humotion

    //wait for incoming joint data:

    while (middleware->ok()){

        //mw tick

        middleware->tick();

        unsigned int incoming_data_count = joint_interface->get_and_clear_incoming_position_count();

        if (incoming_data_count == 0){

                incoming_data_count_invalid++;

                if (incoming_data_count_invalid >= MOTION_UPDATERATE){

                    printf("> waiting for joint data...\n");

                    incoming_data_count_invalid = 0;

                }

        }else{

            //fine, joint data is arriving, exit waiting loop

            break;

        }

        thread::sleep(timeout);

        timeout = get_system_time() + posix_time::milliseconds(loop_delay);

    }

    //fine, data is arriving, activate and run control loop: