fprime-gds 4.0.0a8__py3-none-any.whl → 4.0.0a9__py3-none-any.whl

fprime_gds/common/fpy/codegen.py

@@ -0,0 +1,1687 @@
+from __future__ import annotations
+from abc import ABC
+import inspect
+from dataclasses import dataclass, field, fields
+import traceback
+from typing import Callable
+import typing
+
+from fprime_gds.common.fpy.bytecode.directives import (
+    FLOAT_INEQUALITY_DIRECTIVES,
+    MAX_SERIALIZABLE_REGISTER_SIZE,
+    INT_SIGNED_INEQUALITY_DIRECTIVES,
+    INT_UNSIGNED_INEQUALITY_DIRECTIVES,
+    AndDirective,
+    CmdDirective,
+    DeserSerReg1Directive,
+    DeserSerReg2Directive,
+    DeserSerReg4Directive,
+    DeserSerReg8Directive,
+    Directive,
+    FloatExtendDirective,
+    IntEqualDirective,
+    ExitDirective,
+    FloatEqualDirective,
+    FloatNotEqualDirective,
+    GetPrmDirective,
+    GetTlmDirective,
+    GotoDirective,
+    IfDirective,
+    NotDirective,
+    IntNotEqualDirective,
+    OrDirective,
+    SetSerRegDirective,
+    SetRegDirective,
+    SignedIntToFloatDirective,
+    UnsignedIntToFloatDirective,
+    WaitAbsDirective,
+    WaitRelDirective,
+)
+from fprime_gds.common.loaders.ch_json_loader import ChJsonLoader
+from fprime_gds.common.loaders.cmd_json_loader import CmdJsonLoader
+from fprime_gds.common.loaders.prm_json_loader import PrmJsonLoader
+from fprime_gds.common.templates.ch_template import ChTemplate
+from fprime_gds.common.templates.cmd_template import CmdTemplate
+from fprime_gds.common.templates.prm_template import PrmTemplate
+from fprime.common.models.serialize.time_type import TimeType
+from fprime.common.models.serialize.enum_type import EnumType
+from fprime.common.models.serialize.serializable_type import SerializableType
+from fprime.common.models.serialize.array_type import ArrayType
+from fprime.common.models.serialize.numerical_types import (
+    U32Type,
+    U16Type,
+    U64Type,
+    U8Type,
+    I16Type,
+    I32Type,
+    I64Type,
+    I8Type,
+    F32Type,
+    F64Type,
+    FloatType,
+    IntegerType,
+    NumericalType,
+)
+from fprime.common.models.serialize.string_type import StringType
+from fprime.common.models.serialize.bool_type import BoolType
+from fprime_gds.common.fpy.parser import (
+    AstAnd,
+    AstBoolean,
+    AstComparison,
+    AstElif,
+    AstElifs,
+    AstExpr,
+    AstGetAttr,
+    AstGetItem,
+    AstNot,
+    AstNumber,
+    AstOr,
+    AstReference,
+    AstString,
+    Ast,
+    AstTest,
+    AstBody,
+    AstLiteral,
+    AstIf,
+    AstAssign,
+    AstFuncCall,
+    AstVar,
+)
+from fprime.common.models.serialize.type_base import BaseType as FppType
+
+NUMERIC_TYPES = (
+    U32Type,
+    U16Type,
+    U64Type,
+    U8Type,
+    I16Type,
+    I32Type,
+    I64Type,
+    I8Type,
+    F32Type,
+    F64Type,
+)
+INTEGER_TYPES = (
+    U32Type,
+    U16Type,
+    U64Type,
+    U8Type,
+    I16Type,
+    I32Type,
+    I64Type,
+    I8Type,
+)
+SIGNED_INTEGER_TYPES = (
+    I16Type,
+    I32Type,
+    I64Type,
+    I8Type,
+)
+UNSIGNED_INTEGER_TYPES = (
+    U32Type,
+    U16Type,
+    U64Type,
+    U8Type,
+)
+FLOAT_TYPES = (
+    F32Type,
+    F64Type,
+)
+
+
+# a value of type FppTypeClass is a Python `type` object representing
+# the type of an Fprime value
+FppTypeClass = type[FppType]
+
+
+class NothingType(ABC):
+    """a type which has no valid values in fprime. used to denote
+    a function which doesn't return a value"""
+    @classmethod
+    def __subclasscheck__(cls, subclass):
+        return False
+
+
+# the `type` object representing the NothingType class
+NothingTypeClass = type[NothingType]
+
+
+class CompileException(BaseException):
+    def __init__(self, msg, node: Ast):
+        self.msg = msg
+        self.node = node
+        self.stack_trace = "\n".join(traceback.format_stack(limit=8)[:-1])
+
+    def __str__(self):
+        return f'{self.stack_trace}\nAt line {self.node.meta.line} "{self.node.node_text}": {self.msg}'
+
+
+@dataclass
+class FpyCallable:
+    return_type: FppTypeClass | NothingTypeClass
+    args: list[tuple[str, FppTypeClass]]
+
+
+@dataclass
+class FpyCmd(FpyCallable):
+    cmd: CmdTemplate
+
+
+@dataclass
+class FpyMacro(FpyCallable):
+    instantiate_macro: Callable[[list[FppType]], list[Directive]]
+    """a function which instantiates the macro given the argument values"""
+
+
+MACROS: dict[str, FpyMacro] = {
+    "sleep": FpyMacro(
+        NothingType, [("seconds", F64Type)], lambda args: [WaitRelDirective(int(args[0].val), int(args[0].val * 1000000) % 1000000)]
+    ),
+    "sleep_until": FpyMacro(
+        NothingType, [("wakeup_time", TimeType)], lambda args: [WaitAbsDirective(args[0])]
+    ),
+    "exit": FpyMacro(NothingType, [("success", BoolType)], lambda args: [ExitDirective(args[0].val)]),
+}
+
+
+@dataclass
+class FpyTypeCtor(FpyCallable):
+    type: FppTypeClass
+
+
+@dataclass
+class FieldReference:
+    """a reference to a field/index of an fprime type"""
+
+    parent: "FpyReference"
+    """the qualifier"""
+    type: FppTypeClass
+    """the fprime type of this reference"""
+    offset: int
+    """the constant offset in the parent type at which to find this field"""
+    name: str = None
+    """the name of the field, if applicable"""
+    idx: int = None
+    """the index of the field, if applicable"""
+
+    def get_from(self, parent_val: FppType) -> FppType:
+        """gets the field value from the parent value"""
+        assert isinstance(parent_val, self.type)
+        assert self.name is not None or self.idx is not None
+        value = None
+        if self.name is not None:
+            if isinstance(parent_val, SerializableType):
+                value = parent_val.val[self.name]
+            elif isinstance(parent_val, TimeType):
+                if self.name == "seconds":
+                    value = parent_val.__secs
+                elif self.name == "useconds":
+                    value = parent_val.__usecs
+                elif self.name == "time_base":
+                    value = parent_val.__timeBase
+                elif self.name == "time_context":
+                    value = parent_val.__timeContext
+                else:
+                    assert False, self.name
+            else:
+                assert False, parent_val
+
+        else:
+
+            assert isinstance(parent_val, ArrayType), parent_val
+
+            value = parent_val._val[self.idx]
+
+        assert isinstance(value, self.type), (value, self.type)
+        return value
+
+
+# named variables can be tlm chans, prms, callables, or directly referenced consts (usually enums)
+@dataclass
+class FpyVariable:
+    """a mutable, typed value referenced by an unqualified name"""
+
+    type_ref: AstExpr
+    """the expression denoting the var's type"""
+    type: FppTypeClass | None = None
+    """the resolved type of the variable. None if type unsure at the moment"""
+    sreg_idx: int | None = None
+    """the index of the sreg it is stored in"""
+
+
+# a scope
+FpyScope = dict[str, "FpyReference"]
+
+
+def create_scope(
+    references: dict[str, "FpyReference"],
+) -> FpyScope:
+    """from a flat dict of strs to references, creates a hierarchical, scoped
+    dict. no two leaf nodes may have the same name"""
+
+    base = {}
+
+    for fqn, ref in references.items():
+        names_strs = fqn.split(".")
