warp-lang 1.0.2__py3-none-manylinux2014_aarch64.whl → 1.1.0__py3-none-manylinux2014_aarch64.whl

warp/tests/test_async.py

@@ -1,656 +1,668 @@
-# 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.
-
-import unittest
-
-import numpy as np
-
-import warp as wp
-from warp.utils import check_iommu
-from warp.tests.unittest_utils import *
-
-wp.init()
-
-
-class Capturable:
-    def __init__(self, use_graph=True, stream=None):
-        self.use_graph = use_graph
-        self.stream = stream
-    
-    def __enter__(self):
-        if self.use_graph:
-            wp.capture_begin(stream=self.stream)
-    
-    def __exit__(self, exc_type, exc_value, traceback):
-        if self.use_graph:
-            try:
-                # need to call capture_end() to terminate the CUDA stream capture
-                graph = wp.capture_end(stream=self.stream)
-            except:
-                # capture_end() will raise if there was an error during capture, but we squash it here
-                # if we already had an exception so that the original exception percolates to the caller
-                if exc_type is None:
-                    raise
-            else:
-                # capture can succeed despite some errors during capture (e.g. cudaInvalidValue during copy)
-                # but if we had an exception during capture, don't launch the graph
-                if exc_type is None:
-                    wp.capture_launch(graph, stream=self.stream)
-
-
-@wp.kernel
-def inc(a: wp.array(dtype=float)):
-    tid = wp.tid()
-    a[tid] = a[tid] + 1.0
-
-
-def test_async_empty(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-
-        with Capturable(use_graph):
-            a = wp.empty(n, dtype=float)
-
-        test.assertIsInstance(a, wp.array)
-        test.assertIsNotNone(a.ptr)
-        test.assertEqual(a.size, n)
-        test.assertEqual(a.dtype, wp.float32)
-        test.assertEqual(a.device, device)
-
-
-def test_async_zeros(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-
-        with Capturable(use_graph):
-            a = wp.zeros(n, dtype=float)
-
-        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
-
-
-def test_async_zero_v1(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-
-        with Capturable(use_graph):
-            a = wp.empty(n, dtype=float)
-            a.zero_()
-
-        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
-
-
-def test_async_zero_v2(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-
-        a = wp.empty(n, dtype=float)
-
-        with Capturable(use_graph):
-            a.zero_()
-
-        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
-
-
-def test_async_full(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-        value = 42
-
-        with Capturable(use_graph):
-            a = wp.full(n, value, dtype=float)
-
-        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
-
-
-def test_async_fill_v1(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-        value = 17
-
-        with Capturable(use_graph):
-            a = wp.empty(n, dtype=float)
-            a.fill_(value)
-
-        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
-
-
-def test_async_fill_v2(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-        value = 17
-
-        a = wp.empty(n, dtype=float)
-
-        with Capturable(use_graph):
-            a.fill_(value)
-
-        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
-
-
-def test_async_kernels_v1(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-        num_iters = 10
-
-        with Capturable(use_graph):
-            a = wp.zeros(n, dtype=float)
-            for i in range(num_iters):
-                wp.launch(inc, dim=a.size, inputs=[a])
-
-        assert_np_equal(a.numpy(), np.full(n, num_iters, dtype=np.float32))
-
-
-def test_async_kernels_v2(test, device, use_mempools, use_graph):
-    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
-        n = 100
-        num_iters = 10
-
-        a = wp.zeros(n, dtype=float)
-
-        with Capturable(use_graph):
-            for i in range(num_iters):
-                wp.launch(inc, dim=a.size, inputs=[a])
-
-        assert_np_equal(a.numpy(), np.full(n, num_iters, dtype=np.float32))
-
-
-class TestAsync(unittest.TestCase):
-    pass
-
-
-# get all CUDA devices
-cuda_devices = wp.get_cuda_devices()
-
-# get CUDA devices that support mempools
-cuda_devices_with_mempools = []
-for d in cuda_devices:
-    if d.is_mempool_supported:
-        cuda_devices_with_mempools.append(d)
-
-# get a pair of CUDA devices that support mempool access
-cuda_devices_with_mempool_access = []
-for target_device in cuda_devices_with_mempools:
-    for peer_device in cuda_devices_with_mempools:
-        if peer_device != target_device:
-            if wp.is_mempool_access_supported(target_device, peer_device):
-                cuda_devices_with_mempool_access = [target_device, peer_device]
-                break
-    if cuda_devices_with_mempool_access:
-        break
-
-def add_test_variants(
-        func,
-        device_count=1,
-        graph_allocs=False,
-        requires_mempool_access_with_graph=False,
-    ):
-
-    # test that works with default allocators
-    if not graph_allocs and device_count <= len(cuda_devices):
-        devices = cuda_devices[:device_count]
-        func1 = lambda t, d: func(t, *devices, False, False)
-        func2 = lambda t, d: func(t, *devices, False, True)
-        name1 = f"{func.__name__}_DefaultAlloc_NoGraph"
-        name2 = f"{func.__name__}_DefaultAlloc_WithGraph"
-        if device_count == 1:
-            add_function_test(TestAsync, name1, func1, devices=devices)
-            add_function_test(TestAsync, name2, func2, devices=devices)
-        else:
-            add_function_test(TestAsync, name1, func1)
-            add_function_test(TestAsync, name2, func2)
-
-    # test that works with mempool allocators
-    if device_count <= len(cuda_devices_with_mempools):
-        devices = cuda_devices_with_mempools[:device_count]
-        func3 = lambda t, d: func(t, *devices, True, False)
-        name3 = f"{func.__name__}_MempoolAlloc_NoGraph"
-        if device_count == 1:
-            add_function_test(TestAsync, name3, func3, devices=devices)
-        else:
-            add_function_test(TestAsync, name3, func3)
-
-    # test that requires devices with mutual mempool access during graph capture (e.g., p2p memcpy limitation)
-    if requires_mempool_access_with_graph:
-        suitable_devices = cuda_devices_with_mempool_access
-    else:
-        suitable_devices = cuda_devices_with_mempools
-
-    if device_count <= len(suitable_devices):
-        devices = suitable_devices[:device_count]
-        func4 = lambda t, d: func(t, *devices, True, True)
-        name4 = f"{func.__name__}_MempoolAlloc_WithGraph"
-        if device_count == 1:
-            add_function_test(TestAsync, name4, func4, devices=devices)
-        else:
-            add_function_test(TestAsync, name4, func4)
-
-add_test_variants(test_async_empty, graph_allocs=True)
-add_test_variants(test_async_zeros, graph_allocs=True)
-add_test_variants(test_async_zero_v1, graph_allocs=True)
-add_test_variants(test_async_zero_v2, graph_allocs=False)
-add_test_variants(test_async_full, graph_allocs=True)
-add_test_variants(test_async_fill_v1, graph_allocs=True)
-add_test_variants(test_async_fill_v2, graph_allocs=False)
-add_test_variants(test_async_kernels_v1, graph_allocs=True)
-add_test_variants(test_async_kernels_v2, graph_allocs=False)
-
-
-#=================================================================================
-# wp.copy() tests
-#=================================================================================
-
-def as_contiguous_array(data, device=None, grad_data=None):
-    a = wp.array(data=data, device=device, copy=True)
-    if grad_data is not None:
-        a.grad = as_contiguous_array(grad_data, device=device)
-    return a
-
-
-def as_strided_array(data, device=None, grad_data=None):
-    a = wp.array(data=data, device=device)
-    # make a copy with non-contiguous strides
-    strides = (*a.strides[:-1], 2 * a.strides[-1])
-    strided_a = wp.zeros(shape=a.shape, strides=strides, dtype=a.dtype, device=device)
-    wp.copy(strided_a, a)
-    if grad_data is not None:
-        strided_a.grad = as_strided_array(grad_data, device=device)
-    return strided_a
-
-
-def as_indexed_array(data, device=None, **kwargs):
-    a = wp.array(data=data, device=device)
-    # allocate double the elements so we can index half of them
-    shape = (*a.shape[:-1], 2 * a.shape[-1])
-    big_a = wp.zeros(shape=shape, dtype=a.dtype, device=device)
-    indices = wp.array(data=np.arange(0, shape[-1], 2, dtype=np.int32), device=device)
-    indexed_a = big_a[indices]
-    wp.copy(indexed_a, a)
-    return indexed_a
-
-
-def as_fabric_array(data, device=None, **kwargs):
-    from warp.tests.test_fabricarray import _create_fabric_array_interface
-    a = wp.array(data=data, device=device)
-    iface = _create_fabric_array_interface(a, "foo")
-    fa = wp.fabricarray(data=iface, attrib="foo")
-    fa._iface = iface  # save data reference
-    return fa
-
-
-def as_indexed_fabric_array(data, device=None, **kwargs):
-    from warp.tests.test_fabricarray import _create_fabric_array_interface
-    a = wp.array(data=data, device=device)
-    shape = (*a.shape[:-1], 2 * a.shape[-1])
-    # allocate double the elements so we can index half of them
-    big_a = wp.zeros(shape=shape, dtype=a.dtype, device=device)
-    indices = wp.array(data=np.arange(0, shape[-1], 2, dtype=np.int32), device=device)
-    iface = _create_fabric_array_interface(big_a, "foo", copy=True)
-    fa = wp.fabricarray(data=iface, attrib="foo")
-    fa._iface = iface  # save data reference
-    indexed_fa = fa[indices]
-    wp.copy(indexed_fa, a)
-    return indexed_fa
-
-
-class CopyParams:
-    def __init__(self,
-                 with_grad=False,  # whether to use arrays with gradients (contiguous and strided only)
-                 src_use_mempool=False, # whether to enable memory pool on source device
-                 dst_use_mempool=False, # whether to enable memory pool on destination device
-                 access_dst_src=False,  # whether destination device has access to the source mempool
-                 access_src_dst=False,  # whether source device has access to the destination mempool
-                 stream_device=None, # the device for the stream (None for default behaviour)
-                 use_graph=False, # whether to use a graph
-                 value_offset=0, # unique offset for generated data values per test
-    ):
-        self.with_grad = with_grad
-        self.src_use_mempool = src_use_mempool
-        self.dst_use_mempool = dst_use_mempool
-        self.access_dst_src = access_dst_src
-        self.access_src_dst = access_src_dst
-        self.stream_device = stream_device
-        self.use_graph = use_graph
-        self.value_offset = value_offset
-
-
-def copy_template(
-        test,
-        src_ctor,
-        dst_ctor,
-        src_device,
-        dst_device,
-        n,
-        params: CopyParams
-    ):
-
-    # activate the given memory pool configuration
-    with wp.ScopedMempool(src_device, params.src_use_mempool), \
-         wp.ScopedMempool(dst_device, params.dst_use_mempool), \
-         wp.ScopedMempoolAccess(dst_device, src_device, params.access_dst_src), \
-         wp.ScopedMempoolAccess(src_device, dst_device, params.access_src_dst):
-
-        # make sure the data are different between tests by adding a unique offset
-        # this avoids aliasing issues with older memory
-        src_data = np.arange(params.value_offset, params.value_offset + n, dtype=np.float32)
-        dst_data = np.zeros(n, dtype=np.float32)
-
-        if params.with_grad:
-            src_grad_data = -np.arange(params.value_offset, params.value_offset + n, dtype=np.float32)
-            dst_grad_data = np.zeros(n, dtype=np.float32)
-        else:
-            src_grad_data = None
-            dst_grad_data = None
-
-        # create Warp arrays for the copy
