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read_motor_position.cpp.192r.expand
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;; Function int getch() (_Z5getchv, funcdef_no=1569, decl_uid=32078, cgraph_uid=352, symbol_order=355)
int getch() ()
{
int D.32725;
int ch;
struct termios newt;
struct termios oldt;
int D.32723;
unsigned int D.32722;
unsigned int D.32721;
unsigned int _4;
unsigned int _5;
int _9;
int _12;
;; basic block 2, loop depth 0
;; pred: ENTRY
tcgetattr (0, &oldt);
newt = oldt;
_4 = newt.c_lflag;
_5 = _4 & 4294967285;
newt.c_lflag = _5;
tcsetattr (0, 0, &newt);
_9 = getchar ();
ch_10 = _9;
tcsetattr (0, 0, &oldt);
_12 = ch_10;
oldt ={v} {CLOBBER};
newt ={v} {CLOBBER};
;; succ: 3
;; basic block 3, loop depth 0
;; pred: 2
<L1>:
return _12;
;; succ: EXIT
}
Partition map
Partition 4 (_4 - 4 )
Partition 5 (_5 - 5 )
Partition 9 (_9 - 9 )
Partition 10 (ch_10 - 10 )
Partition 12 (_12 - 12 )
After Coalescing:
Partition map
Partition 0 (_4 - 4 )
Partition 1 (_5 - 5 )
Partition 2 (_9 - 9 )
Partition 3 (ch_10 - 10 )
Partition 4 (_12 - 12 )
int getch() ()
{
int D.32725;
int ch;
struct termios newt;
struct termios oldt;
int D.32723;
unsigned int D.32722;
unsigned int D.32721;
unsigned int _4;
unsigned int _5;
int _9;
int _12;
;; basic block 2, loop depth 0
;; pred: ENTRY
tcgetattr (0, &oldt);
newt = oldt;
_4 = newt.c_lflag;
_5 = _4 & 4294967285;
newt.c_lflag = _5;
tcsetattr (0, 0, &newt);
_9 = getchar ();
ch_10 = _9;
tcsetattr (0, 0, &oldt);
_12 = ch_10;
oldt ={v} {CLOBBER};
newt ={v} {CLOBBER};
;; succ: 3
;; basic block 3, loop depth 0
;; pred: 2
<L1>:
return _12;
;; succ: EXIT
}
Partition 2: size 60 align 16
newt
Partition 1: size 60 align 16
oldt
Partition 0: size 4 align 4
ch_10
;; Generating RTL for gimple basic block 2
;; tcgetattr (0, &oldt);
(insn 6 5 7 (parallel [
(set (reg:DI 92)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:55 -1
(nil))
(insn 7 6 8 (set (reg:DI 4 si)
(reg:DI 92)) read_motor_position.cpp:55 -1
(nil))
(insn 8 7 9 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:55 -1
(nil))
(call_insn 9 8 0 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcgetattr") [flags 0x41] <function_decl 0x7f2142b9c510 tcgetattr>) [0 tcgetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:55 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:DI (use (reg:DI 4 si))
(nil))))
;; newt = oldt;
(insn 10 9 11 (set (reg:DI 93)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])) [0 oldt+0 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 11 10 12 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -80 [0xffffffffffffffb0])) [0 newt+0 S8 A64])
(reg:DI 93)) read_motor_position.cpp:56 -1
(nil))
(insn 12 11 13 (set (reg:DI 94)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -136 [0xffffffffffffff78])) [0 oldt+8 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 13 12 14 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -72 [0xffffffffffffffb8])) [0 newt+8 S8 A64])
(reg:DI 94)) read_motor_position.cpp:56 -1
(nil))