+
+        ns = base
+        while len(names_strs) > 1:
+            existing_child = ns.get(names_strs[0], None)
+            if existing_child is None:
+                # this scope is not defined atm
+                existing_child = {}
+                ns[names_strs[0]] = existing_child
+
+            if not isinstance(existing_child, dict):
+                # something else already has this name
+                print(
+                    f"WARNING: {fqn} is already defined as {existing_child}, tried to redefine it as {ref}"
+                )
+                break
+
+            ns = existing_child
+            names_strs = names_strs[1:]
+
+        if len(names_strs) != 1:
+            # broke early. skip this loop
+            continue
+
+        # okay, now ns is the complete scope of the attribute
+        # i.e. everything up until the last '.'
+        name = names_strs[0]
+
+        existing_child = ns.get(name, None)
+
+        if existing_child is not None:
+            # uh oh, something already had this name with a diff value
+            print(
+                f"WARNING: {fqn} is already defined as {existing_child}, tried to redefine it as {ref}"
+            )
+            continue
+
+        ns[name] = ref
+
+    return base
+
+
+def union_scope(lhs: FpyScope, rhs: FpyScope) -> FpyScope:
+    """returns the two scopes, joined into one. if there is a conflict, chooses lhs over rhs"""
+    lhs_keys = set(lhs.keys())
+    rhs_keys = set(rhs.keys())
+    common_keys = lhs_keys.intersection(rhs_keys)
+
+    only_lhs_keys = lhs_keys.difference(common_keys)
+    only_rhs_keys = rhs_keys.difference(common_keys)
+
+    new = FpyScope()
+
+    for key in common_keys:
+        if not isinstance(lhs[key], dict) or not isinstance(rhs[key], dict):
+            # cannot be merged cleanly. one of the two is not a scope
+            print(f"WARNING: {key} is defined as {lhs[key]}, ignoring {rhs[key]}")
+            new[key] = lhs[key]
+            continue
+
+        new[key] = union_scope(lhs[key], rhs[key])
+
+    for key in only_lhs_keys:
+        new[key] = lhs[key]
+    for key in only_rhs_keys:
+        new[key] = rhs[key]
+
+    return new
+
+
+FpyReference = (
+    ChTemplate
+    | PrmTemplate
+    | FppType
+    | FpyCallable
+    | FppTypeClass
+    | FpyVariable
+    | FieldReference
+    | dict  # FpyReference
+)
+"""some named concept in fpy"""
+
+
+def get_ref_fpp_type_class(ref: FpyReference) -> FppTypeClass:
+    """returns the fprime type of the ref, if it were to be evaluated as an expression"""
+    if isinstance(ref, ChTemplate):
+        result_type = ref.ch_type_obj
+    elif isinstance(ref, PrmTemplate):
+        result_type = ref.prm_type_obj
+    elif isinstance(ref, FppType):
+        # constant value
+        result_type = type(ref)
+    elif isinstance(ref, FpyCallable):
+        # a reference to a callable isn't a type in and of itself
+        # it has a return type but you have to call it (with an AstFuncCall)
+        # consider making a separate "reference" type
+        result_type = NothingType
+    elif isinstance(ref, FpyVariable):
+        result_type = ref.type
+    elif isinstance(ref, type):
+        # a reference to a type doesn't have a value, and so doesn't have a type,
+        # in and of itself. if this were a function call to the type's ctor then
+        # it would have a value and thus a type
+        result_type = NothingType
+    elif isinstance(ref, FieldReference):
+        result_type = ref.type
+    elif isinstance(ref, dict):
+        # reference to a scope. scopes don't have values
+        result_type = NothingType
+    else:
+        assert False, ref
+
+    return result_type
+
+
+@dataclass
+class CompileState:
+    """a collection of input, internal and output state variables and maps"""
+
+    types: FpyScope
+    """a scope whose leaf nodes are subclasses of BaseType"""
+    callables: FpyScope
+    """a scope whose leaf nodes are FpyCallable instances"""
+    tlms: FpyScope
+    """a scope whose leaf nodes are ChTemplates"""
+    prms: FpyScope
+    """a scope whose leaf nodes are PrmTemplates"""
+    consts: FpyScope
+    """a scope whose leaf nodes are instances of subclasses of BaseType"""
+    variables: FpyScope = field(default_factory=dict)
+    """a scope whose leaf nodes are FpyVariables"""
+    runtime_values: FpyScope = None
+    """a scope whose leaf nodes are tlms/prms/consts/variables, all of which
+    have some value at runtime."""
