver_meta; + pub const qp = qp_mod; +}; + +/// One tick of the deployed closed-loop step (see lower.zig's `Vm(Ctx).step` +/// for the buffer contract). +export fn shinro_step(inputs: [*]const f64, outputs: [*]f64, state_out: [*]f64) void { + lower.Vm(Ctx).step(inputs, outputs, state_out); +} diff --git a/src/shinro/runtime/lower.zig b/src/shinro/runtime/lower.zig index 40bcdad..873a9cf 100644 --- a/src/shinro/runtime/lower.zig +++ b/src/shinro/runtime/lower.zig @@ -1,677 +1,703 @@ -// runtime/lower.zig — comptime graph VM: walks the generated node table and +// runtime/lower.zig — comptime graph VM: walks a generated node table and // specializes one step of the closed loop at compile time. // // This is the Zig mirror of interpreter.py's dispatch loop. The graph data // (op enum, inputs, shapes) is generated by shinro.codegen.lower_zig into // graph_data.zig; the *code* here is handwritten once and never regenerated. // +// This file is graph-agnostic: it never imports graph_data.zig. The caller +// instantiates `Vm(Ctx)` with a context carrying the graph (and, for QP graphs, +// the baked solver metadata + wrapper). The deployed graph is bound in +// entry.zig, which also declares the `shinro_step` C-ABI symbol; tests bind +// their own fixtures. See `pub fn Vm` below. +// // The VM is comptime-specialized along one axis only: the outer `inline for` // over the node table unrolls every node, so each node's op and shape are // comptime constants and its slot is a fixed-size slice of one contiguous -// file-scope buffer — no heap, no runtime op dispatch. The element loops *inside* -// each node are runtime `for` loops over those comptime-known sizes. Unrolling -// them too emits one statement per element (~`buf_len` of them) and forces the -// compiler to optimize a single function of hundreds of thousands of +// container-scope buffer — no heap, no runtime op dispatch. The element loops +// *inside* each node are runtime `for` loops over those comptime-known sizes. +// Unrolling them too emits one statement per element (~`buf_len` of them) and +// forces the compiler to optimize a single function of hundreds of thousands of // instructions: minutes of compile and a `.so` that is ~2x the buffer in pure // `.text`. Runtime element loops keep compile time and code size proportional // to the node count, not the element count. // // C ABI (all flat, row-major f64 buffers; layout known to the host from the // ComposedGraph port lists): -// shinro_step(inputs, outputs, state_out) +// shinro_step(inputs, outputs, state_out) <- declared in entry.zig // - inputs: host inputs packed in cg.inputs order (e.g. y, x_ref, u_prev // followed by the estimator's state_* recurrent ports) // - outputs: packed in cg.outputs order // - state_out: packed in cg.state_outputs order (recurrent → next tick) const std = @import("std"); -// The generated graph and the bake's n_vars are anonymous imports wired by -// build.zig from -Dgraph / -Dsolver_dir (defaults: runtime/graph_data.zig and -// runtime/codegen/emosqp/solver_meta.zig). -const g = @import("graph_data"); -// OSQP is deliberately conditional: the generated graph declares whether it -// contains a .solve_qp node. Non-QP graphs (LQR, PID, ...) build without the -// OSQP C sources, headers, or solver_meta module at all. -const sm = if (g.has_solve_qp) @import("solver_meta") else struct {}; const la = @import("linalg.zig"); -const qp = if (g.has_solve_qp) @import("qp.zig") else struct {}; - -/// Per-tick workspace: every node's output slot is a slice of `workspace`, -/// addressed by `g.offsets`. Declared at file scope rather than as a local in -/// `shinro_step` so its size — `g.buf_len` f64, tens of MiB for large policies -/// — does not have to fit on the caller's stack (a stack-local copy overflows -/// the default 16 MiB stack past roughly 500k parameters). -/// -/// This is process-global mutable state, so `shinro_step` is **not reentrant -/// or thread-safe**: one call must finish before the next starts. That is the -/// deployment model (one control loop, one tick at a time) and matches the QP -/// path's statically-allocated `solver` global. The graph writes every slot -/// before it is read, so the buffer needs no initialization. -var workspace: [g.buf_len]f64 align(16) = undefined; -/// Run one tick of the closed-loop step through the generated node table. -/// -/// The C-ABI entry point (exported as `shinro_step`) that the host calls once -/// per control tick. All buffers are flat, row-major f64; their layout is -/// known to the host from the ComposedGraph port lists: -/// -/// - `inputs`: host inputs packed in `cg.inputs` order (e.g. `y`, `x_ref`, -/// `u_prev` followed by the estimator's `state_*` recurrent ports) -/// - `outputs`: packed in `cg.outputs` order -/// - `state_out`: packed in `cg.state_outputs` order (recurrent → next tick) +/// Instantiate the comptime graph VM over a context type. /// -/// The `inline for` over `g.nodes` unrolls the whole node table at compile -/// time, so every node's op and shape are comptime constants and every array -/// is a fixed-size slice of the single file-scope `workspace` — no heap, no -/// runtime op dispatch. The element loops *within* each node are runtime loops over -/// those comptime-known sizes, so code size and compile time scale with the -/// node count rather than with `buf_len`. +/// `Ctx` is a namespace (typically `struct { pub const graph = …; pub const sm = +/// …; pub const qp = …; }`) assembled by the caller. `Ctx.graph` is the +/// generated `graph_data.zig` module; `Ctx.sm` and `Ctx.qp` are the baked solver +/// metadata (`solver_meta.zig`) and the `.solve_qp` wrapper (`qp.zig`), referenced +/// only when the graph declares `has_solve_qp`. Keeping the graph out of this file +/// is what lets the VM be compiled against any graph — the deployed one is bound +/// in entry.zig, while tests bind their own fixtures. /// -/// Not reentrant or thread-safe: writes go to the shared file-scope -/// `workspace` (see its declaration). Callers run one tick at a time. -/// -/// Args: -/// inputs: Flat buffer of this tick's host inputs. -/// outputs: Flat buffer where this tick's output ports are written. -/// state_out: Flat buffer where this tick's recurrent state outputs are -/// written (fed back as state inputs next tick). -export fn shinro_step(inputs: [*]const f64, outputs: [*]f64, state_out: [*]f64) void { - @setEvalBranchQuota(1_000_000); +/// Returns: +/// A type whose `step` runs one tick and whose `workspace` is the per-tick +/// scratch (one `.bss` array sized to that graph's `buf_len`). +pub fn Vm(comptime Ctx: type) type { + const g = Ctx.graph; + // OSQP is deliberately conditional: the generated graph declares whether it + // contains a .solve_qp node. Non-QP graphs (LQR, PID, ...) never reference + // these, so a solver-free fixture can pass `struct {}` for `sm`/`qp`. + const sm = if (g.has_solve_qp) Ctx.sm else struct {}; + const qp = if (g.has_solve_qp) Ctx.qp else struct {}; - inline for (g.nodes, 0..) |node, i| { - // Const nodes own no workspace slot: their data lives in the baked blob - // and consumers read it in place (node_input_at / the contraction arms). - // Skipping them keeps buf_len to the real working set and means no slice - // is ever taken at a const node's (unused) offset. - if (node.op == .cst or node.op == .cst_f32) continue; + return struct { + /// Per-tick workspace: every node's output slot is a slice of `workspace`, + /// addressed by `g.offsets`. Declared at container scope rather than as a + /// local in `step` so its size — `g.buf_len` f64, tens of MiB for large + /// policies — does not have to fit on the caller's stack (a stack-local + /// copy overflows the default 16 MiB stack past roughly 500k parameters). + /// + /// This is process-global mutable state, so `step` is **not reentrant or + /// thread-safe**: one call must finish before the next starts. That is the + /// deployment model (one control loop, one tick at a time) and matches the + /// QP path's statically-allocated `solver` global. The graph writes every + /// slot before it is read, so the buffer needs no initialization. + var workspace: [g.buf_len]f64 align(16) = undefined; - const out = workspace[g.offsets[i]..][0 .. node.rows * node.cols]; + /// Run one tick of the closed-loop step through the generated node table. + /// + /// `inline` so entry.zig's exported wrapper compiles to exactly the + /// pre-split function body — keeping the shipped ReleaseFast `.so` + /// byte-identical to before the VM was made generic (and a solver-free + /// graph's VM identical to the old direct-export layout). + /// + /// The C-ABI payload: `shinro_step` in entry.zig forwards here. All + /// buffers are flat, row-major f64; their layout is known to the host from + /// the ComposedGraph port lists: + /// + /// - `inputs`: host inputs packed in `cg.inputs` order (e.g. `y`, `x_ref`, + /// `u_prev` followed by the estimator's `state_*` recurrent ports) + /// - `outputs`: packed in `cg.outputs` order + /// - `state_out`: packed in `cg.state_outputs` order (recurrent → next tick) + /// + /// The `inline for` over `g.nodes` unrolls the whole node table at compile + /// time, so every node's op and shape are comptime constants and every + /// array is a fixed-size slice of the single container-scope `workspace` — + /// no heap, no runtime op dispatch. The element loops *within* each node + /// are runtime loops over those comptime-known sizes, so code size and + /// compile time scale with the node count rather than with `buf_len`. + /// + /// Not reentrant or thread-safe: writes go to the shared `workspace` (see + /// its declaration). Callers run one tick at a time. + /// + /// Args: + /// inputs: Flat buffer of this tick's host inputs. + /// outputs: Flat buffer where this tick's output ports are written. + /// state_out: Flat buffer where this tick's recurrent state outputs are + /// written (fed back as state inputs next tick). + pub inline fn step(inputs: [*]const f64, outputs: [*]f64, state_out: [*]f64) void { + @setEvalBranchQuota(1_000_000); - switch (node.op) { - // Unreachable (consts are skipped above); kept for exhaustiveness. - .cst, .cst_f32 => {}, - .inp => { - for (0..node.rows * node.cols) |j| out[j] = inputs[node.aux + j]; - }, - .out => { - const src = node_input(g.nodes[0..], node, &workspace); - if (node.aux < g.n_outputs) { - for (0..node.rows * node.cols) |j| outputs[g.output_offsets[node.aux] + j] = src[j]; - } else { - for (0..node.rows * node.cols) |j| state_out[g.state_offsets[node.aux - g.n_outputs] + j] = src[j]; - } - }, - .matmul => { - const a = node_input(g.nodes[0..], node, &workspace); - const b = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const left = g.nodes[node.inputs[0]]; - const right = g.nodes[node.inputs[1]]; - if (left.vec) { - // vecmat: (k,) @ (k, n) -> (n,) — a genuinely 1-D left operand - const r = la.vecmat(left.rows, node.rows, a, b); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } else if (right.vec) { - // matvec: (m, k) @ (k,) -> (m,) - const r = la.matvec(node.rows, right.rows, f64, a, b); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } else { - // matmul: (m, k) @ (k, n) -> (m, n); also covers (m,1)@(1,n) (k=1) - const r = la.matmul(node.rows, left.cols, node.cols, a, b); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } - }, - .add => ew2(g.nodes[0..], node, i, &workspace, .add), - .sub => ew2(g.nodes[0..], node, i, &workspace, .sub), - .mul => ew2(g.nodes[0..], node, i, &workspace, .mul), - .div => ew2(g.nodes[0..], node, i, &workspace, .div), - .ne => ew2(g.nodes[0..], node, i, &workspace, .ne), - .lt => ew2(g.nodes[0..], node, i, &workspace, .lt), - .pow => ew2(g.nodes[0..], node, i, &workspace, .pow), - .mod => ew2(g.nodes[0..], node, i, &workspace, .mod), - .neg => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = -s[j]; - }, - .abs => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = @abs(s[j]); - }, - .sign => { - // Matches np.sign: -1 / 0 / +1 (0 maps to 0, not +1). - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| { - out[j] = if (s[j] > 0.0) 1.0 else if (s[j] < 0.0) -1.0 else 0.0; - } - }, - .transpose => { - const s = node_input(g.nodes[0..], node, &workspace); - // True 2-D transpose: out (node.rows, node.cols) = src.T, so - // out[i][j] = src[j][i] — flat out[i*node.cols + j] = - // s[j*src.cols + i]. (The old form baked in the square case's - // stride symmetry and silently scrambled non-square inputs.) - for (0..node.rows) |oi| { - for (0..node.cols) |oj| out[oi * node.cols + oj] = s[oj * g.nodes[node.inputs[0]].cols + oi]; - } - }, - .inv => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.inv(node.rows, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .reshape => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = s[j]; - }, - .clip => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| { - out[j] = std.math.clamp(s[j], g.clip_lo[node.aux + j], g.clip_hi[node.aux + j]); - } - }, - .where_op => { - const cond = node_input(g.nodes[0..], node, &workspace); - const a = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const b = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const cond_n = g.nodes[node.inputs[0]]; - const a_n = g.nodes[node.inputs[1]]; - const b_n = g.nodes[node.inputs[2]]; - for (0..node.rows) |oi| { - for (0..node.cols) |oj| { - const f = oi * node.cols + oj; - const c = cond[if (cond_n.rows * cond_n.cols == 1) 0 else f]; - const av = a[bcast_flat(a_n, a_n.vec, node.rows, node.cols, oi, oj)]; - const bv = b[bcast_flat(b_n, b_n.vec, node.rows, node.cols, oi, oj)]; - out[f] = if (c != 0.0) av else bv; - } - } - }, - .any => { - const s = node_input(g.nodes[0..], node, &workspace); - var found = false; - for (0..g.nodes[node.inputs[0]].rows * g.nodes[node.inputs[0]].cols) |j| { - if (s[j] != 0.0) found = true; - } - out[0] = if (found) 1.0 else 0.0; - }, - // deterministic-policy ops (issue #13): elementwise maps, a - // reduction (argmax), an expansion (one_hot), and shape glue - // (copy / slice). None allocate — all iterate comptime-known - // flat buffers. tanh/relu/exp preserve shape; argmax collapses - // to a scalar (stored as f64 in the buffer); one_hot expands a - // scalar index to a depth-row; copy/slice are flat copies with - // slice's `aux` holding the input offset. - .copy => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = s[j]; - }, - .tanh => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.tanh(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .relu => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.relu(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .sigmoid => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.sigmoid(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .softmax => { - // Last-axis softmax (numpy axis=-1). A 1-D node is stored as - // rows=n, cols=1, vec=true — treat it as a single row of - // length n (rows*cols), never as n rows of length 1. - const s = node_input(g.nodes[0..], node, &workspace); - const r = if (node.vec) - la.softmax_rows(1, node.rows, s) - else - la.softmax_rows(node.rows, node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .gelu => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.gelu(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .elu => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.elu(node.rows * node.cols, g.elu_alpha[node.aux], s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - // .leaky_relu — x if x >= 0 else alpha*x. No linalg kernel (no exp): - // alpha is baked into g.leaky_relu_alpha (aux = table index), like - // elu's slope. At x == 0 both branches give 0. - .leaky_relu => { - const s = node_input(g.nodes[0..], node, &workspace); - const alpha = g.leaky_relu_alpha[node.aux]; - for (0..node.rows * node.cols) |j| out[j] = if (s[j] >= 0.0) s[j] else alpha * s[j]; - }, - // .layernorm — last-axis normalization (the canonical torch - // nn.LayerNorm / ONNX LayerNormalization form): per row - // (a - mean) * rstd * scale + bias with the biased variance. The - // scale/bias operands are ONNX Scale/B, one entry per normalized - // feature; eps is baked into g.layernorm_eps (aux = table index). - // A 1-D node is a single row (rows=n, cols=1, vec=true) and must be - // normalized as layernorm_rows(1, n), never as n rows of length 1. - // The comptime gate rejects a scale/bias that is not the (cols,) - // feature vector rather than reading past the operand's slot. - .layernorm => { - const a = node_input(g.nodes[0..], node, &workspace); - const scale = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const bias = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const scale_n = g.nodes[node.inputs[1]]; - const bias_n = g.nodes[node.inputs[2]]; - comptime { - const n = if (node.vec) node.rows else node.cols; - if (scale_n.rows * scale_n.cols != n) { - @compileError("layernorm: scale must have one entry per normalized feature (cols)"); - } - if (bias_n.rows * bias_n.cols != n) { - @compileError("layernorm: bias must have one entry per normalized feature (cols)"); - } - } - const r = la.layernorm_rows( - if (node.vec) 1 else node.rows, - if (node.vec) node.rows else node.cols, - a, - scale, - bias, - g.layernorm_eps[node.aux], - ); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .exp => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.elementwise_exponential(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - // .sqrt / .log — elementwise maps of the std builtins, so they need - // no linalg kernel (like .pow's std.math.pow). Negative sqrt / log - // operands are NaN on both engines (numpy and Zig agree). - .sqrt => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = @sqrt(s[j]); - }, - .log => { - const s = node_input(g.nodes[0..], node, &workspace); - for (0..node.rows * node.cols) |j| out[j] = @log(s[j]); - }, - .sin => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.sin_vec(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .cos => { - const s = node_input(g.nodes[0..], node, &workspace); - const r = la.cos_vec(node.rows * node.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .argmax => { - const s = node_input(g.nodes[0..], node, &workspace); - const n_in = g.nodes[node.inputs[0]].rows * g.nodes[node.inputs[0]].cols; - const idx = la.argmax(n_in, s); - out[0] = @floatFromInt(idx); - }, - .min => { - // Minimum reduction; aux selects numpy's axis (0 = None / full, - // 1 = axis 0 down columns, 2 = axis 1 across rows). The output - // shape was fixed at trace time, so rows*cols is the exact - // element count the chosen reduction produces. - const s = node_input(g.nodes[0..], node, &workspace); - const src = g.nodes[node.inputs[0]]; - if (node.aux == 0) { - const r = la.min_all(src.rows * src.cols, s); - out[0] = r[0]; - } else if (node.aux == 1) { - const r = la.min_axis0(src.rows, src.