(insn 14 13 15 (set (reg:DI 95)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -128 [0xffffffffffffff80])) [0 oldt+16 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 15 14 16 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -64 [0xffffffffffffffc0])) [0 newt+16 S8 A64])
(reg:DI 95)) read_motor_position.cpp:56 -1
(nil))
(insn 16 15 17 (set (reg:DI 96)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -120 [0xffffffffffffff88])) [0 oldt+24 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 17 16 18 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -56 [0xffffffffffffffc8])) [0 newt+24 S8 A64])
(reg:DI 96)) read_motor_position.cpp:56 -1
(nil))
(insn 18 17 19 (set (reg:DI 97)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -112 [0xffffffffffffff90])) [0 oldt+32 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 19 18 20 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -48 [0xffffffffffffffd0])) [0 newt+32 S8 A64])
(reg:DI 97)) read_motor_position.cpp:56 -1
(nil))
(insn 20 19 21 (set (reg:DI 98)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -104 [0xffffffffffffff98])) [0 oldt+40 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 21 20 22 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -40 [0xffffffffffffffd8])) [0 newt+40 S8 A64])
(reg:DI 98)) read_motor_position.cpp:56 -1
(nil))
(insn 22 21 23 (set (reg:DI 99)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -96 [0xffffffffffffffa0])) [0 oldt+48 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 23 22 24 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -32 [0xffffffffffffffe0])) [0 newt+48 S8 A64])
(reg:DI 99)) read_motor_position.cpp:56 -1
(nil))
(insn 24 23 25 (set (reg:SI 100)
(mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -88 [0xffffffffffffffa8])) [0 oldt+56 S4 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 25 24 0 (set (mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -24 [0xffffffffffffffe8])) [0 newt+56 S4 A64])
(reg:SI 100)) read_motor_position.cpp:56 -1
(nil))
;; _4 = newt.c_lflag;
(insn 26 25 0 (set (reg:SI 87 [ D.32828 ])
(mem/j/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -68 [0xffffffffffffffbc])) [0 newt.c_lflag+0 S4 A32])) read_motor_position.cpp:57 -1
(nil))
;; _5 = _4 & 4294967285;
(insn 27 26 0 (parallel [
(set (reg:SI 88 [ D.32828 ])
(and:SI (reg:SI 87 [ D.32828 ])
(const_int -11 [0xfffffffffffffff5])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:57 -1
(nil))
;; newt.c_lflag = _5;
(insn 28 27 0 (set (mem/j/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -68 [0xffffffffffffffbc])) [0 newt.c_lflag+0 S4 A32])
(reg:SI 88 [ D.32828 ])) read_motor_position.cpp:57 -1
(nil))
;; tcsetattr (0, 0, &newt);
(insn 29 28 30 (parallel [
(set (reg:DI 101)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -80 [0xffffffffffffffb0])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:58 -1
(nil))
(insn 30 29 31 (set (reg:DI 1 dx)
(reg:DI 101)) read_motor_position.cpp:58 -1
(nil))
(insn 31 30 32 (set (reg:SI 4 si)
(const_int 0 [0])) read_motor_position.cpp:58 -1
(nil))
(insn 32 31 33 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:58 -1
(nil))
