hotspot/src/share/vm/opto/vectornode.hpp
author kvn
Mon, 20 Aug 2012 09:07:21 -0700
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permissions -rw-r--r--
6340864: Implement vectorization optimizations in hotspot-server Summary: Added asm encoding and mach nodes for vector arithmetic instructions on x86. Reviewed-by: roland
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/*
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 * Copyright (c) 2007, 2012, Oracle and/or its affiliates. All rights reserved.
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 * DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS FILE HEADER.
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 *
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 * This code is free software; you can redistribute it and/or modify it
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 * under the terms of the GNU General Public License version 2 only, as
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 * published by the Free Software Foundation.
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 *
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 * This code is distributed in the hope that it will be useful, but WITHOUT
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 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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 * FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
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 * version 2 for more details (a copy is included in the LICENSE file that
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 * accompanied this code).
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 *
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 * You should have received a copy of the GNU General Public License version
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 * 2 along with this work; if not, write to the Free Software Foundation,
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 * Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA.
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 *
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 * Please contact Oracle, 500 Oracle Parkway, Redwood Shores, CA 94065 USA
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 * or visit www.oracle.com if you need additional information or have any
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 * questions.
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 */
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#ifndef SHARE_VM_OPTO_VECTORNODE_HPP
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#define SHARE_VM_OPTO_VECTORNODE_HPP
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#include "opto/matcher.hpp"
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#include "opto/memnode.hpp"
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#include "opto/node.hpp"
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#include "opto/opcodes.hpp"
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//------------------------------VectorNode--------------------------------------
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// Vector Operation
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class VectorNode : public TypeNode {
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  VectorNode(Node* n1, const TypeVect* vt) : TypeNode(vt, 2) {
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    init_class_id(Class_Vector);
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    init_req(1, n1);
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  }
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  VectorNode(Node* n1, Node* n2, const TypeVect* vt) : TypeNode(vt, 3) {
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    init_class_id(Class_Vector);
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    init_req(1, n1);
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    init_req(2, n2);
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  }
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  const TypeVect* vect_type() const { return type()->is_vect(); }
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  uint length() const { return vect_type()->length(); } // Vector length
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  uint length_in_bytes() const { return vect_type()->length_in_bytes(); }
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  virtual int Opcode() const;
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  virtual uint ideal_reg() const { return Matcher::vector_ideal_reg(vect_type()->length_in_bytes()); }
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  static VectorNode* scalar2vector(Compile* C, Node* s, uint vlen, const Type* opd_t);
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  static VectorNode* make(Compile* C, int opc, Node* n1, Node* n2, uint vlen, BasicType bt);
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  static int  opcode(int opc, uint vlen, BasicType bt);
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  static bool implemented(int opc, uint vlen, BasicType bt);
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  static bool is_shift(Node* n);
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  static bool is_invariant_vector(Node* n);
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};
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//===========================Vector=ALU=Operations====================================
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//------------------------------AddVBNode---------------------------------------
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// Vector add byte
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class AddVBNode : public VectorNode {
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  AddVBNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AddVSNode---------------------------------------
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// Vector add char/short
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class AddVSNode : public VectorNode {
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  AddVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AddVINode---------------------------------------
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// Vector add int
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class AddVINode : public VectorNode {
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  AddVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AddVLNode---------------------------------------
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// Vector add long
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class AddVLNode : public VectorNode {
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  AddVLNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AddVFNode---------------------------------------
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// Vector add float
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class AddVFNode : public VectorNode {
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  AddVFNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AddVDNode---------------------------------------
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// Vector add double
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class AddVDNode : public VectorNode {
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  AddVDNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVBNode---------------------------------------
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// Vector subtract byte
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class SubVBNode : public VectorNode {
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  SubVBNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVSNode---------------------------------------
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// Vector subtract short
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class SubVSNode : public VectorNode {
