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def ServoMain(to_arduino_q, to_parent_q, shutdown):
  """Main servo controller for projecting the plane position on a hemisphere.

  Takes the latest flight from the to_arduino_q and converts that to the current
  azimuth and altitude of the plane on a hemisphere.
  """
  sys.stderr = open(messageboard.STDERR_FILE, 'a')

  Log('Process started with process id %d' % os.getpid())

  # 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)




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def ServoMain(to_arduino_q, to_parent_q, shutdown):
  """Main servo controller for projecting the plane position on a hemisphere.

  Takes the latest flight from the to_arduino_q and converts that to the current
  azimuth and altitude of the plane on a hemisphere.
  """
  sys.stderr = open(messageboard.STDERR_FILE, 'a')

  Log('Process started with process id %d' % os.getpid())

  # 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='ff???', 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)




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