(call_insn 33 32 0 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcsetattr") [flags 0x41] <function_decl 0x7f2142b9c5e8 tcsetattr>) [0 tcsetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:58 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:SI (use (reg:SI 4 si))
(expr_list:DI (use (reg:DI 1 dx))
(nil)))))
;; _9 = getchar ();
(call_insn 34 33 35 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("getchar") [flags 0x41] <function_decl 0x7f2142be9798 getchar>) [0 getchar S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:59 -1
(nil)
(nil))
(insn 35 34 0 (set (reg:SI 89 [ D.32829 ])
(reg:SI 0 ax)) read_motor_position.cpp:59 -1
(nil))
;; ch_10 = _9;
(insn 36 35 0 (set (mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -148 [0xffffffffffffff6c])) [0 ch+0 S4 A32])
(reg:SI 89 [ D.32829 ])) read_motor_position.cpp:59 -1
(nil))
;; tcsetattr (0, 0, &oldt);
(insn 37 36 38 (parallel [
(set (reg:DI 102)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:60 -1
(nil))
(insn 38 37 39 (set (reg:DI 1 dx)
(reg:DI 102)) read_motor_position.cpp:60 -1
(nil))
(insn 39 38 40 (set (reg:SI 4 si)
(const_int 0 [0])) read_motor_position.cpp:60 -1
(nil))
(insn 40 39 41 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:60 -1
(nil))
(call_insn 41 40 0 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcsetattr") [flags 0x41] <function_decl 0x7f2142b9c5e8 tcsetattr>) [0 tcsetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:60 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:SI (use (reg:SI 4 si))
(expr_list:DI (use (reg:DI 1 dx))
(nil)))))
;; _12 = ch_10;
(insn 42 41 0 (set (reg:SI 90 [ D.32829 ])
(mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -148 [0xffffffffffffff6c])) [0 ch+0 S4 A32])) read_motor_position.cpp:61 -1
(nil))
;; oldt ={v} {CLOBBER};
(nil)
;; newt ={v} {CLOBBER};
(nil)
;; Generating RTL for gimple basic block 3
;; <L1>:
(code_label 43 42 44 2 "" [0 uses])
(note 44 43 0 NOTE_INSN_BASIC_BLOCK)
;; return _12;
(insn 45 44 46 (set (reg:SI 91 [ <retval> ])
(reg:SI 90 [ D.32829 ])) read_motor_position.cpp:61 -1
(nil))
(jump_insn 46 45 47 (set (pc)
(label_ref 0)) read_motor_position.cpp:61 -1
(nil))
(barrier 47 46 0)
try_optimize_cfg iteration 1
Merging block 3 into block 2...
Merged blocks 2 and 3.
Merged 2 and 3 without moving.
Merging block 4 into block 2...
Merged blocks 2 and 4.
Merged 2 and 4 without moving.
Removing jump 46.
Merging block 5 into block 2...
Merged blocks 2 and 5.
Merged 2 and 5 without moving.
try_optimize_cfg iteration 2
;;
;; Full RTL generated for this function:
;;
(note 1 0 4 NOTE_INSN_DELETED)
;; basic block 2, loop depth 0, count 0, freq 0, maybe hot
;; prev block 0, next block 6, flags: (NEW, REACHABLE, RTL, MODIFIED)
;; pred: ENTRY (FALLTHRU)
(note 4 1 2 2 [bb 2] NOTE_INSN_BASIC_BLOCK)
(note 2 4 3 2 NOTE_INSN_FUNCTION_BEG)
(insn 3 2 6 2 (parallel [
(set (mem/v/f/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -8 [0xfffffffffffffff8])) [0 D.32830+0 S8 A64])
(unspec:DI [
(const_int 40 [0x28])
] UNSPEC_SP_TLS_SET))
(set (scratch:DI)
(const_int 0 [0]))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:51 -1
(nil))
(insn 6 3 7 2 (parallel [
(set (reg:DI 92)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:55 -1