+
+    def __post_init__(self):
+        self.runtime_values = union_scope(
+            self.tlms,
+            union_scope(self.prms, union_scope(self.consts, self.variables)),
+        )
+
+    resolved_references: dict[AstReference, FpyReference] = field(
+        default_factory=dict, repr=False
+    )
+    """reference to its singular resolution"""
+
+    expr_types: dict[AstExpr, FppTypeClass | NothingTypeClass] = field(
+        default_factory=dict
+    )
+    """expr to its fprime type, or nothing type if none"""
+
+    expr_values: dict[AstExpr, FppType | NothingType | None] = field(
+        default_factory=dict
+    )
+    """expr to its fprime value, or nothing if no value, or None if unsure at compile time"""
+
+    expr_registers: dict[AstExpr, int] = field(default_factory=dict)
+    """expr to the register it's stored in"""
+
+    directives: dict[Ast, list[Directive] | None] = field(default_factory=dict)
+    """a list of code generated by each node, or None/empty list if no directives"""
+
+    node_dir_counts: dict[Ast, int] = field(default_factory=dict)
+    """node to the number of directives generated by it"""
+
+    next_register: int = 0
+    """the index of the next free register"""
+    next_sreg: int = 0
+    """the index of the next free serializable register"""
+
+    start_line_idx: dict[Ast, int] = field(default_factory=dict)
+    """the line index at which each node's directives will be included in the output"""
+
+    errors: list[CompileException] = field(default_factory=list)
+    """a list of all compile exceptions generated by passes"""
+
+    def err(self, msg, n):
+        """adds a compile exception to internal state"""
+        self.errors.append(CompileException(msg, n))
+
+
+class Visitor:
+    """visits each class, calling a custom visit function, if one is defined, for each
+    node type"""
+
+    def _find_custom_visit_func(self, node: Ast):
+        for name, func in inspect.getmembers(type(self), inspect.isfunction):
+            if not name.startswith("visit") or name == "visit_default":
+                # not a visitor, or the default visit func
+                continue
+            signature = inspect.signature(func)
+            params = list(signature.parameters.values())
+            assert len(params) == 3
+            assert params[1].annotation is not None
+            annotations = typing.get_type_hints(func)
+            param_type = annotations[params[1].name]
+            if isinstance(node, param_type):
+                return func
+        else:
+            # call the default
+            return type(self).visit_default
+
+    def _visit(self, node: Ast, state: CompileState):
+        visit_func = self._find_custom_visit_func(node)
+        visit_func(self, node, state)
+
+    def visit_default(self, node: Ast, state: CompileState):
+        pass
+
+    def run(self, start: Ast, state: CompileState):
+        """runs the visitor, starting at the given node, descending depth-first"""
+
+        def _descend(node: Ast):
+            if not isinstance(node, Ast):
+                return
+            children = []
+            for field in fields(node):
+                field_val = getattr(node, field.name)
+                if isinstance(field_val, list):
+                    children.extend(field_val)
+                else:
+                    children.append(field_val)
+
+            for child in children:
+                if not isinstance(child, Ast):
+                    continue
+                _descend(child)
+                if len(state.errors) != 0:
+                    break
+                self._visit(child, state)
+                if len(state.errors) != 0:
+                    break
+
+        _descend(start)
+        self._visit(start, state)
+
+
+class TopDownVisitor(Visitor):
+
+    def run(self, start: Ast, state: CompileState):
+        """runs the visitor, starting at the given node, descending breadth-first"""
+
+        def _descend(node: Ast):
+            if not isinstance(node, Ast):
+                return
+            children = []
+            for field in fields(node):
+                field_val = getattr(node, field.name)
+                if isinstance(field_val, list):
+                    children.extend(field_val)
+                else:
+                    children.append(field_val)
+
+            for child in children:
+                if not isinstance(child, Ast):
+                    continue
+                self._visit(child, state)
+                if len(state.errors) != 0:
+                    break
+                _descend(child)
+                if len(state.errors) != 0:
+                    break
+
+        self._visit(start, state)
+        _descend(start)
+
+
+class AssignIds(TopDownVisitor):
+    """assigns a unique id to each node to allow it to be indexed in a dict"""
+
+    def __init__(self):
+        self.next_id = 0
+
+    def visit_default(self, node, state):
+        node.id = self.next_id
+        self.next_id += 1
+
+
+class CreateVariables(Visitor):
+    """finds all variable declarations and adds them to the variable scope"""
+
+    def visit_AstAssign(self, node: AstAssign, state: CompileState):
+        existing = state.variables.get(node.variable.var, None)
+        if not existing:
+            # idk what this var is. make sure it's a valid declaration
+            if node.var_type is None:
+                # error because this isn't an annotated assignment. right now all declarations must be annotated
+                state.err(
+                    "Must provide a type annotation for new variables", node.variable
+                )
+                return
+
+            var = FpyVariable(node.var_type, None)
+            # new var. put it in the table under this scope
+            state.variables[node.variable.var] = var
+            state.runtime_values[node.variable.var] = var
+
+        if existing and node.var_type is not None:
+            # redeclaring an existing variable
+            state.err(f"{node.variable.var} already declared", node)
+            return
+
+
+class ResolveReferences(Visitor):
+    """for each reference, resolve it in a specific scope based on its
+    syntactic position, or fail if could not resolve"""
+
+    def is_type_constant_size(self, type: FppTypeClass) -> bool:
+        """return true if the type is statically sized"""
+        if issubclass(type, StringType):
+            return False
+
+        if issubclass(type, ArrayType):
+            return self.is_type_constant_size(type.MEMBER_TYPE)
+
+        if issubclass(type, SerializableType):
+            for _, arg_type, _, _ in type.MEMBER_LIST:
+                if not self.is_type_constant_size(arg_type):
+                    return False
+            return True
+
+        return True
+
+    def get_attr_of_ref(
+        self, parent: FpyReference, node: AstGetAttr, state: CompileState
+    ) -> FpyReference | None:
+        """resolve a GetAttr node relative to a given FpyReference. return the
+        resolved ref, or None if none could be found. Will raise errors if not found"""
+
+        if isinstance(parent, (FpyCallable, type)):
+            # right now we don't support resolving something after a callable/type
+            state.err("Invalid syntax", node)
+            return None
+
+        if isinstance(parent, dict):
+            # parent is a scope
+            attr = parent.get(node.attr, None)
+            if attr is None:
+                state.err("Unknown attribute", node)
+                return None
+            return attr
+
+        # parent is a ch, prm, const, var or field
+
+        value_type = get_ref_fpp_type_class(parent)
+
+        assert value_type != NothingType
+
+        if not issubclass(value_type, (SerializableType, TimeType)):
+            # trying to do arr.x, but arr is not a struct
+            state.err(
+                "Invalid syntax (tried to access named member of a non-struct type)",
+                node,
+            )
+            return None
+
+        if not self.is_type_constant_size(value_type):
+            state.err(
+                f"{value_type} has non-constant sized members, cannot access members",
+                node,
+            )
+            return None
+
+        member_list: list[tuple[str, FppTypeClass]] = None
+        if issubclass(value_type, SerializableType):
+            member_list = [t[0:2] for t in value_type.MEMBER_LIST]
+        else:
+            # if it is a time type, there are some "implied" members
+            member_list = []
+            member_list.append(("time_base", U16Type))
+            member_list.append(("time_context", U8Type))
+            member_list.append(("seconds", U32Type))
+            member_list.append(("useconds", U32Type))
+
+        offset = 0
+        for arg_name, arg_type in member_list:
+            if arg_name == node.attr:
+                return FieldReference(parent, arg_type, offset, name=arg_name)
+            offset += arg_type.getMaxSize()
+
+        state.err(f"Unknown member {node.attr}", node)
+        return None
+
+    def get_item_of_ref(
+        self, parent: FpyReference, node: AstGetItem, state: CompileState
+    ) -> FpyReference | None:
+        """resolve a GetItem node relative to a given FpyReference. return the
+        resolved ref, or None if none could be found. Will raise errors if not found"""
+
+        if isinstance(parent, (FpyCallable, type, dict)):
+            # right now we don't support resolving index after a callable/type/scope
+            state.err("Invalid syntax", node)
+            return None
+
+        # parent is a ch, prm, const, var or field
+
+        value_type = get_ref_fpp_type_class(parent)
+
+        assert value_type != NothingType
+
+        if not issubclass(value_type, ArrayType):
+            # trying to do struct[0], but struct is not an array
+            state.err(
+                "Invalid syntax (tried to access indexed member of a non-array type)",
+                node.item,
+            )
+            return None
+
+        if not self.is_type_constant_size(value_type):
+            state.err(
+                f"{value_type} has non-constant sized members, cannot access members",
+                node,
+            )
+            return None
+
+        offset = 0
+        for i in range(0, value_type.LENGTH):
+            if i == node.item.value:
+                return FieldReference(parent, value_type.MEMBER_TYPE, offset, idx=i)
+            offset += value_type.MEMBER_TYPE.getMaxSize()
+
+        state.err(
+            f"Array access out-of-bounds (access: {node.item}, array size: {value_type.LENGTH})",
+            node.item,
+        )
+        return None
+
+    def resolve_if_ref(
+        self, node: AstExpr, ns: FpyScope, state: CompileState
+    ) -> bool:
+        """if the node is a reference, try to resolve it in the given scope, and return true if success.
+        otherwise, if it is not a reference, return true as it doesn't need to be resolved"""
+        if not isinstance(node, AstReference):
+            return True
+
+        return self.resolve_ref_in_ns(node, ns, state) is not None
+
+    def resolve_ref_in_ns(
+        self, node: AstExpr, ns: FpyScope, state: CompileState
+    ) -> FpyReference | None:
+        """recursively resolves a reference in a scope, returning the resolved ref
+        or none if none could be found."""
+        if isinstance(node, AstVar):
+            if not isinstance(ns, dict):
+                return None
+            ref = ns.get(node.var, None)
+            if ref is None:
+                return None
+            state.resolved_references[node] = ref
+            return ref
+
+        parent = self.resolve_ref_in_ns(node.parent, ns, state)
+        if parent is None:
+            # couldn't resolve parent
+            return None
+
+        if isinstance(node, AstGetItem):
+            ref = self.get_item_of_ref(parent, node, state)
+            state.resolved_references[node] = ref
+            return ref
+
+        assert isinstance(node, AstGetAttr)
+        ref = self.get_attr_of_ref(parent, node, state)
+        state.resolved_references[node] = ref
+        return ref
+
+    def visit_AstFuncCall(self, node: AstFuncCall, state: CompileState):
+        # function refs must be callables
+        if not self.resolve_ref_in_ns(node.func, state.callables, state):
+            state.err("Unknown callable", node.func)
+            return
+
+        for arg in node.args if node.args is not None else []:
+            # arg value refs must be consts
+            if not self.resolve_if_ref(arg, state.consts, state):
+                state.err("Unknown const", arg)
+                return
+
+    def visit_AstIf_AstElif(self, node: AstIf | AstElif, state: CompileState):
+        # if condition expr refs must be "runtime values" (tlm/prm/const/etc)
+        if not self.resolve_if_ref(node.condition, state.runtime_values, state):
+            state.err("Unknown runtime value", node.condition)
+            return
+
+    def visit_AstComparison(self, node: AstComparison, state: CompileState):
+        # lhs/rhs side of comparison, if they are refs, must be refs to "runtime vals"
+        if not self.resolve_if_ref(node.lhs, state.runtime_values, state):
+            state.err("Unknown runtime value", node.lhs)
+            return
+        if not self.resolve_if_ref(node.rhs, state.runtime_values, state):
+            state.err("Unknown runtime value", node.rhs)
+            return
+
+    def visit_AstAnd_AstOr(self, node: AstAnd | AstOr, state: CompileState):
+        for val in node.values:
+            if not self.resolve_if_ref(val, state.runtime_values, state):
+                state.err("Unknown runtime value", val)
+                return
+
+    def visit_AstNot(self, node: AstNot, state: CompileState):
+        if not self.resolve_if_ref(node.value, state.runtime_values, state):
+            state.err("Unknown runtime value", node.value)
+            return
+
+    def visit_AstAssign(self, node: AstAssign, state: CompileState):
+        var = self.resolve_ref_in_ns(node.variable, state.variables, state)
+        if not var:
+            state.err("Unknown variable", node.variable)
+            return
+
+        if node.var_type is not None:
+            type = self.resolve_ref_in_ns(node.var_type, state.types, state)
+            if not type:
+                state.err("Unknown type", node.var_type)
+                return
+            var.type = type
+
+        if not self.resolve_if_ref(node.value, state.consts, state):
+            state.err("Unknown const", node.value)
+            return
+
+
+class CalculateExprTypes(Visitor):
+    """stores in state the fprime type of each expression, or NothingType if the expr had no type"""
+
+    def visit_AstNumber(self, node: AstNumber, state: CompileState):
+        if isinstance(node.value, float):
+            result_type = FloatType
+        elif isinstance(node.value, int):
+            result_type = IntegerType
+        else:
+            assert False, node.value
+        state.expr_types[node] = result_type
+
+    def visit_AstString(self, node: AstString, state: CompileState):
+        state.expr_types[node] = StringType
+
+    def visit_AstBoolean(self, node: AstBoolean, state: CompileState):
+        state.expr_types[node] = BoolType
+
+    def visit_AstReference(self, node: AstReference, state: CompileState):
+        ref = state.resolved_references[node]
+        state.expr_types[node] = get_ref_fpp_type_class(ref)
+
+    def visit_AstFuncCall(self, node: AstFuncCall, state: CompileState):
+        ref = state.resolved_references[node.func]
+        assert isinstance(ref, FpyCallable)
+        state.expr_types[node] = ref.return_type
+
+    def visit_AstOr_AstAnd_AstNot_AstComparison(
+        self, node: AstOr | AstAnd | AstNot | AstComparison, state: CompileState
+    ):
+        state.expr_types[node] = BoolType
+
+    def visit_default(self, node, state):
+        # coding error, missed an expr
+        assert not isinstance(node, AstExpr), node
+
+
+class CheckAndResolveArgumentTypes(Visitor):
+    """for each syntactic node with arguments (ands/ors/nots/cmps/funcs), check that the argument
+    types are right"""
+
+    def is_literal_convertible_to(
+        self, node: AstLiteral, to_type: FppTypeClass, state: CompileState
+    ) -> bool:
+
+        if isinstance(node, AstBoolean):
+            return to_type == BoolType
+
+        if isinstance(node, AstString):
+            return issubclass(to_type, StringType)
+
+        if isinstance(node, AstNumber):
+            if isinstance(node.value, float):
+                return issubclass(to_type, FloatType)
+            if isinstance(node.value, int):
+                # int literal can be converted into float or int
+                return issubclass(to_type, (FloatType, IntegerType))
+
+            assert False, node.value
+
+        assert False, node
+
+    def visit_AstComparison(self, node: AstComparison, state: CompileState):
+
+        lhs_type = state.expr_types[node.lhs]
+        rhs_type = state.expr_types[node.rhs]
+
+        if not issubclass(lhs_type, NumericalType):
+            state.err(f"Cannot compare non-numeric type {lhs_type}", node.lhs)
+            return
+        if not issubclass(rhs_type, NumericalType):
+            state.err(f"Cannot compare non-numeric type {rhs_type}", node.rhs)
+            return
+
+        # args are both numeric
+
+        # if either is generic float, pick F64. we want F64 cuz otherwise we need
+        # an FPEXT to convert to F64
+        if lhs_type == FloatType:
+            state.expr_types[node.lhs] = F64Type
+        if rhs_type == FloatType:
+            state.expr_types[node.rhs] = F64Type
+
+        if lhs_type == IntegerType and rhs_type == IntegerType:
+            # use i64
+            state.expr_types[node.lhs] = I64Type
+            state.expr_types[node.rhs] = I64Type
+            return
+
+        if lhs_type == IntegerType:
+            # try to interpret it as the rhs_type if rhs_type is integer
+            if issubclass(rhs_type, IntegerType):
+                state.expr_types[node.lhs] = state.expr_types[node.rhs]
+            else:
+                # otherwise rhs is a float. just use i64
+                state.expr_types[node.lhs] = I64Type
+
+        if rhs_type == IntegerType:
+            # try to interpret it as the rhs_type if rhs_type is integer
+            if issubclass(lhs_type, IntegerType):
+                state.expr_types[node.rhs] = state.expr_types[node.lhs]
+            else:
+                # otherwise lhs is a float. just use i64
+                state.expr_types[node.rhs] = I64Type
+
+    def visit_AstFuncCall(self, node: AstFuncCall, state: CompileState):
+        func = state.resolved_references[node.func]
+        func_args = func.args
+        node_args = node.args if node.args else []
+
+        if len(node_args) < len(func_args):
+            state.errors.append(
+                CompileException(
+                    f"Missing arguments (expected {len(func_args)} found {len(node_args)})",
+                    node,
+                )
+            )
+            return
+        if len(node_args) > len(func_args):
+            state.errors.append(
+                CompileException(
+                    f"Too many arguments (expected {len(func_args)} found {len(node_args)})",
+                    node,
+                )
+            )
+            return
+
+        for value_expr, arg in zip(node_args, func_args):
+            arg_name, arg_type = arg
+
+            value_expr_type = state.expr_types[value_expr]
+
+            if value_expr_type == arg_type or (
+                isinstance(value_expr, AstLiteral)
+                and self.is_literal_convertible_to(value_expr, arg_type, state)
+            ):
+                # arg type is good!
+                state.expr_types[value_expr] = arg_type
+                continue
+
+            # it is not. these are not compatible
+            state.errors.append(
+                CompileException(
+                    f"Cannot convert {value_expr} ({value_expr_type}) to {arg_type}",
+                    value_expr,
+                )
+            )
+            return
+
+        # got thru all args successfully
+
+    def visit_AstOr_AstAnd(self, node: AstOr | AstAnd, state: CompileState):
+        # "or/and" can have as many args as you want. they all need to be bools tho
+        for val in node.values:
+            val_type = state.expr_types[val]
+            if val_type != BoolType:
+                state.err(f"Arguments to 'and'/'or' must be booleans", val)
+                return
+            state.expr_types[val] = BoolType
+
+    def visit_AstNot(self, node: AstNot, state: CompileState):
+        val_type = state.expr_types[node.value]
+        if val_type != BoolType:
+            state.err(f"Argument to 'not' must be boolean", node.value)
+            return
+        state.expr_types[node.value] = BoolType
+
+    def visit_AstAssign(self, node: AstAssign, state: CompileState):
+        var_type = state.resolved_references[node.variable].type
+        value_type = state.expr_types[node.value]
+        if var_type != value_type:
+            if not (
+                isinstance(node.value, AstLiteral)
+                and self.is_literal_convertible_to(node.value, var_type, state)
+            ):
+                state.err(f"Cannot interpret {node.value} as {var_type}", node.value)
+                return
+
+        state.expr_types[node.value] = var_type
+
+        if var_type.getMaxSize() > MAX_SERIALIZABLE_REGISTER_SIZE:
+            state.err(f"{var_type} is too big to fit in a variable", node)
+            return
+
+    def visit_AstGetItem(self, node: AstGetItem, state: CompileState):
+        # the node of the index number has no expression value, it's an arg
+        # but only at syntax level
+        state.expr_types[node.item] = NothingType
+
+
+class CalculateExprValues(Visitor):
+    """for each expr, try to calculate its constant value and store it in a map. stores None if no value could be
+    calculated at compile time, and NothingType if the expr had no value"""
+
+    def visit_AstLiteral(self, node: AstLiteral, state: CompileState):
+        literal_type = state.expr_types[node]
+        if literal_type != NothingType:
+            assert (
+                literal_type in NUMERIC_TYPES
+                or issubclass(literal_type, StringType)
+                or literal_type == BoolType
+            ), literal_type
+            state.expr_values[node] = literal_type(node.value)
+        else:
+            state.expr_values[node] = literal_type()
+
+    def visit_AstReference(self, node: AstReference, state: CompileState):
+        ref = state.resolved_references[node]
+
+        if isinstance(ref, (ChTemplate, PrmTemplate, FpyVariable)):
+            # we do not try to calculate or predict these values at compile time
+            expr_value = None
+        elif isinstance(ref, FieldReference):
+            if isinstance(ref.parent, FppType):
+                # ref to a field of a constant
+                # get the field
+                expr_value = ref.get_from(ref.parent)
+            else:
+                # ref to a field of smth else. no runtime val
+                expr_value = None
+        elif isinstance(ref, FppType):
+            # constant value
+            expr_value = ref
+        elif isinstance(ref, FpyCallable):
+            # a reference to a callable doesn't have a value, you have to actually
+            # call the func
+            expr_value = NothingType()
+        elif isinstance(ref, type):
+            # a reference to a type doesn't have a value, and so doesn't have a type,
+            # in and of itself. if this were a function call to the type's ctor then
+            # it would have a value
+            expr_value = NothingType()
+        elif isinstance(ref, dict):
+            # a ref to a scope doesn't have a value
+            expr_value = NothingType()
+        else:
+            assert False, ref
+
+        assert expr_value is None or isinstance(expr_value, state.expr_types[node]), (
+            expr_value,
+            state.expr_types[node],
+        )
+        state.expr_values[node] = expr_value
+
+    def visit_AstFuncCall(self, node: AstFuncCall, state: CompileState):
+        func = state.resolved_references[node.func]
+        assert isinstance(func, FpyCallable)
+        # gather arg values
+        arg_values = [
+            state.expr_values[e] for e in (node.args if node.args is not None else [])
+        ]
+        unknown_value = any(v for v in arg_values if v is None)
+        if unknown_value:
+            state.expr_values[node] = None
+            return
+
+        if isinstance(func, FpyTypeCtor):
+            # actually construct the type
+            if issubclass(func.type, SerializableType):
+                instance = func.type()
+                # pass in args as a dict
+                # t[0] is the arg name
+                arg_dict = {t[0]: v for t, v in zip(func.type.MEMBER_LIST, arg_values)}
+                instance._val = arg_dict
+                state.expr_values[node] = instance
+
+            elif issubclass(func.type, ArrayType):
+                instance = func.type()
+                instance._val = arg_values
+                state.expr_values[node] = instance
+
+            elif func.type == TimeType:
+                state.expr_values[node] = TimeType(*arg_values)
+
+            else:
+                # no other FppTypeClasses have ctors
+                assert False, func.return_type
+        else:
+            # don't try to calculate the value of this function call
+            # it's something like a cmd or macro
+            state.expr_values[node] = None
+
+    def visit_AstTest(self, node: AstTest, state: CompileState):
+        # we do not calculate compile time value of or/and/nots/cmps at the moment
+        state.expr_values[node] = None
+
+    def visit_default(self, node, state):
+        # coding error, missed an expr
+        assert not isinstance(node, AstExpr), node
+
+
+class GenerateVariableDirectives(Visitor):
+    """for each variable assignment or declaration, check the rhs was known
+    at compile time, and generate a directive"""
+
+    def visit_AstAssign(self, node: AstAssign, state: CompileState):
+        existing_var = state.resolved_references[node.variable]
+        # should already have been put in var table
+        assert existing_var is not None
+
+        # we should have type info about the variable
+        assert existing_var.type is not None
+
+        value_type = state.expr_types[node.value]
+        value = state.expr_values[node.value]
+
+        # already type checked
+        assert value_type == type(value), (value_type, type(value))
+
+        if value is None:
+            # expr value is unknown at this point in compile
+            state.err(
+                f"Cannot assign {node.variable.var}: {existing_var.type} to {node.value}, as its value was not known at compile time",
+                node.value,