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  SubVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVINode---------------------------------------
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// Vector subtract int
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class SubVINode : public VectorNode {
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  SubVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVLNode---------------------------------------
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// Vector subtract long
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class SubVLNode : public VectorNode {
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  SubVLNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVFNode---------------------------------------
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// Vector subtract float
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class SubVFNode : public VectorNode {
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  SubVFNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------SubVDNode---------------------------------------
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// Vector subtract double
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class SubVDNode : public VectorNode {
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  SubVDNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------MulVSNode---------------------------------------
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// Vector multiply short
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class MulVSNode : public VectorNode {
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  MulVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------MulVINode---------------------------------------
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// Vector multiply int
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class MulVINode : public VectorNode {
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  MulVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------MulVFNode---------------------------------------
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// Vector multiply float
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class MulVFNode : public VectorNode {
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  MulVFNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------MulVDNode---------------------------------------
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// Vector multiply double
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class MulVDNode : public VectorNode {
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  MulVDNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------DivVFNode---------------------------------------
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// Vector divide float
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class DivVFNode : public VectorNode {
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  DivVFNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------DivVDNode---------------------------------------
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// Vector Divide double
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class DivVDNode : public VectorNode {
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  DivVDNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------LShiftVBNode---------------------------------------
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// Vector left shift bytes
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class LShiftVBNode : public VectorNode {
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  LShiftVBNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------LShiftVSNode---------------------------------------
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// Vector left shift shorts
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class LShiftVSNode : public VectorNode {
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  LShiftVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------LShiftVINode---------------------------------------
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// Vector left shift ints
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class LShiftVINode : public VectorNode {
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  LShiftVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------LShiftVLNode---------------------------------------
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// Vector left shift longs
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class LShiftVLNode : public VectorNode {
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  LShiftVLNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------RShiftVBNode---------------------------------------
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// Vector right arithmetic (signed) shift bytes
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class RShiftVBNode : public VectorNode {
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  RShiftVBNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------RShiftVSNode---------------------------------------
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// Vector right arithmetic (signed) shift shorts
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class RShiftVSNode : public VectorNode {
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  RShiftVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------RShiftVINode---------------------------------------
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// Vector right arithmetic (signed) shift ints
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class RShiftVINode : public VectorNode {
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  RShiftVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------RShiftVLNode---------------------------------------
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// Vector right arithmetic (signed) shift longs
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class RShiftVLNode : public VectorNode {
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  RShiftVLNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------URShiftVBNode---------------------------------------
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// Vector right logical (unsigned) shift bytes
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class URShiftVBNode : public VectorNode {
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  URShiftVBNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------URShiftVSNode---------------------------------------
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// Vector right logical (unsigned) shift shorts
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class URShiftVSNode : public VectorNode {
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  URShiftVSNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------URShiftVINode---------------------------------------
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// Vector right logical (unsigned) shift ints
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class URShiftVINode : public VectorNode {
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  URShiftVINode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------URShiftVLNode---------------------------------------
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// Vector right logical (unsigned) shift longs
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class URShiftVLNode : public VectorNode {
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  URShiftVLNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------AndVNode---------------------------------------
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// Vector and integer
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class AndVNode : public VectorNode {
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  AndVNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------OrVNode---------------------------------------
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// Vector or integer