(nil))
(insn 7 6 8 2 (set (reg:DI 4 si)
(reg:DI 92)) read_motor_position.cpp:55 -1
(nil))
(insn 8 7 9 2 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:55 -1
(nil))
(call_insn 9 8 10 2 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcgetattr") [flags 0x41] <function_decl 0x7f2142b9c510 tcgetattr>) [0 tcgetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:55 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:DI (use (reg:DI 4 si))
(nil))))
(insn 10 9 11 2 (set (reg:DI 93)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])) [0 oldt+0 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 11 10 12 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -80 [0xffffffffffffffb0])) [0 newt+0 S8 A64])
(reg:DI 93)) read_motor_position.cpp:56 -1
(nil))
(insn 12 11 13 2 (set (reg:DI 94)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -136 [0xffffffffffffff78])) [0 oldt+8 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 13 12 14 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -72 [0xffffffffffffffb8])) [0 newt+8 S8 A64])
(reg:DI 94)) read_motor_position.cpp:56 -1
(nil))
(insn 14 13 15 2 (set (reg:DI 95)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -128 [0xffffffffffffff80])) [0 oldt+16 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 15 14 16 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -64 [0xffffffffffffffc0])) [0 newt+16 S8 A64])
(reg:DI 95)) read_motor_position.cpp:56 -1
(nil))
(insn 16 15 17 2 (set (reg:DI 96)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -120 [0xffffffffffffff88])) [0 oldt+24 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 17 16 18 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -56 [0xffffffffffffffc8])) [0 newt+24 S8 A64])
(reg:DI 96)) read_motor_position.cpp:56 -1
(nil))
(insn 18 17 19 2 (set (reg:DI 97)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -112 [0xffffffffffffff90])) [0 oldt+32 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 19 18 20 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -48 [0xffffffffffffffd0])) [0 newt+32 S8 A64])
(reg:DI 97)) read_motor_position.cpp:56 -1
(nil))
(insn 20 19 21 2 (set (reg:DI 98)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -104 [0xffffffffffffff98])) [0 oldt+40 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 21 20 22 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -40 [0xffffffffffffffd8])) [0 newt+40 S8 A64])
(reg:DI 98)) read_motor_position.cpp:56 -1
(nil))
(insn 22 21 23 2 (set (reg:DI 99)
(mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -96 [0xffffffffffffffa0])) [0 oldt+48 S8 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 23 22 24 2 (set (mem/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -32 [0xffffffffffffffe0])) [0 newt+48 S8 A64])
(reg:DI 99)) read_motor_position.cpp:56 -1
(nil))
(insn 24 23 25 2 (set (reg:SI 100)
(mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -88 [0xffffffffffffffa8])) [0 oldt+56 S4 A64])) read_motor_position.cpp:56 -1
(nil))
(insn 25 24 26 2 (set (mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -24 [0xffffffffffffffe8])) [0 newt+56 S4 A64])
