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How do you determine when Misty has reached a way-point

I’ve successful created a SLAM map, disconnected from the navigation portal, rebooted misty and then had her load the map and follow a path to several way-points with C# code,

See link below for how I accomplished this:

Now I’d like to know how to trap an event that Misty has reached a particular way-point and how to wait for misty to reach a particular way-point.