commit 3f10748a07015142343c3a5760515ae5e3849fb3
parent 3ad9e6254b288b00dd08d904459d5f7ff330cfa1
Author: zeertzjq <zeertzjq@outlook.com>
Date: Wed, 14 Jan 2026 07:12:24 +0800
vim-patch:c2f453f: runtime(krl): Update syntax file for Kuka Robot Language
closes: vim/vim#19171
https://github.com/vim/vim/commit/c2f453f5f35dfbef3b134ee16755f7afe1c7279c
Co-authored-by: KnoP-01 <knosowski@graeffrobotics.de>
Diffstat:
1 file changed, 52 insertions(+), 27 deletions(-)
diff --git a/runtime/syntax/krl.vim b/runtime/syntax/krl.vim
@@ -1,8 +1,8 @@
" Vim syntax file
" Language: Kuka Robot Language
" Maintainer: Patrick Meiser-Knosowski <knosowski@graeffrobotics.de>
-" Version: 3.0.0
-" Last Change: 22. Jun 2023
+" Version: 3.1.0
+" Last Change: 13. Jan 2026
" Credits: Thanks for contributions to this to Michael Jagusch
" Thanks for beta testing to Thomas Baginski
"
@@ -58,12 +58,12 @@ syn match krlFoldComment /\c\v^\s*;\s*%(end)?fold>[^;]*/ containedin=krlFold con
highlight default link krlFoldComment Comment
" move fold comment until second ;
-syn match krlMoveFoldComment /\c\v^\s*;\s*fold>[^;]*<s?%(ptp|lin|circ|spl)(_rel)?>[^;]*/ containedin=krlFold contains=krlInteger,krlFloat,krlMovement,krlDelimiter
+syn match krlMoveFoldComment /\c\v^\s*;\s*fold>[^;]*<s?%(ptp|lin|circ?|spl)%(_rel)?>[^;]*/ containedin=krlFold contains=krlInteger,krlFloat,krlMovement,krlDelimiter
highlight default link krlMoveFoldComment Comment
" things to highlight in a fold line
-syn keyword krlFoldHighlights CONT IN SYN OUT containedin=krlFoldComment
-syn match krlFoldHighlights /\c\v<(M|F|E|A|t|i|bin|binin|UP|SPSMAKRO)\d+>/ containedin=krlFoldComment
+syn keyword krlFoldHighlights CONT IN SYN OUT contained containedin=krlFoldComment
+syn match krlFoldHighlights /\c\v<(M|F|E|A|t|i|bin|binin|UP|SPSMAKRO)\d+>/ contained containedin=krlFoldComment
if g:krlGroupName
highlight default link krlFoldHighlights Sysvars
else
@@ -116,7 +116,9 @@ syn keyword krlType ext extfct extfctp extp
syn keyword krlType signal channel
highlight default link krlType Type
" StorageClass
-syn keyword krlStorageClass decl global const struc enum
+syn keyword krlStorageClass const struc enum
+syn match krlStorageClass /\<decl\>/
+syn match krlStorageClass /\<global\>/
highlight default link krlStorageClass StorageClass
" .dat file public
syn keyword krlDatStorageClass public
@@ -174,6 +176,11 @@ highlight default link krlEnumVal Constant
" /r1/system/$config.dat as well as
" basisTech, gripperTech and spotTech
"
+syn keyword krlStructure call_stack
+" Predefined data types found in $operate*.dat
+syn keyword krlStructure aux_pt_mode correction_struc delta_workspace deri_exax deri_struc deri_vector emd_struc energy_data_struc energy_measuring_struc energy_module_struc extended_ret force_val_struc iobus_info_t krl_bp_t loop_axis_inc mbw_para_offset mbw_para_target mbw_result memory_info opc_par_bool_t opc_par_int_t opc_par_real_t opc_par_string_t pathtime_struc pos_axis prog_info p_last_info slave_axis_inc spl_fctctrl spl_fctdef spl_tech spl_techfct spl_techsys spl_tech_map spl_vel_restr_struc ssb_active_t strike_out_components strike_out_struc target_pt_mode tension_struc torqlimitparam t_cs vector vmdirection vmparam vmparam_pull vmparam_push vmstate vmstrategy ws_state
+syn keyword krlEnum abs_accur_state accu_state aux_pt_values axesmask_info ax_slave_type bin_parity_t braketest_time_info brake_state buff_mode_t eco_level ediagwritemode energy_config_state_t ext_ipo_mode integration_mode int_typ_e kcp_type laser_mode ldc_ereaction ldc_eresult mbw_error msgbufmsgtype_t prog_int_e prog_status recovery_pose remote_ctrl_mode req_status rob_stop_t seek_mode_t sigdtyp sigtyp spl_techfct_mode spl_tech_bound spl_vel_mode spo_reaction target_pt_values trigger_up_type vmcontrol_s vmerror vmoffoption vmpull vmredundancy_s vmselection_s waittype wait_cmd_e ws_reference
