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28517
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1 " Vim syntax file
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2 " Language: Kuka Robot Language
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3 " Maintainer: Patrick Meiser-Knosowski <knosowski@graeffrobotics.de>
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4 " Version: 3.0.0
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5 " Last Change: 18. Apr 2022
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6 " Credits: Thanks for contributions to this to Michael Jagusch
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7 " Thanks for beta testing to Thomas Baginski
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8 "
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9 " Note to self:
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10 " for testing perfomance
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11 " open a 1000 lines file.
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12 " :syntime on
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13 " G
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14 " hold down CTRL-U until reaching top
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15 " :syntime report
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16
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17 " Init {{{
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18 if exists("b:current_syntax")
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19 finish
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20 endif
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21
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22 let s:keepcpo = &cpo
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23 set cpo&vim
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24
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25 " if colorscheme is tortus(less)? krlGroupName defaults to 1
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26 if get(g:, 'colors_name', " ") =~ '\<tortus'
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27 \&& !exists("g:krlGroupName")
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28 let g:krlGroupName=1
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29 endif
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30 " krlGroupName defaults to 0 if it's not initialized yet or 0
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31 if !get(g:, "krlGroupName", 0)
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32 let g:krlGroupName = 0
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33 endif
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34
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35 " krl does ignore case
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36 syn case ignore
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37 " take #, $ and & into keyword (syntax only)
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38 syn iskeyword @,48-57,_,192-255,#,$,&
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39 " spell checking
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40 syn spell notoplevel
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41 " }}} init
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42
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43 " Comment and Folding {{{
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44
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45 " Special Comment
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46
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47 " TODO Comment
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48 syn keyword krlTodo contained TODO FIXME XXX
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49 highlight default link krlTodo Todo
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50
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51 " Debug Comment
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52 syn keyword krlDebug contained DEBUG
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53 highlight default link krlDebug Debug
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54
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55 " Comment
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56 " none move fold comment until second ;
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57 syn match krlFoldComment /\c\v^\s*;\s*%(end)?fold>[^;]*/ containedin=krlFold contains=krlSingleQuoteString,krlInteger,krlFloat,krlMovement,krlDelimiter,krlBoolean
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58 highlight default link krlFoldComment Comment
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59
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60 " move fold comment until second ;
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61 syn match krlMoveFoldComment /\c\v^\s*;\s*fold>[^;]*<s?%(ptp|lin|circ|spl)(_rel)?>[^;]*/ containedin=krlFold contains=krlInteger,krlFloat,krlMovement,krlDelimiter
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62 highlight default link krlMoveFoldComment Comment
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63
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64 " things to highlight in a fold line
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65 syn keyword krlFoldHighlights CONT IN SYN OUT containedin=krlFoldComment
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66 syn match krlFoldHighlights /\c\v<(M|F|E|A|t|i|bin|binin|UP|SPSMAKRO)\d+>/ containedin=krlFoldComment
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67 if g:krlGroupName
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68 highlight default link krlFoldHighlights Sysvars
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69 else
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70 " default color for Fold Highlights
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71 endif
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72 syn keyword krlVkrcFoldConstants EIN AUS containedin=krlFoldComment
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73 highlight default link krlVkrcFoldConstants Boolean
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74
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75 " Comment without Fold, also includes endfold lines and fold line part after second ;
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76 syn match krlComment /\c\v;\s*%(<%(end)?fold>)@!.*$/ containedin=krlFold contains=krlTodo,krlDebug,@Spell
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77 " Commented out Fold line: "; ;FOLD PTP..."