+            )
+            return
+
+        sreg_idx = existing_var.sreg_idx
+        if sreg_idx is None:
+            # doesn't have an sreg idx, allocate one
+            sreg_idx = state.next_sreg
+            state.next_sreg += 1
+            existing_var.sreg_idx = sreg_idx
+        val_bytes = value.serialize()
+        assert len(val_bytes) == value.getMaxSize(), (
+            len(val_bytes),
+            value.getMaxSize(),
+            value,
+        )
+        assert len(val_bytes) <= MAX_SERIALIZABLE_REGISTER_SIZE, len(val_bytes)
+        state.directives[node] = [SetSerRegDirective(sreg_idx, val_bytes)]
+
+
+class GenerateConstCmdDirectives(Visitor):
+    """for each command or macro whose arguments were const at runtime (should be all at the moment),
+    generate a directive"""
+    def visit_AstFuncCall(self, node: AstFuncCall, state: CompileState):
+        func = state.resolved_references[node.func]
+        if isinstance(func, FpyCmd):
+            arg_bytes = bytes()
+            for arg_node in node.args if node.args is not None else []:
+                arg_value = state.expr_values[arg_node]
+                if arg_value is None:
+                    state.err(
+                        f"Only constant arguments to commands are allowed", arg_node
+                    )
+                    return
+                arg_bytes += arg_value.serialize()
+            state.directives[node] = [CmdDirective(func.cmd.get_op_code(), arg_bytes)]
+        elif isinstance(func, FpyMacro):
+            arg_values = []
+            for arg_node in node.args if node.args is not None else []:
+                arg_value = state.expr_values[arg_node]
+                if arg_value is None:
+                    state.err(
+                        f"Only constant arguments to macros are allowed", arg_node
+                    )
+                    return
+                arg_values.append(arg_value)
+
+            state.directives[node] = func.instantiate_macro(arg_values)
+        else:
+            state.directives[node] = None
+
+
+def put_sreg_in_nreg(
+    sreg_idx: int, sreg_offset: int, nreg_idx: int, size: int
+) -> list[Directive]:
+    if size > 4:
+        return [DeserSerReg8Directive(sreg_idx, sreg_offset, nreg_idx)]
+    elif size > 2:
+        return [DeserSerReg4Directive(sreg_idx, sreg_offset, nreg_idx)]
+    elif size > 1:
+        return [DeserSerReg2Directive(sreg_idx, sreg_offset, nreg_idx)]
+    elif size == 1:
+        return [DeserSerReg1Directive(sreg_idx, sreg_offset, nreg_idx)]
+    else:
+        assert False, size
+
+
+class AssignExprRegisters(Visitor):
+    """assign each expr a unique register"""
+    def visit_AstExpr(self, node: AstExpr, state: CompileState):
+        state.expr_registers[node] = state.next_register
+        state.next_register += 1
+
+
+class GenerateConstExprDirectives(Visitor):
+    """for each expr with a constant compile time value, generate
+    directives for how to put it in its register"""
+    def visit_AstExpr(self, node: AstExpr, state: CompileState):
+        expr_type = state.expr_types[node]
+
+        if node in state.directives:
+            # already have directives associated with this node
+            return
+
+        if expr_type == NothingType:
+            # impossible. nothing type has no value
+            state.directives[node] = None
+            return
+
+        if expr_type.getMaxSize() > 8:
+            # bigger than 8 bytes
+            # impossible. can't fit in a register
+            state.directives[node] = None
+            return
+
+        # okay, it is not nothing and it is smaller than 8 bytes.
+        # should be able to put it in a reg
+
+        register = state.expr_registers[node]
+
+        expr_value = state.expr_values[node]
+
+        if expr_value is None:
+            # no const value
+            return
+
+        # it has a constant value at compile time
+        serialized_expr_value = expr_value.serialize()
+        assert len(serialized_expr_value) <= 8, len(serialized_expr_value)
+        val_as_i64_bytes = bytes(8 - len(serialized_expr_value))
+        val_as_i64_bytes += serialized_expr_value
+
+        # reinterpret as an I64
+        val_as_i64 = I64Type()
+        val_as_i64.deserialize(val_as_i64_bytes, 0)
+
+        state.directives[node] = [SetRegDirective(register, val_as_i64.val)]
+
+
+class GenerateNonConstExprDirectives(Visitor):
+    """for each expr whose value is not known at compile time, but can be calculated at run time,
+    generate directives to calculate the value and put it in its register"""
+
+    def visit_AstReference(self, node: AstReference, state: CompileState):
+        if node in state.directives:
+            # already know how to put it in reg, or it is impossible
+            return
+
+        expr_type = state.expr_types[node]
+        ref = state.resolved_references[node]
+
+        directives = []
+
+        # does not have a constant compile time value
+
+        # all references that don't have a compile time value have to go into an sreg first
+        # and then into an nreg
+
+        sreg_idx = None
+
+        offset = 0
+
+        base_ref = ref
+
+        # if it's a field ref, find the parent and the offset in the parent
+        while isinstance(base_ref, FieldReference):
+            offset += base_ref.offset
+            base_ref = base_ref.parent
+
+        if isinstance(base_ref, FpyVariable):
+            # already in an sreg
+            sreg_idx = base_ref.sreg_idx
+        else:
+            sreg_idx = state.next_sreg
+            state.next_sreg += 1
+
+            if isinstance(base_ref, ChTemplate):
+                tlm_time_sreg_idx = state.next_sreg
+                state.next_sreg += 1
+                directives.append(
+                    GetTlmDirective(sreg_idx, tlm_time_sreg_idx, base_ref.get_id())
+                )
+
+            elif isinstance(base_ref, PrmTemplate):
+                directives.append(GetPrmDirective(sreg_idx, base_ref.get_id()))
+
+            else:
+                assert (
+                    False
+                ), base_ref  # ref should either be impossible to put in a reg or should have a compile time val
+
+        # pull from sreg into nreg
+        directives.extend(
+            put_sreg_in_nreg(
+                sreg_idx, offset, state.expr_registers[node], expr_type.getMaxSize()
+            )
+        )
+
+        state.directives[node] = directives
+
+    def visit_AstAnd_AstOr(self, node: AstAnd | AstOr, state: CompileState):
+        if node in state.directives:
+            # already know how to put it in reg, or know that it's impossible
+            return
+
+        expr_reg = state.expr_registers[node]
+        directives = []
+
+        registers_to_compare = []
+        for arg_value_expr in node.values:
+            arg_value_dirs = state.directives[arg_value_expr]
+            assert arg_value_dirs is not None
+            directives.extend(arg_value_dirs)
+            registers_to_compare.append(state.expr_registers[arg_value_expr])
+
+        assert len(registers_to_compare) >= 2, len(registers_to_compare)
+
+        # okay, now we have to "or" or "and" together all of the registers
+        # "or/and" the first two together, put in res.