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } else { - const r = la.min_axis1(src.rows, src.cols, s); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } - }, - .one_hot => { - const s = node_input(g.nodes[0..], node, &workspace); - const idx: usize = @intFromFloat(s[0]); - const r = la.onehot(node.rows, idx); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - }, - .slice => { - const s = node_input(g.nodes[0..], node, &workspace); - const src = g.nodes[node.inputs[0]]; - if (src.vec) { - // 1-D source: aux is the flat element offset. - for (0..node.rows * node.cols) |j| out[j] = s[node.aux + j]; - } else { - // 2-D source: the interpreter slices ROWS (x[start:stop] - // along axis 0), so out[i][j] = src[start + i][j]. - for (0..node.rows) |oi| { - for (0..node.cols) |oj| out[oi * node.cols + oj] = s[(node.aux + oi) * src.cols + oj]; - } - } - }, - // stack([a, b, ...]) along a new leading axis (numpy axis=0). Each - // input contributes its flat length to consecutive output rows; all - // inputs share the same shape (enforced at trace time), so the - // output flat length is n_inputs * in_len == node.rows * node.cols. - .stack => { - for (node.inputs, 0..) |inp_idx, row| { - const src = node_input_at(g.nodes[0..], inp_idx, &workspace); - const in_len = g.nodes[inp_idx].rows * g.nodes[inp_idx].cols; - for (0..in_len) |j| out[row * in_len + j] = src[j]; - } - }, - // .gemm — fused dense layer: out = alpha*(A@B') + beta*C in one - // pass (linalg.gemm). Covers the ONNX importer's Gemm: the - // contraction, the alpha/beta scales, the optional transB (torch - // nn.Linear weight layout, read by striding rather than - // materializing a transpose), and the bias add are a single kernel. - // alpha/beta are baked into g.gemm_alpha/gemm_beta; aux packs the - // table index in the upper bits and the transB flag in bit 0. A - // 1-D activation (vec) is treated as a single row (m = 1). - .gemm => { - const a = node_input(g.nodes[0..], node, &workspace); - const c = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const a_n = g.nodes[node.inputs[0]]; - const b_n = g.nodes[node.inputs[1]]; - const c_n = g.nodes[node.inputs[2]]; - const alpha = g.gemm_alpha[node.aux / 2]; - const beta = g.gemm_beta[node.aux / 2]; - const rb = node.aux % 2 == 1; - const clen = c_n.rows * c_n.cols; - const m = if (node.vec) 1 else node.rows; - const k = if (a_n.vec) a_n.rows else a_n.cols; - const n = if (node.vec) node.rows else node.cols; - // The weight operand's dtype is a comptime property of its - // source node: an f32-exact weight baked into const_blob_f32 - // selects the mixed-dtype kernel, which widens each weight to - // f64 inside the vector lane. The accumulation is still f64, so - // the result is unchanged while the weight bytes are halved. - if (b_n.op == .cst_f32) { - const b32 = g.const_blob_f32[b_n.aux..][0 .. b_n.rows * b_n.cols]; - const r = la.gemm(m, k, n, alpha, beta, rb, f32, a, b32, c, clen); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } else { - const b = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const r = la.gemm(m, k, n, alpha, beta, rb, f64, a, b, c, clen); - for (0..node.rows * node.cols) |j| out[j] = r[j]; - } - }, - // .lstm / .gru / .rnn — one fused recurrent step each - // (linalg.lstm_cell / gru_cell / rnn_cell). Operands are - // [x, W, R, B, h_prev(, c_prev)] in ONNX layout: W is - // (ngates*H, I), R is (ngates*H, H), B is the stacked Wb ‖ Rb. - // H and I are derived at COMPTIME from the weight and activation - // node shapes, so the kernels carry no runtime shape metadata; a - // weight that is not an exact gate stack, or an output slot that - // is not the size the cell produces, is rejected at compile time - // rather than read out of bounds. gru's linear_before_reset rides - // in aux bit 0. - .lstm => { - const x = node_input(g.nodes[0..], node, &workspace); - const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); - const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); - const c_prev = node_input_at(g.nodes[0..], node.inputs[5], &workspace); - const w_n = g.nodes[node.inputs[1]]; - const r_n = g.nodes[node.inputs[2]]; - const x_n = g.nodes[node.inputs[0]]; - const H = comptime w_n.rows / 4; - const I = comptime x_n.rows * x_n.cols; - comptime { - if (w_n.rows % 4 != 0) @compileError("lstm: W rows must be 4*H (i,o,f,c gate stack)"); - if (w_n.cols != I) @compileError("lstm: W (4H, I) input width must match the activation width"); - if (node.rows * node.cols != 2 * H) @compileError("lstm: output slot must be 2*H ([h_next ‖ c_next])"); - } - // W and R always share a blob (the lowerer keeps them coherent), - // so one comptime dtype choice driven by W's op serves both. - if (w_n.op == .cst_f32) { - const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; - const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; - const res = la.lstm_cell(H, I, f32, x, w32, r32, b, h_prev, c_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } else { - const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const res = la.lstm_cell(H, I, f64, x, w, r, b, h_prev, c_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } - }, - .gru => { - const x = node_input(g.nodes[0..], node, &workspace); - const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); - const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); - const w_n = g.nodes[node.inputs[1]]; - const r_n = g.nodes[node.inputs[2]]; - const x_n = g.nodes[node.inputs[0]]; - const H = comptime w_n.rows / 3; - const I = comptime x_n.rows * x_n.cols; - const lbr = comptime (node.aux % 2 == 1); - comptime { - if (w_n.rows % 3 != 0) @compileError("gru: W rows must be 3*H (z,r,h gate stack)"); - if (w_n.cols != I) @compileError("gru: W (3H, I) input width must match the activation width"); - if (node.rows * node.cols != H) @compileError("gru: output slot must be H"); - } - if (w_n.op == .cst_f32) { - const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; - const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; - const res = la.gru_cell(H, I, lbr, f32, x, w32, r32, b, h_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } else { - const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const res = la.gru_cell(H, I, lbr, f64, x, w, r, b, h_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } - }, - .rnn => { - const x = node_input(g.nodes[0..], node, &workspace); - const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); - const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); - const w_n = g.nodes[node.inputs[1]]; - const r_n = g.nodes[node.inputs[2]]; - const x_n = g.nodes[node.inputs[0]]; - const H = comptime w_n.rows; - const I = comptime x_n.rows * x_n.cols; - comptime { - if (w_n.cols != I) @compileError("rnn: W (H, I) input width must match the activation width"); - if (node.rows * node.cols != H) @compileError("rnn: output slot must be H"); - } - if (w_n.op == .cst_f32) { - const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; - const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; - const res = la.rnn_cell(H, I, f32, x, w32, r32, b, h_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } else { - const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); - const res = la.rnn_cell(H, I, f64, x, w, r, b, h_prev); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } - }, - // .concat — join operands along `node.aux` (0 = leading axis, - // 1 = trailing axis of a 2-D tensor) by copying into the output - // slot. Axis 0 is a flat append because row blocks are contiguous - // in row-major order; only axis 1 needs per-row offsets. Pure - // buffer movement, so — like `.stack` — it needs no linalg kernel. - .concat => { - var off: usize = 0; // running flat offset (axis 0) - comptime var col_off: usize = 0; // per-row column offset (axis 1) - inline for (node.inputs) |inp| { - const src = node_input_at(g.nodes[0..], inp, &workspace); - const src_n = g.nodes[inp]; - if (node.aux == 0) { - const n = src_n.rows * src_n.cols; - for (0..n) |j| out[off + j] = src[j]; - off += n; - } else { - const cols = if (src_n.vec) 1 else src_n.cols; - const rows = if (node.vec) 1 else node.rows; - for (0..rows) |r| { - for (0..cols) |j| out[r * node.cols + col_off + j] = src[r * cols + j]; + inline for (g.nodes, 0..) |node, i| { + // Const nodes own no workspace slot: their data lives in the baked blob + // and consumers read it in place (node_input_at / the contraction arms). + // Skipping them keeps buf_len to the real working set and means no slice + // is ever taken at a const node's (unused) offset. + if (node.op == .cst or node.op == .cst_f32) continue; + + const out = workspace[g.offsets[i]..][0 .. node.rows * node.cols]; + + switch (node.op) { + // Unreachable (consts are skipped above); kept for exhaustiveness. + .cst, .cst_f32 => {}, + .inp => { + for (0..node.rows * node.cols) |j| out[j] = inputs[node.aux + j]; + }, + .out => { + const src = node_input(g.nodes[0..], node, &workspace); + if (node.aux < g.n_outputs) { + for (0..node.rows * node.cols) |j| outputs[g.output_offsets[node.aux] + j] = src[j]; + } else { + for (0..node.rows * node.cols) |j| state_out[g.state_offsets[node.aux - g.n_outputs] + j] = src[j]; } - col_off += cols; - } - } - }, - // .gather — index-select along `node.aux` (ONNX Gather). The index - // operand is a flat f64 buffer the kernel converts per element; - // negatives count from the end. Which kernel depends on the source - // rank: a `vec` source is a 1-D select, otherwise whole rows - // (axis 0) or whole columns (axis 1) move. - .gather => { - const x = node_input(g.nodes[0..], node, &workspace); - const idx = node_input_at(g.nodes[0..], node.inputs[1], &workspace); - const x_n = g.nodes[node.inputs[0]]; - const idx_n = g.nodes[node.inputs[1]]; - const n_idx = comptime idx_n.rows * idx_n.cols; - comptime { - if (node.aux == 1 and x_n.vec) @compileError("gather axis=1 needs a 2-D operand"); - const want = if (node.aux == 1) - x_n.rows * n_idx - else if (x_n.vec) - n_idx - else - n_idx * x_n.cols; - if (node.rows * node.cols != want) @compileError("gather: output slot size mismatch"); - } - if (node.aux == 0 and x_n.vec) { - const res = la.gather_index(n_idx, x_n.rows, x, idx); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } else if (node.aux == 0) { - const res = la.gather_rows(n_idx, x_n.cols, x_n.rows, x, idx); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } else { - const res = la.gather_cols(x_n.rows, n_idx, x_n.cols, x, idx); - for (0..node.rows * node.cols) |j| out[j] = res[j]; - } - }, - // .solve_qp — the convergence-iterative MPC op. The problem data - // (P, A, l, u) and the pre-factorized KKT matrix are baked into the - // statically-allocated `solver` global by the codegen C - // (runtime/codegen/emosqp/). Only the linear cost q changes per - // tick: it is read from the node's input slot and written in via - // osqp_update_data_vec, then the full solution lands in this - // node's output slot (u[:m] is sliced out by a downstream op). - // The node's output size must match the baked problem's n_vars — - // enforced here at compile time, so a graph lowered against the - // wrong bake refuses to build instead of silently linking a - // shape-mismatched solver. - .solve_qp => { - comptime { - if (node.rows * node.cols != sm.n_vars) { - @compileError("graph solve_qp node output size (" ++ - std.fmt.comptimePrint("{d}", .{node.rows * node.cols}) ++ - ") does not match baked solver n_vars (" ++ - std.fmt.comptimePrint("{d}", .{sm.n_vars}) ++ - ") — rebuild with the matching -Dsolver_dir"); - } + }, + .matmul => { + const a = node_input(g.nodes[0..], node, &workspace); + const b = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const left = g.nodes[node.inputs[0]]; + const right = g.nodes[node.inputs[1]]; + if (left.vec) { + // vecmat: (k,) @ (k, n) -> (n,) — a genuinely 1-D left operand + const r = la.vecmat(left.rows, node.rows, a, b); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } else if (right.vec) { + // matvec: (m, k) @ (k,) -> (m,) + const r = la.matvec(node.rows, right.rows, f64, a, b); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } else { + // matmul: (m, k) @ (k, n) -> (m, n); also covers (m,1)@(1,n) (k=1) + const r = la.matmul(node.rows, left.cols, node.cols, a, b); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } + }, + .add => ew2(g.nodes[0..], node, i, &workspace, .add), + .sub => ew2(g.nodes[0..], node, i, &workspace, .sub), + .mul => ew2(g.nodes[0..], node, i, &workspace, .mul), + .div => ew2(g.nodes[0..], node, i, &workspace, .div), + .ne => ew2(g.nodes[0..], node, i, &workspace, .ne), + .lt => ew2(g.nodes[0..], node, i, &workspace, .lt), + .pow => ew2(g.nodes[0..], node, i, &workspace, .pow), + .mod => ew2(g.nodes[0..], node, i, &workspace, .mod), + .neg => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = -s[j]; + }, + .abs => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = @abs(s[j]); + }, + .sign => { + // Matches np.sign: -1 / 0 / +1 (0 maps to 0, not +1). + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| { + out[j] = if (s[j] > 0.0) 1.0 else if (s[j] < 0.0) -1.0 else 0.0; + } + }, + .transpose => { + const s = node_input(g.nodes[0..], node, &workspace); + // True 2-D transpose: out (node.rows, node.cols) = src.T, so + // out[i][j] = src[j][i] — flat out[i*node.cols + j] = + // s[j*src.cols + i]. (The old form baked in the square case's + // stride symmetry and silently scrambled non-square inputs.) + for (0..node.rows) |oi| { + for (0..node.cols) |oj| out[oi * node.cols + oj] = s[oj * g.nodes[node.inputs[0]].cols + oi]; + } + }, + .inv => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.inv(node.rows, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .reshape => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = s[j]; + }, + .clip => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| { + out[j] = std.math.clamp(s[j], g.clip_lo[node.aux + j], g.clip_hi[node.aux + j]); + } + }, + .where_op => { + const cond = node_input(g.nodes[0..], node, &workspace); + const a = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const b = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const cond_n = g.nodes[node.inputs[0]]; + const a_n = g.nodes[node.inputs[1]]; + const b_n = g.nodes[node.inputs[2]]; + for (0..node.rows) |oi| { + for (0..node.cols) |oj| { + const f = oi * node.cols + oj; + const c = cond[if (cond_n.rows * cond_n.cols == 1) 0 else f]; + const av = a[bcast_flat(a_n, a_n.vec, node.rows, node.cols, oi, oj)]; + const bv = b[bcast_flat(b_n, b_n.vec, node.rows, node.cols, oi, oj)]; + out[f] = if (c != 0.0) av else bv; + } + } + }, + .any => { + const s = node_input(g.nodes[0..], node, &workspace); + var found = false; + for (0..g.nodes[node.inputs[0]].rows * g.nodes[node.inputs[0]].cols) |j| { + if (s[j] != 0.0) found = true; + } + out[0] = if (found) 1.0 else 0.0; + }, + // deterministic-policy ops (issue #13): elementwise maps, a + // reduction (argmax), an expansion (one_hot), and shape glue + // (copy / slice). None allocate — all iterate comptime-known + // flat buffers. tanh/relu/exp preserve shape; argmax collapses + // to a scalar (stored as f64 in the buffer); one_hot expands a + // scalar index to a depth-row; copy/slice are flat copies with + // slice's `aux` holding the input offset. + .copy => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = s[j]; + }, + .tanh => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.tanh(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .relu => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.relu(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .sigmoid => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.sigmoid(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .softmax => { + // Last-axis softmax (numpy axis=-1). A 1-D node is stored as + // rows=n, cols=1, vec=true — treat it as a single row of + // length n (rows*cols), never as n rows of length 1. + const s = node_input(g.nodes[0..], node, &workspace); + const r = if (node.vec) + la.softmax_rows(1, node.rows, s) + else + la.softmax_rows(node.rows, node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .gelu => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.gelu(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .elu => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.elu(node.rows * node.cols, g.elu_alpha[node.aux], s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + // .leaky_relu — x if x >= 0 else alpha*x. No linalg kernel (no exp): + // alpha is baked into g.leaky_relu_alpha (aux = table index), like + // elu's slope. At x == 0 both branches give 0. + .leaky_relu => { + const s = node_input(g.nodes[0..], node, &workspace); + const alpha = g.leaky_relu_alpha[node.aux]; + for (0..node.rows * node.cols) |j| out[j] = if (s[j] >= 0.0) s[j] else alpha * s[j]; + }, + // .layernorm — last-axis normalization (the canonical torch + // nn.LayerNorm / ONNX LayerNormalization form): per row + // (a - mean) * rstd * scale + bias with the biased variance. The + // scale/bias operands are ONNX Scale/B, one entry per normalized + // feature; eps is baked into g.layernorm_eps (aux = table index). + // A 1-D node is a single row (rows=n, cols=1, vec=true) and must be + // normalized as layernorm_rows(1, n), never as n rows of length 1. + // The comptime gate rejects a scale/bias that is not the (cols,) + // feature vector rather than reading past the operand's slot. + .layernorm => { + const a = node_input(g.nodes[0..], node, &workspace); + const scale = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const bias = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const scale_n = g.nodes[node.inputs[1]]; + const bias_n = g.nodes[node.inputs[2]]; + comptime { + const n = if (node.vec) node.rows else node.cols; + if (scale_n.rows * scale_n.cols != n) { + @compileError("layernorm: scale must have one entry per normalized feature (cols)"); + } + if (bias_n.rows * bias_n.cols != n) { + @compileError("layernorm: bias must have one entry per normalized feature (cols)"); + } + } + const r = la.layernorm_rows( + if (node.vec) 1 else node.rows, + if (node.vec) node.rows else node.cols, + a, + scale, + bias, + g.layernorm_eps[node.aux], + ); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .exp => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.elementwise_exponential(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + // .sqrt / .log — elementwise maps of the std builtins, so they need + // no linalg kernel (like .pow's std.math.pow). Negative sqrt / log + // operands are NaN on both engines (numpy and Zig agree). + .sqrt => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = @sqrt(s[j]); + }, + .log => { + const s = node_input(g.nodes[0..], node, &workspace); + for (0..node.rows * node.cols) |j| out[j] = @log(s[j]); + }, + .sin => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.sin_vec(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .cos => { + const s = node_input(g.nodes[0..], node, &workspace); + const r = la.cos_vec(node.rows * node.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .argmax => { + const s = node_input(g.nodes[0..], node, &workspace); + const n_in = g.nodes[node.inputs[0]].rows * g.nodes[node.inputs[0]].cols; + const idx = la.argmax(n_in, s); + out[0] = @floatFromInt(idx); + }, + .min => { + // Minimum reduction; aux selects numpy's axis (0 = None / full, + // 1 = axis 0 down columns, 2 = axis 1 across rows). The output + // shape was fixed at trace time, so rows*cols is the exact + // element count the chosen reduction produces. + const s = node_input(g.nodes[0..], node, &workspace); + const src = g.nodes[node.inputs[0]]; + if (node.aux == 0) { + const r = la.min_all(src.rows * src.cols, s); + out[0] = r[0]; + } else if (node.aux == 1) { + const r = la.min_axis0(src.rows, src.