(reg:SI 100)) read_motor_position.cpp:56 -1
(nil))
(insn 26 25 27 2 (set (reg:SI 87 [ D.32828 ])
(mem/j/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -68 [0xffffffffffffffbc])) [0 newt.c_lflag+0 S4 A32])) read_motor_position.cpp:57 -1
(nil))
(insn 27 26 28 2 (parallel [
(set (reg:SI 88 [ D.32828 ])
(and:SI (reg:SI 87 [ D.32828 ])
(const_int -11 [0xfffffffffffffff5])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:57 -1
(nil))
(insn 28 27 29 2 (set (mem/j/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -68 [0xffffffffffffffbc])) [0 newt.c_lflag+0 S4 A32])
(reg:SI 88 [ D.32828 ])) read_motor_position.cpp:57 -1
(nil))
(insn 29 28 30 2 (parallel [
(set (reg:DI 101)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -80 [0xffffffffffffffb0])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:58 -1
(nil))
(insn 30 29 31 2 (set (reg:DI 1 dx)
(reg:DI 101)) read_motor_position.cpp:58 -1
(nil))
(insn 31 30 32 2 (set (reg:SI 4 si)
(const_int 0 [0])) read_motor_position.cpp:58 -1
(nil))
(insn 32 31 33 2 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:58 -1
(nil))
(call_insn 33 32 34 2 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcsetattr") [flags 0x41] <function_decl 0x7f2142b9c5e8 tcsetattr>) [0 tcsetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:58 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:SI (use (reg:SI 4 si))
(expr_list:DI (use (reg:DI 1 dx))
(nil)))))
(call_insn 34 33 35 2 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("getchar") [flags 0x41] <function_decl 0x7f2142be9798 getchar>) [0 getchar S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:59 -1
(nil)
(nil))
(insn 35 34 36 2 (set (reg:SI 89 [ D.32829 ])
(reg:SI 0 ax)) read_motor_position.cpp:59 -1
(nil))
(insn 36 35 37 2 (set (mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -148 [0xffffffffffffff6c])) [0 ch+0 S4 A32])
(reg:SI 89 [ D.32829 ])) read_motor_position.cpp:59 -1
(nil))
(insn 37 36 38 2 (parallel [
(set (reg:DI 102)
(plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -144 [0xffffffffffffff70])))
(clobber (reg:CC 17 flags))
]) read_motor_position.cpp:60 -1
(nil))
(insn 38 37 39 2 (set (reg:DI 1 dx)
(reg:DI 102)) read_motor_position.cpp:60 -1
(nil))
(insn 39 38 40 2 (set (reg:SI 4 si)
(const_int 0 [0])) read_motor_position.cpp:60 -1
(nil))
(insn 40 39 41 2 (set (reg:SI 5 di)
(const_int 0 [0])) read_motor_position.cpp:60 -1
(nil))
(call_insn 41 40 42 2 (set (reg:SI 0 ax)
(call (mem:QI (symbol_ref:DI ("tcsetattr") [flags 0x41] <function_decl 0x7f2142b9c5e8 tcsetattr>) [0 tcsetattr S1 A8])
(const_int 0 [0]))) read_motor_position.cpp:60 -1
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))
(expr_list:SI (use (reg:SI 5 di))
(expr_list:SI (use (reg:SI 4 si))
(expr_list:DI (use (reg:DI 1 dx))
(nil)))))
(insn 42 41 45 2 (set (reg:SI 90 [ D.32829 ])
(mem/c:SI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -148 [0xffffffffffffff6c])) [0 ch+0 S4 A32])) read_motor_position.cpp:61 -1
(nil))
(insn 45 42 49 2 (set (reg:SI 91 [ <retval> ])
(reg:SI 90 [ D.32829 ])) read_motor_position.cpp:61 -1
(nil))
(insn 49 45 50 2 (set (reg/i:SI 0 ax)
