Programing and signals

Robin1

I would appreciate if anyone could give me a clue on how to program this. 

I have got a few paths. After one path I want the robot to wait for a signal and depending on which signal that is active the robot will run the next path. If no signal is active I want the robot to stay at that target and wait until one signal is active.

This is how I have begun:

PROC main()

        Dragon; 

        IF DOutput(signal_scorpion)=1 THEN

        Scorpion;

        ENDIF

        IF DOutput(signal_gazelle)=1 THEN

        Gazelle;

        ENDIF

        IF DOutput(signal_rat)=1 THEN

        Rat;

        ENDIF

ENDPROC

soup

PROC main()
        Dragon;
        WaitUntil \InPos, DOutput(signal_scorpion)=1 OR  DOutput(signal_gazelle)=1 OR DOutput(signal_rat)=1;
        IF DOutput(signal_scorpion)=1 THEN
        Scorpion;
        ENDIF
        IF DOutput(signal_gazelle)=1 THEN
        Gazelle;
        ENDIF
        IF DOutput(signal_rat)=1 THEN
        Rat;
        ENDIF
ENDPROC