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } else { + const r = la.min_axis1(src.rows, src.cols, s); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } + }, + .one_hot => { + const s = node_input(g.nodes[0..], node, &workspace); + const idx: usize = @intFromFloat(s[0]); + const r = la.onehot(node.rows, idx); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + }, + .slice => { + const s = node_input(g.nodes[0..], node, &workspace); + const src = g.nodes[node.inputs[0]]; + if (src.vec) { + // 1-D source: aux is the flat element offset. + for (0..node.rows * node.cols) |j| out[j] = s[node.aux + j]; + } else { + // 2-D source: the interpreter slices ROWS (x[start:stop] + // along axis 0), so out[i][j] = src[start + i][j]. + for (0..node.rows) |oi| { + for (0..node.cols) |oj| out[oi * node.cols + oj] = s[(node.aux + oi) * src.cols + oj]; + } + } + }, + // stack([a, b, ...]) along a new leading axis (numpy axis=0). Each + // input contributes its flat length to consecutive output rows; all + // inputs share the same shape (enforced at trace time), so the + // output flat length is n_inputs * in_len == node.rows * node.cols. + .stack => { + for (node.inputs, 0..) |inp_idx, row| { + const src = node_input_at(g.nodes[0..], inp_idx, &workspace); + const in_len = g.nodes[inp_idx].rows * g.nodes[inp_idx].cols; + for (0..in_len) |j| out[row * in_len + j] = src[j]; + } + }, + // .gemm — fused dense layer: out = alpha*(A@B') + beta*C in one + // pass (linalg.gemm). Covers the ONNX importer's Gemm: the + // contraction, the alpha/beta scales, the optional transB (torch + // nn.Linear weight layout, read by striding rather than + // materializing a transpose), and the bias add are a single kernel. + // alpha/beta are baked into g.gemm_alpha/gemm_beta; aux packs the + // table index in the upper bits and the transB flag in bit 0. A + // 1-D activation (vec) is treated as a single row (m = 1). + .gemm => { + const a = node_input(g.nodes[0..], node, &workspace); + const c = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const a_n = g.nodes[node.inputs[0]]; + const b_n = g.nodes[node.inputs[1]]; + const c_n = g.nodes[node.inputs[2]]; + const alpha = g.gemm_alpha[node.aux / 2]; + const beta = g.gemm_beta[node.aux / 2]; + const rb = node.aux % 2 == 1; + const clen = c_n.rows * c_n.cols; + const m = if (node.vec) 1 else node.rows; + const k = if (a_n.vec) a_n.rows else a_n.cols; + const n = if (node.vec) node.rows else node.cols; + // The weight operand's dtype is a comptime property of its + // source node: an f32-exact weight baked into const_blob_f32 + // selects the mixed-dtype kernel, which widens each weight to + // f64 inside the vector lane. The accumulation is still f64, so + // the result is unchanged while the weight bytes are halved. + if (b_n.op == .cst_f32) { + const b32 = g.const_blob_f32[b_n.aux..][0 .. b_n.rows * b_n.cols]; + const r = la.gemm(m, k, n, alpha, beta, rb, f32, a, b32, c, clen); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } else { + const b = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const r = la.gemm(m, k, n, alpha, beta, rb, f64, a, b, c, clen); + for (0..node.rows * node.cols) |j| out[j] = r[j]; + } + }, + // .lstm / .gru / .rnn — one fused recurrent step each + // (linalg.lstm_cell / gru_cell / rnn_cell). Operands are + // [x, W, R, B, h_prev(, c_prev)] in ONNX layout: W is + // (ngates*H, I), R is (ngates*H, H), B is the stacked Wb ‖ Rb. + // H and I are derived at COMPTIME from the weight and activation + // node shapes, so the kernels carry no runtime shape metadata; a + // weight that is not an exact gate stack, or an output slot that + // is not the size the cell produces, is rejected at compile time + // rather than read out of bounds. gru's linear_before_reset rides + // in aux bit 0. + .lstm => { + const x = node_input(g.nodes[0..], node, &workspace); + const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); + const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); + const c_prev = node_input_at(g.nodes[0..], node.inputs[5], &workspace); + const w_n = g.nodes[node.inputs[1]]; + const r_n = g.nodes[node.inputs[2]]; + const x_n = g.nodes[node.inputs[0]]; + const H = comptime w_n.rows / 4; + const I = comptime x_n.rows * x_n.cols; + comptime { + if (w_n.rows % 4 != 0) @compileError("lstm: W rows must be 4*H (i,o,f,c gate stack)"); + if (w_n.cols != I) @compileError("lstm: W (4H, I) input width must match the activation width"); + if (node.rows * node.cols != 2 * H) @compileError("lstm: output slot must be 2*H ([h_next ‖ c_next])"); + } + // W and R always share a blob (the lowerer keeps them coherent), + // so one comptime dtype choice driven by W's op serves both. + if (w_n.op == .cst_f32) { + const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; + const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; + const res = la.lstm_cell(H, I, f32, x, w32, r32, b, h_prev, c_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } else { + const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const res = la.lstm_cell(H, I, f64, x, w, r, b, h_prev, c_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } + }, + .gru => { + const x = node_input(g.nodes[0..], node, &workspace); + const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); + const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); + const w_n = g.nodes[node.inputs[1]]; + const r_n = g.nodes[node.inputs[2]]; + const x_n = g.nodes[node.inputs[0]]; + const H = comptime w_n.rows / 3; + const I = comptime x_n.rows * x_n.cols; + const lbr = comptime (node.aux % 2 == 1); + comptime { + if (w_n.rows % 3 != 0) @compileError("gru: W rows must be 3*H (z,r,h gate stack)"); + if (w_n.cols != I) @compileError("gru: W (3H, I) input width must match the activation width"); + if (node.rows * node.cols != H) @compileError("gru: output slot must be H"); + } + if (w_n.op == .cst_f32) { + const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; + const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; + const res = la.gru_cell(H, I, lbr, f32, x, w32, r32, b, h_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } else { + const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const res = la.gru_cell(H, I, lbr, f64, x, w, r, b, h_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } + }, + .rnn => { + const x = node_input(g.nodes[0..], node, &workspace); + const b = node_input_at(g.nodes[0..], node.inputs[3], &workspace); + const h_prev = node_input_at(g.nodes[0..], node.inputs[4], &workspace); + const w_n = g.nodes[node.inputs[1]]; + const r_n = g.nodes[node.inputs[2]]; + const x_n = g.nodes[node.inputs[0]]; + const H = comptime w_n.rows; + const I = comptime x_n.rows * x_n.cols; + comptime { + if (w_n.cols != I) @compileError("rnn: W (H, I) input width must match the activation width"); + if (node.rows * node.cols != H) @compileError("rnn: output slot must be H"); + } + if (w_n.op == .cst_f32) { + const w32 = g.const_blob_f32[w_n.aux..][0 .. w_n.rows * w_n.cols]; + const r32 = g.const_blob_f32[r_n.aux..][0 .. r_n.rows * r_n.cols]; + const res = la.rnn_cell(H, I, f32, x, w32, r32, b, h_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } else { + const w = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const r = node_input_at(g.nodes[0..], node.inputs[2], &workspace); + const res = la.rnn_cell(H, I, f64, x, w, r, b, h_prev); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } + }, + // .concat — join operands along `node.aux` (0 = leading axis, + // 1 = trailing axis of a 2-D tensor) by copying into the output + // slot. Axis 0 is a flat append because row blocks are contiguous + // in row-major order; only axis 1 needs per-row offsets. Pure + // buffer movement, so — like `.stack` — it needs no linalg kernel. + .concat => { + var off: usize = 0; // running flat offset (axis 0) + comptime var col_off: usize = 0; // per-row column offset (axis 1) + inline for (node.inputs) |inp| { + const src = node_input_at(g.nodes[0..], inp, &workspace); + const src_n = g.nodes[inp]; + if (node.aux == 0) { + const n = src_n.rows * src_n.cols; + for (0..n) |j| out[off + j] = src[j]; + off += n; + } else { + const cols = if (src_n.vec) 1 else src_n.cols; + const rows = if (node.vec) 1 else node.rows; + for (0..rows) |r| { + for (0..cols) |j| out[r * node.cols + col_off + j] = src[r * cols + j]; + } + col_off += cols; + } + } + }, + // .gather — index-select along `node.aux` (ONNX Gather). The index + // operand is a flat f64 buffer the kernel converts per element; + // negatives count from the end. Which kernel depends on the source + // rank: a `vec` source is a 1-D select, otherwise whole rows + // (axis 0) or whole columns (axis 1) move. + .gather => { + const x = node_input(g.nodes[0..], node, &workspace); + const idx = node_input_at(g.nodes[0..], node.inputs[1], &workspace); + const x_n = g.nodes[node.inputs[0]]; + const idx_n = g.nodes[node.inputs[1]]; + const n_idx = comptime idx_n.rows * idx_n.cols; + comptime { + if (node.aux == 1 and x_n.vec) @compileError("gather axis=1 needs a 2-D operand"); + const want = if (node.aux == 1) + x_n.rows * n_idx + else if (x_n.vec) + n_idx + else + n_idx * x_n.cols; + if (node.rows * node.cols != want) @compileError("gather: output slot size mismatch"); + } + if (node.aux == 0 and x_n.vec) { + const res = la.gather_index(n_idx, x_n.rows, x, idx); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } else if (node.aux == 0) { + const res = la.gather_rows(n_idx, x_n.cols, x_n.rows, x, idx); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } else { + const res = la.gather_cols(x_n.rows, n_idx, x_n.cols, x, idx); + for (0..node.rows * node.cols) |j| out[j] = res[j]; + } + }, + // .solve_qp — the convergence-iterative MPC op. The problem data + // (P, A, l, u) and the pre-factorized KKT matrix are baked into the + // statically-allocated `solver` global by the codegen C + // (runtime/codegen/emosqp/). Only the linear cost q changes per + // tick: it is read from the node's input slot and written in via + // osqp_update_data_vec, then the full solution lands in this + // node's output slot (u[:m] is sliced out by a downstream op). + // The node's output size must match the baked problem's n_vars — + // enforced here at compile time, so a graph lowered against the + // wrong bake refuses to build instead of silently linking a + // shape-mismatched solver. + .solve_qp => { + comptime { + if (node.rows * node.cols != sm.n_vars) { + @compileError("graph solve_qp node output size (" ++ + std.fmt.comptimePrint("{d}", .{node.rows * node.cols}) ++ + ") does not match baked solver n_vars (" ++ + std.fmt.comptimePrint("{d}", .{sm.n_vars}) ++ + ") — rebuild with the matching -Dsolver_dir"); + } + } + const q_vec = node_input(g.nodes[0..], node, &workspace); + qp.solve_qp(q_vec, out); + }, } - const q_vec = node_input(g.nodes[0..], node, &workspace); - qp.solve_qp(q_vec, out); - }, + } } - } -} -// --- helpers --------------------------------------------------------------- + // --- helpers --------------------------------------------------------------- -const BinOp = enum { add, sub, mul, div, ne, lt, pow, mod }; + const BinOp = enum { add, sub, mul, div, ne, lt, pow, mod }; -/// Flat index of operand element (i, j) under numpy broadcasting. -/// -/// The tracer only captures numpy-valid broadcasts, so at comptime the -/// operand shape must fall into one of: scalar, same shape, (1, m) row -/// broadcast, (n, 1) column broadcast, or a genuinely 1-D (`vec`) operand -/// right-aligned to the output's columns. The old code only handled -/// same-shape and size-1 — a (1, m)-against-(n, m) add or a scalar `where` -/// branch read out of bounds (panic in debug, garbage in release). -inline fn bcast_flat(op: g.Node, op_vec: bool, out_r: usize, out_c: usize, i: usize, j: usize) usize { - if (op.rows * op.cols == 1) return 0; // scalar broadcast - if (op_vec and op.rows == out_c) return j; // (m,) right-aligns to the last axis - if (op.rows == out_r and op.cols == out_c) return i * out_c + j; // same shape - if (op.rows == 1 and op.cols == out_c) return j; // (1, m) row broadcast - if (op.cols == 1 and op.rows == out_r) return i; // (n, 1) col broadcast - return i * out_c + j; // unreachable for numpy-valid traces -} + /// Flat index of operand element (i, j) under numpy broadcasting. + /// + /// The tracer only captures numpy-valid broadcasts, so at comptime the + /// operand shape must fall into one of: scalar, same shape, (1, m) row + /// broadcast, (n, 1) column broadcast, or a genuinely 1-D (`vec`) operand + /// right-aligned to the output's columns. The old code only handled + /// same-shape and size-1 — a (1, m)-against-(n, m) add or a scalar `where` + /// branch read out of bounds (panic in debug, garbage in release). + inline fn bcast_flat(op: g.Node, op_vec: bool, out_r: usize, out_c: usize, i: usize, j: usize) usize { + if (op.rows * op.cols == 1) return 0; // scalar broadcast + if (op_vec and op.rows == out_c) return j; // (m,) right-aligns to the last axis + if (op.rows == out_r and op.cols == out_c) return i * out_c + j; // same shape + if (op.rows == 1 and op.cols == out_c) return j; // (1, m) row broadcast + if (op.cols == 1 and op.rows == out_r) return i; // (n, 1) col broadcast + return i * out_c + j; // unreachable for numpy-valid traces + } -/// Elementwise binary op with numpy broadcasting. -/// -/// Each operand is indexed through `bcast_flat`: same shape, scalar, -/// (1, m) row, (n, 1) column, or a 1-D (`vec`) operand right-aligned to the -/// output's columns. `inline` so the comptime-known node shapes and the `op` -/// tag constant-fold into the runtime element loop (the bounds stay comptime -/// constants, but the loop itself is not unrolled). -/// -/// Args: -/// nodes: The full generated node table (for shape lookup). -/// node: The current add/sub/mul/div/ne node. -/// self_idx: The node's index in `nodes` (its buffer offset). -/// buf: The shared step buffer (written at the node's offset). -/// op: Which binary op to apply (add, sub, mul, div, ne, lt, pow). -inline fn ew2(nodes: []const g.Node, node: g.Node, self_idx: usize, buf: *[g.buf_len]f64, op: BinOp) void { - const a = node_input_at(nodes, node.inputs[0], buf); - const b = node_input_at(nodes, node.inputs[1], buf); - const a_n = nodes[node.inputs[0]]; - const b_n = nodes[node.inputs[1]]; - var out = buf.*[g.offsets[self_idx]..][0 .. node.rows * node.cols]; - for (0..node.rows) |i| { - for (0..node.cols) |j| { - const av = a[bcast_flat(a_n, a_n.vec, node.rows, node.cols, i, j)]; - const bv = b[bcast_flat(b_n, b_n.vec, node.rows, node.cols, i, j)]; - out[i * node.cols + j] = switch (op) { - .add => av + bv, - .sub => av - bv, - .mul => av * bv, - .div => av / bv, - // Inequality as a 1.0/0.0 flag — the graph's boolean repr, - // consumed by where_op downstream (e.g. PID anti-windup). - .ne => if (av != bv) 1.0 else 0.0, - // Ordered comparison as a 1.0/0.0 flag — `ne`'s sibling, the - // predicate behind threshold guards (e.g. SMC's near-zero - // |c^T g| controllability check). - .lt => if (av < bv) 1.0 else 0.0, - // numpy's power semantics (np.power); SMC raises the abs'd - // sliding variable to a fractional alpha, so no negative base. - .pow => std.math.pow(f64, av, bv), - // ONNX Mod: aux bit 0 selects C fmod (sign of the dividend, - // @rem) over Python % (sign of the divisor, @mod) — a comptime - // branch, since aux is known in the unrolled node loop. - .mod => if (node.aux == 1) @rem(av, bv) else @mod(av, bv), - }; + /// Elementwise binary op with numpy broadcasting. + /// + /// Each operand is indexed through `bcast_flat`: same shape, scalar, + /// (1, m) row, (n, 1) column, or a 1-D (`vec`) operand right-aligned to the + /// output's columns. `inline` so the comptime-known node shapes and the `op` + /// tag constant-fold into the runtime element loop (the bounds stay comptime + /// constants, but the loop itself is not unrolled). + /// + /// Args: + /// nodes: The full generated node table (for shape lookup). + /// node: The current add/sub/mul/div/ne node. + /// self_idx: The node's index in `nodes` (its buffer offset). + /// buf: The shared step buffer (written at the node's offset). + /// op: Which binary op to apply (add, sub, mul, div, ne, lt, pow). + inline fn ew2(nodes: []const g.Node, node: g.Node, self_idx: usize, buf: *[g.buf_len]f64, op: BinOp) void { + const a = node_input_at(nodes, node.inputs[0], buf); + const b = node_input_at(nodes, node.inputs[1], buf); + const a_n = nodes[node.inputs[0]]; + const b_n = nodes[node.inputs[1]]; + var out = buf.*[g.offsets[self_idx]..][0 .. node.rows * node.cols]; + for (0..node.rows) |i| { + for (0..node.cols) |j| { + const av = a[bcast_flat(a_n, a_n.vec, node.rows, node.cols, i, j)]; + const bv = b[bcast_flat(b_n, b_n.vec, node.rows, node.cols, i, j)]; + out[i * node.cols + j] = switch (op) { + .add => av + bv, + .sub => av - bv, + .mul => av * bv, + .div => av / bv, + // Inequality as a 1.0/0.0 flag — the graph's boolean repr, + // consumed by where_op downstream (e.g. PID anti-windup). + .ne => if (av != bv) 1.0 else 0.0, + // Ordered comparison as a 1.0/0.0 flag — `ne`'s sibling, the + // predicate behind threshold guards (e.g. SMC's near-zero + // |c^T g| controllability check). + .lt => if (av < bv) 1.0 else 0.0, + // numpy's power semantics (np.power); SMC raises the abs'd + // sliding variable to a fractional alpha, so no negative base. + .pow => std.math.pow(f64, av, bv), + // ONNX Mod: aux bit 0 selects C fmod (sign of the dividend, + // @rem) over Python % (sign of the divisor, @mod) — a comptime + // branch, since aux is known in the unrolled node loop. + .mod => if (node.aux == 1) @rem(av, bv) else @mod(av, bv), + }; + } + } } - } -} -/// Read a node's first input from the shared buffer. -/// -/// Args: -/// nodes: The full generated node table (for shape lookup). -/// node: The consumer node whose first input to read. -/// buf: The shared step buffer. -/// -/// Returns: -/// A fixed-length slice of `buf` covering the input node's slot. -fn node_input(nodes: []const g.Node, node: g.Node, buf: *[g.buf_len]f64) []const f64 { - return node_input_at(nodes, node.inputs[0], buf); -} + /// Read a node's first input from the shared buffer. + /// + /// Args: + /// nodes: The full generated node table (for shape lookup). + /// node: The consumer node whose first input to read. + /// buf: The shared step buffer. + /// + /// Returns: + /// A fixed-length slice of `buf` covering the input node's slot. + fn node_input(nodes: []const g.Node, node: g.Node, buf: *[g.buf_len]f64) []const f64 { + return node_input_at(nodes, node.inputs[0], buf); + } -/// Read an arbitrary node's output slot from the buffer by node index. -/// -/// Args: -/// nodes: The full generated node table (for shape lookup). -/// idx: The node index whose output to read. -/// buf: The shared step buffer. -/// -/// Returns: -/// A fixed-length slice of `buf` covering node `idx`'s `rows*cols` f64s. -fn node_input_at(nodes: []const g.Node, idx: usize, buf: *[g.buf_len]f64) []const f64 { - const n = nodes[idx]; - // .cst nodes live in the baked const_blob and are never copied into the - // workspace (their switch arm is a no-op), so read them in place. This is - // the additive fast path for policy weights; all other nodes keep the - // workspace-slot contract unchanged. - if (n.op == .cst) return g.const_blob[n.aux..][0 .. n.rows * n.cols]; - return buf.*[g.offsets[idx]..][0 .. n.rows * n.cols]; + /// Read an arbitrary node's output slot from the buffer by node index. + /// + /// Args: + /// nodes: The full generated node table (for shape lookup). + /// idx: The node index whose output to read. + /// buf: The shared step buffer. + /// + /// Returns: + /// A fixed-length slice of `buf` covering node `idx`'s `rows*cols` f64s. + fn node_input_at(nodes: []const g.Node, idx: usize, buf: *[g.buf_len]f64) []const f64 { + const n = nodes[idx]; + // .cst nodes live in the baked const_blob and are never copied into the + // workspace (their switch arm is a no-op), so read them in place. This is + // the additive fast path for policy weights; all other nodes keep the + // workspace-slot contract unchanged. + if (n.op == .cst) return g.const_blob[n.aux..][0 .. n.rows * n.cols]; + return buf.*[g.offsets[idx]..][0 .. n.rows * n.cols]; + } + }; } diff --git a/src/shinro/runtime/tests/lower.zig b/src/shinro/runtime/tests/lower.zig new file mode 100644 index 0000000..34eaeb1 --- /dev/null +++ b/src/shinro/runtime/tests/lower.zig @@ -0,0 +1,66 @@ +// Zig-native C-ABI tests for the comptime graph VM (runtime/lower.zig). +// +// The VM is graph-agnostic — `lower.Vm(Ctx).step(...)` runs whichever graph the +// context carries. This test binds the small committed fixture graph +// (tests/lower_fixture_graph.zig, wired by build.zig as this module's +// `graph_data`) and drives `step` directly, in-process. Unlike the Python +// ctypes oracle in tests/test_zig_lowering.py — which builds a `.so` and calls +// `shinro_step` from Python — this needs no shared-library build, no ctypes, +// and no Python, so a VM regression surfaces in the plain `zig build test` +// step alone. +// +// The production binding (the deployed graph + the `shinro_step` export) lives +// in entry.zig; this file is the test-side equivalent. +// +// Fixture semantics: x = [1, 2] -> named output [3, 5]; r -> tanh(r) on the +// recurrent state output. See the fixture header for the exact node table. + +const std = @import("std"); +const lower = @import("lower"); +const g = @import("graph_data"); + +/// The fixture's VM context: a graph, no baked QP solver. +const Ctx = struct { + pub const graph = g; + pub const sm = struct {}; + pub const qp = struct {}; +}; + +test "VM: input packing, const matmul, add, clip, named + state outputs" { + // The host packs inputs in cg.inputs order, flat and contiguous. The + // fixture's two input ports live at aux offsets 0 (x) and 2 (r), so the + // packed buffer is [x0, x1, r0, r1]. + var inputs = [_]f64{ 1, 2, 0.5, -0.5 }; + var outputs = [_]f64{ 0, 0 }; + var state = [_]f64{ 0, 0 }; + + lower.Vm(Ctx).step(&inputs, &outputs, &state); + + // y = A@x = [2, 6]; z = y + b = [3, 8]; clip into [-10, 5] -> [3, 5]. + try std.testing.expectEqualSlices(f64, &[_]f64{ 3, 5 }, &outputs); + // The second `out` node (aux >= n_outputs) routes to state_out as tanh(r). + // Both sides call std.math.tanh on the same input, so this is exact. + try std.testing.expectEqual(std.math.tanh(@as(f64, 0.5)), state[0]); + try std.testing.expectEqual(std.math.tanh(@as(f64, -0.5)), state[1]); +} + +test "VM: recurrent state output feeds back as the next tick's input" { + var inputs = [_]f64{ 1, 2, 0.5, -0.5 }; + var outputs = [_]f64{ 0, 0 }; + var state = [_]f64{ 0, 0 }; + + lower.Vm(Ctx).step(&inputs, &outputs, &state); + + // Tick 2: feed the state output back into the state input slot (aux 2/3), + // exactly as the host's control loop does between ticks. The named output + // is independent of r, so it must be unchanged. + inputs[2] = state[0]; + inputs[3] = state[1]; + var outputs2 = [_]f64{ 0, 0 }; + var state2 = [_]f64{ 0, 0 }; + lower.Vm(Ctx).step(&inputs, &outputs2, &state2); + + try std.testing.expectEqualSlices(f64, &[_]f64{ 3, 5 }, &outputs2); + try std.testing.expectEqual(std.math.tanh(std.math.tanh(@as(f64, 0.5))), state2[0]); + try std.testing.expectEqual(std.math.tanh(std.math.tanh(@as(f64, -0.5))), state2[1]); +} diff --git a/src/shinro/runtime/tests/lower_fixture_graph.zig b/src/shinro/runtime/tests/lower_fixture_graph.zig new file mode 100644 index 0000000..2b3e26a --- /dev/null +++ b/src/shinro/runtime/tests/lower_fixture_graph.zig @@ -0,0 +1,128 @@ +// Fixture `graph_data.zig` for the Zig-native lower.zig test (tests/lower.zig). +// +// The graph is injected into the VM via `Vm(Ctx)`. The deployed binding +// (entry.zig) points `Ctx.graph` at runtime/graph_data.zig; the Zig-native VM +// test (tests/lower.zig) points it at this tiny, hand-authored graph so the +// `step` path can be exercised natively — `zig build test`, no `.so`, no ctypes, +// no Python. See build.zig's VM-test module. +// +// Schema contract: the `Op` enum and `Node` struct MUST mirror +// src/shinro/runtime/graph_data.zig exactly. lower.zig `switch`es on `node.op` +// with no `else`, so the enum must stay exhaustive — adding a VM op fails this +// fixture's compile, which is deliberate (it forces the fixture to track the op +// surface). Only the constants the fixture's own ops read need to exist: the +// per-op tables (`gemm_alpha`, `elu_alpha`, `layernorm_eps`, ...) are only +// referenced from the switch arms of ops present in the node table, and those +// arms are comptime-skipped otherwise. +// +// The fixture computes, for a 2-vector x, a 2-vector recurrent input r, and +// A = [[2,0],[0,3]], b = [1,2]: +// y = A @ x (matmul; A read in place from const_blob) +// z = y + b (add) +// o = clip(z, -10, 5) → the named output port (output 0) +// r' = tanh(r) → the recurrent state output port +// so with x = [1,2] the output is [3,5] and the state is tanh([0.5,-0.5]). + +pub const Op = enum { + cst, + cst_f32, + inp, + out, + matmul, + add, + sub, + mul, + div, + ne, + neg, + transpose, + inv, + reshape, + clip, + where_op, + any, + copy, + tanh, + relu, + exp, + argmax, + one_hot, + slice, + sin, + cos, + stack, + solve_qp, + abs, + sign, + pow, + lt, + min, + gemm, + sigmoid, + softmax, + gelu, + elu, + layernorm, + lstm, + gru, + rnn, + concat, + gather, + sqrt, + log, + mod, + leaky_relu, +}; + +pub const Node = struct { + op: Op, + inputs: []const usize, + rows: usize, + cols: usize, + aux: usize, + vec: bool, +}; + +pub const buf_len = 16; +pub const has_solve_qp = false; +pub const n_outputs = 1; + +// One entry per node. Const nodes own no workspace slot, so their offset is +// unused (0); every other node gets a distinct two-f64 slot. +pub const offsets = [_]usize{ + 0, // 0 inp x + 2, // 1 inp r + 0, // 2 cst A (no slot) + 4, // 3 matmul + 0, // 4 cst b (no slot) + 6, // 5 add + 8, // 6 clip + 10, // 7 out -> named output + 12, // 8 tanh + 14, // 9 out -> state output +}; + +pub const nodes = [_]Node{ + .