-        src = src_ctor(src_data, device=src_device, grad_data=src_grad_data)
-        dst = dst_ctor(dst_data, device=dst_device, grad_data=dst_grad_data)
-
-        # determine the stream argument to pass to wp.copy()
-        if params.stream_device is not None:
-            stream_arg = wp.Stream(params.stream_device)
-        else:
-            stream_arg = None
-
-        # determine the actual stream used for the copy
-        if stream_arg is not None:
-            stream = stream_arg
-        else:
-            if dst_device.is_cuda:
-                stream = dst_device.stream
-            elif src_device.is_cuda:
-                stream = src_device.stream
-            else:
-                stream = None
-
-        # check if an exception is expected given the arguments and system configuration
-        expected_error_type = None
-        expected_error_regex = None
-
-        # restrictions on copying between different devices during graph capture
-        if params.use_graph and src_device != dst_device:
-
-            # errors with allocating staging buffer on source device
-            if not src.is_contiguous:
-                if src_device.is_cuda and not src_device.is_mempool_enabled:
-                    # can't allocate staging buffer using default CUDA allocator during capture
-                    expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
-                elif src_device.is_cpu:
-                    # can't allocate CPU staging buffer during capture
-                    expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
-
-            # errors with allocating staging buffer on destination device
-            if expected_error_type is None:
-                if not dst.is_contiguous:
-                    if dst_device.is_cuda and not dst_device.is_mempool_enabled:
-                        # can't allocate staging buffer using default CUDA allocator during capture
-                        expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
-                    elif dst_device.is_cpu and src_device.is_cuda:
-                        # can't allocate CPU staging buffer during capture
-                        expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
-
-            # p2p copies and mempool access
-            if expected_error_type is None and src_device.is_cuda and dst_device.is_cuda:
-
-                # If the source is a contiguous mempool allocation or a non-contiguous array
-                # AND the destination is a contiguous mempool allocation or a non-contiguous array,
-                # then memory pool access needs to be enabled EITHER from src_device to dst_device
-                # OR from dst_device to src_device.
-                if (((src.is_contiguous and params.src_use_mempool) or not src.is_contiguous) and
-                    ((dst.is_contiguous and params.dst_use_mempool) or not dst.is_contiguous) and
-                    not wp.is_mempool_access_enabled(src_device, dst_device) and
-                    not wp.is_mempool_access_enabled(dst_device, src_device)
-                ):
-                    expected_error_type, expected_error_regex = RuntimeError, r"^Warp copy error"
-
-        # synchronize before test
-        wp.synchronize()
-
-        if expected_error_type is not None:
-            # disable error output from Warp if we expect an exception
-            try:
-                saved_error_output_enabled = wp.context.runtime.core.is_error_output_enabled()
-                wp.context.runtime.core.set_error_output_enabled(False)
-                with test.assertRaisesRegex(expected_error_type, expected_error_regex):
-                    with Capturable(use_graph=params.use_graph, stream=stream):
-                        wp.copy(dst, src, stream=stream_arg)
-            finally:
-                wp.context.runtime.core.set_error_output_enabled(saved_error_output_enabled)
-                wp.synchronize()
-
-                # print(f"SUCCESSFUL ERROR PREDICTION: {expected_error_regex}")
-
-        else:
-            with Capturable(use_graph=params.use_graph, stream=stream):
-                wp.copy(dst, src, stream=stream_arg)
-
-            # synchronize the stream where the copy was running (None for h2h copies)
-            if stream is not None:
-                wp.synchronize_stream(stream)
-
-            assert_np_equal(dst.numpy(), src.numpy())
-
-            if params.with_grad:
-                assert_np_equal(dst.grad.numpy(), src.grad.numpy())
-            
-            # print("SUCCESSFUL COPY")
-
-
-array_constructors = {
-    "contiguous": as_contiguous_array,
-    "strided": as_strided_array,
-    "indexed": as_indexed_array,
-    "fabric": as_fabric_array,
-    "indexedfabric": as_indexed_fabric_array,
-}
-
-array_type_codes = {
-    "contiguous": "c",
-    "strided": "s",
-    "indexed": "i",
-    "fabric": "f",
-    "indexedfabric": "fi",
-}
-
-device_pairs = {}
-cpu = None
-cuda0 = None
-cuda1 = None
-cuda2 = None
-if wp.is_cpu_available():
-    cpu = wp.get_device("cpu")
-    device_pairs["h2h"] = (cpu, cpu)
-if wp.is_cuda_available():
-    cuda0 = wp.get_device("cuda:0")
-    device_pairs["d2d"] = (cuda0, cuda0)
-    if wp.is_cpu_available():
-        device_pairs["h2d"] = (cpu, cuda0)
-        device_pairs["d2h"] = (cuda0, cpu)
-if wp.get_cuda_device_count() > 1:
-    cuda1 = wp.get_device("cuda:1")
-    device_pairs["p2p"] = (cuda0, cuda1)
-if wp.get_cuda_device_count() > 2:
-    cuda2 = wp.get_device("cuda:2")
-
-num_copy_elems = 1000000
-num_copy_tests = 0
-
-
-def add_copy_test(test_name, src_ctor, dst_ctor, src_device, dst_device, n, params):
-    test_func = \
-        lambda test, device, src_ctor=src_ctor, dst_ctor=dst_ctor, src_device=src_device, dst_device=dst_device, n=n, params=params: \
-            copy_template(test, src_ctor, dst_ctor, src_device, dst_device, n, params)
-    add_function_test(TestAsync, test_name, test_func, check_output=False)
-
-
-# Procedurally add tests with argument combinations supported by the system.
