441 lines
9.9 KiB
JSON
441 lines
9.9 KiB
JSON
{
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"suite_id": "working2-abb120-spec",
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"robot_id": "abb_irb120_3_58",
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"spec_source": "work/doc/通用机器人编程语法规范.md",
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"program_root": "kdl-wasm/web/tests/fixtures/abb120/spec-programs",
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"runtime_commands": [
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"loadProgram",
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"start",
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"stepInto",
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"hold",
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"resume",
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"stepMotion",
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"stop",
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"resetFault"
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],
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"programs": [
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{
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"program_id": "W2_00_MinimalModule",
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"file": "runtime/W2_00_MinimalModule.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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4,
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5,
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6,
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9,
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10,
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23
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_10_DataTargetToolFrame",
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"file": "runtime/W2_10_DataTargetToolFrame.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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6,
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8,
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9
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_20_ExpressionMath",
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"file": "runtime/W2_20_ExpressionMath.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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7,
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9,
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13
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_30_MotionAllTypes",
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"file": "runtime/W2_30_MotionAllTypes.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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8,
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9,
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10
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_40_PathEvents",
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"file": "runtime/W2_40_PathEvents.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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11,
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13,
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19
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_50_OperationProcess",
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"file": "runtime/W2_50_OperationProcess.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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12,
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13
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_60_IOWaitPulse",
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"file": "runtime/W2_60_IOWaitPulse.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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13
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_70_ControlFlow",
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"file": "runtime/W2_70_ControlFlow.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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14
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_80_ProcFuncCall",
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"file": "runtime/W2_80_ProcFuncCall.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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15
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_90_ExceptionAlarm",
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"file": "runtime/W2_90_ExceptionAlarm.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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16,
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17
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],
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"expected_status": "pass",
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"expected_diagnostics": [
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"GRL_P1_UNIMPLEMENTED"
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]
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},
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{
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"program_id": "W2_E10_ExpressionDiagnostics",
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"file": "static/W2_E10_ExpressionDiagnostics.grl",
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"coverage_level": "Static",
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"spec_sections": [
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7,
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22
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],
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"expected_status": "diagnostic",
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"expected_diagnostics": [
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"GRL_EXPR_UNKNOWN_SYMBOL",
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"GRL_EXPR_UNKNOWN_FUNCTION",
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"GRL_EXPR_ARITY",
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"GRL_EXPR_DOMAIN",
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"GRL_EXPR_DIV_ZERO",
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"GRL_EXPR_UNIT_MISMATCH"
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]
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},
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{
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"program_id": "W2_E20_SemanticDiagnostics",
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"file": "static/W2_E20_SemanticDiagnostics.grl",
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"coverage_level": "Static",
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"spec_sections": [
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6,
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15,
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22
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],
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"expected_status": "diagnostic",
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"expected_diagnostics": [
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"GRL_SYMBOL_DUPLICATE",
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"GRL_ARGUMENT_NOT_LVALUE",
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"GRL_CALL_TARGET_NOT_FOUND",
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"GRL_FUNC_SIDE_EFFECT",
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"GRL_TARGET_NOT_FOUND"
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]
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},
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{
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"program_id": "W2_E30_MotionDiagnostics",
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"file": "error/W2_E30_MotionDiagnostics.grl",
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"coverage_level": "Static",
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"spec_sections": [
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8,
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9,
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10,
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11,
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22
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],
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"expected_status": "diagnostic",
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"expected_diagnostics": [
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"KDL_JOINT_LIMIT",
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"KDL_TARGET_UNREACHABLE",
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"GRL_PATH_EMPTY"
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]
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},
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{
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"program_id": "W2_E40_ControlFlowDiagnostics",
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"file": "static/W2_E40_ControlFlowDiagnostics.grl",
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"coverage_level": "Static",
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"spec_sections": [
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14,
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22
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],
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"expected_status": "diagnostic",
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"expected_diagnostics": [
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"GRL_BREAK_OUTSIDE_FLOW",
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"GRL_CONTINUE_OUTSIDE_LOOP",
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"GRL_JUMP_INTO_BLOCK",
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"GRL_SWITCH_CASE_DUPLICATE",
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"GRL_SWITCH_CASE_NOT_CONSTANT",
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"GRL_LABEL_NOT_FOUND"
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]
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},
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{
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"program_id": "W2_E50_RuntimeTimeout",
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"file": "error/W2_E50_RuntimeTimeout.grl",
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"coverage_level": "Runtime",
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"spec_sections": [
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13,
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16
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],
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"expected_status": "diagnostic",
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"expected_diagnostics": [
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"VC_WAIT_TIMEOUT"
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]
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},
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{
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"program_id": "W2_P10_BrandHints",
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"file": "post/W2_P10_BrandHints.grl",
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"coverage_level": "Post",
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"spec_sections": [
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18,
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20
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],
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"expected_status": "pass",
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"expected_diagnostics": [
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"GRL_POST_HINT_IGNORED"
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]
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},
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{
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"program_id": "W2_P20_CrossBrandMotion",
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"file": "post/W2_P20_CrossBrandMotion.grl",
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"coverage_level": "Post",
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"spec_sections": [
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20