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class OrVNode : public VectorNode {
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  OrVNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------XorVNode---------------------------------------
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// Vector xor integer
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class XorVNode : public VectorNode {
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  XorVNode(Node* in1, Node* in2, const TypeVect* vt) : VectorNode(in1,in2,vt) {}
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  virtual int Opcode() const;
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};
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//================================= M E M O R Y ===============================
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//------------------------------LoadVectorNode---------------------------------
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// Load Vector from memory
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class LoadVectorNode : public LoadNode {
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  LoadVectorNode(Node* c, Node* mem, Node* adr, const TypePtr* at, const TypeVect* vt)
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    : LoadNode(c, mem, adr, at, vt) {
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    init_class_id(Class_LoadVector);
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  }
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  const TypeVect* vect_type() const { return type()->is_vect(); }
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  uint length() const { return vect_type()->length(); } // Vector length
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  virtual int Opcode() const;
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  virtual uint ideal_reg() const  { return Matcher::vector_ideal_reg(memory_size()); }
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  virtual BasicType memory_type() const { return T_VOID; }
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  virtual int memory_size() const { return vect_type()->length_in_bytes(); }
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  virtual int store_Opcode() const { return Op_StoreVector; }
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  static LoadVectorNode* make(Compile* C, int opc, Node* ctl, Node* mem,
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                              Node* adr, const TypePtr* atyp, uint vlen, BasicType bt);
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};
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//------------------------------StoreVectorNode--------------------------------
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// Store Vector to memory
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class StoreVectorNode : public StoreNode {
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  StoreVectorNode(Node* c, Node* mem, Node* adr, const TypePtr* at, Node* val)
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    : StoreNode(c, mem, adr, at, val) {
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    assert(val->is_Vector() || val->is_LoadVector(), "sanity");
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    init_class_id(Class_StoreVector);
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  }
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  const TypeVect* vect_type() const { return in(MemNode::ValueIn)->bottom_type()->is_vect(); }
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  uint length() const { return vect_type()->length(); } // Vector length
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  virtual int Opcode() const;
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  virtual uint ideal_reg() const  { return Matcher::vector_ideal_reg(memory_size()); }
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  virtual BasicType memory_type() const { return T_VOID; }
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  virtual int memory_size() const { return vect_type()->length_in_bytes(); }
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  static StoreVectorNode* make(Compile* C, int opc, Node* ctl, Node* mem,
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                               Node* adr, const TypePtr* atyp, Node* val,
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                               uint vlen);
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};
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//=========================Promote_Scalar_to_Vector============================
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//------------------------------ReplicateBNode---------------------------------
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// Replicate byte scalar to be vector
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class ReplicateBNode : public VectorNode {
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  ReplicateBNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------ReplicateSNode---------------------------------
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// Replicate short scalar to be vector
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class ReplicateSNode : public VectorNode {
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  ReplicateSNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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   399
};
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   401
//------------------------------ReplicateINode---------------------------------
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// Replicate int scalar to be vector
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class ReplicateINode : public VectorNode {
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  ReplicateINode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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};
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   409
//------------------------------ReplicateLNode---------------------------------
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   410
// Replicate long scalar to be vector
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class ReplicateLNode : public VectorNode {
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  ReplicateLNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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   415
};
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   417
//------------------------------ReplicateFNode---------------------------------
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   418
// Replicate float scalar to be vector
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class ReplicateFNode : public VectorNode {
1
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  ReplicateFNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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};
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//------------------------------ReplicateDNode---------------------------------
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   426
// Replicate double scalar to be vector
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   427
class ReplicateDNode : public VectorNode {
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 public:
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   429
  ReplicateDNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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  virtual int Opcode() const;
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};
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   433
//========================Pack_Scalars_into_a_Vector===========================
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   434
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//------------------------------PackNode---------------------------------------
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   436
// Pack parent class (not for code generation).
