Merge remote-tracking branch 'upstream/master' into aucmd_textputpostaucmd_textputpost

1 files changed, 12 insertions, 9 deletions

diff --git a/runtime/syntax/krl.vim b/runtime/syntax/krl.vim
index a50790841e..6808a48fc4 100644
--- a/runtime/syntax/krl.vim
+++ b/runtime/syntax/krl.vim
@@ -2,7 +2,7 @@
 " Language: Kuka Robot Language
 " Maintainer: Patrick Meiser-Knosowski <knosowski@graeffrobotics.de>
 " Version: 3.0.0
-" Last Change: 18. Apr 2022
+" Last Change: 22. Jun 2023
 " Credits: Thanks for contributions to this to Michael Jagusch
 "          Thanks for beta testing to Thomas Baginski
 "
@@ -109,11 +109,11 @@ highlight default link krlGeomOperator Operator
 
 " Type, StorageClass and Typedef {{{
 " Simple data types
-syn keyword krlType bool char real int containedin=krlAnyType
+syn keyword krlType bool char real int
 " External program and function
-syn keyword krlType ext extfct extfctp extp containedin=krlAnyType
+syn keyword krlType ext extfct extfctp extp
 " Communication
-syn keyword krlType signal channel containedin=krlAnyType
+syn keyword krlType signal channel
 highlight default link krlType Type
 " StorageClass
 syn keyword krlStorageClass decl global const struc enum
@@ -200,19 +200,20 @@ syn keyword krlEnum adap_acc model_type control_parameter eko_mode
 "
 " Predefined structures and enums found in /steu/mada/$custom.dat
 syn keyword krlStructure pro_io_t ser ext_mod_t coop_krc ws_config bin_type coop_update_t ldc_reaction
-syn keyword krlEnum axis_of_coordinates spline_para_variant target_status cp_vel_type cp_statmon
+syn keyword krlEnum axis_of_coordinates motion_mode spline_para_variant spreadstartpolicy target_status cp_vel_type cp_statmon
 "
 " Predefined structures and enums found in /steu/mada/$machine.dat
 syn keyword krlStructure emstop_path boxstatesafein boxstatesafeout
 syn keyword krlEnum digincode
 "
 " Predefined structures and enums found in /steu/mada/$option.dat
-syn keyword krlStructure msg_t
+syn keyword krlStructure installed_motion_modes msg_t 
+syn keyword krlEnum step_enum
 " syn keyword krlEnum
 "
 " Predefined structures and enums found in /r1/system/$config.dat
 " BasisTech
-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
+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
 "
 " GripperTech
@@ -271,7 +272,9 @@ 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 step endfor while endwhile repeat until loop endloop exit
+syn keyword krlRepeat for to endfor while endwhile repeat until loop endloop exit
+" 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
 " Label
 syn keyword krlLabel goto
@@ -390,7 +393,7 @@ if get(g:, 'krlShowError', 1)
   " some more or less common typos
   "
   " vars or funcs >24 chars are not possible in krl. a234567890123456789012345
-  syn match krlError0 /\w\{25,}/ containedin=krlFunction,krlNames,krlLabel,krlAnyType,krlEnumVal,krlSysvars
+  syn match krlError0 /\w\{25,}/ containedin=krlFunction,krlNames,krlLabel,krlEnumVal,krlSysvars
   "
   " should be interrupt (on|off) \w+
   syn match krlError1 /\vinterrupt[ \t(]+[_$a-zA-Z0-9]+[_$a-zA-Z0-9.\[\]()+\-*/]*[ \t)]+o%(n|ff)>/