(reg:SI 91 [ <retval> ])) read_motor_position.cpp:65 -1
(nil))
(insn 50 49 51 2 (parallel [
(set (reg:CCZ 17 flags)
(unspec:CCZ [
(mem/v/f/c:DI (plus:DI (reg/f:DI 82 virtual-stack-vars)
(const_int -8 [0xfffffffffffffff8])) [0 D.32830+0 S8 A64])
(const_int 40 [0x28])
] UNSPEC_SP_TLS_TEST))
(clobber (scratch:DI))
]) read_motor_position.cpp:65 -1
(nil))
(jump_insn 51 50 57 2 (set (pc)
(if_then_else (eq (reg:CCZ 17 flags)
(const_int 0 [0]))
(label_ref 54)
(pc))) read_motor_position.cpp:65 -1
(nil)
-> 54)
;; succ: 7
;; 6 (FALLTHRU)
;; basic block 6, loop depth 0, count 0, freq 0, maybe hot
;; prev block 2, next block 7, flags: (NEW, REACHABLE, RTL, MODIFIED)
;; pred: 2 (FALLTHRU)
(note 57 51 52 6 [bb 6] NOTE_INSN_BASIC_BLOCK)
(call_insn 52 57 53 6 (call (mem:QI (symbol_ref:DI ("__stack_chk_fail") [flags 0x41] <function_decl 0x7f21414dc798 __stack_chk_fail>) [0 __stack_chk_fail S1 A8])
(const_int 0 [0])) read_motor_position.cpp:65 -1
(expr_list:REG_ARGS_SIZE (const_int 0 [0])
(expr_list:REG_NORETURN (const_int 0 [0])
(expr_list:REG_EH_REGION (const_int 0 [0])
(nil))))
(nil))
;; succ:
(barrier 53 52 54)
;; basic block 7, loop depth 0, count 0, freq 0, maybe hot
;; prev block 6, next block 1, flags: (NEW, REACHABLE, RTL)
;; pred: 2
(code_label 54 53 58 7 3 "" [1 uses])
(note 58 54 55 7 [bb 7] NOTE_INSN_BASIC_BLOCK)
(insn 55 58 0 7 (use (reg/i:SI 0 ax)) read_motor_position.cpp:65 -1
(nil))
;; succ: EXIT [100.0%] (FALLTHRU)
;; Function int main() (main, funcdef_no=1570, decl_uid=32086, cgraph_uid=353, symbol_order=356)
int main() ()
{
int D.32815;
int D.32814;
int D.32813;
bool D.32812;
bool D.32811;
struct PacketHandler * D.32810;
struct PortHandler * D.32809;
int value;
uint16_t dxl_current_speed;
uint16_t dxl_present_position;
uint8_t dxl_error;
int dxl_comm_result;
struct PacketHandler * packetHandler;
struct PortHandler * portHandler;
int (*__vtbl_ptr_type) () D.32807;
int (*__vtbl_ptr_type) () * D.32806;
int (*__vtbl_ptr_type) () * D.32805;
int D.32804;
int i.13;
int D.32802;
short unsigned int dxl_present_position.12;
int D.32795;
unsigned char dxl_error.11;
int (*__vtbl_ptr_type) () D.32793;
int (*__vtbl_ptr_type) () * D.32792;
int (*__vtbl_ptr_type) () * D.32791;
unsigned char dxl_error.10;
int (*__vtbl_ptr_type) () D.32786;
int (*__vtbl_ptr_type) () * D.32785;
int (*__vtbl_ptr_type) () * D.32784;
int D.32781;
int D.32780;
int i.9;
int (*__vtbl_ptr_type) () D.32778;
int (*__vtbl_ptr_type) () * D.32777;
int (*__vtbl_ptr_type) () * D.32776;
int D.32774;
unsigned char dxl_error.8;
int (*__vtbl_ptr_type) () D.32772;
int (*__vtbl_ptr_type) () * D.32771;
int (*__vtbl_ptr_type) () * D.32770;
unsigned char dxl_error.7;
int (*__vtbl_ptr_type) () D.32765;
int (*__vtbl_ptr_type) () * D.32764;
int (*__vtbl_ptr_type) () * D.32763;
int D.32760;
int D.32759;
int i.6;
int (*__vtbl_ptr_type) () D.32757;
int (*__vtbl_ptr_type) () * D.32756;
int (*__vtbl_ptr_type) () * D.32755;
int i.5;
int i.4;
int i.3;
int i.2;
int (*__vtbl_ptr_type) () D.32740;
int (*__vtbl_ptr_type) () * D.32739;
int (*__vtbl_ptr_type) () * D.32738;
bool retval.1;
int D.32736;
int (*__vtbl_ptr_type) () D.32732;
int (*__vtbl_ptr_type) () * D.32731;
int (*__vtbl_ptr_type) () * D.32730;
bool retval.0;
int _1;
struct PortHandler * _12;
struct PacketHandler * _15;
int (*__vtbl_ptr_type) () * _21;
int (*__vtbl_ptr_type) () * _22;
int (*__vtbl_ptr_type) () _23;
bool _25;
bool retval.0_26;
int _28;
int (*__vtbl_ptr_type) () * _30;
int (*__vtbl_ptr_type) () * _31;
int (*__vtbl_ptr_type) () _32;
bool _34;
bool retval.1_35;
int _37;
int _40;
int i.2_42;
int i.3_43;
int i.4_45;
int i.5_46;
int (*__vtbl_ptr_type) () * _49;
int (*__vtbl_ptr_type) () * _50;
int (*__vtbl_ptr_type) () _51;
int i.6_52;
int _53;
int _54;
int _56;
int (*__vtbl_ptr_type) () * _58;
int (*__vtbl_ptr_type) () * _59;
int (*__vtbl_ptr_type) () _60;
unsigned char dxl_error.7_62;
int (*__vtbl_ptr_type) () * _63;
int (*__vtbl_ptr_type) () * _64;
int (*__vtbl_ptr_type) () _65;
unsigned char dxl_error.8_66;
int _67;
int (*__vtbl_ptr_type) () * _69;
int (*__vtbl_ptr_type) () * _70;
int (*__vtbl_ptr_type) () _71;
int i.9_72;
int _73;
int _74;
int _76;
int (*__vtbl_ptr_type) () * _78;
int (*__vtbl_ptr_type) () * _79;
int (*__vtbl_ptr_type) () _80;
unsigned char dxl_error.10_82;
int (*__vtbl_ptr_type) () * _83;
int (*__vtbl_ptr_type) () * _84;
int (*__vtbl_ptr_type) () _85;
unsigned char dxl_error.11_86;
int _87;
short unsigned int dxl_present_position.12_89;
int _90;
int i.13_91;
int _92;
;; basic block 2, loop depth 0
;; pred: ENTRY
_12 = dynamixel::PortHandler::getPortHandler ("/dev/ttyUSB0");
portHandler_13 = _12;
_15 = dynamixel::PacketHandler::getPacketHandler (1.0e+0);
packetHandler_16 = _15;
dxl_comm_result_17 = -1001;
dxl_error = 0;
dxl_present_position = 0;
dxl_current_speed_20 = 0;
_21 = portHandler_13->_vptr.PortHandler;
_22 = _21 + 16;
_23 = *_22;
_25 = OBJ_TYPE_REF(_23;(struct PortHandler)portHandler_13->2) (portHandler_13);
retval.0_26 = _25;
if (retval.0_26 != 0)
goto <bb 3>;
else
goto <bb 4>;
;; succ: 3
;; 4
;; basic block 3, loop depth 0
;; pred: 2
__builtin_puts (&"Succeeded to open the port!"[0]);
goto <bb 5>;
;; succ: 5
;; basic block 4, loop depth 0
;; pred: 2
__builtin_puts (&"Failed to open the port!"[0]);
_28 = 0;
goto <bb 25>;
;; succ: 25
;; basic block 5, loop depth 0
;; pred: 3
_30 = portHandler_13->_vptr.PortHandler;
_31 = _30 + 56;
_32 = *_31;
_34 = OBJ_TYPE_REF(_32;(struct PortHandler)portHandler_13->7) (portHandler_13, 1000000);
retval.1_35 = _34;
if (retval.1_35 != 0)
goto <bb 6>;
else
goto <bb 7>;
;; succ: 6
;; 7
;; basic block 6, loop depth 0
;; pred: 5
__builtin_puts (&"Succeeded to change the baudrate!"[0]);
goto <bb 8>;
;; succ: 8
;; basic block 7, loop depth 0
;; pred: 5
__builtin_puts (&"Failed to change the baudrate!"[0]);
_37 = 0;
goto <bb 25>;
;; succ: 25
;; basic block 8, loop depth 1
;; pred: 6
;; 24
_40 = getch ();
value_41 = _40;
if (value_41 == 119)
goto <bb 9>;
else
goto <bb 10>;
;; succ: 9
;; 10
;; basic block 9, loop depth 1
;; pred: 8
i.2_42 = i;
i.3_43 = i.2_42 + 1;
i = i.3_43;
;; succ: 10
;; basic block 10, loop depth 1
;; pred: 8
;; 9
if (value_41 == 115)
goto <bb 11>;
else
goto <bb 12>;
;; succ: 11
;; 12
;; basic block 11, loop depth 1
;; pred: 10
i.4_45 = i;
i.5_46 = i.4_45 + -1;