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   437
class PackNode : public VectorNode {
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   438
 public:
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   439
  PackNode(Node* in1, const TypeVect* vt) : VectorNode(in1, vt) {}
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   440
  PackNode(Node* in1, Node* n2, const TypeVect* vt) : VectorNode(in1, n2, vt) {}
1
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  virtual int Opcode() const;
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   442
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   443
  void add_opd(uint i, Node* n) {
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   444
    init_req(i+1, n);
1
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   445
  }
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   446
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   447
  // Create a binary tree form for Packs. [lo, hi) (half-open) range
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   448
  Node* binaryTreePack(Compile* C, int lo, int hi);
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   449
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  static PackNode* make(Compile* C, Node* s, uint vlen, BasicType bt);
1
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};
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   452
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   453
//------------------------------PackBNode---------------------------------------
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   454
// Pack byte scalars into vector
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   455
class PackBNode : public PackNode {
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   456
 public:
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   457
  PackBNode(Node* in1, const TypeVect* vt)  : PackNode(in1, vt) {}
1
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   458
  virtual int Opcode() const;
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   459
};
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   460
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   461
//------------------------------PackSNode---------------------------------------
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   462
// Pack short scalars into a vector
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   463
class PackSNode : public PackNode {
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   464
 public:
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   465
  PackSNode(Node* in1, const TypeVect* vt)  : PackNode(in1, vt) {}
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   466
  PackSNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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   467
  virtual int Opcode() const;
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   468
};
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   469
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   470
//------------------------------PackINode---------------------------------------
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   471
// Pack integer scalars into a vector
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   472
class PackINode : public PackNode {
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   473
 public:
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   474
  PackINode(Node* in1, const TypeVect* vt)  : PackNode(in1, vt) {}
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   475
  PackINode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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   476
  virtual int Opcode() const;
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   477
};
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   478
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   479
//------------------------------PackLNode---------------------------------------
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diff changeset
   480
// Pack long scalars into a vector
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   481
class PackLNode : public PackNode {
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   482
 public:
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   483
  PackLNode(Node* in1, const TypeVect* vt)  : PackNode(in1, vt) {}
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diff changeset
   484
  PackLNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
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   485
  virtual int Opcode() const;
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diff changeset
   486
};
657b387034fb 7119644: Increase superword's vector size up to 256 bits
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diff changeset
   487
657b387034fb 7119644: Increase superword's vector size up to 256 bits
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   488
//------------------------------Pack2LNode--------------------------------------
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diff changeset
   489
// Pack 2 long scalars into a vector
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   490
class Pack2LNode : public PackNode {
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   491
 public:
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   492
  Pack2LNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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   493
  virtual int Opcode() const;
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   494
};
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   495
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   496
//------------------------------PackFNode---------------------------------------
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   497
// Pack float scalars into vector
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   498
class PackFNode : public PackNode {
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   499
 public:
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   500
  PackFNode(Node* in1, const TypeVect* vt)  : PackNode(in1, vt) {}
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diff changeset
   501
  PackFNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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   502
  virtual int Opcode() const;
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parents:
diff changeset
   503
};
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   504
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parents:
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   505
//------------------------------PackDNode---------------------------------------
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parents:
diff changeset
   506
// Pack double scalars into a vector
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   507
class PackDNode : public PackNode {
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   508
 public:
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diff changeset
   509
  PackDNode(Node* in1, const TypeVect* vt) : PackNode(in1, vt) {}
657b387034fb 7119644: Increase superword's vector size up to 256 bits
kvn
parents: 10255
diff changeset
   510
  PackDNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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parents:
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   511
  virtual int Opcode() const;
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parents:
diff changeset
   512
};
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   513
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   514
//------------------------------Pack2DNode--------------------------------------
657b387034fb 7119644: Increase superword's vector size up to 256 bits
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diff changeset
   515
// Pack 2 double scalars into a vector
657b387034fb 7119644: Increase superword's vector size up to 256 bits
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diff changeset
   516
class Pack2DNode : public PackNode {
1
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parents:
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   517
 public:
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diff changeset
   518
  Pack2DNode(Node* in1, Node* in2, const TypeVect* vt) : PackNode(in1, in2, vt) {}
1
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parents:
diff changeset
   519
  virtual int Opcode() const;
489c9b5090e2 Initial load
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parents:
diff changeset
   520
};
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diff changeset
   521
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   522
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//========================Extract_Scalar_from_Vector===============================