-for src_type, src_ctor in array_constructors.items():
-    for dst_type, dst_ctor in array_constructors.items():
-
-        copy_type = f"{array_type_codes[src_type]}2{array_type_codes[dst_type]}"
-
-        for transfer_type, device_pair in device_pairs.items():
-
-            # skip p2p tests if IOMMU is enabled on Linux
-            if transfer_type == "p2p" and not check_iommu():
-                continue
-
-            src_device = device_pair[0]
-            dst_device = device_pair[1]
-
-            # basic copy arguments
-            copy_args = (src_ctor, dst_ctor, src_device, dst_device, num_copy_elems)
-
-            if src_device.is_cuda and src_device.is_mempool_supported:
-                src_mempool_flags = [False, True]
-            else:
-                src_mempool_flags = [False]
-
-            if dst_device.is_cuda and dst_device.is_mempool_supported:
-                dst_mempool_flags = [False, True]
-            else:
-                dst_mempool_flags = [False]
-
-            # stream options
-            if src_device.is_cuda:
-                if dst_device.is_cuda:
-                    if src_device == dst_device:
-                        # d2d
-                        assert src_device == cuda0 and dst_device == cuda0
-                        if cuda1 is not None:
-                            stream_devices = [None, cuda0, cuda1]
-                        else:
-                            stream_devices = [None, cuda0]
-                    else:
-                        # p2p
-                        assert src_device == cuda0 and dst_device == cuda1
-                        if cuda2 is not None:
-                            stream_devices = [None, cuda0, cuda1, cuda2]
-                        else:
-                            stream_devices = [None, cuda0, cuda1]
-                else:
-                    # d2h
-                    assert src_device == cuda0
-                    if cuda1 is not None:
-                        stream_devices = [None, cuda0, cuda1]
-                    else:
-                        stream_devices = [None, cuda0]
-            else:
-                if dst_device.is_cuda:
-                    # h2d
-                    assert dst_device == cuda0
-                    if cuda1 is not None:
-                        stream_devices = [None, cuda0, cuda1]
-                    else:
-                        stream_devices = [None, cuda0]
-                else:
-                    # h2h
-                    stream_devices = [None]
-
-            # gradient options (only supported with contiguous and strided arrays)
-            if src_type in ("contiguous", "strided") and dst_type in ("contiguous", "strided"):
-                grad_flags = [False, True]
-            else:
-                grad_flags = [False]
-
-            # graph capture options (only supported with CUDA devices)
-            if src_device.is_cuda or dst_device.is_cuda:
-                graph_flags = [False, True]
-            else:
-                graph_flags = [False]
-
-            # access from destination device to source mempool
-            if wp.is_mempool_access_supported(dst_device, src_device):
-                access_dst_src_flags = [False, True]
-            else:
-                access_dst_src_flags = [False]
-            
-            # access from source device to destination mempool
-            if wp.is_mempool_access_supported(src_device, dst_device):
-                access_src_dst_flags = [False, True]
-            else:
-                access_src_dst_flags = [False]
-
-            for src_use_mempool in src_mempool_flags:
-                for dst_use_mempool in dst_mempool_flags:
-                    for stream_device in stream_devices:
-                        for access_dst_src in access_dst_src_flags:
-                            for access_src_dst in access_src_dst_flags:
-                                for with_grad in grad_flags:
-                                    for use_graph in graph_flags:
-
-                                        test_name = f"test_copy_{copy_type}_{transfer_type}"
-
-                                        if src_use_mempool:
-                                            test_name += "_SrcPoolOn"
-                                        else:
-                                            test_name += "_SrcPoolOff"
-
-                                        if dst_use_mempool:
-                                            test_name += "_DstPoolOn"
-                                        else:
-                                            test_name += "_DstPoolOff"
-
-                                        if stream_device is None:
-                                            test_name += "_NoStream"
-                                        elif stream_device == cuda0:
-                                            test_name += "_Stream0"
-                                        elif stream_device == cuda1:
-                                            test_name += "_Stream1"
-                                        elif stream_device == cuda2:
-                                            test_name += "_Stream2"
-                                        else:
-                                            assert False
-
-                                        if with_grad:
-                                            test_name += "_Grad"
-                                        else:
-                                            test_name += "_NoGrad"
-
-                                        if use_graph:
-                                            test_name += "_Graph"
-                                        else:
-                                            test_name += "_NoGraph"
-
-                                        if access_dst_src and access_src_dst:
-                                            test_name += "_AccessBoth"
-                                        elif access_dst_src and not access_src_dst:
-                                            test_name += "_AccessDstSrc"
-                                        elif not access_dst_src and access_src_dst:
-                                            test_name += "_AccessSrcDst"
-                                        else:
-                                            test_name += "_AccessNone"
-
-                                        copy_params = CopyParams(
-                                            src_use_mempool=src_use_mempool,
-                                            dst_use_mempool=dst_use_mempool,
-                                            access_dst_src=access_dst_src,
-                                            access_src_dst=access_src_dst,
-                                            stream_device=stream_device,
-                                            with_grad=with_grad,
-                                            use_graph=use_graph,
-                                            value_offset=num_copy_tests,
-                                        )
-
-                                        add_copy_test(test_name, *copy_args, copy_params)
-
-                                        num_copy_tests += 1
-
-# Specify individual test(s) for debugging purposes
-# add_copy_test("test_a", as_contiguous_array, as_strided_array, cuda0, cuda1, num_copy_elems,
-#               CopyParams(
-#                     src_use_mempool=True,
-#                     dst_use_mempool=True,
-#                     access_dst_src=False,
-#                     access_src_dst=False,
-#                     stream_device=cuda0,
-#                     with_grad=False,
-#                     use_graph=True,
-#                     value_offset=0))
-
-if __name__ == "__main__":
-    wp.build.clear_kernel_cache()
-    unittest.main(verbosity=2)
+# 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.