{ .op = .inp, .inputs = &.{}, .rows = 2, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .inp, .inputs = &.{}, .rows = 2, .cols = 1, .aux = 2, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 2, .cols = 2, .aux = 0, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 2, 0 }, .rows = 2, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 2, .cols = 1, .aux = 4, .vec = false }, + .{ .op = .add, .inputs = &.{ 3, 4 }, .rows = 2, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .clip, .inputs = &.{5}, .rows = 2, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .out, .inputs = &.{6}, .rows = 2, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .tanh, .inputs = &.{1}, .rows = 2, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .out, .inputs = &.{8}, .rows = 2, .cols = 1, .aux = 1, .vec = false }, +}; + +// A (2x2, offset 0) then b (2x1, offset 4): A = [[2,0],[0,3]], b = [1,2]. +pub const const_blob = [_]f64{ 2, 0, 0, 3, 1, 2 }; +pub const const_blob_f32 = [_]f32{}; + +// clip's bounds are indexed per element by node.aux: clamp each element of +// z = [3,8] into [-10, 5], so only the second element moves (8 -> 5). +pub const clip_lo = [_]f64{ -10, -10 }; +pub const clip_hi = [_]f64{ 5, 5 }; + +pub const output_offsets = [_]usize{0}; +pub const state_offsets = [_]usize{0}; From e08d9f2f2ddc71b5f328f2d3d74060c17c3c3391 Mon Sep 17 00:00:00 2001 From: Adil Faisal Date: Mon, 28 Sep 2026 11:05:09 -0400 Subject: [PATCH 2/4] test(runtime): add frozen multi-graph VM fixtures (KF+LQR, toy LSTM, Go2, GRU) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Extend the Zig-native VM tests (issue #14) to a menu of real graph types, frozen once and committed so the oracle never churns. scripts/gen_lower_fixtures.py lowers each composed graph, compacts its f32 weight blob into a raw little-endian .bin re-exposed via @embedFile + bytesAsSlice (an align(@alignOf(f32)) copy keeps it safe for the kernel's vector weight loads), and emits interpret() vectors on 8 seeded samples. Fixtures under runtime/tests/graphs/: KF+LQR (classical), toy_lstm (fused LSTM), the real Unitree Go2 MLP, and the real eco-drone GRU. tests/lower_graph.zig is a single shared driver compiled once per fixture; build.zig gains a graph_fixtures table, so adding a graph type is one row + one generator entry. Payload ~1.2 MB vs ~6 MB as hex-literal Zig. Generated deliberately — not wired into make zig-gen or CI. Test-only: the library wiring (entry.zig / lower.zig / -Dgraph) is untouched and the shipped ReleaseFast .so stays byte-identical. Verified: zig build test 55/55; make test-zig 91 passed, 2 skipped. --- lab-notes/daily/2026-09-28.md | 45 ++++ scripts/gen_lower_fixtures.py | 228 ++++++++++++++++++ src/shinro/runtime/README.md | 14 ++ src/shinro/runtime/build.zig | 35 +++ .../runtime/tests/graphs/drone_gru_data.zig | 10 + .../runtime/tests/graphs/drone_gru_graph.zig | 115 +++++++++ .../tests/graphs/drone_gru_weights.bin | Bin 0 -> 350208 bytes src/shinro/runtime/tests/graphs/go2_data.zig | 10 + src/shinro/runtime/tests/graphs/go2_graph.zig | 116 +++++++++ .../runtime/tests/graphs/go2_weights.bin | Bin 0 -> 753664 bytes .../runtime/tests/graphs/kf_lqr_data.zig | 10 + .../runtime/tests/graphs/kf_lqr_graph.zig | 138 +++++++++++ .../runtime/tests/graphs/toy_lstm_data.zig | 10 + .../runtime/tests/graphs/toy_lstm_graph.zig | 112 +++++++++ .../runtime/tests/graphs/toy_lstm_weights.bin | Bin 0 -> 448 bytes src/shinro/runtime/tests/lower_graph.zig | 42 ++++ 16 files changed, 885 insertions(+) create mode 100644 scripts/gen_lower_fixtures.py create mode 100644 src/shinro/runtime/tests/graphs/drone_gru_data.zig create mode 100644 src/shinro/runtime/tests/graphs/drone_gru_graph.zig create mode 100644 src/shinro/runtime/tests/graphs/drone_gru_weights.bin create mode 100644 src/shinro/runtime/tests/graphs/go2_data.zig create mode 100644 src/shinro/runtime/tests/graphs/go2_graph.zig create mode 100644 src/shinro/runtime/tests/graphs/go2_weights.bin create mode 100644 src/shinro/runtime/tests/graphs/kf_lqr_data.zig create mode 100644 src/shinro/runtime/tests/graphs/kf_lqr_graph.zig create mode 100644 src/shinro/runtime/tests/graphs/toy_lstm_data.zig create mode 100644 src/shinro/runtime/tests/graphs/toy_lstm_graph.zig create mode 100644 src/shinro/runtime/tests/graphs/toy_lstm_weights.bin create mode 100644 src/shinro/runtime/tests/lower_graph.zig diff --git a/lab-notes/daily/2026-09-28.md b/lab-notes/daily/2026-09-28.md index 3e69d93..b512066 100644 --- a/lab-notes/daily/2026-09-28.md +++ b/lab-notes/daily/2026-09-28.md @@ -224,3 +224,48 @@ own graph with no per-graph anonymous-import choreography. - The multi-graph fixture table (one shared `Vm(Ctx)` driver + N generated `(graph, vectors)` pairs) is now a pure build.zig table addition — no VM changes, no per-graph module instances. + +## Frozen multi-graph VM fixtures (real HF policies) + +### Why + +Step 2 of the native-test work: drive `Vm(Ctx)` with a menu of real graph +types — classical, MLP, and recurrent — generated once and committed, so the +VM is regression-tested against them without any generation-time churn. + +### What changed + +- `scripts/gen_lower_fixtures.py` (new): generate-once generator. Per fixture it + lowers the composed graph, post-processes the emitted `const_blob_f32` into a + raw little-endian `.bin` re-exposed via `@embedFile` + `bytesAsSlice` (an + `align(@alignOf(f32))` copy keeps it safe for the kernel's vector weight + loads), and emits `interpret()` vectors (8 seeded samples). Deliberately NOT + wired into `make zig-gen`/CI. +- `src/shinro/runtime/tests/graphs/` (new, generated): `kf_lqr`, `toy_lstm`, + `go2` (real Unitree Go2 MLP), `drone_gru` (real eco-drone GRU) — each + `_graph.zig` + `_weights.bin` + `_data.zig`. +- `src/shinro/runtime/tests/lower_graph.zig` (new): one shared driver, compiled + once per fixture via `lower.Vm(Ctx)`. +- `build.zig`: a `graph_fixtures` table — one graph+vectors module pair and one + test per row. Adding a graph type is one row. + +### Why the compact encoding + +The real policies lower to big *Zig source* because the f32 weight blob is +written as hex literals: go2 4.1 MB, drone_gru 1.9 MB. A raw f32 `.bin` + +`@embedFile` cuts them to 736 KB / 342 KB — ~1.2 MB for all four fixtures vs +~6 MB. Compile time was never the issue (go2 builds in ~1.7 s); repo size was. + +### Verification + +- `zig build test`: **55/55** (48 linalg + 1 emosqp + 2 hand fixture + 4 frozen + graph fixtures). The 4 new tests passing validates both the compact blob + (alignment + values) and the recurrent state plumbing against `interpret()`. +- `make test-zig`: **91 passed, 2 skipped** — unchanged ctypes oracle. +- Total fixture payload: ~1.24 MB. + +### Follow-ups + +- Add a fixture = one `FI` entry in the generator + one `graph_fixtures` row. +- The fixture header records the source (HF path or recipe); no manifest is + committed (it was redundant with the graph table). diff --git a/scripts/gen_lower_fixtures.py b/scripts/gen_lower_fixtures.py new file mode 100644 index 0000000..f6fc8e4 --- /dev/null +++ b/scripts/gen_lower_fixtures.py @@ -0,0 +1,228 @@ +"""Generate the Zig-native VM test fixtures (graph + compact weights + vectors). + +For each fixture this lowers a composed graph with +:func:`shinro.codegen.lower_zig.lower_zig`, then post-processes the emitted +``graph_data.zig`` to shrink the f32 weight blob: the ``const_blob_f32`` values +are written as a raw little-endian ``.bin`` and re-exposed at compile time via +``@embedFile`` + ``std.mem.bytesAsSlice`` (a ~5x reduction vs. hex literals — +the go2 MLP drops from ~4 MB to ~0.75 MB). The oracle vectors come from +:func:`shinro.codegen.interpret` on seeded random inputs, so the committed graph +and its expected outputs are generated together and stay self-consistent. + +Following the repo's "Python emits data only" doctrine, the Zig driver +(``runtime/tests/lower_graph.zig``) is handwritten once; only the graph, the +weight blob, and the vectors are emitted here. + +This is a **generate-once** step — it is NOT wired into ``make zig-gen`` or CI. +Run it deliberately, review the diff, commit. It needs the sibling +``shinro-bench`` checkout for the real HF policies (go2, drone_gru); the +``toy_lstm`` fixture lives in this repo, and ``kf_lqr`` comes from the recipe. + +Usage:: + + python3 scripts/gen_lower_fixtures.py # all fixtures + python3 scripts/gen_lower_fixtures.py --only go2 + python3 scripts/gen_lower_fixtures.py --bench-root ../shinro-bench +""" + +from __future__ import annotations + +import argparse +import re +import struct +import sys +from pathlib import Path +from typing import Any + +REPO = Path(__file__).resolve().parents[1] +OUT_DIR = REPO / "src" / "shinro" / "runtime" / "tests" / "graphs" + +#: Number of seeded oracle samples per fixture, and the seed (fixed for +#: reproducibility — re-running must reproduce identical vectors). +SAMPLES = 8 +SEED = 0 +#: Non-QP oracle tolerance (same tier the ctypes oracle uses). +TOL = 1e-12 + +_ORIG_HEADER = ( + "// Generated by shinro.codegen.lower_zig — DO NOT EDIT.\n" + "// A ComposedGraph serialized as a comptime data table.\n" +) + +#: The fixture menu. ``root`` selects where ``model`` is resolved (the repo or +#: the sibling shinro-bench checkout); ``kind = "classical"`` uses a recipe. +FI = { + "kf_lqr": { + "kind": "classical", + "recipe": "build_base_graph", + "desc": "closed-loop Kalman filter + LQR (matmul/reshape/add/sub/inv/clip + recurrence)", + }, + "toy_lstm": { + "kind": "onnx", + "root": "repo", + "model": "tests/fixtures/models/toy_lstm.onnx", + "desc": "committed toy LSTM, H=4 (fused LSTM cell + live state)", + }, + "go2": { + "kind": "onnx", + "root": "bench", + "model": "tasks/policies/models/go2/policy.onnx", + "obs_cfg": {"input_name": "obs"}, + "desc": "real Unitree Go2 velocity MLP (4xGemm + 3xElu + obs norm)", + }, + "drone_gru": { + "kind": "onnx", + "root": "bench", + "model": "tasks/policies/models/drone_gru/policy_v26rnn_dr.onnx", + "obs_cfg": {"input_name": "state"}, + "desc": "real eco-drone GRU, H=128 (fused GRU cell + live state)", + }, +} + + +def _build_composed(name: str, spec: dict[str, Any], bench_root: Path): + """Build the ComposedGraph for one fixture spec.""" + if spec["kind"] == "classical": + from shinro.codegen.recipes import build_base_graph + + return {"build_base_graph": build_base_graph}[spec["recipe"]]() + root = REPO if spec["root"] == "repo" else bench_root + model = root / spec["model"] + if not model.exists(): + raise FileNotFoundError(f"{name}: model not found: {model}") + from shinro.codegen.onnx_import import import_onnx_policy + + return import_onnx_policy( + str(model), + obs_cfg=spec.get("obs_cfg"), + action_cfg={"action_space": "continuous", "deterministic": True}, + output_name=spec.get("output_name"), + ) + + +def _compact_f32_blob(name: str, graph_path: Path, header: str) -> None: + """Replace ``const_blob_f32`` hex literals with an embedded raw f32 blob. + + Graphs with no f32 weights (e.g. an all-f64 classical graph) keep their + empty blob as-is; the generated header is always replaced with ``header``. + """ + text = graph_path.read_text() + m = re.search(r"pub const const_blob_f32 = \[_\]f32\{(.*?)\};", text) + body = m.group(1).strip() if m is not None else "" + if not body: + graph_path.write_text(text.replace(_ORIG_HEADER, header)) + return + values = [float.fromhex(tok.strip()) for tok in body.split(",") if tok.strip()] + raw = b"".join(struct.pack(" tuple[int, int, int]: + """Run the Python interpreter on seeded inputs; emit the expected vectors.""" + import numpy as np + + from shinro.codegen import interpret + from shinro.codegen.lower_zig import _zig_floats + from shinro.codegen.oracle import output_split, pack_arrays, random_inputs + + n_out, n_state = output_split(cg) + rng = np.random.default_rng(SEED) + ins, outs, states = [], [], [] + for _ in range(SAMPLES): + ports = random_inputs(cg, rng) + ins.append(pack_arrays(cg, ports)) + traced = interpret(cg.graph, ports) + outs.append(np.concatenate([np.ravel(traced[o]) for o in cg.outputs])) + if cg.state_outputs: + states.append(np.concatenate([np.ravel(traced[s]) for s in cg.state_outputs])) + else: + states.append(np.zeros(0, dtype=np.float64)) + n_in = int(ins[0].size) + in_flat = np.concatenate(ins) + out_flat = np.concatenate(outs) + state_flat = np.concatenate(states) if n_state else np.zeros(0, dtype=np.float64) + + data_path.write_text( + f"// Test vectors for `{name}` — generated by scripts/gen_lower_fixtures.py.\n" + f"// Produced by shinro.codegen.interpret on {SAMPLES} seeded inputs (seed={SEED}).\n" + f"pub const n_samples = {SAMPLES};\n" + f"pub const n_in = {n_in};\n" + f"pub const n_out = {n_out};\n" + f"pub const n_state = {n_state};\n" + f"pub const tol = {TOL!r};\n" + f"pub const inputs = [_]f64{{{_zig_floats(in_flat.tolist())}}};\n" + f"pub const outputs = [_]f64{{{_zig_floats(out_flat.tolist())}}};\n" + f"pub const states = [_]f64{{{_zig_floats(state_flat.tolist())}}};\n" + ) + return n_in, n_out, n_state + + +def generate(name: str, spec: dict[str, Any], bench_root: Path, out_dir: Path) -> None: + """Generate the graph, weights, and vectors for one fixture.""" + from shinro.codegen.lower_zig import lower_zig + + cg = _build_composed(name, spec, bench_root) + if spec["kind"] == "classical": + source = f"recipes.{spec['recipe']}()" + else: + root = REPO if spec["root"] == "repo" else bench_root + source = str(root / spec["model"]) + header = ( + f"// Test fixture `{name}` — {spec['desc']}.\n" + f"// Generated by scripts/gen_lower_fixtures.py from {source} — DO NOT EDIT.\n" + ) + graph_path = out_dir / f"{name}_graph.zig" + data_path = out_dir / f"{name}_data.zig" + lower_zig(cg, str(graph_path)) + graph_path.with_name(graph_path.stem + "_manifest.json").unlink(missing_ok=True) + _compact_f32_blob(name, graph_path, header) + n_in, n_out, n_state = _emit_vectors(name, cg, data_path) + + graph_kb = graph_path.stat().st_size / 1024 + weights = graph_path.parent / f"{name}_weights.bin" + w_kb = weights.stat().st_size / 1024 if weights.exists() else 0.0 + data_kb = data_path.stat().st_size / 1024 + print( + f"{name:10s} nodes={len(cg.graph.nodes):4d} n_in={n_in:4d} n_out={n_out:3d} " + f"n_state={n_state:4d} graph={graph_kb:8.1f}KB weights={w_kb:8.1f}KB data={data_kb:6.1f}KB" + ) + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument("--bench-root", default=str(REPO.parent / "shinro-bench"), + help="sibling shinro-bench checkout (default: ../shinro-bench)") + parser.add_argument("--only", action="append", choices=sorted(FI), + help="generate only this fixture (repeatable)") + parser.add_argument("--out-dir", default=str(OUT_DIR), + help="output directory (default: runtime/tests/graphs)") + args = parser.parse_args() + + out_dir = Path(args.out_dir).resolve() + out_dir.mkdir(parents=True, exist_ok=True) + bench_root = Path(args.bench_root).resolve() + + names = args.only or list(FI) + for name in names: + try: + generate(name, FI[name], bench_root, out_dir) + except FileNotFoundError as exc: + print(f"ERROR: {exc}", file=sys.stderr) + return 2 + print(f"\nwrote fixtures to {out_dir}") + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/src/shinro/runtime/README.md b/src/shinro/runtime/README.md index 44332e0..e37c8e3 100644 --- a/src/shinro/runtime/README.md +++ b/src/shinro/runtime/README.md @@ -23,6 +23,8 @@ pipeline narrative and the XLA-fidelity model. | `tests/linalg.zig` | Zig unit tests for the linear-algebra kernels. | | `tests/lower.zig` | Zig-native C-ABI tests for `lower.zig`: drives `shinro_step` in-process, no `.so`/ctypes/Python. | | `tests/lower_fixture_graph.zig` | Hand-authored fixture `graph_data.zig` (tiny node table) compiled into the `tests/lower.zig` test module. | +| `tests/lower_graph.zig` | Shared frozen-fixture oracle: one copy compiled per fixture, instantiating `Vm(Ctx)` over that fixture's graph. | +| `tests/graphs/` | **Generated** — the frozen fixtures: `_graph.zig` + `_weights.bin` (raw f32, `@embedFile`d) + `_data.zig` (expected vectors). Emitted by `scripts/gen_lower_fixtures.py` (generate-once). | | `tests/emosqp.zig` | Handwritten Zig test driving the codegen static solver, compared against the Python oracle. | | `tests/emosqp_data.zig` | **Generated** — the oracle test vectors (sample `q` + expected solution, hex floats). Emitted by `scripts/gen_emosqp_test.py`. | @@ -82,6 +84,18 @@ directly in the test process, compiled against the committed fixture graph and no Python, so a VM/ABI regression surfaces in the Zig test step alone. The fixture is solver-free, so it pulls in no OSQP bake. +`zig build test` additionally compiles `tests/lower_graph.zig` **once per frozen +fixture** (KF+LQR, a toy LSTM, the real Go2 MLP, and the real eco-drone GRU), +each instantiating `lower.Vm(Ctx)` over that fixture's graph and checking its +outputs and recurrent state against `interpret()` on the recorded vectors. The +fixtures live under `tests/graphs/`: the graph is Zig constants, but the f32 +weight blob is a raw little-endian `.bin` embedded at compile time +(`@embedFile` + `bytesAsSlice`) — ~5x smaller than hex literals (the Go2 MLP is +~0.75 MB instead of ~4 MB). Regenerate them *deliberately* with +`python3 scripts/gen_lower_fixtures.py` (needs the sibling `shinro-bench` +checkout for the real policies); this is a generate-once step, deliberately not +wired into `make zig-gen` or CI, so the fixtures never churn. + ## Generated artifacts — shared paths, last build wins Three paths feed `zig build`, and all of them are **generated, single-instance, diff --git a/src/shinro/runtime/build.zig b/src/shinro/runtime/build.zig index e2b7434..0e4b87f 100644 --- a/src/shinro/runtime/build.zig +++ b/src/shinro/runtime/build.zig @@ -202,6 +202,41 @@ pub fn build(b: *std.Build) void { test_step.dependOn(&run_emosqp_tests.step); test_step.dependOn(&run_lower_tests.step); + // Frozen multi-graph oracle: one instance of tests/lower_graph.zig per + // fixture, each instantiating the graph-agnostic VM over that fixture's + // graph + expected vectors. Generated once by scripts/gen_lower_fixtures.py + // and committed under tests/graphs/; adding a graph type is one table row. + const graph_fixtures = .