+"
" Predefined data types found in krc1
syn keyword krlStructure servopara keymove powermodul trace techangle tech techfct techcps techfctctrl axis_inc axis_cal date display_var pro_ip con bus
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
@@ -216,6 +223,9 @@ syn keyword krlEnum step_enum
syn keyword krlStructure dig_out_type ctrl_in_t ctrl_out_t fct_out_t fct_in_t odat hdat 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
syn keyword krlEnum bas_command out_modetype ipo_m_t apo_mode_t funct_type p00_command timer_actiontype
"
+" Types found in System Variable demo
+syn keyword krlStructure int_info
+"
" GripperTech
syn keyword krlStructure grp_typ grp_types grp_sugg_t
syn keyword krlEnum on_off_typ apo_typ
@@ -262,9 +272,10 @@ else
highlight default link krlContinue Statement
endif
" interrupt
-syn match krlStatement /\v\c%(<global>\s+)?<INTERRUPT>%(\s+<decl>)?/ contains=krlStorageClass
+syn match krlStatement /\v\c%(<global>\s+)?<interrupt>%(\s+<decl>)?/ contains=krlStorageClass
" keywords
-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
+syn keyword krlStatement wait on off enable disable stop trigger with when distance onstart delay prio import is minimum maximum confirm on_error_proceed
+syn match krlStatement /\<do\>/
syn match krlStatement /\v\c%(<wait\s+)@7<=<sec>/
syn match krlStatement /\v\c%(<when\s+)@7<=<path>/
highlight default link krlStatement Statement
@@ -272,7 +283,10 @@ highlight default link krlStatement Statement
syn keyword krlConditional if then else endif switch case default endswitch skip endskip
highlight default link krlConditional Conditional
" Repeat
-syn keyword krlRepeat for to endfor while endwhile repeat until loop endloop exit
+syn keyword krlRepeat to endfor endwhile repeat loop endloop exit
+syn match krlRepeat /\<for\>/
+syn match krlRepeat /\<while\>/
+syn match krlRepeat /\<until\>/
" STEP is used as variable in VKRC, this pattern should match STEP -, 5(constant number) or VAR
syn match krlRepeat /\v\cstep\s+%(-|\w)/me=e-1
highlight default link krlRepeat Repeat
@@ -290,6 +304,9 @@ highlight default link krlException Exception
" special keywords for movement commands {{{
syn keyword krlMovement PTP PTP_REL LIN LIN_REL CIRC CIRC_REL SPL SPL_REL SPTP SPTP_REL SLIN SLIN_REL SCIRC SCIRC_REL
+" VKRC movement
+syn keyword krlMovement CIR KCIR KLIN
+" Async movement
syn keyword krlMovement ASYPTP ASYCONT ASYSTOP ASYCANCEL MOVE_EMI
syn match krlMovement /\v\c^\s*<BRAKE(\s+F)?>/
if g:krlGroupName
@@ -328,11 +345,18 @@ syn keyword krlBuildInFunction contained set_opt_filter
syn keyword krlBuildInFunction contained timer_limit
syn keyword krlBuildInFunction contained tool_adj
syn keyword krlBuildInFunction contained FRand
-syn keyword krlBuildInFunction contained ExecFunc eb_test EB EK EO LK mbx_rec
+syn keyword krlBuildInFunction contained ExecFunc eb_abs eb_test_abs eb_test EB EK EO LK mbx_rec
+" $operate*.dat
+" brake point
+syn keyword krlBuildInFunction contained chg_krl_bp clr_all_krl_bp clr_krl_bp disable_krl_bp enable_krl_bp set_krl_bp
+" other
+syn keyword krlBuildInFunction contained InterimEnergy activate_force_mode DynBrakeTest test_brake
+" coll monitor
+syn keyword krlBuildInFunction contained get_collmon_set reset_collmon_set
" safe robot
syn keyword krlbuildinfunction contained get_AxesMask get_BrakeTest_Time
" math
-syn keyword krlBuildInFunction contained Abs Sin Cos Acos Tan Atan Atan2 Sqrt
+syn keyword krlBuildInFunction contained Abs Acos Atan2 Cos Sin Sqrt Tan
syn keyword krlBuildInFunction contained Forward Inverse inv_pos
" cFoo sFoo