+
+import unittest
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+from warp.utils import check_iommu
+
+wp.init()
+
+
+class Capturable:
+    def __init__(self, use_graph=True, stream=None):
+        self.use_graph = use_graph
+        self.stream = stream
+
+    def __enter__(self):
+        if self.use_graph:
+            wp.capture_begin(stream=self.stream)
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self.use_graph:
+            try:
+                # need to call capture_end() to terminate the CUDA stream capture
+                graph = wp.capture_end(stream=self.stream)
+            except Exception:
+                # capture_end() will raise if there was an error during capture, but we squash it here
+                # if we already had an exception so that the original exception percolates to the caller
+                if exc_type is None:
+                    raise
+            else:
+                # capture can succeed despite some errors during capture (e.g. cudaInvalidValue during copy)
+                # but if we had an exception during capture, don't launch the graph
+                if exc_type is None:
+                    wp.capture_launch(graph, stream=self.stream)
+
+
+@wp.kernel
+def inc(a: wp.array(dtype=float)):
+    tid = wp.tid()
+    a[tid] = a[tid] + 1.0
+
+
+def test_async_empty(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+
+        with Capturable(use_graph):
+            a = wp.empty(n, dtype=float)
+
+        test.assertIsInstance(a, wp.array)
+        test.assertIsNotNone(a.ptr)
+        test.assertEqual(a.size, n)
+        test.assertEqual(a.dtype, wp.float32)
+        test.assertEqual(a.device, device)
+
+
+def test_async_zeros(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+
+        with Capturable(use_graph):
+            a = wp.zeros(n, dtype=float)
+
+        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
+
+
+def test_async_zero_v1(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+
+        with Capturable(use_graph):
+            a = wp.empty(n, dtype=float)
+            a.zero_()
+
+        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
+
+
+def test_async_zero_v2(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+
+        a = wp.empty(n, dtype=float)
+
+        with Capturable(use_graph):
+            a.zero_()
+
+        assert_np_equal(a.numpy(), np.zeros(n, dtype=np.float32))
+
+
+def test_async_full(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+        value = 42
+
+        with Capturable(use_graph):
+            a = wp.full(n, value, dtype=float)
+
+        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
+
+
+def test_async_fill_v1(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+        value = 17
+
+        with Capturable(use_graph):
+            a = wp.empty(n, dtype=float)
+            a.fill_(value)
+
+        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
+
+
+def test_async_fill_v2(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+        value = 17
+
+        a = wp.empty(n, dtype=float)
+
+        with Capturable(use_graph):
+            a.fill_(value)
+
+        assert_np_equal(a.numpy(), np.full(n, value, dtype=np.float32))
+
+
+def test_async_kernels_v1(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+        num_iters = 10
+
+        with Capturable(use_graph):
+            a = wp.zeros(n, dtype=float)
+            for _i in range(num_iters):
+                wp.launch(inc, dim=a.size, inputs=[a])
+
+        assert_np_equal(a.numpy(), np.full(n, num_iters, dtype=np.float32))
+
+
+def test_async_kernels_v2(test, device, use_mempools, use_graph):
+    with wp.ScopedDevice(device), wp.ScopedMempool(device, use_mempools):
+        n = 100
+        num_iters = 10
+
+        a = wp.zeros(n, dtype=float)
+
+        with Capturable(use_graph):
+            for _i in range(num_iters):
+                wp.launch(inc, dim=a.size, inputs=[a])
+
+        assert_np_equal(a.numpy(), np.full(n, num_iters, dtype=np.float32))
+
+
+class TestAsync(unittest.TestCase):
+    pass
+
+
+# get all CUDA devices
+cuda_devices = wp.get_cuda_devices()
+
+# get CUDA devices that support mempools
+cuda_devices_with_mempools = []
+for d in cuda_devices:
+    if d.is_mempool_supported:
+        cuda_devices_with_mempools.append(d)
+
+# get a pair of CUDA devices that support mempool access
+cuda_devices_with_mempool_access = []
+for target_device in cuda_devices_with_mempools:
+    for peer_device in cuda_devices_with_mempools:
+        if peer_device != target_device:
+            if wp.is_mempool_access_supported(target_device, peer_device):
+                cuda_devices_with_mempool_access = [target_device, peer_device]
+                break
+    if cuda_devices_with_mempool_access:
+        break
+
+
+def add_test_variants(
+    func,
+    device_count=1,
+    graph_allocs=False,
+    requires_mempool_access_with_graph=False,
+):
+    # test that works with default allocators
+    if not graph_allocs and device_count <= len(cuda_devices):
+        devices = cuda_devices[:device_count]
+
+        def func1(t, d):
+            return func(t, *devices, False, False)
+
+        def func2(t, d):
+            return func(t, *devices, False, True)
+
+        name1 = f"{func.__name__}_DefaultAlloc_NoGraph"
+        name2 = f"{func.__name__}_DefaultAlloc_WithGraph"
+        if device_count == 1:
+            add_function_test(TestAsync, name1, func1, devices=devices)
+            add_function_test(TestAsync, name2, func2, devices=devices)
+        else:
+            add_function_test(TestAsync, name1, func1)
+            add_function_test(TestAsync, name2, func2)
+
+    # test that works with mempool allocators
+    if device_count <= len(cuda_devices_with_mempools):
+        devices = cuda_devices_with_mempools[:device_count]
+
+        def func3(t, d):
+            return func(t, *devices, True, False)
+
+        name3 = f"{func.__name__}_MempoolAlloc_NoGraph"
+        if device_count == 1:
+            add_function_test(TestAsync, name3, func3, devices=devices)
+        else:
+            add_function_test(TestAsync, name3, func3)
+
+    # test that requires devices with mutual mempool access during graph capture (e.g., p2p memcpy limitation)
+    if requires_mempool_access_with_graph:
+        suitable_devices = cuda_devices_with_mempool_access
+    else:
+        suitable_devices = cuda_devices_with_mempools
+
+    if device_count <= len(suitable_devices):
+        devices = suitable_devices[:device_count]
+
+        def func4(t, d):
+            return func(t, *devices, True, True)
+
+        name4 = f"{func.__name__}_MempoolAlloc_WithGraph"
+        if device_count == 1:
+            add_function_test(TestAsync, name4, func4, devices=devices)
+        else:
+            add_function_test(TestAsync, name4, func4)
+
+
+add_test_variants(test_async_empty, graph_allocs=True)
+add_test_variants(test_async_zeros, graph_allocs=True)
+add_test_variants(test_async_zero_v1, graph_allocs=True)
+add_test_variants(test_async_zero_v2, graph_allocs=False)
+add_test_variants(test_async_full, graph_allocs=True)
+add_test_variants(test_async_fill_v1, graph_allocs=True)
+add_test_variants(test_async_fill_v2, graph_allocs=False)
+add_test_variants(test_async_kernels_v1, graph_allocs=True)
+add_test_variants(test_async_kernels_v2, graph_allocs=False)
+
+
+# =================================================================================
+# wp.copy() tests
+# =================================================================================
+
+
+def as_contiguous_array(data, device=None, grad_data=None):
+    a = wp.array(data=data, device=device, copy=True)
+    if grad_data is not None:
+        a.grad = as_contiguous_array(grad_data, device=device)
+    return a
+
+
+def as_strided_array(data, device=None, grad_data=None):
+    a = wp.array(data=data, device=device)
+    # make a copy with non-contiguous strides
+    strides = (*a.strides[:-1], 2 * a.strides[-1])
+    strided_a = wp.zeros(shape=a.shape, strides=strides, dtype=a.dtype, device=device)
+    wp.copy(strided_a, a)
+    if grad_data is not None:
+        strided_a.grad = as_strided_array(grad_data, device=device)
+    return strided_a
+
+
+def as_indexed_array(data, device=None, **kwargs):
+    a = wp.array(data=data, device=device)
+    # allocate double the elements so we can index half of them
+    shape = (*a.shape[:-1], 2 * a.shape[-1])
+    big_a = wp.zeros(shape=shape, dtype=a.dtype, device=device)
+    indices = wp.array(data=np.arange(0, shape[-1], 2, dtype=np.int32), device=device)
+    indexed_a = big_a[indices]
+    wp.copy(indexed_a, a)
+    return indexed_a
+
+
+def as_fabric_array(data, device=None, **kwargs):
+    from warp.tests.test_fabricarray import _create_fabric_array_interface
+
+    a = wp.array(data=data, device=device)
+    iface = _create_fabric_array_interface(a, "foo")
+    fa = wp.fabricarray(data=iface, attrib="foo")
+    fa._iface = iface  # save data reference
+    return fa
+
+
+def as_indexed_fabric_array(data, device=None, **kwargs):
+    from warp.tests.test_fabricarray import _create_fabric_array_interface
+
+    a = wp.array(data=data, device=device)
+    shape = (*a.shape[:-1], 2 * a.shape[-1])
+    # allocate double the elements so we can index half of them
+    big_a = wp.zeros(shape=shape, dtype=a.dtype, device=device)
+    indices = wp.array(data=np.arange(0, shape[-1], 2, dtype=np.int32), device=device)
+    iface = _create_fabric_array_interface(big_a, "foo", copy=True)
+    fa = wp.fabricarray(data=iface, attrib="foo")
+    fa._iface = iface  # save data reference
+    indexed_fa = fa[indices]
+    wp.copy(indexed_fa, a)
+    return indexed_fa
+
+
+class CopyParams:
+    def __init__(
+        self,
+        with_grad=False,  # whether to use arrays with gradients (contiguous and strided only)
+        src_use_mempool=False,  # whether to enable memory pool on source device
+        dst_use_mempool=False,  # whether to enable memory pool on destination device
+        access_dst_src=False,  # whether destination device has access to the source mempool
+        access_src_dst=False,  # whether source device has access to the destination mempool
+        stream_device=None,  # the device for the stream (None for default behaviour)
+        use_graph=False,  # whether to use a graph
+        value_offset=0,  # unique offset for generated data values per test
+    ):
+        self.with_grad = with_grad
+        self.src_use_mempool = src_use_mempool
+        self.dst_use_mempool = dst_use_mempool
+        self.access_dst_src = access_dst_src
+        self.access_src_dst = access_src_dst
+        self.stream_device = stream_device
+        self.use_graph = use_graph
+        self.value_offset = value_offset
+
+
+def copy_template(test, src_ctor, dst_ctor, src_device, dst_device, n, params: CopyParams):
+    # activate the given memory pool configuration
+    with wp.ScopedMempool(src_device, params.src_use_mempool), wp.ScopedMempool(
+        dst_device, params.dst_use_mempool
+    ), wp.ScopedMempoolAccess(dst_device, src_device, params.access_dst_src), wp.ScopedMempoolAccess(
+        src_device, dst_device, params.access_src_dst
+    ):
+        # make sure the data are different between tests by adding a unique offset
+        # this avoids aliasing issues with older memory
+        src_data = np.arange(params.value_offset, params.value_offset + n, dtype=np.float32)
+        dst_data = np.zeros(n, dtype=np.float32)
+
+        if params.with_grad:
+            src_grad_data = -np.arange(params.value_offset, params.value_offset + n, dtype=np.float32)
+            dst_grad_data = np.zeros(n, dtype=np.float32)
+        else:
+            src_grad_data = None
+            dst_grad_data = None
+
+        # create Warp arrays for the copy
+        src = src_ctor(src_data, device=src_device, grad_data=src_grad_data)
+        dst = dst_ctor(dst_data, device=dst_device, grad_data=dst_grad_data)