{ + .{ .name = "kf_lqr", .graph = "tests/graphs/kf_lqr_graph.zig", .data = "tests/graphs/kf_lqr_data.zig" }, + .{ .name = "toy_lstm", .graph = "tests/graphs/toy_lstm_graph.zig", .data = "tests/graphs/toy_lstm_data.zig" }, + .{ .name = "go2", .graph = "tests/graphs/go2_graph.zig", .data = "tests/graphs/go2_data.zig" }, + .{ .name = "drone_gru", .graph = "tests/graphs/drone_gru_graph.zig", .data = "tests/graphs/drone_gru_data.zig" }, + }; + inline for (graph_fixtures) |spec| { + const graph_mod = b.createModule(.{ + .root_source_file = b.path(spec.graph), + .target = target, + .optimize = optimize, + }); + const vectors_mod = b.createModule(.{ + .root_source_file = b.path(spec.data), + .target = target, + .optimize = optimize, + }); + const fixture_driver = b.createModule(.{ + .root_source_file = b.path("tests/lower_graph.zig"), + .target = target, + .optimize = optimize, + .imports = &.{ + .{ .name = "lower", .module = vm_mod }, + .{ .name = "graph", .module = graph_mod }, + .{ .name = "vectors", .module = vectors_mod }, + }, + }); + const fixture_test = b.addTest(.{ .root_module = fixture_driver }); + test_step.dependOn(&b.addRunArtifact(fixture_test).step); + } + // Build manifest (audit trail): a deterministic report of what this .so // contains, written next to the artifact after every build, plus a // timestamped archive copy under /manifests/ so teams can browse diff --git a/src/shinro/runtime/tests/graphs/drone_gru_data.zig b/src/shinro/runtime/tests/graphs/drone_gru_data.zig new file mode 100644 index 0000000..e968bf0 --- /dev/null +++ b/src/shinro/runtime/tests/graphs/drone_gru_data.zig @@ -0,0 +1,10 @@ +// Test vectors for `drone_gru` — generated by scripts/gen_lower_fixtures.py. +// Produced by shinro.codegen.interpret on 8 seeded inputs (seed=0). +pub const n_samples = 8; +pub const n_in = 184; +pub const n_out = 4; +pub const n_state = 128; +pub const tol = 1e-12; +pub const inputs = [_]f64{ 0x1.9bfe2762c06cfp-7, -0x1.b0e1975fba2e0p-7, 0x1.06512e9ed59f1p-4, 0x1.57bc98a03dd8dp-7, -0x1.b6d2027d6d315p-5, 0x1.2837fab0bdb1fp-5, 0x1.0b0f285640cfdp-3, 0x1.83eca305496e9p-4, -0x1.203ffce488c20p-4, -0x1.0328877b0a096p-3, -0x1.fe9620e9b2192p-5, 0x1.0ed57cfa270b6p-8, -0x1.dc2a92cf69f38p-3, -0x1.6677e007db798p-6, -0x1.fe533b537d0cap-4, -0x1.2befcc209b8c6p-4, -0x1.bddb61a62a154p-5, -0x1.031cf35770cedp-5, 0x1.51352e25a34c7p-5, 0x1.ab03732bd6a85p-4, -0x1.a52eb0aff6340p-7, 0x1.17da0a3dc06c0p-3, -0x1.1076b78cf51b3p-4, 0x1.1ff50130d86c2p-5, 0x1.720fb704f8180p-4, 0x1.340f3b3719df1p-7, -0x1.30898c00eb958p-4, -0x1.7989e92b13bedp-4, -0x1.76f81025aec04p-5, 0x1.68c48759df4e0p-6, -0x1.9d8a23bf97e0dp-4, -0x1.56b6985474568p-6, -0x1.04dfcf41d7ca3p-6, 0x1.bb0f8a3aeabc5p-5, 0x1.5fb28fc6190ddp-6, 0x1.231f0f0a4baecp-5, -0x1.0bcee6176cec5p-4, -0x1.a8b7cbe42cca0p-7, 0x1.411dc947a5bd5p-4, 0x1.31dacd860a719p-3, 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-0x1.05ab3ce780ae1p-3, 0x1.02376f99653cdp-4, 0x1.dc174df92c0ccp-5, 0x1.09202a59cc623p-3, -0x1.351626f7bbd87p-4, 0x1.59ede07623eecp-3, -0x1.d6db242863544p-6, 0x1.427056368d234p-3, -0x1.6289c53f6d498p-5, -0x1.2d41034bc87d9p-4, 0x1.993f940bed753p-6, 0x1.a67bb1eaff0e7p-4, 0x1.07cc4fa88b9b0p-6, -0x1.dfaa4b61852ccp-5, -0x1.12ae8a46f7c28p-3, -0x1.1f0805e633dd5p-3, 0x1.9bcc3c01832cdp-5, 0x1.9562eef09eb78p-4, -0x1.0d2e258e4e42bp-6, -0x1.b80f521019b97p-4, 0x1.65991ad5a9d96p-4, -0x1.0639849ed61f9p-3, -0x1.24129becf600cp-4, 0x1.fcbce223cc42ap-5, -0x1.ccd43399823d2p-3, 0x1.3c8393d24a84cp-5, -0x1.dc7aeca145247p-5, 0x1.66167456d5c28p-7, -0x1.f01e15f004bafp-8, 0x1.4b24ebeb4b2c6p-6, 0x1.1c5534098839cp-4, -0x1.36a0d4fd6a393p-4, 0x1.230461db3a160p-3, 0x1.296873bbc666ap-4, 0x1.5997c831daf38p-4, 0x1.dd20d7650e6dfp-4, 0x1.42989c57e80a8p-4, 0x1.59bc108d5660cp-4, 0x1.ef690897bccc7p-8, -0x1.24340a7707f65p-3, -0x1.ba840a683e55dp-7, -0x1.3b3175555d0b5p-4, -0x1.2360a4c5243aep-3, 0x1.a772f51cffee4p-6, -0x1.d1c17665834c7p-5, -0x1.a5ced2640e4b2p-4, -0x1.ab36970dc294cp-4, 0x1.b7c64879d739fp-6, 0x1.25d2f5a55f9a9p-5, 0x1.0ed6dbb26649fp-3, -0x1.6cc3c27f8e501p-10, 0x1.aabcd11596275p-4, 0x1.1f2f0fe90e264p-3, 0x1.d71b9bb397f25p-4, -0x1.e46a0ba20c6c0p-3, 0x1.f744d371c5284p-4, 0x1.16377a5b2f3e6p-5, 0x1.5b274b44c1fd3p-5, 0x1.301c083b60e16p-5, 0x1.398dfe92271dap-5, 0x1.05aa045f8e641p-5, -0x1.2605938745a8ap-5, -0x1.857474ec5af39p-3, -0x1.64e44bb883784p-7, -0x1.49356486a3cffp-4, 0x1.ba6f57d1e5c65p-4, -0x1.d91d737c5aa8fp-6, 0x1.118834399eb74p-7, -0x1.5bffa43621bf8p-4, -0x1.a24d4b00b8895p-5, -0x1.2e55111b4dd43p-10, -0x1.3034703ef6263p-3, 0x1.eca47a4ea6e0cp-6, -0x1.5b93dafa829ffp-7, -0x1.e5abbba78c12dp-4, -0x1.eb2878a40f860p-3, 0x1.a44ad4b3b563fp-5, -0x1.e78fcae077ebfp-6, -0x1.b22ed20467e94p-5, -0x1.82ea6e4ce942ep-6, 0x1.7403a7600b559p-3, -0x1.466029578f1dfp-8, 0x1.1bd5811643b44p-7, -0x1.308d72319ea8ep-3, 0x1.516002ac568dap-3, 0x1.77cd968562cf3p-4, 0x1.b5043ac132ef7p-4, 0x1.386d922582168p-8, 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-0x1.735189b9a79bep-4, 0x1.621c267f15b6fp-4, -0x1.ab378e557c8ccp-9, 0x1.19e3733c4e43bp-6, 0x1.359994afb139dp-3, -0x1.8564c4902b188p-5, 0x1.54526fac398f1p-3, -0x1.20a7e95dd0ecfp-3, -0x1.51d2bdd3d112ep-4, -0x1.43412acd498a5p-3, -0x1.31e1c18ec882bp-4, 0x1.dd7f3c4fd59a2p-5, 0x1.2e2c7fcbb9537p-4, 0x1.f69ee3641aa5dp-6, 0x1.b59a7d0269f0cp-6, -0x1.e0984033f4fffp-4, -0x1.0fbc3367c49f0p-3, 0x1.f1e4b517ec19fp-6, 0x1.1407e70714741p-3, -0x1.2a4c9816bb00ep-5, -0x1.03cd0ef5067dbp-3, -0x1.3a040e36064d1p-3, -0x1.16cb8156c5e90p-4, 0x1.437d964f0d4f8p-3, -0x1.545c46fea4733p-6, -0x1.a924404aacfd8p-4, -0x1.f3474ccb5d958p-5, -0x1.8c1ebaf9415eep-5, 0x1.b32e574b3d2c0p-6, -0x1.0e57bdc4afa0ep-4, -0x1.6c84ed8dce5dfp-4, -0x1.340c09fe1c0e0p-6, 0x1.7fef4a7596b74p-5, 0x1.25b37d14e3569p-4, 0x1.c2feee90dbff5p-5, -0x1.76c80f630efa0p-5, -0x1.5b26da9d4d104p-3, -0x1.47127c7e60247p-4, 0x1.d1705f568bae7p-6, -0x1.1120e5ccd869bp-3, 0x1.9de42e86bbc4fp-6, -0x1.e34eec96dbbf8p-5, -0x1.dce8a143dbcc7p-5, 0x1.ca8cd16b5b62fp-4, 0x1.665f1d4c2351ep-6, 0x1.18a0e3078ba48p-3, -0x1.80b7d0698d5e2p-4, 0x1.cf26cec0b50efp-4, 0x1.745bfd7247530p-4, -0x1.32b0336c6115dp-2, -0x1.213ed7032247ap-7, 0x1.3bd8f99f892b7p-3, 0x1.3eb13aca71d91p-4, -0x1.6987c12e600ebp-5, -0x1.7d675dde74687p-6, -0x1.0add48b067b73p-3, 0x1.51fd57749a260p-6, -0x1.6f3ddc43f88a1p-3, -0x1.9fdea0e15376dp-4, 0x1.ca68e38b46dc8p-4, -0x1.0d8cd62d540cdp-9, -0x1.29b7f76e3feffp-5, -0x1.5b0cb07d4b3a4p-7, 0x1.18c51b3d17a0fp-2, 0x1.a8035408d450fp-4, -0x1.3db3e49bb3451p-4, 0x1.5559b0772d834p-3, -0x1.22f697b7e7bbep-7, 0x1.2efcf13b55183p-4, -0x1.e091529e4e27ap-5, -0x1.802553fd18019p-4, 0x1.4876a316f26b4p-4, -0x1.3aef9e8492218p-4, -0x1.4007247623983p-4, 0x1.6fc0bff362a8bp-4, -0x1.dbfbc4fd2c262p-4, -0x1.22a9ade9d4cf1p-3, 0x1.be823115f7320p-5, -0x1.91623de1ab69cp-3, -0x1.33e825f1865bap-4, -0x1.2b898c297222bp-5, -0x1.1384d4c3e34a0p-3, -0x1.c9aee36a13154p-4, 0x1.10bdd65178c66p-4, 0x1.df27b4dd7fad8p-6, -0x1.835d08ec7bc19p-4, 0x1.b1c12bdf7072cp-5, 0x1.3725f20e207f3p-3, -0x1.06a3a07ac7850p-3, 0x1.91722b8dc0624p-8, 0x1.94d1754a9911ap-3, 0x1.f4a984b37ce2cp-5, 0x1.4d299cab4df91p-4, -0x1.47ee1d59a22a0p-6, -0x1.46d890799b65cp-4, 0x1.d453363aac2ddp-4, 0x1.0bc4075935646p-4, -0x1.51a98f8e9dc4bp-8, -0x1.7d33f97f490a3p-5, -0x1.65ef22eec36cdp-3, 0x1.fedf9fc3f3eb4p-7, -0x1.1b5357233e47ep-4, -0x1.b00f6086d7d30p-7, 0x1.12d4de52dcf6dp-4, 0x1.4fdf8405ce3c8p-4, 0x1.2680b74c8d1dbp-4, 0x1.cdd6511dc218ap-3, 0x1.dd3b885e115a2p-4, -0x1.3197f78853308p-4, -0x1.4f2d2cffd2e52p-4, 0x1.dcce2611d090cp-3, -0x1.0fb2c9fa51ac9p-4, -0x1.213ed1471be91p-8, 0x1.6558de3e6efe3p-3, 0x1.5f4bf3f29d54bp-3, -0x1.660955db55fd0p-8, 0x1.8c6648914c809p-6, -0x1.4eded18e41ea8p-3, -0x1.740f43c35ececp-4, -0x1.2b38643ad633bp-5, -0x1.28c1824660f87p-11, -0x1.08dd37e2890e9p-5, 0x1.f3097383241c7p-7, 0x1.c110b589a809cp-3, 0x1.7c635625a0008p-5, 0x1.f9c92de2dc304p-6, 0x1.7f03bc3d05fd6p-13, -0x1.19a746890264fp-6, 0x1.f9039c9916cdap-4, -0x1.96054b6abc18cp-4, -0x1.9b7fbda90931cp-7, -0x1.c0d49211ef34dp-4, 0x1.1d81b10378ae9p-7, 0x1.861aa60751579p-7, 0x1.790a1a6cf614dp-4, 0x1.ea8fec54ee0b8p-4, 0x1.0f9755aaab4e5p-4, 0x1.4c3d1b92f2c2bp-3, 0x1.455351f46d060p-3, 0x1.025782a575c4fp-5, 0x1.31d8831020c6ap-5, -0x1.8c8cecf15cbb1p-3, 0x1.0657de236d6dbp-5, -0x1.0af1ade9b5d2dp-11, -0x1.59cdc71b97fffp-3, -0x1.6164353be0a80p-5, 0x1.88292de91bb96p-4, -0x1.fb66e71dd9302p-4, 0x1.08cbe0c61de34p-3, 0x1.84f4a253a8195p-5, -0x1.7630e875b5518p-6, -0x1.d260c830240bap-7, 0x1.53f02a114e264p-4, -0x1.252648ce8b322p-3, 0x1.a1f2b3189f83fp-3, -0x1.4d2d383ba52fep-4, -0x1.3975c39a24b39p-4, 0x1.f406d2c4ae052p-4, 0x1.439afde19b295p-4, 0x1.0f70b235c3c5fp-3, 0x1.ac6f10a72c324p-4, 0x1.3457f28e83708p-5, -0x1.05674a0580d3ap-3, -0x1.8359b75f8d09cp-5, 0x1.451f808840719p-6, -0x1.c26e47467d7d2p-10, -0x1.a468f0a07f7cdp-3, 0x1.abc9d6e383cf8p-4, 0x1.6289b8cf1b83ap-3, 0x1.2bd8c11d4a421p-3, -0x1.a0ea514c3819dp-4, 0x1.6524dc4395141p-5, -0x1.b381be26a39c7p-3, 0x1.5a1d9f8792325p-3, -0x1.8d496b249cc84p-3, 0x1.5049ed692d95bp-5, 0x1.dc3150e29bb08p-4, 0x1.087672e25e8a4p-3, 0x1.19c7d864bc9a9p-5, -0x1.23f91f0d29d49p-3, -0x1.4b88681d151f8p-7, -0x1.b79cecc9d62dfp-6, 0x1.2dc283c41fb49p-5, 0x1.9494ac5cf6fb5p-4, 0x1.0f2c049d01af2p-4, 0x1.b281cf67dfcc2p-3, 0x1.0ec434c5fd087p-4, -0x1.3e84f10750ac0p-5, 0x1.4dd1df37bdca3p-3, -0x1.01a950e85b54fp-5, 0x1.cdce200980bf8p-6, 0x1.282fc20a0ce5cp-6, -0x1.d5a75e44e2205p-3, 0x1.c58ab42bc29f2p-6, 0x1.da37ea5c6bd1dp-6, -0x1.5794acd2a3730p-6, -0x1.cef81ae78a130p-7, -0x1.070bbbdfa2b5bp-3, 0x1.0e373cba9d090p-7, 0x1.33cc9469efcc5p-3, -0x1.22703eedf8fdfp-6, -0x1.abb9b4d67eeedp-5, -0x1.f1d9fc99bd537p-5, 0x1.9d197f9f0eac0p-3, -0x1.158dca32466fbp-3, 0x1.5a17679bf599ep-4, 0x1.6d12fef983b24p-7, 0x1.89664b5e336dep-3, 0x1.0c8c128f4211fp-3, -0x1.216687a85f70fp-7, -0x1.3bb159d4f5a10p-3, 0x1.24ca4d2987753p-3, 0x1.2a9b7ad6f01c1p-3, -0x1.c4915f12c9815p-4, 0x1.313f655d68581p-4, -0x1.47fe755e87f26p-4, -0x1.3ded73e217d80p-4, -0x1.49965f1464b53p-3, 0x1.7e1e3403cd9d1p-4, 0x1.bc378113eb805p-6, 0x1.95181c2412e2fp-5, 0x1.29778499336c5p-3, 0x1.11de5febf3432p-4, 0x1.dedfb209d39d2p-5, 0x1.32e70f8a2432dp-4, -0x1.b40c72d82acd0p-4, -0x1.c3bdcd349057dp-9, -0x1.ee15b10c3454fp-4, -0x1.709aba9ee2c9cp-4, -0x1.2cdd438eb80e6p-7, 0x1.b2f2fcb35716ap-4, 0x1.a585b0de4abc2p-3, -0x1.bc7ec027255bcp-4, 0x1.1bfc0bbdd5ce3p-6, -0x1.d0b7f871ee8a2p-8, 0x1.afe952f1e565dp-5, 0x1.dd1c3477a1282p-5, 0x1.28e53a19b191ap-5, -0x1.8c27cf9ed51a9p-4, 0x1.43516f6d2cf18p-5, 0x1.6d7f3cd006a34p-4, -0x1.a491dc715b4b8p-5, 0x1.9520d02a5522cp-3, -0x1.80e1bad8b6462p-6, -0x1.03a10f1f9f46ep-4, 0x1.e59660edf6faap-6, -0x1.a608dc411b912p-6, -0x1.17ff3ae3a6928p-3, -0x1.56d79c8973a02p-9, 0x1.46ccc39e3eac8p-3, 0x1.9a1e5dca11db2p-3, -0x1.d085369a82084p-5, 0x1.72ccec1a772d8p-4, 0x1.b245c3b7b05a4p-7, 0x1.d11eaec0d23c5p-6, 0x1.038ec07a1daaap-3, 0x1.5d022cec91122p-4, 0x1.f9ad58f0a63b2p-7, -0x1.7c69e59562df8p-4, -0x1.cc61eef95e92cp-4, -0x1.a38c911281c9cp-8, 0x1.091aa239a9fbbp-5, 0x1.9c32cb44dc7fdp-5, 0x1.404b6dfec19e4p-4, 0x1.913cf212efecfp-4, -0x1.ec266d71df5a8p-3, 0x1.720c95c6cca44p-4, -0x1.ad08dc277d728p-4, 0x1.c8528e9688345p-4, 0x1.13c76ebc77a97p-5, 0x1.0246fd38e8419p-4, -0x1.bb2059f9ec350p-5, 0x1.cf188e89348b5p-6, -0x1.7e67b70287668p-3, 0x1.c09cee7fae67fp-4, -0x1.0f05e988add57p-5, -0x1.091f2fbd34a5bp-2, 0x1.b2c89e2d22177p-4, 0x1.57673bff02e07p-3, -0x1.66dcd6a0065b7p-4, 0x1.f0b9d91e6cda5p-4, -0x1.33198ea40a6cep-4, -0x1.d02ef4f10428ap-3, -0x1.252f7de80ba8bp-5, 0x1.0b2bc57119175p-5, 0x1.b59ecea6aced8p-7, 0x1.5378424027ca8p-7, 0x1.e5a8c1ff34ddap-6 }; +pub const outputs = [_]f64{ -0x1.33f9b6821d680p-1, 0x1.a5d00680e9c58p-1, -0x1.cea7db297417fp-3, 0x1.4f2eeffa548b3p-4, -0x1.9fff57e3561ecp-3, 0x1.c8c234983b835p-1, -0x1.e2cceea59ad2cp-2, 0x1.484c269bf522ep-4, -0x1.9fdbbd60d6226p-2, 0x1.bb7211db87002p-1, -0x1.4ff3a83d32c9cp-2, 0x1.7f38d809cc3e9p-3, -0x1.09c4357734666p-1, 0x1.6cf80f2895724p-1, -0x1.7a79518d0e3e4p-2, 0x1.fe7c7ebeead70p-8, -0x1.3be4da18f5d84p-1, 0x1.cb858d6dcad99p-1, -0x1.c2e05504d5faep-2, 0x1.b0094551eaec2p-4, -0x1.7b2396f788c50p-1, 0x1.7f6501f8cfe6fp-1, -0x1.984d1f733a4aep-1, 0x1.ad43d71d09b58p-4, -0x1.6a6e7d87255b6p-2, 0x1.0d3f125b0b0bap+0, -0x1.98ad7e9c5e18cp-2, 0x1.15ef0068c584ep-3, -0x1.c37f754486157p-1, 0x1.e38d9af7f3f12p-2, -0x1.1c0325448e34dp-2, 0x1.826c0db0d477cp-4 }; +pub const states = [_]f64{ -0x1.cd3646b29ba2dp-2, 0x1.1e6edaa1e4d2ep-4, 0x1.4933b69ff0031p-1, -0x1.0fa49b1c5dd11p-1, 0x1.37611f1e2a141p-1, 0x1.4ca2d660e7e62p-3, -0x1.a2eba2adba582p-4, -0x1.adfded3726516p-3, 0x1.1433252e41a0bp-3, -0x1.13a30de510833p-2, -0x1.5710f5f441ff8p-4, 0x1.c9c3fd4379c50p-2, -0x1.47e42c5b455eap-1, -0x1.f67487a778574p-1, -0x1.0182b7fd12921p-3, 0x1.024ecb9288170p-2, 0x1.318875b74fc6ep-1, 0x1.8e58462c55521p-3, 0x1.f55717b8cbb26p-4, 0x1.31bc8ea8071e9p-1, -0x1.54e3697bd81ebp-1, 0x1.d9b914549a139p-4, 0x1.46df1243a8d86p-3, -0x1.2d19729813ba8p-2, 0x1.d5bb9f34c791ap-1, -0x1.3b3c693a5daa8p-2, 0x1.a7e642371da96p-3, -0x1.dcd5eba755d76p-3, -0x1.31fec5b34c8a9p-1, 0x1.0e068d5d43724p-4, -0x1.970de53006cbbp-3, 0x1.0c6eed5bf9575p-3, 0x1.b6dad14642c54p-4, 0x1.d6ac7fbef1c08p-4, 0x1.1b02fa2be06abp-2, -0x1.47fddadbc664ep-2, -0x1.0e5a6df532a3ep-1, -0x1.3d3a0b05b25e4p-1, 0x1.aa5011df35824p-6, -0x1.75c537c0278e6p-3, 0x1.92e5b461ee618p-2, 0x1.684a77c0cc17fp-1, -0x1.f7a534517321cp-1, 0x1.0f725ceb6caeap-4, 0x1.9bcc3a69edc06p-5, 0x1.ae3cbcbac5257p-4, 0x1.4004d91dfd7b6p-2, 0x1.13788fd8e530ep-2, 0x1.6246538cbee5ap-2, 0x1.eedb5e4943d93p-5, 0x1.a656ce22f0fb9p-2, 0x1.3bd4eee61e076p-4, -0x1.fb0726b36639fp-3, 0x1.78f73258a032cp-2, -0x1.2b3bdfff8455ap-1, 0x1.2a29c18392568p-9, -0x1.a67ffa182617ap-7, -0x1.024ba5151b164p-1, 0x1.5075f738c8282p-1, 0x1.dbd505d1d3ff1p-2, 0x1.3fe506955cd99p-5, 0x1.6d5fcdf18cb5ap-1, 0x1.084b105e76ce6p-2, 0x1.91ddfda595ad2p-3, 0x1.2c075d45634a2p-6, 0x1.7d5eb696afadap-2, -0x1.d3a224c3f9740p-5, -0x1.26e65f579cb73p-1, 0x1.6b7f5b422b13fp-1, -0x1.12fc2cbfec510p-1, -0x1.24547f6e8adb6p-3, 0x1.17ee647b881aep-4, -0x1.a96df0c2078a8p-6, -0x1.18e11a96e3dd8p-1, 0x1.86459a977cf5ap-3, 0x1.846b2dd972107p-4, 0x1.371336e3ca455p-1, 0x1.a8ed39fcfe18dp-3, 0x1.0d59162802622p-4, -0x1.6306a8ba95e1ap-4, 0x1.82671bd860b57p-1, 0x1.1bface77b5eadp-1, -0x1.3367774e51624p-4, 0x1.f70ebad98f77ep-4, 0x1.63a9de052716cp-3, 0x1.4e421f52ae279p-1, -0x1.2b0042b2ec2ddp-3, 0x1.729e00a4db10cp-7, -0x1.0c34fcc5beaadp-2, 0x1.00cdcf4da53c1p-2, -0x1.c87fdacf16ee8p-3, -0x1.e6c0e2fead5c2p-2, -0x1.c9d19e936fabep-2, -0x1.867b77c22f128p-9, 0x1.4e8711aedd788p-1, -0x1.e3d3d01358ee1p-1, 0x1.57d8bb889e12fp-1, 0x1.ca79daeb1a556p-3, -0x1.56797545aa55bp-5, -0x1.d21a13e65ced8p-7, 0x1.ecada09d9b0eap-6, 0x1.f9d3129fa41a5p-9, -0x1.d5a1959e23beep-4, -0x1.e5ff40a3779a1p-5, 0x1.beafc4649a999p-2, 0x1.167f550f371f4p-2, -0x1.cfe449b0782c4p-4, 0x1.282a3de0f33e8p-2, -0x1.a997bc22f6e8cp-2, 0x1.f8e232412a12dp-4, 0x1.582875c21d403p-4, -0x1.2da0501f7a7cbp-2, 0x1.7ca0ccdc76364p-2, 0x1.7ba0ed8c2c127p-4, 0x1.e9616ec3bea8ap-2, -0x1.ff9fe651f3783p-1, 0x1.33cf934137aa2p-1, 0x1.945a5c476ecf2p-3, -0x1.662940583d528p-1, -0x1.ffef91a886f8bp-1, -0x1.034bb56ddb3f4p-2, 0x1.9df08579c33b7p-1, -0x1.93057c831a0a2p-3, 0x1.3c8cf1eeef0a3p-3, -0x1.9fb1425477efep-1, -0x1.ac3a7e7e9a216p-2, 0x1.82f16f4972190p-5, 0x1.d88f7d9ce996ep-5, -0x1.a1efe163d7fb9p-2, -0x1.1815ca6073c16p-5, 0x1.37b5941d961fdp-1, -0x1.13899020c9112p-1, 0x1.6d01d50d7f50ep-1, 0x1.90293071809d8p-3, -0x1.19419437d9115p-2, -0x1.48a5e11571440p-4, 0x1.ec1547eb848d8p-3, -0x1.688a3d51e50bcp-2, -0x1.7ddf6cb8bd7e3p-4, 0x1.79cee76b0d3a1p-2, -0x1.56ddbe8a662cep-1, -0x1.f527742170bf5p-1, -0x1.5b252f097cab6p-4, 0x1.ee98e1b00c596p-3, 0x1.170e42f753e8bp-1, 0x1.8c5cb7f1991d8p-2, 0x1.68026d6e4349fp-4, 0x1.30d09d476ab3dp-1, -0x1.5b1aaa2b3e0ddp-1, 0x1.a8ece14849685p-4, 0x1.8cdc586d1ac0bp-4, -0x1.8d2b00b6f9677p-2, 0x1.ca2bd71b09cbbp-1, -0x1.317644a18fe1ep-2, 0x1.701fb3cf5125ap-3, -0x1.3adbf1b853d2ap-3, -0x1.2824a7cf5e400p-1, -0x1.47db076def74ep-4, 0x1.1eb2434a7ca00p-12, 0x1.af169f6283eb1p-4, 0x1.16276195b69dep-3, -0x1.119c5bae56dd6p-3, 0x1.394a974d07ca7p-3, -0x1.6d483241e88dfp-2, -0x1.152edc6b2c60cp-1, -0x1.36ce00927d80cp-1, -0x1.04a0f019dbc9fp-3, -0x1.4b2fa7af7c60cp-3, 0x1.7edec64ab39c0p-2, 0x1.68c17630ec25ep-1, -0x1.f7965648fcea3p-1, 0x1.e587c548634e9p-4, -0x1.2ca6aba13b062p-2, 0x1.3d4caea05824fp-6, 0x1.31419b1c46fd9p-2, 0x1.10fa8a4463da4p-2, 0x1.17249a54b04f3p-2, 0x1.cc267472f1d66p-3, 0x1.eb344675f916dp-2, -0x1.3041525c68548p-3, 0x1.0ea0d8c32390ap-5, 0x1.d134be3a71b6dp-3, -0x1.288141aa0353fp-1, 0x1.9ddf1783fb4a5p-6, -0x1.157ea3d15af1cp-5, -0x1.b8bd397b23f95p-2, 0x1.418645c340577p-1, 0x1.f92377d1afbb9p-2, 0x1.a6a5a8cdaeef2p-4, 0x1.87f5a119f765ap-1, 0x1.fbf05c79a1876p-3, -0x1.333a09f8255c6p-3, -0x1.1357d7523ef6ap-5, 0x1.2b4198cf4ce23p-2, -0x1.2b427f430f26fp-4, -0x1.457e3862c731bp-1, 0x1.778e552424961p-1, -0x1.3c2ef388acff1p-1, -0x1.cde74cd3d432dp-6, 0x1.8fac3928289b0p-9, 0x1.1ea2b1bf50138p-3, -0x1.113cacfcae338p-1, 0x1.85912ad0f0615p-2, 0x1.d31fffb76b5b2p-4, 0x1.24916a62ca36cp-1, 0x1.0dc3f0cdf653cp-4, 0x1.6a821e88db4dap-5, -0x1.400cab1beb389p-3, 0x1.6b080e5df4644p-1, 0x1.3233fc2efd7bfp-1, 0x1.684f4d87d46a2p-5, 0x1.edadc02cd7f34p-6, 0x1.2341c09eb1b03p-3, 0x1.57f2b4bb631c8p-1, -0x1.f7f8bafa83d2ep-4, -0x1.008a06e001d0ep-4, -0x1.280de668c4d82p-2, 0x1.4b964f741bddcp-2, -0x1.e048470def38fp-3, -0x1.0252c4ff3e6ffp-1, -0x1.9ba60ed41b49ep-2, -0x1.e14efbd25ca9cp-5, 0x1.505d4560095b6p-1, -0x1.e1066388a900cp-1, 0x1.582f8575bf5d7p-1, 0x1.4c4e1526f5e33p-3, 0x1.4749a1e7e8b8ep-5, 0x1.d2db6fa34898cp-5, -0x1.a9a9d8f8f25afp-4, -0x1.b4d0fe13740bcp-5, 0x1.2330abb433729p-3, -0x1.5ae1f0ba54f00p-5, 0x1.41f0c5d8178c2p-2, 0x1.de0052d25087cp-3, -0x1.4949a295ff340p-4, 0x1.4dc5614ea6806p-3, -0x1.b546a16363d7fp-2, 0x1.59dc57a479ba2p-3, -0x1.4a77dc3ac5aa1p-4, -0x1.0ae09b515d0aep-2, 0x1.ff9c0d62226d4p-3, -0x1.63c1385f060b4p-4, 0x1.a8b8454a2ab2dp-2, -0x1.ffa86d4aa1dd5p-1, 0x1.27d1eda4e8045p-1, 0x1.ad33f7d8020e0p-3, -0x1.75766f1d02cc3p-1, -0x1.ffe84d0162ba1p-1, -0x1.5f43ca597905cp-2, 0x1.9ecd6ee897e67p-1, 0x1.6b44813b48db0p-4, 0x1.d8bae55f8967dp-4, -0x1.94b6edf853d2fp-1, -0x1.d4e5cd18ca891p-2, -0x1.e63d2841f6938p-10, -0x1.c061b8c044dc8p-5, -0x1.8ef5afe55a0f2p-2, -0x1.1abefa4d36290p-5, 0x1.3465446aa6740p-1, -0x1.154fa85834e8dp-1, 0x1.6dafdd3f933b6p-1, 0x1.0960db2bfbf54p-3, -0x1.93101a2c1389cp-3, -0x1.f6c10502322d2p-3, 0x1.b2c187b20e7f5p-3, -0x1.34a3aa2f7f9bdp-2, -0x1.c8c6fcb62570ep-5, 0x1.b113a54794df3p-2, -0x1.5225e10666090p-1, -0x1.f16f8743f1b7cp-1, -0x1.0ece2fdfe0a67p-3, 0x1.fe029dd4a758ep-3, 0x1.2544e1a8672afp-1, 0x1.1eedc86df7169p-2, 0x1.0222c0b64c080p-3, 0x1.3adfd772ed96dp-1, -0x1.420220b38df6cp-1, 0x1.314ffbeb5b89ap-3, 0x1.c9e01df1a9b46p-4, -0x1.6cb608e40bd0dp-2, 0x1.ce97e114734e7p-1, -0x1.920e81f9b2392p-3, 0x1.e1b389bdf1cd0p-3, -0x1.6edb61b8c358cp-4, -0x1.29df7172a04cdp-1, -0x1.de36a75f4cf92p-8, -0x1.aae40543445aap-3, -0x1.4dd0b7dc365d7p-4, 0x1.df62ad3d5e5cdp-4, 0x1.6377e39a52165p-4, 0x1.8b7602467a2ccp-3, -0x1.0f08601c9d6c8p-2, -0x1.20842a09120c2p-1, -0x1.4bc101f3307e2p-1, -0x1.a8c50006c001ap-4, -0x1.34738756dfb39p-3, 0x1.8bd81b114b73fp-2, 0x1.6e9858cc765afp-1, -0x1.f78acb59cf444p-1, 0x1.1b189ace66ea7p-3, -0x1.e7d9cf3bc7fe7p-6, -0x1.9772e39691350p-6, 0x1.d2ece545db19dp-3, 0x1.0a7fc6766c794p-2, 0x1.2a8625bee69cfp-2, 0x1.20cb41089fe6ep-3, 0x1.8de6bdba0d033p-2, 0x1.90bfe24b65ee3p-5, -0x1.280859280c663p-4, 0x1.142625876dbb8p-2, -0x1.47a508f31ab71p-1, 0x1.b3ab82c97d1bcp-6, 0x1.9d6775b1716f7p-5, -0x1.eb7501bcd9c6fp-2, 0x1.3c76eee4e0413p-1, 0x1.d193a8ddf964dp-2, -0x1.5bfbd9ac12e01p-5, 0x1.8221b6e16534dp-1, 0x1.d2de7e87bbbe2p-4, 0x1.5ff86026615c2p-4, 0x1.a59ce9d635f3fp-5, 0x1.57ea1aafbae91p-2, -0x1.0ab9d1383f11ep-3, -0x1.3e14991c9b10ap-1, 0x1.6582de7153253p-1, -0x1.10dc65a3bb1acp-1, 0x1.c48a09b4275cap-4, -0x1.6d585d1520324p-4, 0x1.124aeb7a0c688p-8, -0x1.97b5812cdfd84p-2, 0x1.f3b91d40abc1ep-3, 0x1.a345206ee26f6p-5, 0x1.26a10c2576665p-1, 0x1.060485af8f57cp-3, -0x1.2001ff4acaf2ep-4, -0x1.267d96b2be122p-6, 0x1.7209aa5ecef81p-1, 0x1.30528726dbb68p-1, 0x1.f1bac4a38dd53p-4, 0x1.69099fa7256fap-5, 0x1.290381b5136acp-3, 0x1.437ccdbbe3955p-1, -0x1.2b272976bbe67p-3, -0x1.00e64c00ceb0ep-6, -0x1.8a71fccbb1f56p-2, 0x1.301a8136795cbp-2, -0x1.9ada0494c9f11p-3, -0x1.f7f570471ddedp-2, -0x1.a2c71aa9a0874p-2, -0x1.8bb07a8be1072p-5, 0x1.316ef24535f34p-1, -0x1.e122b45be3d6ap-1, 0x1.50ca1cfa14277p-1, 0x1.49fe93cc0f259p-3, -0x1.a8ac47296ff14p-4, 0x1.1c10cebb98d07p-9, 0x1.2ec67c9f79bbap-4, 0x1.33cf31e7641a1p-4, 0x1.6af966c95dd59p-3, 0x1.3b58a73ac54d4p-8, 0x1.255292e221b72p-2, 0x1.34b3126d55d2ep-2, -0x1.fe416cfa6edbcp-7, 0x1.197c840092433p-2, -0x1.c7fe26af1cd50p-2, 0x1.10f6842231d4fp-2, 0x1.0a27d3535ce44p-3, -0x1.0e16f8399f59cp-2, 0x1.bc2a1aa8253a1p-4, 0x1.3b27bc2ac08ebp-5, 0x1.81d56f9b0b84bp-2, -0x1.ffae8a848cce0p-1, 0x1.1a5a37b4fa1ffp-1, 0x1.b2c545542cd59p-3, -0x1.70435d6463375p-1, -0x1.ffe7d00c6670ap-1, -0x1.e5ffa57d24a74p-3, 0x1.9adfa4bba2e64p-1, -0x1.c08139661c942p-8, 