McePosTableRemainingEntries

(*remaining (valid) PosTable entries*)
FUNCTION McePosTableRemainingEntries : INT

(*
 * -----------------------------------------------------------------------------
 * Name               : McePosTableRemainingEntries
 * Version            : 0.1.0
 * Date               : 2024-02-29
 * Author             : Rioual
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * remaining (valid) PosTable entries
 * -----------------------------------------------------------------------------
 *)

VAR_INPUT
  index : INT; (*index of actual PosTable entry*)
  posTableSize : INT; (*number of entries*)
  rollOver : BOOL; (*continue from start after reaching end of table*)
END_VAR

VAR_IN_OUT
  posTable : McePosTableData; (*trajectory to be processed by PosTable*)
END_VAR

VAR
  i : INT;
  nCount : INT;
END_VAR

IF (index < 0) OR (index > (posTableSize - 1)) THEN
  McePosTableRemainingEntries := 0;
  RETURN;
END_IF;

nCount := - 1;

// -------------------------------------
// forward direction
// -------------------------------------
// search through the remaining part of the array
FOR i := index TO (posTableSize - 1) DO
  IF NOT posTable.stEntry[i].bSkipEntry THEN
    nCount := nCount + 1;

    // entry with standstill action, stop searching
    IF (posTable.stEntry[i].nActionID > 0) THEN
      McePosTableRemainingEntries := nCount;
      RETURN;

    // last move, ignore further entries
    ELSIF posTable.stEntry[i].bLastEntry THEN
      EXIT;
    END_IF;
  END_IF;
END_FOR;

// search through the first part of the array
IF rollOver THEN
  FOR i := 0 TO index DO
    IF NOT posTable.stEntry[i].bSkipEntry THEN
      nCount := nCount + 1;

      // entry with standstill action, stop searching
      IF (posTable.stEntry[i].nActionID > 0) THEN
        McePosTableRemainingEntries := nCount;
        RETURN;

      // last move, ignore further entries
      ELSIF posTable.stEntry[i].bLastEntry THEN
        EXIT;
      END_IF;
    END_IF;
  END_FOR;
  // unlimited entries to go
  nCount := 9999;
END_IF;

McePosTableRemainingEntries := nCount;

dummy := McePosTableRemainingEntries(
           index := , 
           posTableSize := , 
           rollOver := , 
           posTable := );