+
+        # determine the stream argument to pass to wp.copy()
+        if params.stream_device is not None:
+            stream_arg = wp.Stream(params.stream_device)
+        else:
+            stream_arg = None
+
+        # determine the actual stream used for the copy
+        if stream_arg is not None:
+            stream = stream_arg
+        else:
+            if dst_device.is_cuda:
+                stream = dst_device.stream
+            elif src_device.is_cuda:
+                stream = src_device.stream
+            else:
+                stream = None
+
+        # check if an exception is expected given the arguments and system configuration
+        expected_error_type = None
+        expected_error_regex = None
+
+        # restrictions on copying between different devices during graph capture
+        if params.use_graph and src_device != dst_device:
+            # errors with allocating staging buffer on source device
+            if not src.is_contiguous:
+                if src_device.is_cuda and not src_device.is_mempool_enabled:
+                    # can't allocate staging buffer using default CUDA allocator during capture
+                    expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
+                elif src_device.is_cpu:
+                    # can't allocate CPU staging buffer during capture
+                    expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
+
+            # errors with allocating staging buffer on destination device
+            if expected_error_type is None:
+                if not dst.is_contiguous:
+                    if dst_device.is_cuda and not dst_device.is_mempool_enabled:
+                        # can't allocate staging buffer using default CUDA allocator during capture
+                        expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
+                    elif dst_device.is_cpu and src_device.is_cuda:
+                        # can't allocate CPU staging buffer during capture
+                        expected_error_type, expected_error_regex = RuntimeError, r"^Failed to allocate"
+
+            # p2p copies and mempool access
+            if expected_error_type is None and src_device.is_cuda and dst_device.is_cuda:
+                # If the source is a contiguous mempool allocation or a non-contiguous array
+                # AND the destination is a contiguous mempool allocation or a non-contiguous array,
+                # then memory pool access needs to be enabled EITHER from src_device to dst_device
+                # OR from dst_device to src_device.
+                if (
+                    ((src.is_contiguous and params.src_use_mempool) or not src.is_contiguous)
+                    and ((dst.is_contiguous and params.dst_use_mempool) or not dst.is_contiguous)
+                    and not wp.is_mempool_access_enabled(src_device, dst_device)
+                    and not wp.is_mempool_access_enabled(dst_device, src_device)
+                ):
+                    expected_error_type, expected_error_regex = RuntimeError, r"^Warp copy error"
+
+        # synchronize before test
+        wp.synchronize()
+
+        if expected_error_type is not None:
+            # disable error output from Warp if we expect an exception
+            try:
+                saved_error_output_enabled = wp.context.runtime.core.is_error_output_enabled()
+                wp.context.runtime.core.set_error_output_enabled(False)
+                with test.assertRaisesRegex(expected_error_type, expected_error_regex):
+                    with Capturable(use_graph=params.use_graph, stream=stream):
+                        wp.copy(dst, src, stream=stream_arg)
+            finally:
+                wp.context.runtime.core.set_error_output_enabled(saved_error_output_enabled)
+                wp.synchronize()
+
+                # print(f"SUCCESSFUL ERROR PREDICTION: {expected_error_regex}")
+
+        else:
+            with Capturable(use_graph=params.use_graph, stream=stream):
+                wp.copy(dst, src, stream=stream_arg)
+
+            # synchronize the stream where the copy was running (None for h2h copies)
+            if stream is not None:
+                wp.synchronize_stream(stream)
+
+            assert_np_equal(dst.numpy(), src.numpy())
+
+            if params.with_grad:
+                assert_np_equal(dst.grad.numpy(), src.grad.numpy())
+
+            # print("SUCCESSFUL COPY")
+
+
+array_constructors = {
+    "contiguous": as_contiguous_array,
+    "strided": as_strided_array,
+    "indexed": as_indexed_array,
+    "fabric": as_fabric_array,
+    "indexedfabric": as_indexed_fabric_array,
+}
+
+array_type_codes = {
+    "contiguous": "c",
+    "strided": "s",
+    "indexed": "i",
+    "fabric": "f",
+    "indexedfabric": "fi",
+}
+
+device_pairs = {}
+cpu = None
+cuda0 = None
+cuda1 = None
+cuda2 = None
+if wp.is_cpu_available():
+    cpu = wp.get_device("cpu")
+    device_pairs["h2h"] = (cpu, cpu)
+if wp.is_cuda_available():
+    cuda0 = wp.get_device("cuda:0")
+    device_pairs["d2d"] = (cuda0, cuda0)
+    if wp.is_cpu_available():
+        device_pairs["h2d"] = (cpu, cuda0)
+        device_pairs["d2h"] = (cuda0, cpu)
+if wp.get_cuda_device_count() > 1:
+    cuda1 = wp.get_device("cuda:1")
+    device_pairs["p2p"] = (cuda0, cuda1)
+if wp.get_cuda_device_count() > 2:
+    cuda2 = wp.get_device("cuda:2")
+
+num_copy_elems = 1000000
+num_copy_tests = 0
+
+
+def add_copy_test(test_name, src_ctor, dst_ctor, src_device, dst_device, n, params):
+    def test_func(
+        test,
+        device,
+        src_ctor=src_ctor,
+        dst_ctor=dst_ctor,
+        src_device=src_device,
+        dst_device=dst_device,
+        n=n,
+        params=params,
+    ):
+        return copy_template(test, src_ctor, dst_ctor, src_device, dst_device, n, params)
+
+    add_function_test(TestAsync, test_name, test_func, check_output=False)
+
+
+# Procedurally add tests with argument combinations supported by the system.