0x1.8428a5a3c4154p-3, -0x1.82a0c026d1f0bp-1, -0x1.3caee9b939bc0p-2, 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0x1.3e457bf4089c1p-5, 0x1.1ef37f7831fb9p-4, -0x1.22a88009d0648p-3, -0x1.3aedd2283fa8bp-6, -0x1.87c2bca152616p-3, -0x1.fd8def8f3c0c6p-6, 0x1.9b5b7efc1f6aep-2, 0x1.d7877d201664cp-3, -0x1.50a6cef911a06p-3, 0x1.995282812caa4p-3, -0x1.cc6167939586cp-2, 0x1.85860ce5f3a7ap-5, 0x1.880554fbcc1a2p-4, -0x1.99c4c3462ef71p-3, 0x1.d735c6031af35p-4, 0x1.ddf3cb6f3b5b6p-8, 0x1.b5a3bd66a6970p-2, -0x1.ffaa84654785fp-1, 0x1.45ab3acc52142p-1, 0x1.4337730d72c0ep-3, -0x1.7453a08f0d8ecp-1, -0x1.ffec54955108bp-1, -0x1.6709e2ea4d0cfp-3, 0x1.9f6a6c7dc079ap-1, -0x1.a9cd263c74eb6p-5, 0x1.619398737a72bp-3, -0x1.a4adadc3041d2p-1, -0x1.cc8316adc40dfp-2, -0x1.c3cdbb9a79a50p-6, 0x1.4271f15afcf18p-5, -0x1.7c6fdcd90e43ep-2, 0x1.368ac60900ff2p-5, 0x1.350278ba0a96dp-1, -0x1.145abe825626bp-1, 0x1.375c7ffcc2538p-1, 0x1.bc3452d0a8995p-3, -0x1.339e2252d5ec8p-2, -0x1.efaa9f859328ep-4, 0x1.20d5af8198a3cp-3, -0x1.09a64ca551622p-2, -0x1.81da3a459902bp-4, 0x1.a8d709f57ace6p-2, -0x1.4abd46f040189p-1, -0x1.f362fe518bb2fp-1, -0x1.055f785cfa9cap-2, 0x1.3bc142f9224eep-3, 0x1.32711d4c673fbp-1, 0x1.fdceaa9b6227cp-3, 0x1.2b7b05e615f0cp-4, 0x1.440f884a24396p-1, -0x1.55cf920778e7fp-1, 0x1.bcd8ad2166125p-5, 0x1.7c06cfa0d16d3p-3, -0x1.45092acf5c24bp-2, 0x1.df85f43b4df78p-1, -0x1.0345b1435fd63p-2, 0x1.057d5557419d3p-2, -0x1.4331488b37f06p-3, -0x1.3613df412b110p-1, -0x1.ca579ea3c1b6ap-6, -0x1.e40abe84a1379p-3, 0x1.45c48325a4782p-6, -0x1.675437d9f75a0p-6, 0x1.341bf683dc453p-4, 0x1.10ecc8a7760f1p-2, -0x1.1b35ef0e31f88p-2, -0x1.150808aa3a566p-1, -0x1.3781cb2212f04p-1, 0x1.29dcf93595257p-7, -0x1.e82a34c2b6906p-4, 0x1.a2d79bf87add3p-2, 0x1.5db046fc8e38cp-1, -0x1.f5fd2bfb1f37ep-1, 0x1.808f19e4ba7e1p-3, -0x1.158dca93279d8p-3, 0x1.7755e25d6d752p-4, 0x1.2ab2966dfea86p-2, 0x1.82bb655227d48p-2, 0x1.5231436e95f80p-2, 0x1.5fdb37e2fbd97p-5, 0x1.198365611af10p-2, 0x1.eea421b028659p-5, 0x1.ca09a22d9f5c6p-4, 0x1.2072fd402402ap-2, -0x1.10b17ff6f2eb7p-1, -0x1.22ababb6c6edap-4, -0x1.5264df20887b2p-4, -0x1.11d54fc12f265p-1, 0x1.4a3797f3e78fdp-1, 0x1.d950d85d679d2p-2, -0x1.07728c1dc2145p-5, 0x1.6ff9e357fd865p-1, 0x1.97fba2b8663d6p-3, 0x1.62b5c1b227bcdp-3, 0x1.3b3524a876c7ap-6, 0x1.0c5f46c04d60dp-2, -0x1.07398c555d6aep-4, -0x1.31464ac3d71e2p-1, 0x1.5d990c20e4c69p-1, -0x1.09f8c5632d3b2p-1, 0x1.a1fe680228e19p-4, 0x1.b0865b402274ep-3, -0x1.eeae03269c881p-5, -0x1.00bd7c9ca7a50p-1, 0x1.166a8b451e12ep-2, 0x1.1af067f00cc15p-3, 0x1.23309d4d0c027p-1, 0x1.279ab2105fe94p-3, 0x1.7c167fc1cfea0p-9, 0x1.bfb2911f9e22dp-5, 0x1.6a22d682c7fc8p-1, 0x1.1cf7f5cdba925p-1, 0x1.29160151210edp-2, -0x1.819819b1526cdp-6, 0x1.7f02e6d47583cp-5, 0x1.3a0435ed463a6p-1, -0x1.d997f57ac8fbfp-3, -0x1.57f9f133dc117p-3, -0x1.149bca7cc9091p-2, 0x1.4ea70ea74f84bp-2, -0x1.f5782fcb55342p-4, -0x1.f5ba5edf35069p-2, -0x1.db21d1571692cp-2, 0x1.903d4d213f552p-4, 0x1.438b761f3ba9bp-1, -0x1.e33e55d22a2ecp-1, 0x1.6de98ff32832fp-1, 0x1.a39eac5a18559p-3, -0x1.d60516f9004cap-4, -0x1.0e0417257b8dcp-3, -0x1.a36423cc58ee6p-8, -0x1.94a00c330a40dp-5, 0x1.898191e42e37dp-5, -0x1.0be6fa75b1c8bp-8, 0x1.7e54e50e0430bp-2, 0x1.7fc8a41fbe6eep-3, 0x1.293c0f0812132p-6, 0x1.e38da2f4416a3p-3, -0x1.b0a9ac59142ecp-2, 0x1.1ba4228297489p-3, 0x1.32f12e27772cbp-3, -0x1.6ceea619a62a3p-2, 0x1.f06e5fb6a9339p-3, -0x1.7bdf4d4ef8013p-3, 0x1.8a3bb3eab23cdp-2, -0x1.ffb9b758dfc72p-1, 0x1.278ebbc3b647ep-1, 0x1.07b7e499e5791p-2, -0x1.6cf2375c85e1fp-1, -0x1.ffefcf765ccb1p-1, -0x1.1f630b02c38fcp-2, 0x1.a3eb1a50d353cp-1, -0x1.d643341448a00p-3, 0x1.817c02a54823ap-3, -0x1.8e7562ab0c72bp-1, -0x1.24e85bad41da6p-2, -0x1.d6698ccd79e8ap-8, -0x1.6509fcaddca00p-8 }; diff --git a/src/shinro/runtime/tests/graphs/drone_gru_graph.zig b/src/shinro/runtime/tests/graphs/drone_gru_graph.zig new file mode 100644 index 0000000..28f9ef7 --- /dev/null +++ b/src/shinro/runtime/tests/graphs/drone_gru_graph.zig @@ -0,0 +1,115 @@ +// Test fixture `drone_gru` — real eco-drone GRU, H=128 (fused GRU cell + live state). +// Generated by scripts/gen_lower_fixtures.py from /mnt/E/github-projects/shinro-bench/tasks/policies/models/drone_gru/policy_v26rnn_dr.onnx — DO NOT EDIT. +const std = @import("std"); + +pub const Op = enum { + cst, + cst_f32, + inp, + out, + matmul, + add, + sub, + mul, + div, + ne, + neg, + transpose, + inv, + reshape, + clip, + where_op, + any, + copy, + tanh, + relu, + exp, + argmax, + one_hot, + slice, + sin, + cos, + stack, + solve_qp, + abs, + sign, + pow, + lt, + min, + gemm, + sigmoid, + softmax, + gelu, + elu, + layernorm, + lstm, + gru, + rnn, + concat, + gather, + sqrt, + log, + mod, + leaky_relu, +}; + +pub const Node = struct { + op: Op, + inputs: []const usize, + rows: usize, + cols: usize, + aux: usize, + vec: bool, +}; + +pub const buf_len = 824; +pub const has_solve_qp = false; +pub const n_outputs = 1; + +pub const offsets = [_]usize{ + 0, 56, 56, 112, 112, 168, 296, 296, 296, 296, 424, 552, 552, 552, 552, 552, 680, 808, 808, 808, 812, 812, 816, 816, 820, +}; + +pub const nodes = [_]Node{ + .{ .op = .inp, .inputs = &.{}, .rows = 56, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 56, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .sub, .inputs = &.{ 0, 1 }, .rows = 56, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 56, .cols = 1, .aux = 56, .vec = true }, + .{ .op = .div, .inputs = &.{ 2, 3 }, .rows = 56, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .inp, .inputs = &.{}, .rows = 128, .cols = 1, .aux = 56, .vec = true }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 384, .cols = 56, .aux = 0, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 384, .cols = 128, .aux = 21504, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 768, .cols = 1, .aux = 112, .vec = true }, + .{ .op = .gru, .inputs = &.{ 4, 6, 7, 8, 5 }, .rows = 128, .cols = 1, .aux = 1, .vec = true }, + .{ .op = .out, .inputs = &.{9}, .rows = 128, .cols = 1, .aux = 1, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 880, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 881, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 128, .cols = 128, .aux = 70656, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 128, .cols = 1, .aux = 882, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 9, 13, 14 }, .rows = 128, .cols = 1, .aux = 1, .vec = true }, + .{ .op = .relu, .inputs = &.{15}, .rows = 128, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 4, .cols = 128, .aux = 87040, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 4, .cols = 1, .aux = 1010, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 16, 17, 18 }, .rows = 4, .cols = 1, .aux = 3, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 1014, .vec = false }, + .{ .op = .mul, .inputs = &.{ 19, 20 }, .rows = 4, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 1015, .vec = false }, + .{ .op = .add, .inputs = &.{ 21, 22 }, .rows = 4, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .out, .inputs = &.{23}, .rows = 4, .cols = 1, .aux = 0, .vec = true }, +}; + +pub const const_blob = [_]f64{ + 0x1.95a8a00000000p+2, -0x1.c609ce0000000p-8, -0x1.e36c620000000p-4, 0x1.d51ea60000000p+2, 0x1.4499220000000p-1, 0x1.1767320000000p-8, -0x1.040f4c0000000p-5, -0x1.1ae7a60000000p-8, -0x1.b24f5c0000000p-9, 0x1.53c6960000000p+0, 0x1.80194e0000000p-2, 0x1.3267a00000000p+3, 0x1.3225260000000p+3, 0x1.31f9c00000000p+3, 0x1.31c6080000000p+3, 0x1.31b1ba0000000p+3, 0x1.31d46e0000000p+3, 0x1.3211e60000000p+3, 0x1.32218c0000000p+3, 0x1.324a760000000p+3, 0x1.28aeb80000000p+3, 0x1.27c3da0000000p+3, 0x1.27a7080000000p+3, 0x1.2833100000000p+3, 0x1.28671a0000000p+3, 0x1.2832700000000p+3, 0x1.279f300000000p+3, 0x1.27b4300000000p+3, 0x1.289cf40000000p+3, 0x1.25fa120000000p+3, 0x1.24440a0000000p+3, 0x1.23650e0000000p+3, 0x1.237be40000000p+3, 0x1.2415900000000p+3, 0x1.234bb00000000p+3, 0x1.230a620000000p+3, 0x1.23f6800000000p+3, 0x1.25b82a0000000p+3, 0x1.2ad5040000000p+3, 0x1.29b7ca0000000p+3, 0x1.2928680000000p+3, 0x1.298ffe0000000p+3, 0x1.2a171c0000000p+3, 0x1.295c800000000p+3, 0x1.28dd060000000p+3, 0x1.2971ae0000000p+3, 0x1.2a95fa0000000p+3, 0x1.3298c80000000p+3, 0x1.327d420000000p+3, 0x1.3305580000000p+3, 0x1.33b85a0000000p+3, 0x1.33f4b40000000p+3, 0x1.33c0780000000p+3, 0x1.32f7ba0000000p+3, 0x1.3275820000000p+3, 0x1.326f540000000p+3, 0x1.4e78f40000000p+3, 0x1.27ff8a0000000p+1, 0x1.ee4c700000000p-1, 0x1.433f3a0000000p+3, 0x1.cfc6ac0000000p+0, 0x1.510ec60000000p+0, 0x1.3669da0000000p+0, 0x1.cded460000000p-1, 0x1.b7a1a00000000p-1, 0x1.2754500000000p+0, 0x1.f1237a0000000p-2, 0x1.b1eaa60000000p+0, 0x1.b38c380000000p+0, 0x1.b5ac760000000p+0, 0x1.b858a60000000p+0, 0x1.b950780000000p+0, 0x1.b7cc7a0000000p+0, 0x1.b533d00000000p+0, 0x1.b61b560000000p+0, 0x1.b4d1c00000000p+0, 0x1.0e121e0000000p+1, 0x1.1125140000000p+1, 0x1.10955a0000000p+1, 0x1.0da0300000000p+1, 0x1.0cc0060000000p+1, 0x1.0dd09a0000000p+1, 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-0x1.8c08bc0000000p-9, 0x1.c2e6600000000p-5, 0x1.c93c000000000p-5, 0x1.1a31ea0000000p-5, 0x1.61cf000000000p-4, 0x1.93c4f60000000p-4, 0x1.65d9b20000000p-4, -0x1.e4204a0000000p-6, 0x1.25a9480000000p-5, 0x1.382a580000000p-5, -0x1.47c5580000000p-4, -0x1.090c220000000p-6, -0x1.15c8fa0000000p-5, 0x1.0000000000000p+0, 0x0.0p+0, +}; + +const _weights: [350208]u8 align(@alignOf(f32)) = @embedFile("drone_gru_weights.bin").*; +pub const const_blob_f32: []const f32 = std.mem.bytesAsSlice(f32, &_weights); +pub const clip_lo = [_]f64{}; +pub const clip_hi = [_]f64{}; +pub const gemm_alpha = [_]f64{ 0x1.0000000000000p+0, 0x1.0000000000000p+0 }; +pub const gemm_beta = [_]f64{ 0x1.0000000000000p+0, 0x1.0000000000000p+0 }; +pub const elu_alpha = [_]f64{}; +pub const leaky_relu_alpha = [_]f64{}; +pub const layernorm_eps = [_]f64{}; +pub const output_offsets = [_]usize{0}; +pub const state_offsets = [_]usize{0}; diff --git a/src/shinro/runtime/tests/graphs/drone_gru_weights.bin 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b/src/shinro/runtime/tests/graphs/go2_data.zig new file mode 100644 index 0000000..9426664 --- /dev/null +++ b/src/shinro/runtime/tests/graphs/go2_data.zig @@ -0,0 +1,10 @@ +// Test vectors for `go2` — generated by scripts/gen_lower_fixtures.py. +// Produced by shinro.codegen.interpret on 8 seeded inputs (seed=0). +pub const n_samples = 8; +pub const n_in = 45; +pub const n_out = 12; +pub const n_state = 0; +pub const tol = 1e-12; +pub const inputs = [_]f64{ 0x1.9bfe2762c06cfp-7, -0x1.b0e1975fba2e0p-7, 0x1.06512e9ed59f1p-4, 0x1.57bc98a03dd8dp-7, -0x1.b6d2027d6d315p-5, 0x1.2837fab0bdb1fp-5, 0x1.0b0f285640cfdp-3, 0x1.83eca305496e9p-4, -0x1.203ffce488c20p-4, -0x1.0328877b0a096p-3, -0x1.fe9620e9b2192p-5, 0x1.0ed57cfa270b6p-8, -0x1.dc2a92cf69f38p-3, -0x1.6677e007db798p-6, -0x1.fe533b537d0cap-4, -0x1.2befcc209b8c6p-4, -0x1.bddb61a62a154p-5, -0x1.031cf35770cedp-5, 0x1.51352e25a34c7p-5, 0x1.ab03732bd6a85p-4, -0x1.a52eb0aff6340p-7, 0x1.17da0a3dc06c0p-3, -0x1.1076b78cf51b3p-4, 0x1.1ff50130d86c2p-5, 0x1.720fb704f8180p-4, 0x1.340f3b3719df1p-7, -0x1.30898c00eb958p-4, -0x1.7989e92b13bedp-4, -0x1.76f81025aec04p-5, 0x1.68c48759df4e0p-6, -0x1.9d8a23bf97e0dp-4, -0x1.56b6985474568p-6, -0x1.04dfcf41d7ca3p-6, 0x1.bb0f8a3aeabc5p-5, 0x1.5fb28fc6190ddp-6, 0x1.231f0f0a4baecp-5, -0x1.0bcee6176cec5p-4, -0x1.a8b7cbe42cca0p-7, 0x1.411dc947a5bd5p-4, 0x1.31dacd860a719p-3, -0x1.01db4b83205d9p-3, 0x1.360d34f0e9b4ep-3, 0x1.13a2a227b546cp-3, 0x1.4006703666849p-4, 0x1.b148bb1672907p-6, -0x1.012a62c6164ebp-5, 0x1.2a9a465a25703p-3, 0x1.9175fdc0b112ep-3, 0x1.70f98de4539abp-3, 0x1.0d554ff04df24p-3, 0x1.24c41ab33c6ddp-5, -0x1.eeed644e14398p-4, -0x1.d30cb9bb828aap-12, 0x1.0ce462dadfe1bp-4, -0x1.07db3ed9c8ea0p-3, 0x1.43af1a1482f70p-5, 0x1.6024f363328c0p-5, 0x1.1d195e99a9affp-4, -0x1.e503c4a2ecceap-4, -0x1.0f088b2a89edbp-4, -0x1.65871aea90d85p-5, -0x1.df269edab14cap-4, 0x1.6438f87663b62p-3, -0x1.96400481433d5p-5, 0x1.0d7dee7fb54b4p-5, -0x1.a7a52fa94e31fp-6, 0x1.444b9536d8b24p-3, 0x1.0e68f12ebe9f9p-3, 0x1.036bd602fd797p-4, -0x1.c34760fb083d2p-3, 0x1.54fa224a00167p-8, 0x1.1809b1702de37p-4, 0x1.9b3900577e0d2p-4, -0x1.fa307fdcc2472p-5, 0x1.7525de8ebf985p-3, -0x1.0e6c9c7a44209p-3, -0x1.0ef63d9e88c83p-4, 0x1.7eff18fe8515bp-4, 0x1.417bfc35b2fb8p-8, 0x1.9a170a50684edp-3, 0x1.34deae29a8f2cp-6, -0x1.035b366f08a34p-4, -0x1.354cce56d77acp-5, -0x1.beeef69087e94p-4, -0x1.05ab3ce780ae1p-3, 0x1.02376f99653cdp-4, 0x1.dc174df92c0ccp-5, 0x1.09202a59cc623p-3, -0x1.351626f7bbd87p-4, 0x1.59ede07623eecp-3, -0x1.d6db242863544p-6, 0x1.427056368d234p-3, -0x1.6289c53f6d498p-5, -0x1.2d41034bc87d9p-4, 0x1.993f940bed753p-6, 0x1.a67bb1eaff0e7p-4, 0x1.07cc4fa88b9b0p-6, -0x1.dfaa4b61852ccp-5, -0x1.12ae8a46f7c28p-3, -0x1.1f0805e633dd5p-3, 0x1.9bcc3c01832cdp-5, 0x1.9562eef09eb78p-4, -0x1.0d2e258e4e42bp-6, -0x1.b80f521019b97p-4, 0x1.65991ad5a9d96p-4, -0x1.0639849ed61f9p-3, -0x1.24129becf600cp-4, 0x1.fcbce223cc42ap-5, -0x1.ccd43399823d2p-3, 0x1.3c8393d24a84cp-5, -0x1.dc7aeca145247p-5, 0x1.66167456d5c28p-7, -0x1.f01e15f004bafp-8, 0x1.4b24ebeb4b2c6p-6, 0x1.1c5534098839cp-4, -0x1.36a0d4fd6a393p-4, 0x1.230461db3a160p-3, 0x1.296873bbc666ap-4, 0x1.5997c831daf38p-4, 0x1.dd20d7650e6dfp-4, 0x1.42989c57e80a8p-4, 0x1.59bc108d5660cp-4, 0x1.ef690897bccc7p-8, -0x1.24340a7707f65p-3, -0x1.ba840a683e55dp-7, -0x1.3b3175555d0b5p-4, -0x1.2360a4c5243aep-3, 0x1.a772f51cffee4p-6, -0x1.d1c17665834c7p-5, -0x1.a5ced2640e4b2p-4, -0x1.ab36970dc294cp-4, 0x1.b7c64879d739fp-6, 0x1.25d2f5a55f9a9p-5, 0x1.0ed6dbb26649fp-3, -0x1.6cc3c27f8e501p-10, 0x1.aabcd11596275p-4, 0x1.1f2f0fe90e264p-3, 0x1.d71b9bb397f25p-4, -0x1.e46a0ba20c6c0p-3, 0x1.f744d371c5284p-4, 0x1.16377a5b2f3e6p-5, 0x1.5b274b44c1fd3p-5, 0x1.301c083b60e16p-5, 0x1.398dfe92271dap-5, 0x1.05aa045f8e641p-5, -0x1.2605938745a8ap-5, -0x1.857474ec5af39p-3, -0x1.64e44bb883784p-7, -0x1.49356486a3cffp-4, 0x1.ba6f57d1e5c65p-4, -0x1.d91d737c5aa8fp-6, 0x1.118834399eb74p-7, -0x1.5bffa43621bf8p-4, -0x1.a24d4b00b8895p-5, -0x1.2e55111b4dd43p-10, -0x1.3034703ef6263p-3, 0x1.eca47a4ea6e0cp-6, -0x1.5b93dafa829ffp-7, -0x1.e5abbba78c12dp-4, -0x1.eb2878a40f860p-3, 0x1.a44ad4b3b563fp-5, -0x1.e78fcae077ebfp-6, -0x1.b22ed20467e94p-5, -0x1.82ea6e4ce942ep-6, 0x1.7403a7600b559p-3, -0x1.466029578f1dfp-8, 0x1.1bd5811643b44p-7, -0x1.308d72319ea8ep-3, 0x1.516002ac568dap-3, 0x1.77cd968562cf3p-4, 0x1.b5043ac132ef7p-4, 0x1.386d922582168p-8, 0x1.7776389f8eb70p-4, 0x1.2fe13090e9a23p-5, 0x1.f65311f223e7cp-5, -0x1.f2b4b4f3c6f7cp-7, -0x1.2dda2d2bd8d5ap-3, 0x1.a56b3299dbfd0p-4, -0x1.8c479c9ea7ad6p-3, -0x1.891cbbe773b36p-6, -0x1.4f16f2f96d7fbp-6, -0x1.ab27cfbfba87dp-4, 0x1.f6453dbcc1ca2p-5, -0x1.48385de637c5fp-6, -0x1.65e1eda383fa0p-5, 0x1.a9dab66ba9fbcp-5, -0x1.8669de6a1a943p-5, 0x1.1c768da562306p-3, 0x1.1fe978ba5c533p-5, -0x1.8492d652c6ff0p-5, -0x1.8e2f7ac54afc3p-3, -0x1.0bd3ee498b3d3p-3, 0x1.bd2a77bafc5e8p-4, -0x1.4ba3879c5cf79p-8, -0x1.cfdf4271bcbffp-6, 0x1.5089b5d1d138dp-3, -0x1.06afc2bc6de0ep-3, -0x1.dfc557b64a822p-5, -0x1.8324d1b3beb78p-5, 0x1.e053d71b8726dp-5, -0x1.0fc8b55a56537p-4, -0x1.f6830bfb74adcp-5, -0x1.48bc0e83da40cp-3, 0x1.2abdd3fc2e9b4p-4, 0x1.4a31d6a1583e6p-4, -0x1.863f71e21f007p-5, 0x1.0b9dbd1b12ebep-6, -0x1.08bbe2920ac46p-3, -0x1.828263de30f50p-5, 0x1.1a34509df2be5p-3, 0x1.bcc33131ab584p-7, 0x1.d92995ce20f22p-3, -0x1.426f244524458p-4, 0x1.db5e766711e37p-5, -0x1.4051166b03001p-6, 0x1.cf849a5862235p-5, -0x1.7a153b1d80852p-11, -0x1.cbbbc62282872p-5, -0x1.6360362d28299p-4, 0x1.39f6504105119p-2, -0x1.fae37a33c7ccfp-8, -0x1.9d031999582e8p-3, -0x1.09aab3fe93ad8p-4, 0x1.15b99e556b0aap-4, -0x1.999b5e5a689b8p-5, 0x1.169e8fd61cfeap-3, 0x1.9a9513bf1737cp-4, -0x1.f32ee8f069fe7p-7, -0x1.82d6dc62cb174p-5, -0x1.9b9105a6acc75p-4, -0x1.1eb4cfcc0c426p-4, -0x1.2db31fa66a08dp-3, 0x1.ed521ac5b178ap-4, 0x1.45c6888ebe086p-3, -0x1.0141cfc6fe31ap-3, -0x1.e40470d7b3898p-4, -0x1.6a30f457056f3p-3, -0x1.8acb70fe91c98p-4, -0x1.3e16c164bfcb4p-2, -0x1.d3e0a142a1034p-4, 0x1.099bb7d641f2ep-3, -0x1.1b2cc89d5c8c4p-5, 0x1.5e09a6e0989b0p-4, -0x1.90903eb976a2cp-5, 0x1.6895ac6fc71a6p-3, 0x1.4666140ba53b5p-6, -0x1.38efafe59c4aep-5, 0x1.055e43adcc219p-2, -0x1.09ceae23e6177p-5, -0x1.f4368cad18b5ap-4, 0x1.4acf3160fc42ep-6, -0x1.fd04c41bf2958p-9, 0x1.b4c43bc46ef4ap-4, -0x1.798052475d131p-4, 0x1.499cafa52fe38p-4, 0x1.5d4928748769ep-4, -0x1.117c16448167fp-4, 0x1.0b757fa56b9f5p-6, -0x1.5446a8093e6a8p-4, 0x1.e06be6ffdee8ap-3, -0x1.206a6272e6a27p-4, -0x1.732898fa460f4p-5, -0x1.b491378b77342p-4, -0x1.1b8ae4776b64fp-5, -0x1.3412b1feb1d90p-11, 0x1.3a7c86aa72809p-4, -0x1.f41c543e63dd8p-5, -0x1.305f3eec6f462p-6, -0x1.2218d6731aa38p-3, -0x1.52e769675b6d8p-4, 0x1.1a31d776bef54p-2, 0x1.aa7e4318d1a2dp-4, -0x1.40123fe54cae4p-4, -0x1.11e621eb4cb92p-3, -0x1.8f99463324b77p-4, -0x1.1c4e72725c8a5p-9, 0x1.c72f1f0d93234p-9, -0x1.30e3ddbbe2e43p-4, -0x1.077d8e2ece327p-3, 0x1.234d99220f735p-3, 0x1.72054e0473ddbp-5, -0x1.32d89b6d5983ap-5, -0x1.698804c6d2748p-6, -0x1.b1ca960d60c24p-5, -0x1.2ca6ab7415d5cp-2, 0x1.7b002c3ce870ap-7, -0x1.b67eb7adb1bdfp-4, -0x1.9ab311b418055p-4, -0x1.0640611337468p-4, 0x1.2bf36678c8996p-4, -0x1.df730d21b6dccp-4, -0x1.25bda7e20c2f6p-3, 0x1.06155a5b6dd03p-4, 0x1.34fd501746211p-4, -0x1.88c77cb669c2bp-4, 0x1.ccb757643908cp-5, -0x1.ddcf81c6f09bfp-6, 0x1.eda3191ef6e7ap-6, -0x1.023ea2638c96dp-3, 0x1.55275021a3b94p-4, 0x1.ecdad89a7aaf5p-4, 0x1.04f1f87379639p-4, 0x1.c9646071b29cfp-5, -0x1.8247ee0ad2fd2p-2, 0x1.ab040a3716067p-6, -0x1.4d84509b2dcabp-9, -0x1.e1d6b6257ce94p-7, -0x1.0248e50734683p-4, 0x1.6ad703a8e5dd2p-8, 0x1.519b48b6d7ebep-5, -0x1.b030c61099fafp-6, -0x1.7b8e1d5801020p-5, 0x1.f7b508802f52fp-4, -0x1.c4c2245945a3ap-4, 0x1.a5f39a0721fb2p-4, 0x1.21b085bb2f942p-6, -0x1.49718f43f640ap-4, -0x1.db1b3900518ccp-6, -0x1.78d4523a92790p-4, 0x1.1481a52ed04b7p-4, 0x1.1d00499fa0eefp-5, -0x1.c8209f0906ccfp-5, -0x1.c377f72bfc2a2p-4, 0x1.ee54e6db4a194p-6, 0x1.88252831acf00p-4, -0x1.7504d9e2728f3p-7, 0x1.56b6e0de75fc2p-5, -0x1.340a9becdc8a3p-5, 0x1.bad25100b21adp-8, -0x1.dd3ce8753ec38p-6, 0x1.e1c236b16dd94p-6, -0x1.35338fa64f7fep-3, 0x1.07dc45af3044fp-4, -0x1.78b8ac3827e8dp-6, 0x1.25c590086f4cfp-5, -0x1.16c834d97ce4fp-5, 0x1.06709c640fec5p-5, -0x1.b7525c8a9fa68p-4, 0x1.e713e0b27385fp-4, -0x1.5ce2cc68f1aa0p-3, -0x1.a9ac16838961fp-4, 0x1.821d838947028p-6, 0x1.2b9710cb42495p-3, 0x1.c7aea042b4e8ap-6, -0x1.962c57b215631p-6, -0x1.23dbc41f43f2ap-3, -0x1.39633f7494160p-6, -0x1.04882e793e289p-9, 0x1.5a3a7c42b359bp-3, 0x1.fda51d829a7d8p-5, -0x1.392881284a9bap-3, 0x1.9f1598883a91cp-3, -0x1.43979335f7463p-5, -0x1.683a08f47cbc6p-4, 0x1.2e0b2e8e7d98bp-3, -0x1.4614505389021p-8, -0x1.2cf9e8dc244f8p-5, 0x1.66757eaeb80d4p-6, 0x1.5a110280c0eedp-4, 0x1.96ded9b3453adp-4 }; +pub const outputs = [_]f64{ -0x1.6e222ae0ec137p-2, 0x1.d75cb79acd866p-2, 0x1.7d0e06515aa06p-2, -0x1.8db1d77f9c525p-4, 0x1.e82b8f6e44b76p-2, 0x1.160521cdb2cd8p+0, 0x1.b9216372d04fcp-2, 0x1.1beac37007d26p-2, 0x1.55432eb977faep-2, -0x1.97c99a4e13d70p-4, 0x1.6b8e42a518c7bp-2, 0x1.22d435b07c5e8p+0, -0x1.2dd05653f0f17p-4, 0x1.1ac43e3d3869ep-2, 0x1.4e7a59a5a8933p-2, -0x1.06f3f92c2b5aap-3, 0x1.2cf51f9f44823p-2, 0x1.fb1eb8b089691p-1, 0x1.0c5ae4da61e66p-3, 0x1.6b8b4d7856951p-2, 0x1.97c6a2322fb42p-2, 0x1.3657aef7b44aap-3, 0x1.8e058ed499f6ap-4, 0x1.e2e09366ee583p-1, -0x1.33ab3da056243p-4, 0x1.0b65fa18e9da0p-3, 0x1.1878b4bf6cf0ap-2, -0x1.07ba733a2ca2fp-2, 0x1.eb3b8b7395eb8p-2, 0x1.d8a811386a2c9p-1, 0x1.e23436735e274p-4, 0x1.f3273f9e2929ep-2, 0x1.30f1763ff7ff0p-1, 0x1.5a288f193469cp-3, 0x1.654f6f0a31db5p-3, 0x1.03d372c7e14c6p+0, -0x1.263a6cf071443p-5, 0x1.2e01f83ee7b95p-3, 0x1.6d81849e60c67p-1, -0x1.ac74ee730e290p-5, 0x1.51f482f4fc8ccp-1, 0x1.d304f13d4b180p-2, 0x1.af206e6d3ca4cp-3, 0x1.14c9791457eccp-1, 0x1.06cd2e5a89870p-1, 0x1.10c00433df25ep-2, 0x1.04a83cdbf22eep-5, 0x1.26f3e1519ec91p+0, -0x1.36265f43aae6cp-8, 0x1.30d2af8cf8448p-2, 0x1.3ff2e87efcfa7p-1, -0x1.f022b966509d1p-3, 0x1.9ffcda8a58ff8p-1, 0x1.068c21a2956c6p-1, 0x1.f5b93f340ee14p-6, 0x1.cce39620391fcp-2, 0x1.80c4a86f2d6bcp-1, 0x1.fe8a759244ab4p-4, 0x1.725c1bcfe6690p-5, 0x1.029a8ced38856p+0, -0x1.647a9f4dbd7eep-2, 0x1.adfda10381516p-2, 0x1.103be1ba249aap-1, -0x1.8fa53d6bcb2dcp-5, 0x1.5191c3725507ap-1, 0x1.1bb288ac49fd6p+0, 0x1.9ddf0ef1bd6aep-3, 0x1.bbf162f87add9p-3, 0x1.66d8b21718745p-2, 0x1.958b80b2fd16cp-4, 0x1.7f4637e8f9642p-4, 0x1.d3363d9e8d346p-1, -0x1.5e067ae4b9feap-2, 0x1.1af2229307be6p-2, 0x1.3c04512b8946dp-2, -0x1.2114361f8911cp-1, 0x1.525442c7b72d6p-1, 0x1.c50f3cd0fa3a0p-1, 0x1.94db0358a3e12p-2, 0x1.8172fce8b3aacp-1, -0x1.98228c022cae0p-4, -0x1.446341f609100p-8, 0x1.c35b7f48daff6p-3, 0x1.15e46657dc4a2p+0, -0x1.af76620de0eebp-3, 0x1.5e269596764e8p-3, 0x1.4a496f2f63f8cp-3, -0x1.3481c6ae23e97p-2, 0x1.feeee3b74738bp-2, 0x1.de658e6cb7018p-1, 0x1.4f5757ed9e3a0p-2, 0x1.b75e434f3d69ep-2, 0x1.ce7f1b1187402p-2, 0x1.7ab16d77aa374p-4, 0x1.3d0c642025e84p-3, 0x1.12f74e057b00bp+0 }; +pub const states = [_]f64{}; diff --git a/src/shinro/runtime/tests/graphs/go2_graph.zig b/src/shinro/runtime/tests/graphs/go2_graph.zig new file mode 100644 index 0000000..0973a17 --- /dev/null +++ b/src/shinro/runtime/tests/graphs/go2_graph.zig @@ -0,0 +1,116 @@ +// Test fixture `go2` — real Unitree Go2 velocity MLP (4xGemm + 3xElu + obs norm). +// Generated by scripts/gen_lower_fixtures.py from /mnt/E/github-projects/shinro-bench/tasks/policies/models/go2/policy.onnx — DO NOT EDIT. +const std = @import("std"); + +pub const Op = enum { + cst, + cst_f32, + inp, + out, + matmul, + add, + sub, + mul, + div, + ne, + neg, + transpose, + inv, + reshape, + clip, + where_op, + any, + copy, + tanh, + relu, + exp, + argmax, + one_hot, + slice, + sin, + cos, + stack, + solve_qp, + abs, + sign, + pow, + lt, + min, + gemm, + sigmoid, + softmax, + gelu, + elu, + layernorm, + lstm, + gru, + rnn, + concat, + gather, + sqrt, + log, + mod, + leaky_relu, +}; + +pub const Node = struct { + op: Op, + inputs: []const usize, + rows: usize, + cols: usize, + aux: usize, + vec: bool, +}; + +pub const buf_len = 1987; +pub const has_solve_qp = false; +pub const n_outputs = 1; + +pub const offsets = [_]usize{ + 0, 45, 45, 90, 90, 135, 135, 135, 647, 1159, 1159, 1159, 1415, 1671, 1671, 1671, 1799, 1927, 1927, 1927, 1939, 1951, 1951, 1963, 1963, 1975, +}; + +pub const nodes = [_]Node{ + .