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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},
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{
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"program_id": "W2_P30_Roundtrip",
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"file": "post/W2_P30_Roundtrip.grl",
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"coverage_level": "Post",
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"spec_sections": [
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19,
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20,
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21
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],
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"expected_status": "pass",
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"expected_diagnostics": []
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}
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],
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"coverage_matrix": [
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{
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"spec_section": 4,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_00_MinimalModule"
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]
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},
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{
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"spec_section": 5,
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"coverage_level": "Runtime",
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"program_ids": [
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"W2_00_MinimalModule"
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]
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},
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{
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"spec_section": 6,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_10_DataTargetToolFrame",
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"W2_E20_SemanticDiagnostics"
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]
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},
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{
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"spec_section": 7,
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"coverage_level": "Runtime/Static/Post",
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"program_ids": [
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"W2_20_ExpressionMath",
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"W2_E10_ExpressionDiagnostics",
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"W2_P20_CrossBrandMotion"
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]
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},
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{
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"spec_section": 8,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_10_DataTargetToolFrame",
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"W2_E30_MotionDiagnostics"
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]
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},
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{
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"spec_section": 9,
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"coverage_level": "Runtime/Post",
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"program_ids": [
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"W2_20_ExpressionMath",
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"W2_30_MotionAllTypes",
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"W2_P20_CrossBrandMotion"
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]
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},
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{
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"spec_section": 10,
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"coverage_level": "Runtime/Static/Post",
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"program_ids": [
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"W2_30_MotionAllTypes",
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"W2_E30_MotionDiagnostics",
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"W2_P20_CrossBrandMotion"
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]
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},
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{
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"spec_section": 11,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_40_PathEvents",
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"W2_E30_MotionDiagnostics"
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]
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},
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{
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"spec_section": 12,
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"coverage_level": "Runtime/Post",
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"program_ids": [
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"W2_50_OperationProcess",
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"W2_P30_Roundtrip"
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]
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},
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{
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"spec_section": 13,
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"coverage_level": "Runtime",
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"program_ids": [
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"W2_60_IOWaitPulse",
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"W2_E50_RuntimeTimeout"
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]
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},
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{
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"spec_section": 14,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_70_ControlFlow",
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"W2_E40_ControlFlowDiagnostics"
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]
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},
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{
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"spec_section": 15,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_80_ProcFuncCall",
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"W2_E20_SemanticDiagnostics"
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]
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},
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{
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"spec_section": 16,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_90_ExceptionAlarm",
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"W2_E50_RuntimeTimeout"
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]
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},
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{
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"spec_section": 17,
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"coverage_level": "Static",
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"program_ids": [
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"W2_90_ExceptionAlarm"
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]
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},
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{
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"spec_section": 18,
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"coverage_level": "Post",
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"program_ids": [
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"W2_P10_BrandHints"
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]
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},
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{
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"spec_section": 19,
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"coverage_level": "Post",
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"program_ids": [
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"W2_P30_Roundtrip"
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]
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},
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{
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"spec_section": 20,
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"coverage_level": "Post",
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"program_ids": [
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"W2_P20_CrossBrandMotion"
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]
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},
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{
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"spec_section": 21,
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"coverage_level": "Runtime/Static",
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"program_ids": [
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"W2_00_MinimalModule",
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"W2_E10_ExpressionDiagnostics"
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]
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},
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{
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"spec_section": 22,
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"coverage_level": "Static",
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"program_ids": [
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"W2_E10_ExpressionDiagnostics",
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"W2_E20_SemanticDiagnostics",
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"W2_E30_MotionDiagnostics",
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"W2_E40_ControlFlowDiagnostics",
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"W2_E50_RuntimeTimeout"
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]
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},
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{
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"spec_section": 23,
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"coverage_level": "Static",
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"program_ids": [
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"W2_00_MinimalModule"
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]
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},
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{
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"spec_section": 24,
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"coverage_level": "Runtime",
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"program_ids": [
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"W2_P30_Roundtrip"
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]
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},
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{
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"spec_section": 25,
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"coverage_level": "Runtime/Static/Post",
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"program_ids": [
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"W2_00_MinimalModule",
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"W2_10_DataTargetToolFrame",
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"W2_20_ExpressionMath",
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"W2_30_MotionAllTypes",
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"W2_40_PathEvents",
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"W2_50_OperationProcess",
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"W2_60_IOWaitPulse",
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"W2_70_ControlFlow",
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"W2_80_ProcFuncCall",
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"W2_90_ExceptionAlarm",
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"W2_P20_CrossBrandMotion"
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]
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}
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]
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}
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