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   524
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//------------------------------ExtractNode---------------------------------------
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// Extract a scalar from a vector at position "pos"
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class ExtractNode : public Node {
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   528
 public:
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   529
  ExtractNode(Node* src, ConINode* pos) : Node(NULL, src, (Node*)pos) {
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   530
    assert(in(2)->get_int() >= 0, "positive constants");
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   531
  }
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  virtual int Opcode() const;
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  uint  pos() const { return in(2)->get_int(); }
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   534
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  static Node* make(Compile* C, Node* v, uint position, BasicType bt);
1
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};
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   537
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//------------------------------ExtractBNode---------------------------------------
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   539
// Extract a byte from a vector at position "pos"
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class ExtractBNode : public ExtractNode {
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   541
 public:
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  ExtractBNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   543
  virtual int Opcode() const;
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  virtual const Type *bottom_type() const { return TypeInt::INT; }
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   545
  virtual uint ideal_reg() const { return Op_RegI; }
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};
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//------------------------------ExtractUBNode--------------------------------------
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// Extract a boolean from a vector at position "pos"
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class ExtractUBNode : public ExtractNode {
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   551
 public:
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   552
  ExtractUBNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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  virtual int Opcode() const;
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  virtual const Type *bottom_type() const { return TypeInt::INT; }
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  virtual uint ideal_reg() const { return Op_RegI; }
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   556
};
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   557
1
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//------------------------------ExtractCNode---------------------------------------
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   559
// Extract a char from a vector at position "pos"
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   560
class ExtractCNode : public ExtractNode {
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   561
 public:
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   562
  ExtractCNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   563
  virtual int Opcode() const;
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  virtual const Type *bottom_type() const { return TypeInt::INT; }
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  virtual uint ideal_reg() const { return Op_RegI; }
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   566
};
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   567
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   568
//------------------------------ExtractSNode---------------------------------------
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   569
// Extract a short from a vector at position "pos"
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   570
class ExtractSNode : public ExtractNode {
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   571
 public:
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   572
  ExtractSNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   573
  virtual int Opcode() const;
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   574
  virtual const Type *bottom_type() const { return TypeInt::INT; }
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   575
  virtual uint ideal_reg() const { return Op_RegI; }
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   576
};
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   577
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   578
//------------------------------ExtractINode---------------------------------------
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   579
// Extract an int from a vector at position "pos"
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   580
class ExtractINode : public ExtractNode {
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   581
 public:
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   582
  ExtractINode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   583
  virtual int Opcode() const;
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   584
  virtual const Type *bottom_type() const { return TypeInt::INT; }
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   585
  virtual uint ideal_reg() const { return Op_RegI; }
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   586
};
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   587
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//------------------------------ExtractLNode---------------------------------------
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   589
// Extract a long from a vector at position "pos"
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   590
class ExtractLNode : public ExtractNode {
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   591
 public:
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   592
  ExtractLNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   593
  virtual int Opcode() const;
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   594
  virtual const Type *bottom_type() const { return TypeLong::LONG; }
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   595
  virtual uint ideal_reg() const { return Op_RegL; }
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   596
};
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   597
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   598
//------------------------------ExtractFNode---------------------------------------
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   599
// Extract a float from a vector at position "pos"
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   600
class ExtractFNode : public ExtractNode {
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   601
 public:
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   602
  ExtractFNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   603
  virtual int Opcode() const;
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   604
  virtual const Type *bottom_type() const { return Type::FLOAT; }
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   605
  virtual uint ideal_reg() const { return Op_RegF; }
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   606
};
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   607
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   608
//------------------------------ExtractDNode---------------------------------------
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   609
// Extract a double from a vector at position "pos"
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   610
class ExtractDNode : public ExtractNode {
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parents:
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   611
 public:
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parents:
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   612
  ExtractDNode(Node* src, ConINode* pos) : ExtractNode(src, pos) {}
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   613
  virtual int Opcode() const;
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   614
  virtual const Type *bottom_type() const { return Type::DOUBLE; }
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   615
  virtual uint ideal_reg() const { return Op_RegD; }
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   616
};
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#endif // SHARE_VM_OPTO_VECTORNODE_HPP