<----SKIPPED LINES---->




        Log('Heartbeat read by Servo: %s' % str(heartbeat))

    now = GetNow(json_desc_dict, additional_attr)

    current_angles = AzimuthAltitude(flight, now)
    if time.time() > next_write:
      if (current_angles and
          current_angles[1] >=
          configuration['minimum_altitude_servo_tracking'] and
          configuration['servo_mode'] in ('laser_only', 'both')):

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

        laser_rgb = LaserRGBFlight(flight)
        message_dict = GenerateServoMessage(
            laser=laser_rgb, angles=current_angles, led=LED_OFF)

      elif configuration['servo_mode'] == 'laser_only':
        message_dict = GenerateServoMessage(laser=LASER_OFF)

      else:
        rgb_tuple = HexColorToRGBTuple(configuration['led_color'])
        message_dict = GenerateServoMessage(laser=LASER_OFF, led=rgb_tuple)

      message_tuple = DictToValueTuple(
          message_dict, write_keys, write_format_tuple)
      link.Write(message_tuple)

      next_write = time.time() + WRITE_DELAY_TIME

  # One final write telling Arduino to do a software reset
  message_dict = GenerateServoMessage(laser=LASER_OFF, reset=True)
  message_tuple = DictToValueTuple(message_dict, write_keys, write_format_tuple)
  link.Write(message_tuple)

  link.Close(SHUTDOWN_TEXT)


def LaserRGBFlight(flight):




                            <----SKIPPED LINES---->

                            <----SKIPPED LINES---->




        Log('Heartbeat read by Servo: %s' % str(heartbeat))

    now = GetNow(json_desc_dict, additional_attr)

    current_angles = AzimuthAltitude(flight, now)
    if time.time() > next_write:
      if (current_angles and
          current_angles[1] >=
          configuration['minimum_altitude_servo_tracking'] and
          configuration['servo_mode'] in ('laser_only', 'both')):

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

        laser_rgb = LaserRGBFlight(flight)
        message_dict = GenerateServoMessage(
            laser=laser_rgb, angles=current_angles, led=LED_OFF)

      elif configuration['servo_mode'] == 'laser_only':
        message_dict = GenerateServoMessage(laser=LASER_OFF, led=LED_OFF)

      else:
        rgb_tuple = HexColorToRGBTuple(configuration['led_color'])
        message_dict = GenerateServoMessage(laser=LASER_OFF, led=rgb_tuple)

      message_tuple = DictToValueTuple(
          message_dict, write_keys, write_format_tuple)
      link.Write(message_tuple)

      next_write = time.time() + WRITE_DELAY_TIME

  # One final write telling Arduino to do a software reset
  message_dict = GenerateServoMessage(laser=LASER_OFF, reset=True)
  message_tuple = DictToValueTuple(message_dict, write_keys, write_format_tuple)
  link.Write(message_tuple)

  link.Close(SHUTDOWN_TEXT)


def LaserRGBFlight(flight):




                            <----SKIPPED LINES---->