How to access signals in submodules with multiple modules?

I have the following Verilog file named main.v:

module m1(input a, b, output wire c);
assign c = a & b;
endmodule
module main(input x, y, output wire z);
wire k;
m1 m1_inst(.a(x), .b(y), .c(k));
assign z = x ^ k;
endmodule

After that, I have a test bench named tb_main.v which has an instantiation as shown below:

`include "main.v"
reg a, b;
wire b;
main main_dut(a, b, c);
$display("%b", main_dut.m1.a);
$display("%b", main_dut.main.y);
$display("%b", m1.a);

When I simulate that testbench, I get the error unresolved reference to m1 and unresolved reference to main.

How do I solve this problem? I do not want to separate modules in the main.v file into different files.
Any help will be appreciated.

The problem is that you are using some module names instead of module instance names in your hierarchical specifiers.

For example, in main_dut.m1.a:

• main_dut is a module instance name
• m1 is the name of the module, not the instance

You must only use module instance names. This is a complete code example that compiles without errors (also on EDA Playground):

module m1 (input a, b, output wire c);
    assign c = a & b;
endmodule
module main (input x, y, output wire z);
    wire k;
    m1 m1_inst (.a(x), .b(y), .c(k));
    assign z = x ^ k;
endmodule
module tb_main;
    reg a, b;
    main main_dut (a, b, c);
    initial $display("%b", main_dut.m1_inst.a);
    initial $display("%b", main_dut.y);
endmodule

It is always better to maintain explicit connectivity. So instead of

reg a, b;
wire b;
main main_dut(a, b, c);

, do something like

reg a, b;
wire b;
main main_dut(
               .a(a),
               .b(b),
               .c(c)
             );