+for src_type, src_ctor in array_constructors.items():
+    for dst_type, dst_ctor in array_constructors.items():
+        copy_type = f"{array_type_codes[src_type]}2{array_type_codes[dst_type]}"
+
+        for transfer_type, device_pair in device_pairs.items():
+            # skip p2p tests if IOMMU is enabled on Linux
+            if transfer_type == "p2p" and not check_iommu():
+                continue
+
+            src_device = device_pair[0]
+            dst_device = device_pair[1]
+
+            # basic copy arguments
+            copy_args = (src_ctor, dst_ctor, src_device, dst_device, num_copy_elems)
+
+            if src_device.is_cuda and src_device.is_mempool_supported:
+                src_mempool_flags = [False, True]
+            else:
+                src_mempool_flags = [False]
+
+            if dst_device.is_cuda and dst_device.is_mempool_supported:
+                dst_mempool_flags = [False, True]
+            else:
+                dst_mempool_flags = [False]
+
+            # stream options
+            if src_device.is_cuda:
+                if dst_device.is_cuda:
+                    if src_device == dst_device:
+                        # d2d
+                        assert src_device == cuda0 and dst_device == cuda0
+                        if cuda1 is not None:
+                            stream_devices = [None, cuda0, cuda1]
+                        else:
+                            stream_devices = [None, cuda0]
+                    else:
+                        # p2p
+                        assert src_device == cuda0 and dst_device == cuda1
+                        if cuda2 is not None:
+                            stream_devices = [None, cuda0, cuda1, cuda2]
+                        else:
+                            stream_devices = [None, cuda0, cuda1]
+                else:
+                    # d2h
+                    assert src_device == cuda0
+                    if cuda1 is not None:
+                        stream_devices = [None, cuda0, cuda1]
+                    else:
+                        stream_devices = [None, cuda0]
+            else:
+                if dst_device.is_cuda:
+                    # h2d
+                    assert dst_device == cuda0
+                    if cuda1 is not None:
+                        stream_devices = [None, cuda0, cuda1]
+                    else:
+                        stream_devices = [None, cuda0]
+                else:
+                    # h2h
+                    stream_devices = [None]
+
+            # gradient options (only supported with contiguous and strided arrays)
+            if src_type in ("contiguous", "strided") and dst_type in ("contiguous", "strided"):
+                grad_flags = [False, True]
+            else:
+                grad_flags = [False]
+
+            # graph capture options (only supported with CUDA devices)
+            if src_device.is_cuda or dst_device.is_cuda:
+                graph_flags = [False, True]
+            else:
+                graph_flags = [False]
+
+            # access from destination device to source mempool
+            if wp.is_mempool_access_supported(dst_device, src_device):
+                access_dst_src_flags = [False, True]
+            else:
+                access_dst_src_flags = [False]
+
+            # access from source device to destination mempool
+            if wp.is_mempool_access_supported(src_device, dst_device):
+                access_src_dst_flags = [False, True]
+            else:
+                access_src_dst_flags = [False]
+
+            for src_use_mempool in src_mempool_flags:
+                for dst_use_mempool in dst_mempool_flags:
+                    for stream_device in stream_devices:
+                        for access_dst_src in access_dst_src_flags:
+                            for access_src_dst in access_src_dst_flags:
+                                for with_grad in grad_flags:
+                                    for use_graph in graph_flags:
+                                        test_name = f"test_copy_{copy_type}_{transfer_type}"
+
+                                        if src_use_mempool:
+                                            test_name += "_SrcPoolOn"
+                                        else:
+                                            test_name += "_SrcPoolOff"
+
+                                        if dst_use_mempool:
+                                            test_name += "_DstPoolOn"
+                                        else:
+                                            test_name += "_DstPoolOff"
+
+                                        if stream_device is None:
+                                            test_name += "_NoStream"
+                                        elif stream_device == cuda0:
+                                            test_name += "_Stream0"
+                                        elif stream_device == cuda1:
+                                            test_name += "_Stream1"
+                                        elif stream_device == cuda2:
+                                            test_name += "_Stream2"
+                                        else:
+                                            raise AssertionError
+
+                                        if with_grad:
+                                            test_name += "_Grad"
+                                        else:
+                                            test_name += "_NoGrad"
+
+                                        if use_graph:
+                                            test_name += "_Graph"
+                                        else:
+                                            test_name += "_NoGraph"
+
+                                        if access_dst_src and access_src_dst:
+                                            test_name += "_AccessBoth"
+                                        elif access_dst_src and not access_src_dst:
+                                            test_name += "_AccessDstSrc"
+                                        elif not access_dst_src and access_src_dst:
+                                            test_name += "_AccessSrcDst"
+                                        else:
+                                            test_name += "_AccessNone"
+
+                                        copy_params = CopyParams(
+                                            src_use_mempool=src_use_mempool,
+                                            dst_use_mempool=dst_use_mempool,
+                                            access_dst_src=access_dst_src,
+                                            access_src_dst=access_src_dst,
+                                            stream_device=stream_device,
+                                            with_grad=with_grad,
+                                            use_graph=use_graph,
+                                            value_offset=num_copy_tests,
+                                        )
+
+                                        add_copy_test(test_name, *copy_args, copy_params)
+
+                                        num_copy_tests += 1
+
+# Specify individual test(s) for debugging purposes
+# add_copy_test("test_a", as_contiguous_array, as_strided_array, cuda0, cuda1, num_copy_elems,
+#               CopyParams(
+#                     src_use_mempool=True,
+#                     dst_use_mempool=True,
+#                     access_dst_src=False,
+#                     access_src_dst=False,
+#                     stream_device=cuda0,
+#                     with_grad=False,
+#                     use_graph=True,
+#                     value_offset=0))
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)