+        # from then on, "or/and" the next with res
+
+        dir_type = OrDirective if isinstance(node, AstOr) else AndDirective
+
+        directives.append(
+            dir_type(registers_to_compare[0], registers_to_compare[1], expr_reg)
+        )
+
+        for i in range(2, len(registers_to_compare)):
+            directives.append(dir_type(expr_reg, registers_to_compare[i], expr_reg))
+
+        state.directives[node] = directives
+
+    def visit_AstNot(self, node: AstNot, state: CompileState):
+        if node in state.directives:
+            # already know how to put it in reg
+            return
+
+        expr_reg = state.expr_registers[node]
+        directives = []
+        arg_value_dirs = state.directives[node.value]
+        assert arg_value_dirs is not None
+        directives.extend(arg_value_dirs)
+        directives.append(NotDirective(state.expr_registers[node.value], expr_reg))
+
+        state.directives[node] = directives
+
+    def visit_AstComparison(self, node: AstComparison, state: CompileState):
+        if node in state.directives:
+            # already know how to put it in reg
+            return
+
+        directives = []
+
+        lhs_type = state.expr_types[node.lhs]
+        rhs_type = state.expr_types[node.rhs]
+
+        lhs_reg = state.expr_registers[node.lhs]
+        rhs_reg = state.expr_registers[node.rhs]
+        res_reg = state.expr_registers[node]
+
+        directives.extend(state.directives[node.lhs])
+        directives.extend(state.directives[node.rhs])
+
+        fp = False
+        if issubclass(lhs_type, FloatType) or issubclass(rhs_type, FloatType):
+            fp = True
+
+        if fp:
+            # need to convert both lhs and rhs into F64
+            # modify them in place
+
+            # convert int to float
+            if issubclass(lhs_type, IntegerType):
+                if lhs_type in UNSIGNED_INTEGER_TYPES:
+                    directives.append(UnsignedIntToFloatDirective(lhs_reg, lhs_reg))
+                else:
+                    directives.append(SignedIntToFloatDirective(lhs_reg, lhs_reg))
+            if issubclass(rhs_type, IntegerType):
+                if rhs_type in UNSIGNED_INTEGER_TYPES:
+                    directives.append(UnsignedIntToFloatDirective(rhs_reg, rhs_reg))
+                else:
+                    directives.append(SignedIntToFloatDirective(rhs_reg, rhs_reg))
+
+            # convert F32 to F64
+            if lhs_type == F32Type:
+                directives.append(FloatExtendDirective(lhs_reg, lhs_reg))
+            if rhs_type == F32Type:
+                directives.append(FloatExtendDirective(rhs_reg, rhs_reg))
+
+        if node.op.value == "==":
+            if fp:
+                directives.append(FloatEqualDirective(lhs_reg, rhs_reg, res_reg))
+            else:
+                directives.append(IntEqualDirective(lhs_reg, rhs_reg, res_reg))
+        elif node.op.value == "!=":
+            if fp:
+                directives.append(FloatNotEqualDirective(lhs_reg, rhs_reg, res_reg))
+            else:
+                directives.append(IntNotEqualDirective(lhs_reg, rhs_reg, res_reg))
+        else:
+
+            if fp:
+                dir_type = FLOAT_INEQUALITY_DIRECTIVES[node.op.value]
+            else:
+                # if either is signed, consider both as signed
+                signed = (
+                    lhs_type in SIGNED_INTEGER_TYPES or rhs_type in SIGNED_INTEGER_TYPES
+                )
+
+                if signed:
+                    dir_type = INT_SIGNED_INEQUALITY_DIRECTIVES[node.op.value]
+                else:
+                    dir_type = INT_UNSIGNED_INEQUALITY_DIRECTIVES[node.op.value]
+
+            directives.append(dir_type(lhs_reg, rhs_reg, res_reg))
+
+        state.directives[node] = directives
+
+
+class CountNodeDirectives(Visitor):
+    """count the number of directives that will be generated by each node"""
+
+    def visit_AstIf(self, node: AstIf, state: CompileState):
+        count = 0
+        # include the condition
+        count += state.node_dir_counts[node.condition]
+        # include if stmt
+        count += 1
+        # include body
+        count += state.node_dir_counts[node.body]
+        # include a goto end of if
+        count += 1
+
+        if node.elifs is not None:
+            count += state.node_dir_counts[node.elifs]
+        if node.els is not None:
+            count += state.node_dir_counts[node.els]
+
+        state.node_dir_counts[node] = count
+
+    def visit_AstElifs(self, node: AstElifs, state: CompileState):
+        count = 0
+        for case in node.cases:
+            count += state.node_dir_counts[case]
+
+        state.node_dir_counts[node] = count
+
+    def visit_AstElif(self, node: AstElif, state: CompileState):
+        count = 0
+        # include the condition
+        count += state.node_dir_counts[node.condition]
+        # include if stmt
+        count += 1
+        # include body
+        count += state.node_dir_counts[node.body]
+        # include a goto end of if
+        count += 1
+
+        state.node_dir_counts[node] = count
+
+    def visit_AstBody(self, node: AstBody, state: CompileState):
+        count = 0
+        for stmt in node.stmts:
+            count += state.node_dir_counts[stmt]
+
+        state.node_dir_counts[node] = count
+
+    def visit_default(self, node, state):
+        state.node_dir_counts[node] = (
+            len(state.directives[node]) if state.directives.get(node) is not None else 0
+        )
+
+
+class CalculateStartLineIdx(TopDownVisitor):
+    """based on the number of directives generated by each node, calculate the start line idx
+    of each node's directives"""
+    def visit_AstBody(self, node: AstBody, state: CompileState):
+        if node not in state.start_line_idx:
+            state.start_line_idx[node] = 0
+
+        start_idx = state.start_line_idx[node]
+
+        line_idx = start_idx
+        for stmt in node.stmts:
+            state.start_line_idx[stmt] = line_idx
+            line_idx += state.node_dir_counts[stmt]
+
+    def visit_AstIf(self, node: AstIf, state: CompileState):
+        line_idx = state.start_line_idx[node]
+        state.start_line_idx[node.condition] = line_idx
+        line_idx += state.node_dir_counts[node.condition]
+        # include if stmt
+        line_idx += 1
+        state.start_line_idx[node.body] = line_idx
+        line_idx += state.node_dir_counts[node.body]
+        # include goto stmt
+        line_idx += 1
+        if node.elifs is not None:
+            state.start_line_idx[node.elifs] = line_idx
+            line_idx += state.node_dir_counts[node.elifs]
+        if node.els is not None:
+            state.start_line_idx[node.els] = line_idx
+            line_idx += state.node_dir_counts[node.els]
+
+    def visit_AstElifs(self, node: AstElifs, state: CompileState):
+        line_idx = state.start_line_idx[node]
+        for case in node.cases:
+            state.start_line_idx[case] = line_idx
+            line_idx += state.node_dir_counts[case]
+
+    def visit_AstElif(self, node: AstElif, state: CompileState):
+        line_idx = state.start_line_idx[node]
+        state.start_line_idx[node.condition] = line_idx
+        line_idx += state.node_dir_counts[node.condition]
+        # include if dir
+        line_idx += 1
+        state.start_line_idx[node.body] = line_idx
+        line_idx += state.node_dir_counts[node.body]
+        # include a goto end of if
+        line_idx += 1
+
+
+class GenerateBodyDirectives(Visitor):
