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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)

  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))




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      ('setting_max_altitude',        'L'),  # 4 bytes
      ('setting_on_time',             'H'),  # 2 bytes
      ('setting_off_time',            'H'),  # 2 bytes
      ('setting_delay',               'H'),  # 2 bytes
      ('line1',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line2',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line1_dec_mask',              'H'),  # 2 bytes
      ('line2_dec_mask',              'H'),  # 2 bytes
      ('display_mode',                'H'),  # 2 bytes
      ('last_flight_available',       '?'),  # 1 byte
  )
  #pylint: enable = bad-whitespace
  read_keys, unused_read_format_tuple, read_format_string = SplitFormat(read_config)
  write_keys, write_format_tuple, write_format_string = SplitFormat(write_config)

  values_d = {}
  low_batt = False
  to_parent_q.put(('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, low_batt)))

  link = Serial(
      *REMOTE_CONNECTION, read_timeout=7,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_REMOTE_CONNECTION, to_parent_q=to_parent_q,
      read_format=read_format_string, write_format=write_format_string, name='Remote')
  link.Open()

  # Read in the saved display mode, if it exists
  display_mode = messageboard.ReadFile(REMOTE_DISPLAY_MODE, log_exception=False)
  if not display_mode:
    display_mode = DISP_LAST_FLIGHT_NUMB_ORIG_DEST
  else:
    display_mode = int(display_mode)

  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0

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




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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,  TODO: maybe without this read timeout, we won't get the correlated BT failures
      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)

  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))




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      ('setting_max_altitude',        'L'),  # 4 bytes
      ('setting_on_time',             'H'),  # 2 bytes
      ('setting_off_time',            'H'),  # 2 bytes
      ('setting_delay',               'H'),  # 2 bytes
      ('line1',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line2',                       '9s'), # 9 bytes; 8 character plus terminator
      ('line1_dec_mask',              'H'),  # 2 bytes
      ('line2_dec_mask',              'H'),  # 2 bytes
      ('display_mode',                'H'),  # 2 bytes
      ('last_flight_available',       '?'),  # 1 byte
  )
  #pylint: enable = bad-whitespace
  read_keys, unused_read_format_tuple, read_format_string = SplitFormat(read_config)
  write_keys, write_format_tuple, write_format_string = SplitFormat(write_config)

  values_d = {}
  low_batt = False
  to_parent_q.put(('pin', (messageboard.GPIO_ERROR_BATTERY_CHARGE, low_batt)))

  link = Serial(
      *REMOTE_CONNECTION, #read_timeout=7, TODO: maybe without this read timeout, we won't get the correlated BT failures
      error_pin=messageboard.GPIO_ERROR_ARDUINO_REMOTE_CONNECTION, to_parent_q=to_parent_q,
      read_format=read_format_string, write_format=write_format_string, name='Remote')
  link.Open()

  # Read in the saved display mode, if it exists
  display_mode = messageboard.ReadFile(REMOTE_DISPLAY_MODE, log_exception=False)
  if not display_mode:
    display_mode = DISP_LAST_FLIGHT_NUMB_ORIG_DEST
  else:
    display_mode = int(display_mode)

  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0

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




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