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  # Ensures that the child can exit if the parent exits unexpectedly
  # docs.python.org/2/library/multiprocessing.html#multiprocessing.Queue.cancel_join_thread
  to_arduino_q.cancel_join_thread()
  to_parent_q.cancel_join_thread()

  # write_format: azimuth, altitude, R, G, & B intensity
  # read heartbeat: millis
  link = Serial(
      *SERVO_CONNECTION, read_timeout=7,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_SERVO_CONNECTION, to_parent_q=to_parent_q,
      read_format='l', write_format='ffhhh', name='Servo')
  link.Open()

  last_flight = {}
  last_angles = (0, 0)
  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0
  now = GetNow(json_desc_dict, additional_attr)

  flight_present = False

  while not shutdown.value:

    if not to_arduino_q.empty():
      flight, json_desc_dict, configuration, additional_attr = to_arduino_q.get(
          block=False)

      if 'test_servos' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos')
        link.Write((0, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((90, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((180, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((270, 0, *LASER_RGB_OFF))


      new_flight = DifferentFlights(flight, last_flight)
      if new_flight:
        Log('Flight changed: %s' % messageboard.DisplayFlightNumber(flight), ser=link)

        # Turn off laser so that line isn't traced while it moves to new position
        link.Write((*last_angles, *LASER_RGB_OFF))

      last_flight = flight


    if time.time() >= next_read:
      link.Read()  # simple ack message sent by servos
      next_read = time.time() + READ_DELAY_TIME


    now = GetNow(json_desc_dict, additional_attr)


    current_angles = AzimuthAltitude(flight, now)

    if current_angles and time.time() > next_write:
      if current_angles[1] >= configuration['minimum_altitude_servo_tracking']:

        Log('Flight #: %s current_angles: %s' % (messageboard.DisplayFlightNumber(flight), str(current_angles)))

        flight_present = True
        laser_rgb = LaserRGBFlight(flight)

        link.Write((*current_angles, *laser_rgb))
        last_angles = current_angles


      # flight no longer tracked; send one more command to turn off lasers
      elif flight_present:

        link.Write((*last_angles, *LASER_RGB_OFF))
        flight_present = False

      next_write = time.time() + WRITE_DELAY_TIME

  link.Close(SHUTDOWN_TEXT)


LASER_RGB_OFF = (0, 0, 0)
def LaserRGBFlight(flight):
  """Based on flight attributes, set the laser."""
  if not flight:
    return LASER_RGB_OFF
  return 1, 0, 0


def DifferentFlights(f1, f2):
  """True if flights same except for persistent path; False if they differ.

  We cannot simply check if two flights are identical by checking equality of the dicts,




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  # Ensures that the child can exit if the parent exits unexpectedly
  # docs.python.org/2/library/multiprocessing.html#multiprocessing.Queue.cancel_join_thread
  to_arduino_q.cancel_join_thread()
  to_parent_q.cancel_join_thread()

  # write_format: azimuth, altitude, R, G, & B intensity
  # read heartbeat: millis
  link = Serial(
      *SERVO_CONNECTION, read_timeout=7,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_SERVO_CONNECTION, to_parent_q=to_parent_q,
      read_format='l', write_format='ffhhh', name='Servo')
  link.Open()

  last_flight = {}
  last_angles = (0, 0)
  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0
  now = GetNow(json_desc_dict, additional_attr)
  timing = []
  flight_present = False

  while not shutdown.value:
    timing.append((time.time(), 2))
    if not to_arduino_q.empty():
      flight, json_desc_dict, configuration, additional_attr = to_arduino_q.get(
          block=False)

      if 'test_servos' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos')
        link.Write((0, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((90, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((180, 0, *LASER_RGB_OFF))
        time.sleep(1)
        link.Write((270, 0, *LASER_RGB_OFF))

      timing.append((time.time(), 3))
      new_flight = DifferentFlights(flight, last_flight)
      if new_flight:
        Log('Flight changed: %s' % messageboard.DisplayFlightNumber(flight), ser=link)

        # Turn off laser so that line isn't traced while it moves to new position
        link.Write((*last_angles, *LASER_RGB_OFF))

      last_flight = flight
      timing.append((time.time(), 4))

    if time.time() >= next_read:
      link.Read()  # simple ack message sent by servos
      next_read = time.time() + READ_DELAY_TIME
      timing.append((time.time(), 5))

    now = GetNow(json_desc_dict, additional_attr)
    timing.append((time.time(), 6))

    current_angles = AzimuthAltitude(flight, now)
    timing.append((time.time(), 7))
    if current_angles and time.time() > next_write:
      if current_angles[1] >= configuration['minimum_altitude_servo_tracking']:
        Log('Flight #: %s current_angles: %s' % (
            messageboard.DisplayFlightNumber(flight), str(current_angles)))
        messageboard.LogTimes(timing)
        flight_present = True
        laser_rgb = LaserRGBFlight(flight)
        timing = [(time.time(), 0)]
        link.Write((*current_angles, *laser_rgb))
        last_angles = current_angles
        timing.append((time.time(), 1))

      # flight no longer tracked; send one more command to turn off lasers
      elif flight_present:
        timing = [(time.time(), -1)]
        link.Write((*last_angles, *LASER_RGB_OFF))
        flight_present = False

      next_write = time.time() + WRITE_DELAY_TIME

  link.Close(SHUTDOWN_TEXT)


LASER_RGB_OFF = (0, 0, 0)
def LaserRGBFlight(flight):
  """Based on flight attributes, set the laser."""
  if not flight:
    return LASER_RGB_OFF
  return 1, 0, 0


def DifferentFlights(f1, f2):
  """True if flights same except for persistent path; False if they differ.

  We cannot simply check if two flights are identical by checking equality of the dicts,




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