; LLVM IR from Derek-TH-Wang/quadruped_ctrl :: src (GaitCtrller)

; Unoptimized IR (clang -disable-llvm-passes):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

@gCtrller = external dso_local global ptr, align 8

; Function Attrs: mustprogress uwtable
define dso_local void @init_controller(double noundef %0, ptr noundef %1) #0 personality ptr @__gxx_personality_v0 {
  %3 = alloca double, align 8
  %4 = alloca ptr, align 8
  %5 = alloca ptr, align 8
  %6 = alloca i32, align 4
  store double %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !9
  %7 = load ptr, ptr @gCtrller, align 8, !tbaa !9
  %8 = icmp ne ptr null, %7
  br i1 %8, label %9, label %14

9:                                                ; preds = %2
  %10 = load ptr, ptr @gCtrller, align 8, !tbaa !9
  %11 = icmp eq ptr %10, null
  br i1 %11, label %13, label %12

12:                                               ; preds = %9
  call void @_ZN11GaitCtrllerD1Ev(ptr noundef nonnull align 16 dereferenceable(3816) %10) #3
  call void @_ZdlPvm(ptr noundef %10, i64 noundef 3824) #4
  br label %13

13:                                               ; preds = %12, %9
  br label %14

14:                                               ; preds = %13, %2
  %15 = call noalias noundef nonnull ptr @_Znwm(i64 noundef 3824) #5
  %16 = load double, ptr %3, align 8, !tbaa !5
  %17 = load ptr, ptr %4, align 8, !tbaa !9
  invoke void @_ZN11GaitCtrllerC1EdPd(ptr noundef nonnull align 16 dereferenceable(3816) %15, double noundef %16, ptr noundef %17)
          to label %18 unwind label %19

18:                                               ; preds = %14
  store ptr %15, ptr @gCtrller, align 8, !tbaa !9
  ret void

19:                                               ; preds = %14
  %20 = landingpad { ptr, i32 }
          cleanup
  %21 = extractvalue { ptr, i32 } %20, 0
  store ptr %21, ptr %5, align 8
  %22 = extractvalue { ptr, i32 } %20, 1
  store i32 %22, ptr %6, align 4
  call void @_ZdlPvm(ptr noundef %15, i64 noundef 3824) #4
  br label %23

23:                                               ; preds = %19
  %24 = load ptr, ptr %5, align 8
  %25 = load i32, ptr %6, align 4
  %26 = insertvalue { ptr, i32 } poison, ptr %24, 0
  %27 = insertvalue { ptr, i32 } %26, i32 %25, 1
  resume { ptr, i32 } %27
}

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) #1

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) #2

declare i32 @__gxx_personality_v0(...)

declare void @_ZN11GaitCtrllerC1EdPd(ptr, double, ptr)

declare void @_ZN11GaitCtrllerD1Ev(ptr)

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nounwind }
attributes #4 = { builtin nounwind }
attributes #5 = { builtin allocsize(0) }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"double", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"any pointer", !7, i64 0}


; Optimized IR (opt -passes='default<O3>'):
target datalayout = "e-m:e-p270:32:32-p271:32:32-p272:64:64-i64:64-i128:128-f80:128-n8:16:32:64-S128"
target triple = "x86_64-unknown-linux-gnu"

@gCtrller = external dso_local local_unnamed_addr global ptr, align 8

; Function Attrs: mustprogress uwtable
define dso_local void @init_controller(double noundef %0, ptr noundef %1) local_unnamed_addr #0 personality ptr @__gxx_personality_v0 {
  %3 = load ptr, ptr @gCtrller, align 8, !tbaa !5
  %.not = icmp eq ptr %3, null
  br i1 %.not, label %5, label %4

4:                                                ; preds = %2
  tail call void @_ZN11GaitCtrllerD1Ev(ptr noundef nonnull align 16 dereferenceable(3816) %3) #3
  tail call void @_ZdlPvm(ptr noundef nonnull %3, i64 noundef 3824) #4
  br label %5

5:                                                ; preds = %4, %2
  %6 = tail call noalias noundef nonnull dereferenceable(3824) ptr @_Znwm(i64 noundef 3824) #5
  invoke void @_ZN11GaitCtrllerC1EdPd(ptr noundef nonnull align 16 dereferenceable(3816) %6, double noundef %0, ptr noundef %1)
          to label %7 unwind label %8

7:                                                ; preds = %5
  store ptr %6, ptr @gCtrller, align 8, !tbaa !5
  ret void

8:                                                ; preds = %5
  %9 = landingpad { ptr, i32 }
          cleanup
  tail call void @_ZdlPvm(ptr noundef nonnull %6, i64 noundef 3824) #4
  resume { ptr, i32 } %9
}

; Function Attrs: nobuiltin nounwind
declare void @_ZdlPvm(ptr noundef, i64 noundef) local_unnamed_addr #1

; Function Attrs: nobuiltin allocsize(0)
declare noundef nonnull ptr @_Znwm(i64 noundef) local_unnamed_addr #2

declare i32 @__gxx_personality_v0(...)

declare void @_ZN11GaitCtrllerC1EdPd(ptr, double, ptr) local_unnamed_addr

declare void @_ZN11GaitCtrllerD1Ev(ptr) local_unnamed_addr

attributes #0 = { mustprogress uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #1 = { nobuiltin nounwind "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #2 = { nobuiltin allocsize(0) "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #3 = { nounwind }
attributes #4 = { builtin nounwind }
attributes #5 = { builtin allocsize(0) }

!llvm.module.flags = !{!0, !1, !2, !3}
!llvm.ident = !{!4}

!0 = !{i32 1, !"wchar_size", i32 4}
!1 = !{i32 8, !"PIC Level", i32 2}
!2 = !{i32 7, !"PIE Level", i32 2}
!3 = !{i32 7, !"uwtable", i32 2}
!4 = !{!"clang version 19.1.0 (git@github.com:llvm/llvm-project.git a4bf6cd7cfb1a1421ba92bca9d017b49936c55e4)"}
!5 = !{!6, !6, i64 0}
!6 = !{!"any pointer", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}


; Effective O3 passes: CorrelatedValuePropagationPass,EarlyCSEPass,GlobalOptPass,IPSCCPPass,InstCombinePass,SROAPass,SimplifyCFGPass,TailCallElimPass