; LLVM IR from dmr-goncalves/HumanAwareRobotNavigation :: src/husky/husky_base/src/horizon_legacy (Message_data)

; 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"

@.str.26 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.101 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.102 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.103 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.104 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.105 = external hidden unnamed_addr constant [21 x i8], align 1

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.start.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #1

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #2

; Function Attrs: nocallback nofree nosync nounwind willreturn memory(argmem: readwrite)
declare void @llvm.lifetime.end.p0(i64 immarg, ptr nocapture) #0

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) #3 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) #3 align 2

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEs(ptr noundef nonnull align 8 dereferenceable(8), i16 noundef signext) #2

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273)) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef signext i16 @_ZN9clearpath22DataRangefinderTimings11getDistanceEi(ptr noundef nonnull align 8 dereferenceable(273), i32 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN9clearpath22DataRangefinderTimings18getAcquisitionTimeEi(ptr noundef nonnull align 8 dereferenceable(273), i32 noundef) #3 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9clearpath22DataRangefinderTimings12printMessageERSo(ptr noundef nonnull align 8 dereferenceable(273) %0, ptr noundef nonnull align 8 dereferenceable(8) %1) unnamed_addr #3 align 2 {
  %3 = alloca ptr, align 8
  %4 = alloca ptr, align 8
  %5 = alloca i32, align 4
  store ptr %0, ptr %3, align 8, !tbaa !5
  store ptr %1, ptr %4, align 8, !tbaa !5
  %6 = load ptr, ptr %3, align 8
  %7 = load ptr, ptr %4, align 8, !tbaa !5
  %8 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %7, ptr noundef @.str.101)
  %9 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %8, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %10 = load ptr, ptr %4, align 8, !tbaa !5
  %11 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef @.str.26)
  %12 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %11, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %13 = load ptr, ptr %4, align 8, !tbaa !5
  %14 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %13, ptr noundef @.str.102)
  %15 = call noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273) %6)
  %16 = zext i8 %15 to i32
  %17 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %14, i32 noundef %16)
  %18 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %17, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  call void @llvm.lifetime.start.p0(i64 4, ptr %5) #4
  store i32 0, ptr %5, align 4, !tbaa !9
  br label %19

19:                                               ; preds = %44, %2
  %20 = load i32, ptr %5, align 4, !tbaa !9
  %21 = call noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273) %6)
  %22 = zext i8 %21 to i32
  %23 = icmp ult i32 %20, %22
  br i1 %23, label %25, label %24

24:                                               ; preds = %19
  call void @llvm.lifetime.end.p0(i64 4, ptr %5) #4
  br label %47

25:                                               ; preds = %19
  %26 = load ptr, ptr %4, align 8, !tbaa !5
  %27 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %26, ptr noundef @.str.103)
  %28 = load i32, ptr %5, align 4, !tbaa !9
  %29 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %27, i32 noundef %28)
  %30 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %29, ptr noundef @.str.36)
  %31 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %30, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %32 = load ptr, ptr %4, align 8, !tbaa !5
  %33 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %32, ptr noundef @.str.104)
  %34 = load i32, ptr %5, align 4, !tbaa !9
  %35 = call noundef signext i16 @_ZN9clearpath22DataRangefinderTimings11getDistanceEi(ptr noundef nonnull align 8 dereferenceable(273) %6, i32 noundef %34)
  %36 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEs(ptr noundef nonnull align 8 dereferenceable(8) %33, i16 noundef signext %35)
  %37 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %36, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %38 = load ptr, ptr %4, align 8, !tbaa !5
  %39 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %38, ptr noundef @.str.105)
  %40 = load i32, ptr %5, align 4, !tbaa !9
  %41 = call noundef i32 @_ZN9clearpath22DataRangefinderTimings18getAcquisitionTimeEi(ptr noundef nonnull align 8 dereferenceable(273) %6, i32 noundef %40)
  %42 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %39, i32 noundef %41)
  %43 = call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %42, ptr noundef @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  br label %44

44:                                               ; preds = %25
  %45 = load i32, ptr %5, align 4, !tbaa !9
  %46 = add i32 %45, 1
  store i32 %46, ptr %5, align 4, !tbaa !9
  br label %19, !llvm.loop !11

47:                                               ; preds = %24
  %48 = load ptr, ptr %4, align 8, !tbaa !5
  ret ptr %48
}

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { inlinehint 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 #2 = { "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 = { 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 #4 = { nounwind }

!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"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = distinct !{!11, !12}
!12 = !{!"llvm.loop.mustprogress"}


; 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"

@.str.26 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.36 = external hidden unnamed_addr constant [2 x i8], align 1
@.str.101 = external hidden unnamed_addr constant [24 x i8], align 1
@.str.102 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.103 = external hidden unnamed_addr constant [13 x i8], align 1
@.str.104 = external hidden unnamed_addr constant [21 x i8], align 1
@.str.105 = external hidden unnamed_addr constant [21 x i8], align 1

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #0

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8), ptr noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_(ptr noundef nonnull align 8 dereferenceable(8)) #0

; Function Attrs: mustprogress uwtable
declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8), i32 noundef) local_unnamed_addr #2 align 2

declare noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEs(ptr noundef nonnull align 8 dereferenceable(8), i16 noundef signext) local_unnamed_addr #1

; Function Attrs: mustprogress uwtable
declare dso_local noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273)) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef signext i16 @_ZN9clearpath22DataRangefinderTimings11getDistanceEi(ptr noundef nonnull align 8 dereferenceable(273), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN9clearpath22DataRangefinderTimings18getAcquisitionTimeEi(ptr noundef nonnull align 8 dereferenceable(273), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: mustprogress uwtable
define dso_local noundef nonnull align 8 dereferenceable(8) ptr @_ZN9clearpath22DataRangefinderTimings12printMessageERSo(ptr noundef nonnull align 8 dereferenceable(273) %0, ptr noundef nonnull returned align 8 dereferenceable(8) %1) unnamed_addr #2 align 2 {
  %3 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.101)
  %4 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %3, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %5 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.26)
  %6 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %5, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %7 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.102)
  %8 = tail call noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273) %0)
  %9 = zext i8 %8 to i32
  %10 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEi(ptr noundef nonnull align 8 dereferenceable(8) %7, i32 noundef %9)
  %11 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %10, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %12 = tail call noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273) %0)
  %.not = icmp eq i8 %12, 0
  br i1 %.not, label %._crit_edge, label %.lr.ph

._crit_edge:                                      ; preds = %.lr.ph, %2
  ret ptr %1

.lr.ph:                                           ; preds = %2, %.lr.ph
  %.012 = phi i32 [ %25, %.lr.ph ], [ 0, %2 ]
  %13 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.103)
  %14 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %13, i32 noundef %.012)
  %15 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %14, ptr noundef nonnull @.str.36)
  %16 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %15, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %17 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.104)
  %18 = tail call noundef signext i16 @_ZN9clearpath22DataRangefinderTimings11getDistanceEi(ptr noundef nonnull align 8 dereferenceable(273) %0, i32 noundef %.012)
  %19 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEs(ptr noundef nonnull align 8 dereferenceable(8) %17, i16 noundef signext %18)
  %20 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %19, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %21 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZStlsISt11char_traitsIcEERSt13basic_ostreamIcT_ES5_PKc(ptr noundef nonnull align 8 dereferenceable(8) %1, ptr noundef nonnull @.str.105)
  %22 = tail call noundef i32 @_ZN9clearpath22DataRangefinderTimings18getAcquisitionTimeEi(ptr noundef nonnull align 8 dereferenceable(273) %0, i32 noundef %.012)
  %23 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEj(ptr noundef nonnull align 8 dereferenceable(8) %21, i32 noundef %22)
  %24 = tail call noundef nonnull align 8 dereferenceable(8) ptr @_ZNSolsEPFRSoS_E(ptr noundef nonnull align 8 dereferenceable(8) %23, ptr noundef nonnull @_ZSt4endlIcSt11char_traitsIcEERSt13basic_ostreamIT_T0_ES6_)
  %25 = add nuw nsw i32 %.012, 1
  %26 = tail call noundef zeroext i8 @_ZN9clearpath22DataRangefinderTimings19getRangefinderCountEv(ptr noundef nonnull align 8 dereferenceable(273) %0)
  %27 = zext i8 %26 to i32
  %28 = icmp ult i32 %25, %27
  br i1 %28, label %.lr.ph, label %._crit_edge, !llvm.loop !5
}

attributes #0 = { inlinehint 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 = { "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 = { 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" }

!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 = distinct !{!5, !6}
!6 = !{!"llvm.loop.mustprogress"}


; Effective O3 passes: GlobalOptPass,IPSCCPPass,InferFunctionAttrsPass,InstCombinePass,JumpThreadingPass,LoopRotatePass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SROAPass,SimplifyCFGPass,TailCallElimPass