 Program
   BeforeStart
     Static variables
       publish_topic≔"QetmbL3kuHpPdV8xGVxD/instance1/pub"
       subscribe_topic≔"QetmbL3kuHpPdV8xGVxD/instance1/sub"
       qos≔1
       retained≔ False 
     Variables
       command≔"home"
       cmd_ack≔"home"
     Connect
       var_1≔mqtt_initialize_anonymous("test.mosquitto.org", 1883)
       var_2≔mqtt_connect()
       var_3≔mqtt_subscribe(subscribe_topic)
   Robot Program
     MoveJ
       If cmd_ack≠command and command≠"uninitialized"
         If command≟"pos1"
           Waypoint_1
         ElseIf command≟"pos2"
           Waypoint_2
         ElseIf command≟"pos3"
           Waypoint_3
         cmd_ack≔command
         publish_res≔mqtt_publish_timeout(publish_topic,cmd_ack,qos,retained,3000)
       Wait: 0.1
   Thread_1
     command≔mqtt_get_message(subscribe_topic)
     If command≟"NG-CODE-071"
       var_3≔mqtt_subscribe(subscribe_topic)
     Wait: 0.1