{ .op = .inp, .inputs = &.{}, .rows = 45, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 45, .aux = 0, .vec = false }, + .{ .op = .sub, .inputs = &.{ 0, 1 }, .rows = 1, .cols = 45, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 45, .aux = 45, .vec = false }, + .{ .op = .div, .inputs = &.{ 2, 3 }, .rows = 1, .cols = 45, .aux = 0, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 512, .cols = 45, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 512, .cols = 1, .aux = 90, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 4, 5, 6 }, .rows = 1, .cols = 512, .aux = 1, .vec = false }, + .{ .op = .elu, .inputs = &.{7}, .rows = 1, .cols = 512, .aux = 0, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 256, .cols = 512, .aux = 23040, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 256, .cols = 1, .aux = 602, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 8, 9, 10 }, .rows = 1, .cols = 256, .aux = 3, .vec = false }, + .{ .op = .elu, .inputs = &.{11}, .rows = 1, .cols = 256, .aux = 1, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 128, .cols = 256, .aux = 154112, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 128, .cols = 1, .aux = 858, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 12, 13, 14 }, .rows = 1, .cols = 128, .aux = 5, .vec = false }, + .{ .op = .elu, .inputs = &.{15}, .rows = 1, .cols = 128, .aux = 2, .vec = false }, + .{ .op = .cst_f32, .inputs = &.{}, .rows = 12, .cols = 128, .aux = 186880, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 12, .cols = 1, .aux = 986, .vec = true }, + .{ .op = .gemm, .inputs = &.{ 16, 17, 18 }, .rows = 1, .cols = 12, .aux = 7, .vec = false }, + .{ .op = .reshape, .inputs = &.{19}, .rows = 12, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 998, .vec = false }, + .{ .op = .mul, .inputs = &.{ 20, 21 }, .rows = 12, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 1, .cols = 1, .aux = 999, .vec = false }, + .{ .op = .add, .inputs = &.{ 22, 23 }, .rows = 12, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .out, .inputs = &.{24}, .rows = 12, .cols = 1, .aux = 0, .vec = true }, +}; + +pub const const_blob = [_]f64{ + 0x1.89b0ca0000000p-11, 0x1.3259a60000000p-10, -0x1.73c9d20000000p-9, 0x1.0de4400000000p-6, 0x1.f340260000000p-10, -0x1.fed1b20000000p-1, 0x1.e819a40000000p-3, 0x1.35a76a0000000p-10, 0x1.2903360000000p-12, 0x1.0e36080000000p-5, 0x1.a7eecc0000000p-6, 0x1.1445600000000p-5, -0x1.76d6a00000000p-5, 0x1.1598de0000000p-5, 0x1.91eaf20000000p-5, 0x1.c4a0b00000000p-6, 0x1.c755c00000000p-6, 0x1.0cdf3e0000000p-4, -0x1.11798c0000000p-6, 0x1.e013540000000p-7, 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-0x1.6128520000000p-6, -0x1.fa81380000000p-5, -0x1.0c3e880000000p-3, -0x1.07b4780000000p-5, -0x1.4a75400000000p-3, 0x1.50030a0000000p-7, 0x1.a420240000000p-5, 0x1.6a431c0000000p-3, -0x1.88265c0000000p-5, 0x1.82084e0000000p-6, 0x1.09d2a00000000p-3, -0x1.4500ca0000000p-6, 0x1.4735720000000p-4, 0x1.58c89c0000000p-3, -0x1.5526e00000000p-5, 0x1.98599c0000000p-5, 0x1.9149200000000p-3, 0x1.0000000000000p+0, 0x0.0p+0, +}; + +const _weights: [753664]u8 align(@alignOf(f32)) = @embedFile("go2_weights.bin").*; +pub const const_blob_f32: []const f32 = std.mem.bytesAsSlice(f32, &_weights); +pub const clip_lo = [_]f64{}; +pub const clip_hi = [_]f64{}; +pub const gemm_alpha = [_]f64{ 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0 }; +pub const gemm_beta = [_]f64{ 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0 }; +pub const elu_alpha = [_]f64{ 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0 }; +pub const leaky_relu_alpha = [_]f64{}; +pub const layernorm_eps = [_]f64{}; +pub const output_offsets = [_]usize{0}; +pub const state_offsets = [_]usize{}; diff --git a/src/shinro/runtime/tests/graphs/go2_weights.bin b/src/shinro/runtime/tests/graphs/go2_weights.bin new file mode 100644 index 0000000000000000000000000000000000000000..616264370be37fe7b4555091d20920a52aa57932 GIT binary patch literal 753664 zcmWifcU({Z7su01qP>*T9!e=vpZ9qqM3hlRMUqXFkf^kGDvGp?QbtA@jn6&rWQ2^A zXrS?xk~9zz^6U5S{pa4tz3+R@>%5+?Gt)5)3Zy4N;$KU4X>t;DUA#x0`U~J4{bpYA z<-a`Pad|X2=^l2L9HJwW2Jz~OBlO&rO5%Jthe|&gK}msQ#AC}DI8#)ObMtP4%)f<9 z&U=v9eVk6>S4P94m-jJtOAM-Ca;R8)=oRkV@6+_22A@r{4Q@_~g>?^nxbvQB=(FM@cC5F= zHT46itCWVPOXG<#UycUeT#Ze8{@S#O?7^EA@etsh03#NnwEw&q6DPOv+5QPkOtFx2 zE!hH5Cnn&VkRDho{tVZqOR{;B7Qu{n6Brlm4#|tez~NgQ-PiIFXFe(+IS^DxjF@Pz54L^ z>5J(1F$C^iZNj{?PyBaJW?+w9FUOjXbF3u_`T`$wg#qV5b4ZLnk9!D%HkZJm)SDz_ z2vSb>1UjE~!-hlBtklqy?R8PdwTVg?*_4WQ!5(K?gLWXqbG+#!ZngRC`!$p49j{@woo`ERgTJqi*9N-8W? 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z1$K#DVFTCKSd6?=vtyc{v(>;E{~bLYvBK%-=@`_+bLwJ7wK1Fem`RPyqE2Q|EALis z&Npgyzf-r_z1mwms=t Date: Mon, 28 Sep 2026 11:14:55 -0400 Subject: [PATCH 3/4] test(runtime): drive the frozen fixtures through the exported C-ABI symbol TestFrozenFixturesCAbi builds a .so per committed fixture and calls the exported shinro_step via ctypes, checked against the same committed vectors. This covers the export / port-packing surface the in-process Vm(Ctx).step oracle bypasses, plus the compiled path for the compact @embedFile graph format. Self-contained: reads only the committed fixtures (no shinro-bench, no ONNX). Verified: make test-zig 95 passed, 2 skipped (was 91). --- lab-notes/daily/2026-09-28.md | 9 ++++ tests/test_zig_lowering.py | 89 +++++++++++++++++++++++++++++++++++ 2 files changed, 98 insertions(+) diff --git a/lab-notes/daily/2026-09-28.md b/lab-notes/daily/2026-09-28.md index b512066..80c37bd 100644 --- a/lab-notes/daily/2026-09-28.md +++ b/lab-notes/daily/2026-09-28.md @@ -269,3 +269,12 @@ written as hex literals: go2 4.1 MB, drone_gru 1.9 MB. A raw f32 `.bin` + - Add a fixture = one `FI` entry in the generator + one `graph_fixtures` row. - The fixture header records the source (HF path or recipe); no manifest is committed (it was redundant with the graph table). + +### C-ABI coverage for the fixtures + +`TestFrozenFixturesCAbi` (tests/test_zig_lowering.py) builds a `.so` per fixture +and drives the **exported** `shinro_step` symbol via ctypes against the same +committed vectors — covering the export/port-packing surface the in-process +`Vm(Ctx).step` oracle bypasses, and the compiled path for the compact +`@embedFile` graph format. `make test-zig`: **95 passed, 2 skipped** (was 91). +Self-contained: reads only the committed fixtures (no shinro-bench, no ONNX). diff --git a/tests/test_zig_lowering.py b/tests/test_zig_lowering.py index f1cbf1e..f8c7df7 100644 --- a/tests/test_zig_lowering.py +++ b/tests/test_zig_lowering.py @@ -2835,3 +2835,92 @@ def test_compiled_policy_carries_state(self, recurrent_so): np.testing.assert_allclose(got, want, atol=1e-13, err_msg=f"{op} tick {tick}") # and the state actually moved (a frozen state would pass tick 0 only) assert not np.allclose(outs[-1], np.asarray(compiled.step({"state": x}))) + + +# ─── Frozen multi-graph fixtures through the C-ABI ────────────────────────── +# +# The Zig-native oracle (runtime/tests/lower_graph.zig, run by `zig build test`) +# drives `Vm(Ctx).step` in-process. These tests go through the *exported* C +# symbol instead: build a `.so` from each committed fixture graph +# (runtime/tests/graphs/) and call `shinro_step` via ctypes, against the same +# committed vectors. That covers the export / port-packing surface and the +# compiled path for the compact `@embedFile` graph format. Self-contained: reads +# only the committed fixtures (no shinro-bench, no ONNX) — regenerate them with +# scripts/gen_lower_fixtures.py. + +FIXTURE_DIR = RUNTIME / "tests" / "graphs" +FIXTURE_NAMES = ["kf_lqr", "toy_lstm", "go2", "drone_gru"] + + +def _zig_const_int(text: str, name: str) -> int: + m = re.search(rf"pub const {name} = (\d+);", text) + assert m is not None, f"missing integer const {name!r}" + return int(m.group(1)) + + +def _zig_f64_array(text: str, name: str) -> list[float]: + m = re.search(rf"pub const {name} = \[_\]f64\{{(.*?)\}};", text, re.S) + assert m is not None, f"missing f64 array {name!r}" + return [float.fromhex(tok.strip()) for tok in m.group(1).split(",") if tok.strip()] + + +def _build_fixture_so(graph_path: Path, build_dir: Path) -> ctypes.CDLL: + """Compile a committed fixture graph into a .so (no lowering, no bake).""" + if shutil.which("zig") is None: + pytest.skip("zig not on PATH; skipping fixture C-ABI oracle") + result = subprocess.run( + [ + "zig", + "build", + "--build-file", + str(RUNTIME / "build.zig"), + "--prefix", + str(build_dir), + f"-Dgraph={graph_path}", + ], + capture_output=True, + text=True, + ) + if result.returncode != 0: + pytest.skip(f"zig build failed: {result.stderr.strip()[:400]}") + lib = ctypes.CDLL(str(build_dir / "lib" / "libbase.so")) + lib.shinro_step.argtypes = [ctypes.POINTER(ctypes.c_double)] * 3 + lib.shinro_step.restype = None + return lib + + +class TestFrozenFixturesCAbi: + """Each committed fixture's .so matches its committed `interpret()` vectors.""" + + @pytest.mark.parametrize("name", FIXTURE_NAMES) + def test_fixture_so_matches_vectors(self, name, tmp_path_factory): + data = (FIXTURE_DIR / f"{name}_data.zig").read_text() + n_samples = _zig_const_int(data, "n_samples") + n_in = _zig_const_int(data, "n_in") + n_out = _zig_const_int(data, "n_out") + n_state = _zig_const_int(data, "n_state") + tol_match = re.search(r"pub const tol = ([^;]+);", data) + assert tol_match is not None, "missing tol" + tol = float(tol_match.group(1)) + inputs = _zig_f64_array(data, "inputs") + outputs = _zig_f64_array(data, "outputs") + states = _zig_f64_array(data, "states") + + build_dir = tmp_path_factory.mktemp(f"fixture-{name}") + lib = _build_fixture_so((FIXTURE_DIR / f"{name}_graph.zig").resolve(), build_dir) + + for s in range(n_samples): + packed = np.ascontiguousarray(inputs[s * n_in : (s + 1) * n_in], dtype=np.float64) + out = np.zeros(n_out, dtype=np.float64) + state = np.zeros(n_state, dtype=np.float64) + lib.shinro_step( + packed.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), + out.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), + state.ctypes.data_as(ctypes.POINTER(ctypes.c_double)), + ) + np.testing.assert_allclose( + out, outputs[s * n_out : (s + 1) * n_out], atol=tol, err_msg=f"{name} sample {s} outputs" + ) + np.testing.assert_allclose( + state, states[s * n_state : (s + 1) * n_state], atol=tol, err_msg=f"{name} sample {s} state" + ) From 4967159587be7fc76b84620b7d357fe40ee2452b Mon Sep 17 00:00:00 2001 From: Adil Faisal Date: Mon, 28 Sep 2026 11:30:05 -0400 Subject: [PATCH 4/4] test(runtime): add a native QP fixture; route fixture tests through the C-ABI Close the last VM op without Zig-native coverage: add an `mpc` frozen fixture (KF + MPC_LTI, has_solve_qp=true, tol 1e-3) and route the frozen-fixture driver through the exported `shinro_step` instead of `Vm(Ctx).step`. Each fixture gets its own `entry` module (rooted at entry.zig) so `graph_data` resolves to that fixture; the QP one also compiles the baked OSQP solver. entry.zig's shinro_step becomes `pub export` (symbol name unchanged). The generator gains a per-fixture tolerance and runs `zig fmt` on its output so regeneration is a no-op; TestFrozenFixturesCAbi gains `mpc`. Verified: zig build test 56/56; make test-zig 96 passed, 2 skipped. --- lab-notes/daily/2026-09-28.md | 22 +++ scripts/gen_lower_fixtures.py | 26 +++- src/shinro/runtime/README.md | 8 +- src/shinro/runtime/build.zig | 35 +++-- src/shinro/runtime/entry.zig | 5 +- src/shinro/runtime/tests/graphs/mpc_data.zig | 10 ++ src/shinro/runtime/tests/graphs/mpc_graph.zig | 140 ++++++++++++++++++ src/shinro/runtime/tests/lower_graph.zig | 30 ++-- tests/test_zig_lowering.py | 2 +- 9 files changed, 237 insertions(+), 41 deletions(-) create mode 100644 src/shinro/runtime/tests/graphs/mpc_data.zig create mode 100644 src/shinro/runtime/tests/graphs/mpc_graph.zig diff --git a/lab-notes/daily/2026-09-28.md b/lab-notes/daily/2026-09-28.md index 80c37bd..292b79c 100644 --- a/lab-notes/daily/2026-09-28.md +++ b/lab-notes/daily/2026-09-28.md @@ -278,3 +278,25 @@ committed vectors — covering the export/port-packing surface the in-process `Vm(Ctx).step` oracle bypasses, and the compiled path for the compact `@embedFile` graph format. `make test-zig`: **95 passed, 2 skipped** (was 91). Self-contained: reads only the committed fixtures (no shinro-bench, no ONNX). + +### Native QP fixture + C-ABI routing (issue #14 closure) + +Closed the last uncovered VM op (`solve_qp`). The frozen menu gains an `mpc` +fixture (KF + MPC_LTI, `has_solve_qp = true`, tol 1e-3), and the fixture driver +now routes through the **exported C-ABI `shinro_step`** instead of +`Vm(Ctx).step`: each fixture gets its own `entry` module (rooted at `entry.zig`) +so `graph_data` resolves to that fixture, and the QP one also compiles the baked +OSQP solver (include paths + C sources + `solver_meta`). `entry.zig`'s +`shinro_step` became `pub export` so the tests can call it (symbol unchanged). + +- `zig build test`: **56/56** (was 55; +the `mpc` fixture). The `.solve_qp` arm + now has a Zig-native path (entry → `Vm(Ctx)` → `qp.solve_qp` → the C bake). +- `make test-zig`: **96 passed, 2 skipped** (was 95/2 — `mpc` also passes through + the `.so` via `TestFrozenFixturesCAbi`). +- The generator now runs `zig fmt` on its output, so regeneration is a no-op + against the committed files (only a new fixture shows as a diff). + +Pitfall hit while verifying: the fixture `.so` builds land in pytest's `/tmp`; +a full `/tmp` made `zig build` fail with `DiskQuota`, which the tests surface as +**skips** (`_build_fixture_so` skips on build failure) — clear scratch dirs +before trusting a skip count. diff --git a/scripts/gen_lower_fixtures.py b/scripts/gen_lower_fixtures.py index f6fc8e4..7e470c9 100644 --- a/scripts/gen_lower_fixtures.py +++ b/scripts/gen_lower_fixtures.py @@ -29,7 +29,9 @@ import argparse import re +import shutil import struct +import subprocess import sys from pathlib import Path from typing import Any @@ -57,6 +59,12 @@ "recipe": "build_base_graph", "desc": "closed-loop Kalman filter + LQR (matmul/reshape/add/sub/inv/clip + recurrence)", }, + "mpc": { + "kind": "classical", + "recipe": "build_mpc_composed_graph", + "tol": 1e-3, + "desc": "closed-loop Kalman filter + MPC_LTI (.solve_qp via the baked OSQP solver)", + }, "toy_lstm": { "kind": "onnx", "root": "repo", @@ -83,9 +91,9 @@ def _build_composed(name: str, spec: dict[str, Any], bench_root: Path): """Build the ComposedGraph for one fixture spec.""" if spec["kind"] == "classical": - from shinro.codegen.recipes import build_base_graph + from shinro.codegen import recipes - return {"build_base_graph": build_base_graph}[spec["recipe"]]() + return getattr(recipes, spec["recipe"])() root = REPO if spec["root"] == "repo" else bench_root model = root / spec["model"] if not model.exists(): @@ -108,10 +116,10 @@ def _compact_f32_blob(name: str, graph_path: Path, header: str) -> None: """ text = graph_path.read_text() m = re.search(r"pub const const_blob_f32 = \[_\]f32\{(.*?)\};", text) - body = m.group(1).strip() if m is not None else "" - if not body: + if m is None or not m.group(1).strip(): graph_path.write_text(text.replace(_ORIG_HEADER, header)) return + body = m.group(1) values = [float.fromhex(tok.strip()) for tok in body.split(",") if tok.strip()] raw = b"".join(struct.pack(" None: assert len(values) * 4 == len(raw) -def _emit_vectors(name: str, cg, data_path: Path) -> tuple[int, int, int]: +def _emit_vectors(name: str, cg, data_path: Path, tol: float) -> tuple[int, int, int]: """Run the Python interpreter on seeded inputs; emit the expected vectors.""" import numpy as np @@ -160,7 +168,7 @@ def _emit_vectors(name: str, cg, data_path: Path) -> tuple[int, int, int]: f"pub const n_in = {n_in};\n" f"pub const n_out = {n_out};\n" f"pub const n_state = {n_state};\n" - f"pub const tol = {TOL!r};\n" + f"pub const tol = {tol!r};\n" f"pub const inputs = [_]f64{{{_zig_floats(in_flat.tolist())}}};\n" f"pub const outputs = [_]f64{{{_zig_floats(out_flat.tolist())}}};\n" f"pub const states = [_]f64{{{_zig_floats(state_flat.tolist())}}};\n" @@ -187,7 +195,7 @@ def generate(name: str, spec: dict[str, Any], bench_root: Path, out_dir: Path) - lower_zig(cg, str(graph_path)) graph_path.with_name(graph_path.stem + "_manifest.json").unlink(missing_ok=True) _compact_f32_blob(name, graph_path, header) - n_in, n_out, n_state = _emit_vectors(name, cg, data_path) + n_in, n_out, n_state = _emit_vectors(name, cg, data_path, spec.get("tol", TOL)) graph_kb = graph_path.stat().st_size / 1024 weights = graph_path.parent / f"{name}_weights.bin" @@ -220,6 +228,10 @@ def main() -> int: except FileNotFoundError as exc: print(f"ERROR: {exc}", file=sys.stderr) return 2 + # Normalize formatting so regenerating is a no-op against the committed + # files (lower_zig's output is not necessarily zig-fmt clean). + if shutil.which("zig"): + subprocess.run(["zig", "fmt", str(out_dir)], check=False) print(f"\nwrote fixtures to {out_dir}") return 0 diff --git a/src/shinro/runtime/README.md b/src/shinro/runtime/README.md index e37c8e3..ac84597 100644 --- a/src/shinro/runtime/README.md +++ b/src/shinro/runtime/README.md @@ -85,9 +85,11 @@ and no Python, so a VM/ABI regression surfaces in the Zig test step alone. The fixture is solver-free, so it pulls in no OSQP bake. `zig build test` additionally compiles `tests/lower_graph.zig` **once per frozen -fixture** (KF+LQR, a toy LSTM, the real Go2 MLP, and the real eco-drone GRU), -each instantiating `lower.Vm(Ctx)` over that fixture's graph and checking its -outputs and recurrent state against `interpret()` on the recorded vectors. The +fixture** (KF+LQR, a toy LSTM, the real Go2 MLP, the real eco-drone GRU, and a +KF+MPC `.solve_qp` graph), each calling the exported C-ABI `shinro_step` through +its own `entry` module and checking the outputs/state against `interpret()` on +the recorded vectors. The QP fixture's `entry` module also compiles the baked +OSQP solver, so `.solve_qp` is covered natively too. The fixtures live under `tests/graphs/`: the graph is Zig constants, but the f32 weight blob is a raw little-endian `.bin` embedded at compile time (`@embedFile` + `bytesAsSlice`) — ~5x smaller than hex literals (the Go2 MLP is diff --git a/src/shinro/runtime/build.zig b/src/shinro/runtime/build.zig index 0e4b87f..a013af5 100644 --- a/src/shinro/runtime/build.zig +++ b/src/shinro/runtime/build.zig @@ -203,21 +203,35 @@ pub fn build(b: *std.Build) void { test_step.dependOn(&run_lower_tests.step); // Frozen multi-graph oracle: one instance of tests/lower_graph.zig per - // fixture, each instantiating the graph-agnostic VM over that fixture's - // graph + expected vectors. Generated once by scripts/gen_lower_fixtures.py - // and committed under tests/graphs/; adding a graph type is one table row. + // fixture, each calling the exported C-ABI `shinro_step` for that fixture's + // graph and checking it against the committed vectors. Generated once by + // scripts/gen_lower_fixtures.py; adding a graph type is one table row. + // + // Each fixture gets its own `entry` module (rooted at entry.zig) so + // `graph_data` resolves to that fixture. A QP fixture also needs the baked + // OSQP solver compiled in (qp.zig @cImports osqp.h and links the C bake). const graph_fixtures = .{ - .{ .name = "kf_lqr", .graph = "tests/graphs/kf_lqr_graph.zig", .data = "tests/graphs/kf_lqr_data.zig" }, - .{ .name = "toy_lstm", .graph = "tests/graphs/toy_lstm_graph.zig", .data = "tests/graphs/toy_lstm_data.zig" }, - .