syn keyword krlBuildInFunction contained cClose cOpen cRead cWrite sRead sWrite
@@ -371,11 +395,11 @@ syn keyword krlBuildInFunction contained GetSysState get_system_data set_system_
" err
syn keyword krlBuildInFunction contained err_clear err_raise
" motion
-syn keyword krlBuildInFunction contained delete_backward_buffer rob_stop rob_stop_release set_brake_delay suppress_repositioning VectorMoveOn VectorMoveOff
+syn keyword krlBuildInFunction contained AdvancedVectorMoveOn delete_backward_buffer move_backward rob_stop rob_stop_release set_brake_delay suppress_repositioning VectorMoveOn VectorMoveOff
" torque
syn keyword krlBuildInFunction contained set_torque_limits reset_torque_limits
" krc1
-syn keyword krlBuildInFunction contained cLcopy cCurpos cNew cClear cRelease cKey
+syn keyword krlBuildInFunction contained clCopy cCurPos cNew cClear cRelease cKey
if g:krlGroupName
highlight default link krlBuildInFunction BuildInFunction
else
@@ -384,7 +408,7 @@ endif
" }}} BuildInFunction
" Function {{{
-syn match krlFunction /[a-zA-Z_]\w* *(/me=e-1 contains=krlBuildInFunction
+syn match krlFunction /[$a-zA-Z_]\w* *(/me=e-1 contains=krlBuildInFunction
highlight default link krlFunction Function
" }}} Function
@@ -402,10 +426,9 @@ if get(g:, 'krlShowError', 1)
" ||
syn match krlError3 /\v%(^\s*for%(\(|\s)+[_$a-zA-Z]+[_$a-zA-Z0-9.\[\]()+\-*/ ]*\s*)@<=[:=]\=/
"
- " TODO optimize performance
" wait for a=b
" |
- syn match krlError4 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;<>=])@<=\=[^=]/
+ syn match krlError4 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;<>=])@<=:?\=[^=]/me=e-1
"
" wait for a><b
" ||
@@ -415,27 +438,28 @@ if get(g:, 'krlShowError', 1)
" |||
syn match krlError6 /\v%(^\s*%(return|wait\s+for|if|while|until|%(global\s+)?interrupt\s+decl)>[^;]+[^;])@<=\)\s*\(/
"
- " TODO optimize performance
" a == b + 1
" a := b + 1
" ||
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*)@<=[:=]\=/
- syn match krlError7 /\v\c%(^\s*%(decl\s+)%(global\s+)?%(const\s+)?\w+\s+\w+\s*)@<=[:=]\=/
- syn match krlError7 /\v\c%(^\s*%(decl\s+)?%(global\s+)?%(const\s+)?%(bool\s+|int\s+|real\s+|char\s+)\w+\s*)@<=[:=]\=/
+ syn match krlError7 /\v%(^\s*%(decl\s+)%(global\s+)?%(const\s+)?\w+\s+\w+\s*)@<=[:=]\=/
+ syn match krlError7 /\v%(^\s*%(decl\s+)?%(global\s+)?%(const\s+)?%(bool\s+|int\s+|real\s+|char\s+)\w+\s*)@<=[:=]\=/
"
" this one is tricky. Make sure this does not match trigger instructions; OK, next try, now search for false positives
- " TODO optimize performance
" a = b and c or (int1=int2)
" |
- syn match krlError8 /\v(^\s*[_$a-zA-Z]+[_$a-zA-Z0-9.\[\]()+\-*/]*\s*\=[^;]*[^;<>=])@<=\=\ze[^=]/
+ syn match krlError8 /\v%(^\s*[_$a-zA-Z]+[_$a-zA-Z0-9.\[\]()+\-*/]*\s*\=[^;]*[^;<>=])@<=\=\ze[^=]/
+ "
+ " <(distance|delay|prio|minimum|maximum)> :=
+ " <(distance|delay|prio|minimum|maximum)> ==
+ " ||
+ syn match krlError9 /\v%(^[^;]*<(distance|delay|prio|minimum|maximum)\s*)@<=[:=]\=/
"
- " <(distance|delay|prio)> :=
- " <(distance|delay|prio)> ==
- " ||
- syn match krlError9 /\v(^[^;]*<(distance|delay|prio|minimum|maximum)\s*)@<=[:=]\=/
+ " DO is not used at KRL repeat loops (for, while, until)
+ syn match krlError10 /\v%(^\s*%(for|while|until)[^;]+)@<=<do>/
"
- " 'for', 'while' or 'repeat' followed by 'do'
- syn match krlError10 /\c\v^\s*(until|while|for)>[^;]*<do>/
+ " global decl must be decl global
+ syn match krlError11 /\v%(^\s*)@<=global\s+decl>/
"
highlight default link krlError0 Error
highlight default link krlError1 Error
@@ -448,6 +472,7 @@ if get(g:, 'krlShowError', 1)
highlight default link krlError8 Error
highlight default link krlError9 Error
highlight default link krlError10 Error
+ highlight default link krlError11 Error
endif
" }}} Error