+    """concatenate all directives together for each AstBody"""
+
+    def visit_AstIf(self, node: AstIf, state: CompileState):
+        start_line_idx = state.start_line_idx[node]
+
+        all_dirs = []
+
+        cases: list[tuple[AstExpr, AstBody]] = []
+        goto_ends: list[GotoDirective] = []
+
+        cases.append((node.condition, node.body))
+
+        if node.elifs is not None:
+            for case in node.elifs.cases:
+                cases.append((case.condition, case.body))
+
+        for case in cases:
+            case_dirs = []
+            # include the condition
+            case_dirs.extend(state.directives[case[0]])
+            # include if stmt (update the end idx later)
+            if_dir = IfDirective(state.expr_registers[case[0]], -1)
+
+            case_dirs.append(if_dir)
+            # include body
+            case_dirs.extend(state.directives[case[1]])
+            # include a temporary goto end of if, will be refined later
+            goto_dir = GotoDirective(-1)
+            case_dirs.append(goto_dir)
+            goto_ends.append(goto_dir)
+
+            # if false, skip the body and goto
+            if_dir.false_goto_stmt_index = (
+                start_line_idx + len(all_dirs) + len(case_dirs)
+            )
+
+            all_dirs.extend(case_dirs)
+
+        if node.els is not None:
+            all_dirs.extend(state.directives[node.els])
+
+        for goto in goto_ends:
+            goto.statement_index = start_line_idx + len(all_dirs)
+
+        state.directives[node] = all_dirs
+
+    def visit_AstBody(self, node: AstBody, state: CompileState):
+        dirs = []
+        for stmt in node.stmts:
+            stmt_dirs = state.directives.get(stmt, None)
+            if stmt_dirs is not None:
+                dirs.extend(stmt_dirs)
+
+        state.directives[node] = dirs
+
+
+def get_base_compile_state(dictionary: str) -> CompileState:
+    """return the initial state of the compiler, based on the given dict path"""
+    cmd_json_dict_loader = CmdJsonLoader(dictionary)
+    (cmd_id_dict, cmd_name_dict, versions) = cmd_json_dict_loader.construct_dicts(
+        dictionary
+    )
+
+    ch_json_dict_loader = ChJsonLoader(dictionary)
+    (ch_id_dict, ch_name_dict, versions) = ch_json_dict_loader.construct_dicts(
+        dictionary
+    )
+    prm_json_dict_loader = PrmJsonLoader(dictionary)
+    (prm_id_dict, prm_name_dict, versions) = prm_json_dict_loader.construct_dicts(
+        dictionary
+    )
+    # the type name dict is a mapping of a fully qualified name to an fprime type
+    # here we put into it all types found while parsing all cmds, params and tlm channels
+    type_name_dict: dict[str, FppTypeClass] = cmd_json_dict_loader.parsed_types
+    type_name_dict.update(ch_json_dict_loader.parsed_types)
+    type_name_dict.update(prm_json_dict_loader.parsed_types)
+
+    # enum const dict is a dict of fully qualified enum const name (like Ref.Choice.ONE) to its fprime value
+    enum_const_name_dict: dict[str, FppType] = {}
+
+    # find each enum type, and put each of its values in the enum const dict
+    for name, typ in type_name_dict.items():
+        if issubclass(typ, EnumType):
+            for enum_const_name, val in typ.ENUM_DICT.items():
+                enum_const_name_dict[name + "." + enum_const_name] = typ(
+                    enum_const_name
+                )
+
+    # insert the implicit types into the dict
+    type_name_dict["Fw.Time"] = TimeType
+    for typ in NUMERIC_TYPES:
+        type_name_dict[typ.get_canonical_name()] = typ
+    type_name_dict["bool"] = BoolType
+    # note no string type at the moment
+
+    callable_name_dict: dict[str, FpyCallable] = {}
+    # add all cmds to the callable dict
+    for name, cmd in cmd_name_dict.items():
+        cmd: CmdTemplate
+        args = []
+        for arg_name, _, arg_type in cmd.arguments:
+            args.append((arg_name, arg_type))
+        # cmds are thought of as callables with a "NothingType" return value
+        callable_name_dict[name] = FpyCmd(NothingType, args, cmd)
+
+    # for each type in the dict, if it has a constructor, create an FpyTypeCtor
+    # object to track the constructor and put it in the callable name dict
+    for name, typ in type_name_dict.items():
+        args = []
+        if issubclass(typ, SerializableType):
+            for arg_name, arg_type, _, _ in typ.MEMBER_LIST:
+                args.append((arg_name, arg_type))
+        elif issubclass(typ, ArrayType):
+            for i in range(0, typ.LENGTH):
+                args.append(("e" + str(i), typ.MEMBER_TYPE))
+        elif issubclass(typ, TimeType):
+            args.append(("time_base", U16Type))
+            args.append(("time_context", U8Type))
+            args.append(("seconds", U32Type))
+            args.append(("useconds", U32Type))
+        else:
+            # bool, enum, string or numeric type
+            # none of these have callable ctors
+            continue
+
+        callable_name_dict[name] = FpyTypeCtor(typ, args, typ)
+
+    # for each macro function, add it to the callable dict
+    for macro_name, macro in MACROS.items():
+        callable_name_dict[macro_name] = macro
+
+    state = CompileState(
+        tlms=create_scope(ch_name_dict),
+        prms=create_scope(prm_name_dict),
+        types=create_scope(type_name_dict),
+        callables=create_scope(callable_name_dict),
+        consts=create_scope(enum_const_name_dict),
+    )
+    return state
+
+
+def compile(body: AstBody, dictionary: str) -> list[Directive]:
+    state = get_base_compile_state(dictionary)
+    passes: list[Visitor] = [
+        AssignIds(),
+        # based on assignment syntax nodes, we know which variables exist where
+        CreateVariables(),
+        # now that variables have been defined, all names/attributes/indices (references)
+        # should be defined
+        ResolveReferences(),
+        # now that we know what all refs point to, we should be able to figure out the type
+        # of every expression
+        CalculateExprTypes(),
+        # now that we know the type of each expr, we can type check all function calls
+        # and also narrow down ambiguous argument types
+        CheckAndResolveArgumentTypes(),
+        # okay, now that we're sure we're passing in all the right args to each func,
+        # we can calculate values of type ctors etc etc
+        CalculateExprValues(),
+        # now that we know variable values, we can generate directives for vars
+        GenerateVariableDirectives(),
+        # give each expr its own register
+        AssignExprRegisters(),
+        # for cmds, which have constant arguments, generate the corresponding directives
+        GenerateConstCmdDirectives(),
+        # for expressions which have constant values, generate corresponding directives
+        # to put the expr in its register
+        GenerateConstExprDirectives(),
+        # for expressions which don't have constant values, generate directives to
+        # calculate the expr at runtime and put it in its register
+        GenerateNonConstExprDirectives(),
+        # count the number of directives generated by each node
+        CountNodeDirectives(),
+        # calculate the index that the node will correspond to in the output file
+        CalculateStartLineIdx(),
+        # generate directives for each body node, including the root
+        GenerateBodyDirectives(),
+    ]
+
+    for compile_pass in passes:
+        compile_pass.run(body, state)
+        for error in state.errors:
+            raise error
+
+    return state.directives[body]