{ .name = "go2", .graph = "tests/graphs/go2_graph.zig", .data = "tests/graphs/go2_data.zig" }, - .{ .name = "drone_gru", .graph = "tests/graphs/drone_gru_graph.zig", .data = "tests/graphs/drone_gru_data.zig" }, + .{ .name = "kf_lqr", .graph = "tests/graphs/kf_lqr_graph.zig", .data = "tests/graphs/kf_lqr_data.zig", .qp = false }, + .{ .name = "toy_lstm", .graph = "tests/graphs/toy_lstm_graph.zig", .data = "tests/graphs/toy_lstm_data.zig", .qp = false }, + .{ .name = "go2", .graph = "tests/graphs/go2_graph.zig", .data = "tests/graphs/go2_data.zig", .qp = false }, + .{ .name = "drone_gru", .graph = "tests/graphs/drone_gru_graph.zig", .data = "tests/graphs/drone_gru_data.zig", .qp = false }, + .{ .name = "mpc", .graph = "tests/graphs/mpc_graph.zig", .data = "tests/graphs/mpc_data.zig", .qp = true }, }; inline for (graph_fixtures) |spec| { - const graph_mod = b.createModule(.{ - .root_source_file = b.path(spec.graph), + const entry_mod = b.createModule(.{ + .root_source_file = b.path("entry.zig"), .target = target, .optimize = optimize, + .link_libc = spec.qp, }); + entry_mod.addAnonymousImport("graph_data", .{ .root_source_file = b.path(spec.graph) }); + if (spec.qp) { + entry_mod.addAnonymousImport("solver_meta", .{ .root_source_file = b.path("codegen/emosqp/solver_meta.zig") }); + entry_mod.addIncludePath(b.path("codegen/emosqp/inc/public")); + entry_mod.addIncludePath(b.path("codegen/emosqp/inc/private")); + entry_mod.addIncludePath(b.path("codegen/emosqp")); + entry_mod.addCSourceFiles(.{ .files = &default_emosqp_srcs, .flags = &.{} }); + } const vectors_mod = b.createModule(.{ .root_source_file = b.path(spec.data), .target = target, @@ -228,8 +242,7 @@ pub fn build(b: *std.Build) void { .target = target, .optimize = optimize, .imports = &.{ - .{ .name = "lower", .module = vm_mod }, - .{ .name = "graph", .module = graph_mod }, + .{ .name = "entry", .module = entry_mod }, .{ .name = "vectors", .module = vectors_mod }, }, }); diff --git a/src/shinro/runtime/entry.zig b/src/shinro/runtime/entry.zig index d8cd54f..24a1a02 100644 --- a/src/shinro/runtime/entry.zig +++ b/src/shinro/runtime/entry.zig @@ -28,7 +28,8 @@ pub const Ctx = struct { }; /// One tick of the deployed closed-loop step (see lower.zig's `Vm(Ctx).step` -/// for the buffer contract). -export fn shinro_step(inputs: [*]const f64, outputs: [*]f64, state_out: [*]f64) void { +/// for the buffer contract). `pub` so the Zig-native fixture tests can call the +/// real C-ABI entry directly; the exported symbol name is unchanged. +pub export fn shinro_step(inputs: [*]const f64, outputs: [*]f64, state_out: [*]f64) void { lower.Vm(Ctx).step(inputs, outputs, state_out); } diff --git a/src/shinro/runtime/tests/graphs/mpc_data.zig b/src/shinro/runtime/tests/graphs/mpc_data.zig new file mode 100644 index 0000000..61f099d --- /dev/null +++ b/src/shinro/runtime/tests/graphs/mpc_data.zig @@ -0,0 +1,10 @@ +// Test vectors for `mpc` — generated by scripts/gen_lower_fixtures.py. +// Produced by shinro.codegen.interpret on 8 seeded inputs (seed=0). +pub const n_samples = 8; +pub const n_in = 21; +pub const n_out = 3; +pub const n_state = 15; +pub const tol = 0.001; +pub const inputs = [_]f64{ 0x1.9bfe2762c06cfp-7, -0x1.b0e1975fba2e0p-7, 0x1.06512e9ed59f1p-4, 0x1.57bc98a03dd8dp-7, -0x1.b6d2027d6d315p-5, 0x1.2837fab0bdb1fp-5, 0x1.0b0f285640cfdp-3, 0x1.83eca305496e9p-4, -0x1.203ffce488c20p-4, -0x1.0328877b0a096p-3, -0x1.fe9620e9b2192p-5, 0x1.0ed57cfa270b6p-8, 0x1.5c480f88a478ap-3, 0x1.6b056a678de51p-6, -0x1.4fdf94a3fb86cp-7, 0x1.6b056a678de51p-6, 0x1.bfcb5a255ca3dp-4, -0x1.0f5f8b2ba07cbp-7, -0x1.4fdf94a3fb86cp-7, -0x1.0f5f8b2ba07cbp-7, 0x1.cdbbd29e32860p-4, 0x1.17da0a3dc06c0p-3, -0x1.1076b78cf51b3p-4, 0x1.1ff50130d86c2p-5, 0x1.720fb704f8180p-4, 0x1.340f3b3719df1p-7, -0x1.30898c00eb958p-4, -0x1.7989e92b13bedp-4, -0x1.76f81025aec04p-5, 0x1.68c48759df4e0p-6, -0x1.9d8a23bf97e0dp-4, -0x1.56b6985474568p-6, -0x1.04dfcf41d7ca3p-6, 0x1.aca43e61a4e02p-4, -0x1.0d96791b88d18p-10, 0x1.606787d9d6c7dp-7, -0x1.0d96791b88d18p-10, 0x1.c4f91105fdd4ep-4, 0x1.e9b7206f553c6p-9, 0x1.606787d9d6c7dp-7, 0x1.e9b7206f553c6p-9, 0x1.49e1f0affd335p-3, 0x1.13a2a227b546cp-3, 0x1.4006703666849p-4, 0x1.b148bb1672907p-6, -0x1.012a62c6164ebp-5, 0x1.2a9a465a25703p-3, 0x1.9175fdc0b112ep-3, 0x1.70f98de4539abp-3, 0x1.0d554ff04df24p-3, 0x1.24c41ab33c6ddp-5, -0x1.eeed644e14398p-4, -0x1.d30cb9bb828aap-12, 0x1.0ce462dadfe1bp-4, 0x1.eb8d4b2c889ecp-4, -0x1.0e2ee93b8a7c9p-6, 0x1.15cb8200a6aaap-7, -0x1.0e2ee93b8a7c9p-6, 0x1.f8cf576cbf0dcp-4, -0x1.6c94c0b9d4070p-11, 0x1.15cb8200a6aaap-7, -0x1.6c94c0b9d4070p-11, 0x1.2aafcd56b8c99p-3, -0x1.96400481433d5p-5, 0x1.0d7dee7fb54b4p-5, -0x1.a7a52fa94e31fp-6, 0x1.444b9536d8b24p-3, 0x1.0e68f12ebe9f9p-3, 0x1.036bd602fd797p-4, -0x1.c34760fb083d2p-3, 0x1.54fa224a00167p-8, 0x1.1809b1702de37p-4, 0x1.9b3900577e0d2p-4, -0x1.fa307fdcc2472p-5, 0x1.7525de8ebf985p-3, 0x1.0b604aee90d2ep-3, -0x1.8d85524bf8bfep-7, 0x1.57d6598b0959fp-11, -0x1.8d85524bf8bfep-7, 0x1.1fb178bc11a6ap-3, -0x1.45518cc482845p-7, 0x1.57d6598b0959fp-11, -0x1.45518cc482845p-7, 0x1.e0a0d6cb732e2p-4, -0x1.05ab3ce780ae1p-3, 0x1.02376f99653cdp-4, 0x1.dc174df92c0ccp-5, 0x1.09202a59cc623p-3, -0x1.351626f7bbd87p-4, 0x1.59ede07623eecp-3, -0x1.d6db242863544p-6, 0x1.427056368d234p-3, -0x1.6289c53f6d498p-5, -0x1.2d41034bc87d9p-4, 0x1.993f940bed753p-6, 0x1.a67bb1eaff0e7p-4, 0x1.f262efa5dce7ap-4, -0x1.2eae3f64eeb3ep-6, -0x1.7474bc8ca8f93p-8, -0x1.2eae3f64eeb3ep-6, 0x1.0e4390c55fe9ap-3, 0x1.6b3d29a6ddb0cp-8, -0x1.7474bc8ca8f93p-8, 0x1.6b3d29a6ddb0cp-8, 0x1.e934345389578p-4, -0x1.0639849ed61f9p-3, -0x1.24129becf600cp-4, 0x1.fcbce223cc42ap-5, -0x1.ccd43399823d2p-3, 0x1.3c8393d24a84cp-5, -0x1.dc7aeca145247p-5, 0x1.66167456d5c28p-7, -0x1.f01e15f004bafp-8, 0x1.4b24ebeb4b2c6p-6, 0x1.1c5534098839cp-4, -0x1.36a0d4fd6a393p-4, 0x1.230461db3a160p-3, 0x1.01f757d9d6b4fp-3, 0x1.c19bc0015aa7dp-7, -0x1.4f43c4f122443p-6, 0x1.c19bc0015aa7dp-7, 0x1.d06c904005b86p-4, -0x1.a8a1669b93196p-7, -0x1.4f43c4f122443p-6, -0x1.a8a1669b93196p-7, 0x1.02fdd8a4b91d0p-3, -0x1.2360a4c5243aep-3, 0x1.a772f51cffee4p-6, -0x1.d1c17665834c7p-5, -0x1.a5ced2640e4b2p-4, -0x1.ab36970dc294cp-4, 0x1.b7c64879d739fp-6, 0x1.25d2f5a55f9a9p-5, 0x1.0ed6dbb26649fp-3, -0x1.6cc3c27f8e501p-10, 0x1.aabcd11596275p-4, 0x1.1f2f0fe90e264p-3, 0x1.d71b9bb397f25p-4, 0x1.60a8a728f1726p-3, -0x1.10c8a37e9a4b5p-8, -0x1.2dd92c92825bcp-6, -0x1.10c8a37e9a4b5p-8, 0x1.ac99e44175ca1p-4, -0x1.db9fb440bcaa1p-8, -0x1.2dd92c92825bcp-6, -0x1.db9fb440bcaa1p-8, 0x1.1b967ab078b44p-3, -0x1.64e44bb883784p-7, -0x1.49356486a3cffp-4, 0x1.ba6f57d1e5c65p-4, -0x1.d91d737c5aa8fp-6, 0x1.118834399eb74p-7, -0x1.5bffa43621bf8p-4, -0x1.a24d4b00b8895p-5, -0x1.2e55111b4dd43p-10, -0x1.3034703ef6263p-3, 0x1.eca47a4ea6e0cp-6, -0x1.5b93dafa829ffp-7, -0x1.e5abbba78c12dp-4, 0x1.49cbaae52291cp-3, 0x1.8f5b45d358d6fp-8, 0x1.8d69a7461d258p-8, 0x1.8f5b45d358d6fp-8, 0x1.17454a13512efp-3, -0x1.b998c4f8e992ap-6, 0x1.8d69a7461d258p-8, -0x1.b998c4f8e992ap-6, 0x1.f49656f103a72p-4 }; +pub const outputs = [_]f64{ 0x1.ffffffffdb43bp-2, -0x1.ffffffffed69ap-2, 0x1.746132d8fc30cp-5, 0x1.ffffffffcd690p-2, 0x1.ffffffffd50e0p-2, -0x1.ffffffffe8387p-1, -0x1.ffffffffd9daap-2, 0x1.fffffffc17002p-2, 0x1.ffffffffd7428p-1, 0x1.ffffffffd2a2fp-2, 0x1.ffffffffbec40p-2, -0x1.97c7d09586146p-6, 0x1.ffffffff40d49p-2, -0x1.ffffffff954afp-2, 0x1.ffffff4a444ebp-1, -0x1.ffffffff6a84ap-2, 0x1.ffffffc9b6bdbp-2, -0x1.fffffff15b853p-1, -0x1.fffffff4c1aa0p-2, -0x1.ffffffff66827p-2, 0x1.af2d709bf2508p-4, -0x1.ffffffffe736fp-2, 0x1.ffffffffc851fp-2, -0x1.ffffffffe988dp-1 }; +pub const states = [_]f64{ -0x1.25e46a4c6a98ap-5, -0x1.fbd56706849d0p-6, 0x1.136ced9be4993p-5, 0x1.05f4862e2645ep-4, 0x1.d5c026cf14de2p-9, -0x1.8fed2566b0935p-10, 0x1.d5c026cf14ddcp-9, 0x1.ba3eeb5470467p-5, -0x1.954865dccd0bbp-10, -0x1.8fed2566b0930p-10, -0x1.954865dccd0bcp-10, 0x1.c259d8b732ba3p-5, 0x1.ffffffffdb43bp-2, -0x1.ffffffffed69ap-2, 0x1.746132d8fc30cp-5, 0x1.a89e1fde242f0p-6, -0x1.7d2f2c97a6982p-5, 0x1.51588064aa64bp-6, 0x1.b4c833111dbc4p-5, -0x1.052886e4e3f22p-12, 0x1.e6666e79ca5b0p-10, -0x1.052886e4e3f21p-12, 0x1.bfbbb12675107p-5, 0x1.4cdb111f8a8c6p-11, 0x1.e6666e79ca5b4p-10, 0x1.4cdb111f8a8c5p-11, 0x1.02292af966646p-4, 0x1.ffffffffcd690p-2, 0x1.ffffffffd50e0p-2, -0x1.ffffffffe8387p-1, 0x1.602503cc17024p-6, 0x1.34478ecfba06cp-5, 0x1.76406518af5e0p-5, 0x1.ccc9e791e76b5p-5, -0x1.94e0eae9e6ddep-9, 0x1.79d77b95cf1a7p-10, -0x1.94e0eae9e6dd9p-9, 0x1.d230f868cef41p-5, -0x1.ef83ac4d60da7p-17, 0x1.79d77b95cf19fp-10, -0x1.ef83ac4d60d6ap-17, 0x1.f29cb9856faa4p-5, -0x1.ffffffffd9daap-2, 0x1.fffffffc17002p-2, 0x1.ffffffffd7428p-1, 0x1.2a352ea16af88p-7, 0x1.9b1e47e35b6e0p-10, 0x1.091d1c1f02ee7p-4, 0x1.ddd1df19af60cp-5, -0x1.0861651914b0cp-9, 0x1.0d84571d72246p-15, -0x1.0861651914b0ap-9, 0x1.eac659cd533ffp-5, -0x1.c96d5e121f17dp-10, 0x1.0d84571d7224bp-15, -0x1.c96d5e121f184p-10, 0x1.ca3c2d56eb37cp-5, 0x1.ffffffffd2a2fp-2, 0x1.ffffffffbec40p-2, -0x1.97c7d09586146p-6, -0x1.aec5a8f7b1b84p-4, 0x1.989625fbc995ap-5, 0x1.407bd5d42b1b9p-4, 0x1.cf4035851d483p-5, -0x1.afd6a5d185785p-9, -0x1.05482708d80e3p-10, -0x1.afd6a5d185788p-9, 0x1.de6786f79f878p-5, 0x1.e41c96b070d11p-11, -0x1.05482708d80e7p-10, 0x1.e41c96b070d14p-11, 0x1.cdc3678683a05p-5, 0x1.ffffffff40d49p-2, -0x1.ffffffff954afp-2, 0x1.ffffff4a444ebp-1, -0x1.4ad8de34aea80p-5, -0x1.38e4d80787f99p-4, 0x1.a7917ba039a78p-4, 0x1.d4544b815770ep-5, 0x1.3da6c9127e62cp-9, -0x1.d4699a5816f1cp-9, 0x1.3da6c9127e62cp-9, 0x1.c22f82a683a19p-5, -0x1.2814327008a44p-9, -0x1.d4699a5816f1dp-9, -0x1.2814327008a44p-9, 0x1.d535c96dc8190p-5, -0x1.ffffffff6a84ap-2, 0x1.ffffffc9b6bdbp-2, -0x1.fffffff15b853p-1, -0x1.8f3b012d3a6a2p-5, 0x1.5b64a5116b12cp-4, 0x1.57780f9fab914p-6, 0x1.07b18504e793ap-4, -0x1.996610cfac45ap-11, -0x1.5d2ec8e9ecdcdp-9, -0x1.996610cfac45bp-11, 0x1.b504ae245221cp-5, -0x1.7464547606356p-10, -0x1.5d2ec8e9ecdc6p-9, -0x1.7464547606358p-10, 0x1.e78b836bd1918p-5, -0x1.fffffff4c1aa0p-2, -0x1.ffffffff66827p-2, 0x1.af2d709bf2508p-4, 0x1.7128cd189d2e4p-8, -0x1.02862870c8e73p-4, 0x1.5fa2366fc3378p-7, 0x1.0247af30ae3b6p-4, 0x1.0ea5b99d64b11p-10, 0x1.1c5092c719b03p-10, 0x1.0ea5b99d64b0cp-10, 0x1.e22b3de3f9e03p-5, -0x1.3ab81b43008fdp-8, 0x1.1c5092c719afep-10, -0x1.3ab81b43008fbp-8, 0x1.cd9f90cebdf62p-5, -0x1.ffffffffe736fp-2, 0x1.ffffffffc851fp-2, -0x1.ffffffffe988dp-1 }; diff --git a/src/shinro/runtime/tests/graphs/mpc_graph.zig b/src/shinro/runtime/tests/graphs/mpc_graph.zig new file mode 100644 index 0000000..3645683 --- /dev/null +++ b/src/shinro/runtime/tests/graphs/mpc_graph.zig @@ -0,0 +1,140 @@ +// Test fixture `mpc` — closed-loop Kalman filter + MPC_LTI (.solve_qp via the baked OSQP solver). +// Generated by scripts/gen_lower_fixtures.py from recipes.build_mpc_composed_graph() — DO NOT EDIT. + +pub const Op = enum { + cst, + cst_f32, + inp, + out, + matmul, + add, + sub, + mul, + div, + ne, + neg, + transpose, + inv, + reshape, + clip, + where_op, + any, + copy, + tanh, + relu, + exp, + argmax, + one_hot, + slice, + sin, + cos, + stack, + solve_qp, + abs, + sign, + pow, + lt, + min, + gemm, + sigmoid, + softmax, + gelu, + elu, + layernorm, + lstm, + gru, + rnn, + concat, + gather, + sqrt, + log, + mod, + leaky_relu, +}; + +pub const Node = struct { + op: Op, + inputs: []const usize, + rows: usize, + cols: usize, + aux: usize, + vec: bool, +}; + +pub const buf_len = 252; +pub const has_solve_qp = true; +pub const n_outputs = 1; + +pub const offsets = [_]usize{ + 0, 3, 6, 9, 12, 21, 24, 27, 27, 30, 30, 33, 36, 36, 45, 45, 54, 54, 63, 63, 72, 72, 81, 81, 90, 90, 99, 108, 117, 117, 120, 120, 123, 126, 129, 132, 135, 135, 135, 144, 153, 162, 165, 168, 168, 198, 228, 231, 234, 237, 240, 249, +}; + +pub const nodes = [_]Node{ + .{ .op = .inp, .inputs = &.{}, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .inp, .inputs = &.{}, .rows = 3, .cols = 1, .aux = 3, .vec = true }, + .{ .op = .inp, .inputs = &.{}, .rows = 3, .cols = 1, .aux = 6, .vec = true }, + .{ .op = .inp, .inputs = &.{}, .rows = 3, .cols = 1, .aux = 9, .vec = false }, + .{ .op = .inp, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 12, .vec = false }, + .{ .op = .reshape, .inputs = &.{0}, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .reshape, .inputs = &.{2}, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 7, 3 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 9, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 9, 6 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .add, .inputs = &.{ 8, 10 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 18, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 12, 4 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 27, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 13, 14 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 36, .vec = false }, + .{ .op = .add, .inputs = &.{ 15, 16 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 45, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 18, 17 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 54, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 19, 20 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 63, .vec = false }, + .{ .op = .add, .inputs = &.{ 21, 22 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 72, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 17, 24 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .inv, .inputs = &.{23}, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 25, 26 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 81, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 28, 11 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 90, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 30, 6 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .add, .inputs = &.{ 29, 31 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .sub, .inputs = &.{ 5, 32 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 27, 33 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .add, .inputs = &.{ 11, 34 }, .rows = 3, .cols = 1, .aux = 0, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 99, .vec = false }, + .{ .op = .cst, .inputs = &.{}, .rows = 3, .cols = 3, .aux = 108, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 27, 37 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .sub, .inputs = &.{ 36, 38 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 39, 17 }, .rows = 3, .cols = 3, .aux = 0, .vec = false }, + .{ .op = .reshape, .inputs = &.{35}, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .sub, .inputs = &.{ 41, 1 }, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .cst, .inputs = &.{}, .rows = 30, .cols = 3, .aux = 117, .vec = false }, + .{ .op = .matmul, .inputs = &.{ 43, 42 }, .rows = 30, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .solve_qp, .inputs = &.{44}, .rows = 30, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .slice, .inputs = &.{45}, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .clip, .inputs = &.{46}, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .out, .inputs = &.{47}, .rows = 3, .cols = 1, .aux = 0, .vec = true }, + .{ .op = .out, .inputs = &.{35}, .rows = 3, .cols = 1, .aux = 1, .vec = false }, + .{ .op = .out, .inputs = &.{40}, .rows = 3, .cols = 3, .aux = 2, .vec = false }, + .{ .op = .out, .inputs = &.{47}, .rows = 3, .cols = 1, .aux = 3, .vec = true }, +}; + +pub const const_blob = [_]f64{ + 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.47ae147ae147bp-6, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.47ae147ae147bp-6, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.47ae147ae147bp-6, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.47ae147ae147bp-7, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.47ae147ae147bp-7, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.47ae147ae147bp-7, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.999999999999ap-4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.999999999999ap-4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.999999999999ap-4, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+0, 0x1.4000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.4000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.4000000000000p+4, 0x1.2000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.2000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.2000000000000p+4, 0x1.0000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+5, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+4, 0x1.c000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.c000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.c000000000000p+3, 0x1.8000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.8000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.8000000000000p+3, 0x1.4000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.4000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.4000000000000p+3, 0x1.0000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+4, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+3, 0x1.8000000000000p+3, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.8000000000000p+3, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.8000000000000p+2, 0x1.0000000000000p+3, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+3, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+2, 0x1.0000000000000p+2, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+2, 0x0.0p+0, 0x0.0p+0, 0x0.0p+0, 0x1.0000000000000p+1, +}; + +pub const const_blob_f32 = [_]f32{}; +pub const clip_lo = [_]f64{ -0x1.0000000000000p-1, -0x1.0000000000000p-1, -0x1.0000000000000p+0 }; +pub const clip_hi = [_]f64{ 0x1.0000000000000p-1, 0x1.0000000000000p-1, 0x1.0000000000000p+0 }; +pub const gemm_alpha = [_]f64{}; +pub const gemm_beta = [_]f64{}; +pub const elu_alpha = [_]f64{}; +pub const leaky_relu_alpha = [_]f64{}; +pub const layernorm_eps = [_]f64{}; +pub const output_offsets = [_]usize{0}; +pub const state_offsets = [_]usize{ 0, 3, 12 }; diff --git a/src/shinro/runtime/tests/lower_graph.zig b/src/shinro/runtime/tests/lower_graph.zig index 84ff89c..dce7cf3 100644 --- a/src/shinro/runtime/tests/lower_graph.zig +++ b/src/shinro/runtime/tests/lower_graph.zig @@ -1,36 +1,32 @@ -// Zig-native oracle for the comptime graph VM, driven by a frozen fixture. +// Zig-native C-ABI oracle for the comptime graph VM, driven by a frozen fixture. // // One copy of this file is compiled per fixture: build.zig wires each fixture's -// graph module in as `graph` and its expected vectors in as `vectors`. The VM -// (`lower.Vm(Ctx)`) is instantiated over that graph and run on the recorded -// inputs; the outputs and recurrent state must match `interpret()` within -// `tol`. No `.so`, no ctypes, no Python — a VM regression fails here in the -// plain `zig build test` step. +// `entry` module (rooted at entry.zig, with that fixture's graph) and its +// expected vectors in as `vectors`. The test calls the *exported* C-ABI entry +// `entry.shinro_step` — the same symbol the host dlopen-s — on the recorded +// inputs and checks the outputs and recurrent state against `interpret()` +// within `tol`. No `.so`, no ctypes, no Python: a VM/ABI regression fails here +// in the plain `zig build test` step. +// +// The QP fixture's `entry` module carries the baked OSQP solver too, so this +// same driver covers the `.solve_qp` op natively. // // The graphs and vectors are generated once by scripts/gen_lower_fixtures.py // (see its docstring) and committed; this driver is handwritten and never // regenerated. const std = @import("std"); -const lower = @import("lower"); -const g = @import("graph"); +const entry = @import("entry"); const v = @import("vectors"); -/// The fixture's VM context: a graph, no baked QP solver. -const Ctx = struct { - pub const graph = g; - pub const sm = struct {}; - pub const qp = struct {}; -}; - -test "VM matches interpret() on the frozen fixture" { +test "shinro_step matches interpret() on the frozen fixture" { for (0..v.n_samples) |s| { var inputs: [v.n_in]f64 = undefined; @memcpy(&inputs, v.inputs[s * v.n_in ..][0..v.n_in]); var outputs = [_]f64{0.0} ** v.n_out; var state = [_]f64{0.0} ** v.n_state; - lower.Vm(Ctx).step(&inputs, &outputs, &state); + entry.shinro_step(&inputs, &outputs, &state); for (0..v.n_out) |j| { try std.testing.expectApproxEqAbs(v.outputs[s * v.n_out + j], outputs[j], v.tol); diff --git a/tests/test_zig_lowering.py b/tests/test_zig_lowering.py index f8c7df7..df8f73a 100644 --- a/tests/test_zig_lowering.py +++ b/tests/test_zig_lowering.py @@ -2849,7 +2849,7 @@ def test_compiled_policy_carries_state(self, recurrent_so): # scripts/gen_lower_fixtures.py. FIXTURE_DIR = RUNTIME / "tests" / "graphs" -FIXTURE_NAMES = ["kf_lqr", "toy_lstm", "go2", "drone_gru"] +FIXTURE_NAMES = ["kf_lqr", "toy_lstm", "go2", "drone_gru", "mpc"] def _zig_const_int(text: str, name: str) -> int:

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