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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 | # Copyright (c) 2023 NVIDIA CORPORATION. All rights reserved.
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
###########################################################################
# Bechmarks for kernel launches with different types of args
###########################################################################
import warp as wp
@wp.struct
class S0:
pass
@wp.struct
class Sf:
x: float
y: float
z: float
@wp.struct
class Sv:
u: wp.vec3
v: wp.vec3
w: wp.vec3
@wp.struct
class Sm:
M: wp.mat33
N: wp.mat33
O: wp.mat33
@wp.struct
class Sa:
a: wp.array(dtype=float)
b: wp.array(dtype=float)
c: wp.array(dtype=float)
@wp.struct
class Sz:
a: wp.array(dtype=float)
b: wp.array(dtype=float)
c: wp.array(dtype=float)
x: float
y: float
z: float
u: wp.vec3
v: wp.vec3
w: wp.vec3
@wp.kernel
def k0():
tid = wp.tid()
@wp.kernel
def kf(x: float, y: float, z: float):
tid = wp.tid()
@wp.kernel
def kv(u: wp.vec3, v: wp.vec3, w: wp.vec3):
tid = wp.tid()
@wp.kernel
def km(M: wp.mat33, N: wp.mat33, O: wp.mat33):
tid = wp.tid()
@wp.kernel
def ka(a: wp.array(dtype=float), b: wp.array(dtype=float), c: wp.array(dtype=float)):
tid = wp.tid()
@wp.kernel
def kz(
a: wp.array(dtype=float),
b: wp.array(dtype=float),
c: wp.array(dtype=float),
x: float,
y: float,
z: float,
u: wp.vec3,
v: wp.vec3,
w: wp.vec3,
):
tid = wp.tid()
@wp.kernel
def ks0(s: S0):
tid = wp.tid()
@wp.kernel
def ksf(s: Sf):
tid = wp.tid()
@wp.kernel
def ksv(s: Sv):
tid = wp.tid()
@wp.kernel
def ksm(s: Sm):
tid = wp.tid()
@wp.kernel
def ksa(s: Sa):
tid = wp.tid()
@wp.kernel
def ksz(s: Sz):
tid = wp.tid()
wp.init()
wp.build.clear_kernel_cache()
devices = wp.get_devices()
num_launches = 100000
for device in devices:
with wp.ScopedDevice(device):
print(f"\n=================== Device '{device}' ===================")
wp.force_load(device)
n = 1
a = wp.zeros(n, dtype=float)
b = wp.zeros(n, dtype=float)
c = wp.zeros(n, dtype=float)
x = 17.0
y = 42.0
z = 99.0
u = wp.vec3(1, 2, 3)
v = wp.vec3(10, 20, 30)
w = wp.vec3(100, 200, 300)
M = wp.mat33()
N = wp.mat33()
O = wp.mat33()
s0 = S0()
sf = Sf()
sf.x = x
sf.y = y
sf.z = z
sv = Sv()
sv.u = u
sv.v = v
sv.w = w
sm = Sm()
sm.M = M
sm.N = N
sm.O = O
sa = Sa()
sa.a = a
sa.b = b
sa.c = c
sz = Sz()
sz.a = a
sz.b = b
sz.c = c
sz.x = x
sz.y = y
sz.z = z
sz.u = u
sz.v = v
sz.w = w
tk0 = wp.ScopedTimer("k0")
tkf = wp.ScopedTimer("kf")
tkv = wp.ScopedTimer("kv")
tkm = wp.ScopedTimer("km")
tka = wp.ScopedTimer("ka")
tkz = wp.ScopedTimer("kz")
ts0 = wp.ScopedTimer("s0")
tsf = wp.ScopedTimer("sf")
tsv = wp.ScopedTimer("sv")
tsm = wp.ScopedTimer("sm")
tsa = wp.ScopedTimer("sa")
tsz = wp.ScopedTimer("sz")
wp.synchronize_device()
with tk0:
for _ in range(num_launches):
wp.launch(k0, dim=1, inputs=[])
wp.synchronize_device()
with tkf:
for _ in range(num_launches):
wp.launch(kf, dim=1, inputs=[x, y, z])
wp.synchronize_device()
with tkv:
for _ in range(num_launches):
wp.launch(kv, dim=1, inputs=[u, v, w])
wp.synchronize_device()
with tkm:
for _ in range(num_launches):
wp.launch(km, dim=1, inputs=[M, N, O])
wp.synchronize_device()
with tka:
for _ in range(num_launches):
wp.launch(ka, dim=1, inputs=[a, b, c])
wp.synchronize_device()
with tkz:
for _ in range(num_launches):
wp.launch(kz, dim=1, inputs=[a, b, c, x, y, z, u, v, w])
# structs
wp.synchronize_device()
with ts0:
for _ in range(num_launches):
wp.launch(ks0, dim=1, inputs=[s0])
wp.synchronize_device()
with tsf:
for _ in range(num_launches):
wp.launch(ksf, dim=1, inputs=[sf])
wp.synchronize_device()
with tsv:
for _ in range(num_launches):
wp.launch(ksv, dim=1, inputs=[sv])
wp.synchronize_device()
with tsm:
for _ in range(num_launches):
wp.launch(ksm, dim=1, inputs=[sm])
wp.synchronize_device()
with tsa:
for _ in range(num_launches):
wp.launch(ksa, dim=1, inputs=[sa])
wp.synchronize_device()
with tsz:
for _ in range(num_launches):
wp.launch(ksz, dim=1, inputs=[sz])
wp.synchronize_device()
timers = [
[tk0, ts0],
[tkf, tsf],
[tkv, tsv],
[tkm, tsm],
[tka, tsa],
[tkz, tsz],
]
print("--------------------------------")
print(f"| args | direct | struct |")
print("--------------------------------")
for tk, ts in timers:
print(f"| {tk.name} |{tk.elapsed:10.0f} |{ts.elapsed:10.0f} |")
print("--------------------------------")
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