i = i.5_46;
;; succ: 12
;; basic block 12, loop depth 1
;; pred: 10
;; 11
i = 0;
_49 = packetHandler_16->_vptr.PacketHandler;
_50 = _49 + 176;
_51 = *_50;
i.6_52 = i;
_53 = dxl_ID[i.6_52];
_54 = _53 & 255;
_56 = OBJ_TYPE_REF(_51;(struct PacketHandler)packetHandler_16->22) (packetHandler_16, portHandler_13, _54, 36, &dxl_present_position, &dxl_error);
dxl_comm_result_57 = _56;
if (dxl_comm_result_57 != 0)
goto <bb 13>;
else
goto <bb 14>;
;; succ: 13
;; 14
;; basic block 13, loop depth 1
;; pred: 12
_58 = packetHandler_16->_vptr.PacketHandler;
_59 = _58 + 24;
_60 = *_59;
OBJ_TYPE_REF(_60;(struct PacketHandler)packetHandler_16->3) (packetHandler_16, dxl_comm_result_57);
goto <bb 16>;
;; succ: 16
;; basic block 14, loop depth 1
;; pred: 12
dxl_error.7_62 = dxl_error;
if (dxl_error.7_62 != 0)
goto <bb 15>;
else
goto <bb 16>;
;; succ: 15
;; 16
;; basic block 15, loop depth 1
;; pred: 14
_63 = packetHandler_16->_vptr.PacketHandler;
_64 = _63 + 32;
_65 = *_64;
dxl_error.8_66 = dxl_error;
_67 = (int) dxl_error.8_66;
OBJ_TYPE_REF(_65;(struct PacketHandler)packetHandler_16->4) (packetHandler_16, _67);
;; succ: 16
;; basic block 16, loop depth 1
;; pred: 13
;; 14
;; 15
_69 = packetHandler_16->_vptr.PacketHandler;
_70 = _69 + 248;
_71 = *_70;
i.9_72 = i;
_73 = dxl_ID[i.9_72];
_74 = _73 & 255;
_76 = OBJ_TYPE_REF(_71;(struct PacketHandler)packetHandler_16->31) (packetHandler_16, portHandler_13, _74, 32, 20, &dxl_error);
dxl_comm_result_77 = _76;
if (dxl_comm_result_77 != 0)
goto <bb 17>;
else
goto <bb 18>;
;; succ: 17
;; 18
;; basic block 17, loop depth 1
;; pred: 16
_78 = packetHandler_16->_vptr.PacketHandler;
_79 = _78 + 24;
_80 = *_79;
OBJ_TYPE_REF(_80;(struct PacketHandler)packetHandler_16->3) (packetHandler_16, dxl_comm_result_77);
goto <bb 20>;
;; succ: 20
;; basic block 18, loop depth 1
;; pred: 16
dxl_error.10_82 = dxl_error;
if (dxl_error.10_82 != 0)
goto <bb 19>;
else
goto <bb 20>;
;; succ: 19
;; 20
;; basic block 19, loop depth 1
;; pred: 18
_83 = packetHandler_16->_vptr.PacketHandler;
_84 = _83 + 32;
_85 = *_84;
dxl_error.11_86 = dxl_error;
_87 = (int) dxl_error.11_86;
OBJ_TYPE_REF(_85;(struct PacketHandler)packetHandler_16->4) (packetHandler_16, _87);
;; succ: 20
;; basic block 20, loop depth 1
;; pred: 17
;; 18
;; 19
if (value_41 == 119)
goto <bb 23>;
else
goto <bb 21>;
;; succ: 23
;; 21
;; basic block 21, loop depth 1
;; pred: 20
if (value_41 == 115)
goto <bb 23>;
else
goto <bb 22>;
;; succ: 23
;; 22
;; basic block 22, loop depth 1
;; pred: 21
if (value_41 == 122)
goto <bb 23>;
else
goto <bb 24>;
;; succ: 23
;; 24
;; basic block 23, loop depth 1
;; pred: 20
;; 21
;; 22
dxl_present_position.12_89 = dxl_present_position;
_90 = (int) dxl_present_position.12_89;
i.13_91 = i;
_92 = dxl_ID[i.13_91];
printf ("ID: %d | Present Position: %03d\n", _92, _90);
;; succ: 24
;; basic block 24, loop depth 1
;; pred: 22
;; 23
goto <bb 8>;
;; succ: 8
;; basic block 25, loop depth 0
;; pred: 4
;; 7
# _1 = PHI <_28(4), _37(7)>
dxl_error ={v} {CLOBBER};
dxl_present_position ={v} {CLOBBER};
;; succ: 26
;; basic block 26, loop depth 0
;; pred: 25
<L30>:
return _1;
;; succ: EXIT
}
Partition map