humotion

    //calculate loop delay:

    float loop_delay = 1000.0 / MOTION_UPDATERATE;

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

    //wait for incoming joint data:

    while (middleware->ok()){

        //mw tick

    }

    printf("> joint data arrived, will activate control loop now.\n");

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

    while (middleware->ok()){

        //mw tick