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78 syn match krlComment /\c\v^\s*;\s*;.*$/ contains=krlTodo,krlDebug
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79 highlight default link krlComment Comment
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80
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81 if has("conceal") && get(g:, 'krlConcealFoldTail', 1)
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82 syn match krlConcealFoldTail /\c\v(^\s*;\s*fold[^;]*)@250<=;%(--|\s*<fold>|\s*<endfold>)@!.*$/ transparent containedin=krlComment conceal cchar=*
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83 endif
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84 " }}} Comment and Folding
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85
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86 " Header {{{
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87 syn match krlHeader /&\a\w*/
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88 highlight default link krlHeader PreProc
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89 " }}} Header
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90
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91 " Operator {{{
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92 " Boolean operator
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93 syn keyword krlBoolOperator and or exor not b_and b_or b_exor b_not
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94 highlight default link krlBoolOperator Operator
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95 " Arithmetic operator
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96 syn match krlArithOperator /[+-]/ containedin=krlFloat
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97 syn match krlArithOperator /[*/]/
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98 highlight default link krlArithOperator Operator
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99 " Compare operator
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100 syn match krlCompOperator /[<>=]/
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101 highlight default link krlCompOperator Operator
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102 " Geometric operator
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103 " Do not move the : operator
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104 " Must be present befor krlParamdef
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105 syn match krlGeomOperator /[:]/
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106 " syn match krlGeomOperator /[:]/ containedin=krlLabel,krlParamdef
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107 highlight default link krlGeomOperator Operator
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108 " }}} Operator
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109
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110 " Type, StorageClass and Typedef {{{
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111 " Simple data types
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112 syn keyword krlType bool char real int containedin=krlAnyType
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113 " External program and function
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114 syn keyword krlType ext extfct extfctp extp containedin=krlAnyType
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115 " Communication
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116 syn keyword krlType signal channel containedin=krlAnyType
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117 highlight default link krlType Type
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118 " StorageClass
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119 syn keyword krlStorageClass decl global const struc enum
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120 highlight default link krlStorageClass StorageClass
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121 " .dat file public
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122 syn keyword krlDatStorageClass public
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123 highlight default link krlDatStorageClass StorageClass
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124 " Parameter StorageClass
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125 " Do not move the :in/:out
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126 " Must be present after krlGeomOperator
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127 syn match krlParamdef /[:]\s*in\>/
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128 syn match krlParamdef /[:]\s*out\>/
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129 highlight default link krlParamdef StorageClass
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130 " Not a typedef but I like to have those highlighted
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131 " different then types, structures or strorage classes
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132 syn keyword krlTypedef DEF DEFFCT ENDFCT DEFDAT ENDDAT
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133 syn match krlTypedef /^\s*END\>/
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134 highlight default link krlTypedef Typedef
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135 " }}} Type, StorageClass and Typedef
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136
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137 " Delimiter {{{
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138 syn match krlDelimiter /[\[\](),\\]/
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139 highlight default link krlDelimiter Delimiter
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140 " }}} Delimiter
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141
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142 " Constant values {{{
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143 " Boolean
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144 syn keyword krlBoolean true false containedin=krlStructVal
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145 highlight default link krlBoolean Boolean
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146 " Binary integer
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147 syn match krlBinaryInt /'b[01]\+'/ containedin=krlStructVal
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148 highlight default link krlBinaryInt Number
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149 " Hexadecimal integer
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150 syn match krlHexInt /'h[0-9a-fA-F]\+'/ containedin=krlStructVal
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151 highlight default link krlHexInt Number
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152 " Integer
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153 syn match krlInteger /\W\@1<=[+-]\?\d\+/ containedin=krlStructVal,krlFloat contains=krlArithOperator
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154 highlight default link krlInteger Number
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155 " Float
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156 syn match krlFloat /\v\W@1<=[+-]?\d+\.?\d*%(\s*[eE][+-]?\d+)?/ containedin=krlStructVal
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157 highlight default link krlFloat Float
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158 " String
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159 syn region krlString start=/"/ end=/"/ oneline containedin=krlStructVal contains=@Spell
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160 highlight default link krlString String
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161 syn match krlSpecialChar /[|]/ containedin=krlString
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162 highlight default link krlSpecialChar SpecialChar
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163 " String within a fold line
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164 syn region krlSingleQuoteString start=/'/ end=/'/ oneline contained contains=@Spell
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165 highlight default link krlSingleQuoteString String
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166 " Enum
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167 syn match krlEnumVal /#\s*\a\w*/ containedin=krlStructVal
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168 highlight default link krlEnumVal Constant
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169 " }}} Constant values
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170
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171 " Predefined Structure and Enum {{{
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172 " Predefined structures and enums found in
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173 " /r1/mada/$*.dat, /r1/steu/$*.dat and
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174 " /r1/system/$config.dat as well as
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175 " basisTech, gripperTech and spotTech
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176 "
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177 " Predefined data types found in krc1
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178 syn keyword krlStructure servopara keymove powermodul trace techangle tech techfct techcps techfctctrl axis_inc axis_cal date display_var pro_ip con bus
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179 syn keyword krlEnum ident_state sig_state move_state async_state emt_mode boxmode msg_prm_typ msg_typ cmd_stat asys trace_state trace_mode direction techsys techgeoref techclass techmode hpu_key_val pro_state eax transsys mode_move cosys device rotsys emstop cause_t
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180 "
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181 " Predefined data types found in kss functions
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182 syn keyword krlEnum ediagstate rdc_fs_state ret_c_psync_e var_type cancel_psync_e sys_vars
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183 syn keyword krlStructure siginf rw_rdc_file rw_mam_file diagpar_t error_t stopmess case_sense_t msgbuf_t e3pos e3axis diagopt_t
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184 "
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185 " Predefined structures for movement
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186 syn keyword krlStructure frame e6pos pos e6axis axis
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187 syn keyword krlStructure fdat ldat pdat
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188 syn keyword krlStructure load inertia
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189 "
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190 " Predefined structures for shapes
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191 syn keyword krlStructure axbox cylinder box
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192 "
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193 " Predefined structures and enums found in /r1/mada/$machine.dat
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194 syn keyword krlStructure cp fra acc_car jerk_struc dhart spin trpspin ex_kin et_ax maxtool
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195 syn keyword krlEnum individual_mames supply_voltage kinclass main_axis wrist_axis sw_onoff
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196 "
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197 " Predefined structures and enums found in /r1/mada/$robcor.dat
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198 " syn keyword krlStructure
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199 syn keyword krlEnum adap_acc model_type control_parameter eko_mode
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200 "
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201 " Predefined structures and enums found in /steu/mada/$custom.dat
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202 syn keyword krlStructure pro_io_t ser ext_mod_t coop_krc ws_config bin_type coop_update_t ldc_reaction
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203 syn keyword krlEnum axis_of_coordinates spline_para_variant target_status cp_vel_type cp_statmon
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204 "
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205 " Predefined structures and enums found in /steu/mada/$machine.dat
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206 syn keyword krlStructure emstop_path boxstatesafein boxstatesafeout
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207 syn keyword krlEnum digincode
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208 "
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209 " Predefined structures and enums found in /steu/mada/$option.dat
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210 syn keyword krlStructure msg_t
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211 " syn keyword krlEnum
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212 "
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213 " Predefined structures and enums found in /r1/system/$config.dat
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214 " BasisTech
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215 syn keyword krlStructure dig_out_type ctrl_in_t ctrl_out_t fct_out_t fct_in_t odat basis_sugg_t out_sugg_t md_state machine_def_t machine_tool_t machine_frame_t trigger_para constvel_para condstop_para adat tm_sugg_t tqm_tqdat_t sps_prog_type
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216 syn keyword krlEnum bas_command out_modetype ipo_m_t apo_mode_t funct_type p00_command timer_actiontype
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217 "
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218 " GripperTech
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219 syn keyword krlStructure grp_typ grp_types grp_sugg_t
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220 syn keyword krlEnum on_off_typ apo_typ
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221 "
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222 " SpotTech
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223 syn keyword krlStructure spot_type spot_sugg_t
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224 syn keyword krlEnum s_command s_pair_slct command_retr
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225 "
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226 " VW
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227 syn keyword krlStructure vw_mpara_typ zangentyp zangenbedingung ibszangentyp last_ibs_typ verr_typ verrcheck_t t_fb_state kollisionsdaten state_t modus_t
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228 syn keyword krlEnum synctype dir_typ subtype ari_typ bool_typ vw_command ibgn_command vw_user_cmd move_types adv_t_type bas_type ibs_mode_typ vw_user_cmd pro_mode mode_op
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229 "
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230 " ProgCoop
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231 syn keyword krlStructure ydat
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232 " syn keyword krlEnum
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233 "
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234 " bas.src
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235 syn keyword krlStructure cont
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236 syn keyword krlEnum esys ipo_mode circ_mode circ_type ori_type var_state
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237 "
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238 " MsgLib.src
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239 syn keyword krlStructure KrlMsg_T KrlMsgParType_T KrlMsgPar_T KrlMsgOpt_T KrlMsgDlgSK_T
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240 syn keyword krlEnum EKrlMsgType
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241 "
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242 highlight default link krlStructure Structure
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243 highlight default link krlEnum Structure
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244 " }}} Predefined Structure and Enum
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245
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246 " System variable {{{
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247 syn match krlSysvars /\<\$\a[a-zA-Z0-9_.]*/
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248 if g:krlGroupName
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249 highlight default link krlSysvars Sysvars
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250 else
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251 " default color for Sysvars
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252 endif
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253 " }}} System variable
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254
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255 " Statements, keywords et al {{{
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256 " continue
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257 syn keyword krlContinue continue
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258 if g:krlGroupName
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259 highlight default link krlContinue Continue
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260 else
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261 highlight default link krlContinue Statement
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262 endif
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263 " interrupt
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264 syn match krlStatement /\v\c%(<global>\s+)?<INTERRUPT>%(\s+<decl>)?/ contains=krlStorageClass
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265 " keywords
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266 syn keyword krlStatement wait on off enable disable stop trigger with when distance onstart delay do prio import is minimum maximum confirm on_error_proceed
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267 syn match krlStatement /\v\c%(<wait\s+)@7<=<sec>/
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268 syn match krlStatement /\v\c%(<when\s+)@7<=<path>/
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269 highlight default link krlStatement Statement
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270 " Conditional
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271 syn keyword krlConditional if then else endif switch case default endswitch skip endskip
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272 highlight default link krlConditional Conditional
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273 " Repeat
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274 syn keyword krlRepeat for to step endfor while endwhile repeat until loop endloop exit
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275 highlight default link krlRepeat Repeat
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276 " Label
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277 syn keyword krlLabel goto
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278 syn match krlLabel /^\s*\w\+:\ze\s*\%(;.*\)\?$/
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279 highlight default link krlLabel Label
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280 " Keyword
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281 syn keyword krlKeyword anin anout digin
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282 highlight default link krlKeyword Keyword
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283 " Exception
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284 syn keyword krlException return resume halt
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285 highlight default link krlException Exception
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286 " }}} Statements, keywords et al
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287
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288 " special keywords for movement commands {{{
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289 syn keyword krlMovement PTP PTP_REL LIN LIN_REL CIRC CIRC_REL SPL SPL_REL SPTP SPTP_REL SLIN SLIN_REL SCIRC SCIRC_REL
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290 syn keyword krlMovement ASYPTP ASYCONT ASYSTOP ASYCANCEL MOVE_EMI
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291 syn match krlMovement /\v\c^\s*<BRAKE(\s+F)?>/
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292 if g:krlGroupName
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293 highlight default link krlMovement Movement
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294 else
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295 highlight default link krlMovement Special
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296 endif
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297 " movement modifiers
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298 syn match krlMoveBlockInst /\c\v^\s*TIME_BLOCK\s+(START|PART|END)/
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299 syn match krlMoveBlockInst /\c\v^\s*CONST_VEL\s+(START|END)/
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300 syn keyword krlMoveBlockInst ptp_spline spline endspline
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301 highlight default link krlMoveBlockInst Statement
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302 syn keyword krlMoveMod ca c_ptp c_dis c_vel c_ori c_spl
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303 if g:krlGroupName
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304 highlight default link krlMoveMod Movement
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305 else
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306 highlight default link krlMoveMod Special
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307 endif
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308 " }}} special keywords for movement commands
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309
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310 " Structure value {{{
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311 " avoid coloring structure component names
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312 syn match krlNames /\.[a-zA-Z_][.a-zA-Z0-9_$]*/
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313 syn match krlNames contained /[a-zA-Z_][.a-zA-Z0-9_$]*/
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314 " highlight default link krlNames None
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315 " Structure value
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316 syn region krlStructVal start=/{/ end=/}/ oneline containedin=krlStructVal contains=krlNames
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317 highlight default link krlStructVal Delimiter
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318 " }}} Structure value
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319
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320 " BuildInFunction {{{
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321 syn keyword krlBuildInFunction contained Pulse
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322 syn keyword krlBuildInFunction contained m_comment
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323 syn keyword krlBuildInFunction contained is_key_pressed
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324 syn keyword krlBuildInFunction contained set_opt_filter
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325 syn keyword krlBuildInFunction contained timer_limit
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326 syn keyword krlBuildInFunction contained tool_adj
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327 syn keyword krlBuildInFunction contained FRand
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328 syn keyword krlBuildInFunction contained ExecFunc eb_test EB EK EO LK mbx_rec
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329 " safe robot
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330 syn keyword krlbuildinfunction contained get_AxesMask get_BrakeTest_Time
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331 " math
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332 syn keyword krlBuildInFunction contained Abs Sin Cos Acos Tan Atan Atan2 Sqrt
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333 syn keyword krlBuildInFunction contained Forward Inverse inv_pos
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334 " cFoo sFoo
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335 syn keyword krlBuildInFunction contained cClose cOpen cRead cWrite sRead sWrite
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336 " string
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337 syn keyword krlBuildInFunction contained StrToBool StrToInt StrToReal StrToString StrToFrame StrToPos StrToE3Pos StrToE6Pos StrToAxis StrToE3Axis StrToE6Axis
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338 syn keyword krlBuildInFunction contained StrAdd StrClear StrCopy StrComp StrFind StrLen StrDeclLen StrToBool StrToInt StrToReal StrToString
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339 " diag
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340 syn keyword krlBuildInFunction contained diag_start diag_stop get_DiagState
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341 " rdc mam pid
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342 syn keyword krlBuildInFunction contained CheckPidOnRdc check_mam_on_rdc get_rdc_fs_state
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343 syn keyword krlBuildInFunction contained set_mam_on_hd copy_mam_hd_to_rdc copy_mam_rdc_to_hd
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344 syn keyword krlBuildInFunction contained PidToHd PidToRdc
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345 syn keyword krlBuildInFunction contained cal_to_rdc rdc_file_to_hd
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346 syn keyword krlBuildInFunction contained delete_pid_on_rdc delete_rdc_content
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347 syn keyword krlBuildInFunction contained create_rdc_archive restore_rdc_archive
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348 " ioctl
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349 syn keyword krlBuildInFunction contained IOCtl cIOCtl
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350 syn keyword krlBuildInFunction contained WSpaceGive WSpaceTake
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351 " sync
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352 syn keyword krlBuildInFunction contained Sync SyncCmd CancelProgSync
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353 " remote
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354 syn keyword krlBuildInFunction contained RemoteCmd RemoteRead
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355 " msg/dlg
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356 syn keyword krlBuildInFunction contained IsMessageSet clear_KrlMsg get_MsgBuffer exists_KrlDlg exists_KrlMsg set_KrlDlg set_KrlDlgAnswer set_KrlMsg
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357 " robvers
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358 syn keyword krlBuildInFunction contained maximize_UsedxRobvers set_UsedxRobvers
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359 " md_foo
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360 syn keyword krlBuildInFunction contained md_Cmd md_GetState md_SetState md_Asgn
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361 " emi
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362 syn keyword krlBuildInFunction contained emi_ActPos emi_EndPos emi_StartPos emi_RecState emi_RecName
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363 " var
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364 syn keyword krlBuildInFunction contained cast_from cast_to
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365 syn keyword krlBuildInFunction contained GetVarsize GetCycDef get_sig_inf get_decl_place VarType VarState
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366 " sys
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367 syn keyword krlBuildInFunction contained GetSysState get_system_data set_system_data set_system_data_delayed
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368 " err
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369 syn keyword krlBuildInFunction contained err_clear err_raise
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370 " motion
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371 syn keyword krlBuildInFunction contained delete_backward_buffer rob_stop rob_stop_release set_brake_delay suppress_repositioning VectorMoveOn VectorMoveOff
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372 " torque
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373 syn keyword krlBuildInFunction contained set_torque_limits reset_torque_limits
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374 " krc1
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375 syn keyword krlBuildInFunction contained cLcopy cCurpos cNew cClear cRelease cKey
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376 if g:krlGroupName
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377 highlight default link krlBuildInFunction BuildInFunction
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378 else
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379 highlight default link krlBuildInFunction Function
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380 endif
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381 " }}} BuildInFunction
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382
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383 " Function {{{
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384 syn match krlFunction /[a-zA-Z_]\w* *(/me=e-1 contains=krlBuildInFunction
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385 highlight default link krlFunction Function
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386 " }}} Function
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387
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388 " Error {{{
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389 if get(g:, 'krlShowError', 1)
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390 " some more or less common typos
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391 "
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392 " vars or funcs >24 chars are not possible in krl. a234567890123456789012345
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393 syn match krlError0 /\w\{25,}/ containedin=krlFunction,krlNames,krlLabel,krlAnyType,krlEnumVal,krlSysvars
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394 "
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395 " should be interrupt (on|off) \w+
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396 syn match krlError1 /\vinterrupt[ \t(]+[_$a-zA-Z0-9]+[_$a-zA-Z0-9.\[\]()+\-*/]*[ \t)]+o%(n|ff)>/
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397 "
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398 " for bla==5 to 7...
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399 " ||
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400 syn match krlError3 /\v%(^\s*for%(\(|\s)+[_$a-zA-Z]+[_$a-zA-Z0-9.\[\]()+\-*/ ]*\s*)@<=[:=]\=/
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401 "
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402 " TODO optimize performance
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403 " wait for a=b
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404 " |
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405 syn match krlError4 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;<>=])@<=\=[^=]/
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406 "
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407 " wait for a><b
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408 " ||
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409 syn match krlError5 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+)@<=\>\s*\</
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410 "
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411 " if (a==5) (b==6) ...
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412 " |||
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413 syn match krlError6 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;])@<=\)\s*\(/
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414 "
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415 " TODO optimize performance
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416 " a == b + 1
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417 " a := b + 1
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418 " ||
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419 syn match krlError7 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;])@1<!%(^\s*[_$a-zA-Z]+[_$a-zA-Z0-9.\[\],+\-*/]*\s*)@<=[:=]\=/
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420 syn match krlError7 /\v\c%(^\s*%(decl\s+)%(global\s+)?%(const\s+)?\w+\s+\w+\s*)@<=[:=]\=/
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421 syn match krlError7 /\v\c%(^\s*%(decl\s+)?%(global\s+)?%(const\s+)?%(bool\s+|int\s+|real\s+|char\s+)\w+\s*)@<=[:=]\=/
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422 "
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423 " this one is tricky. Make sure this does not match trigger instructions; OK, next try, now search for false positives
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424 " TODO optimize performance
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425 " a = b and c or (int1=int2)
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426 " |
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427 syn match krlError8 /\v(^\s*[_$a-zA-Z]+[_$a-zA-Z0-9.\[\]()+\-*/]*\s*\=[^;]*[^;<>=])@<=\=\ze[^=]/
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428 "
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429 " <(distance|delay|prio)> :=
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430 " <(distance|delay|prio)> ==
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431 " ||
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432 syn match krlError9 /\v(^[^;]*<(distance|delay|prio|minimum|maximum)\s*)@<=[:=]\=/
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433 "
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434 " 'for', 'while' or 'repeat' followed by 'do'
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435 syn match krlError10 /\c\v^\s*(until|while|for)>[^;]*<do>/
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436 "
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437 highlight default link krlError0 Error
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438 highlight default link krlError1 Error
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439 highlight default link krlError2 Error
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440 highlight default link krlError3 Error
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441 highlight default link krlError4 Error
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442 highlight default link krlError5 Error
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443 highlight default link krlError6 Error
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444 highlight default link krlError7 Error
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445 highlight default link krlError8 Error
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446 highlight default link krlError9 Error
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447 highlight default link krlError10 Error
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448 endif
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449 " }}} Error
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450
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451 " Finish {{{
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452 let &cpo = s:keepcpo
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453 unlet s:keepcpo
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454
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455 let b:current_syntax = "krl"
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456 " }}} Finish
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457
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458 " vim:sw=2 sts=2 et fdm=marker
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