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def ServoTestOrdinal(link, write_keys, write_format_tuple):
  """Point laser at each of 0, 90, 180, 270 and hold with different colors."""

  message_dict = GenerateServoMessage(laser=LASER_ALL, angles=(0, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_RED, angles=(90, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_GREEN, angles=(180, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_BLUE, angles=(270, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)


def ServoTestLED(link, write_keys, write_format_tuple):
  """Cycle thru the LED colors."""

  def SendLEDMessage(red, green, blue):
    message_dict = GenerateServoMessage(led=(int(red), int(green), int(blue)))
    link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
    time.sleep(0.2)






  SendLEDMessage(MAX_PWM, MAX_PWM, MAX_PWM)

  for intensity in range(0, 255, 50):
    SendLEDMessage(intensity, 0, 0)

  for intensity in range(0, 255, 50):
    SendLEDMessage(0, intensity, 0)

  for intensity in range(0, 255, 50):
    SendLEDMessage(0, 0, intensity)

  SendLEDMessage(0, 0, 0)











def ServoTestSweep(link, write_keys, write_format_tuple, altitude=45):
  """Sweep red laser around 360 degrees."""
  for azimuth in range(0, 360, 10):

    message_dict = GenerateServoMessage(
        laser=LASER_RED, angles=(azimuth, altitude))
    link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))

    time.sleep(WRITE_DELAY_TIME)


last_angles = (0, 0)
last_laser = LASER_OFF
last_led = LED_OFF
def GenerateServoMessage(
    angles=None,
    laser=None,
    led=None,




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




  d['arduino_reset'] = reset

  return d


def HexColorToRGBTuple(hex_color):
  """Converts i.e.: #329a43 to (50, 154, 67)."""
  r = hex_color[1:3]
  g = hex_color[3:5]
  b = hex_color[5:7]
  return (int(r, 16), int(g, 16), int(b, 16))


def Gamma(c, gamma):
  """Converts a desired brightness 0..255 to a gamma-corrected PWM 0..255."""
  # Based on https://hackaday.com/2016/08/23/
  # rgb-leds-how-to-master-gamma-and-hue-for-perfect-brightness/
  return round(((c / MAX_PWM) ** gamma) * MAX_PWM)


def GammaRGB(rgb, gamma):
  """Gamma converts an RGB tuple."""
  return Gamma(rgb[0], gamma), Gamma(rgb[1], gamma), Gamma(rgb[2], gamma)





def GetGamma(configuration):
  """Returns gamma stored in configuration file."""
  return configuration['servo_rgb_gamma'] / 10  # gamma saved as whole number


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




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




  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0
  now = GetNow(json_desc_dict, additional_attr)
  gamma = GetGamma(configuration)

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

      if 'test_servos_ordinal' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_ordinal')
        ServoTestOrdinal(link, write_keys, write_format_tuple)
      elif 'test_servos_sweep' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_sweep')
        ServoTestSweep(link, write_keys, write_format_tuple)
      elif 'test_servos_led' in configuration:



        messageboard.RemoveSetting(configuration, 'test_servos_led')

        ServoTestLED(link, write_keys, write_format_tuple)


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

        # Turn off laser so line isn't traced while it moves to new position
        message_dict = GenerateServoMessage(laser=LASER_OFF)
        message_tuple = DictToValueTuple(
            message_dict, write_keys, write_format_tuple)
        link.Write(message_tuple)

      last_flight = flight

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




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




def ServoTestOrdinal(link, write_keys, write_format_tuple):
  """Point laser at each of 0, 90, 180, 270 and hold with different colors."""

  message_dict = GenerateServoMessage(laser=LASER_ALL, angles=(0, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_RED, angles=(90, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_GREEN, angles=(180, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)

  message_dict = GenerateServoMessage(laser=LASER_BLUE, angles=(270, 0))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(1)


def SendLEDTestMessage(
    link, write_keys, write_format_tuple, red, green, blue, delay=0.2):
  """Send LED colors to servo Arduino with a delay."""

  message_dict = GenerateServoMessage(led=(int(red), int(green), int(blue)))
  link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))
  time.sleep(delay)


def ServoTestRgb(link, write_keys, write_format_tuple):
  """Cycle thru the LED colors without gamma correction."""

  comms_args = link, write_keys, write_format_tuple
  SendLEDTestMessage(*comms_args, MAX_PWM, MAX_PWM, MAX_PWM)

  for intensity in range(0, 255, 50):
    SendLEDTestMessage(*comms_args, intensity, 0, 0)

  for intensity in range(0, 255, 50):
    SendLEDTestMessage(*comms_args, 0, intensity, 0)

  for intensity in range(0, 255, 50):
    SendLEDTestMessage(*comms_args, 0, 0, intensity)

  SendLEDTestMessage(*comms_args, 0, 0, 0)


def ServoTestDim(link, write_keys, write_format_tuple, rgb, gamma):
  """Dim LEDs at selected color from 100% to 0% with gamma correction."""
  comms_args = link, write_keys, write_format_tuple

  for intensity in range(0, 101, 5):
    b = intensity / 100
    SendLEDTestMessage(*comms_args, *GammaRGB(rgb, gamma, brightness=b))


def ServoTestSweep(link, write_keys, write_format_tuple, altitude=45):
  """Sweep red laser around 360 degrees."""
  for azimuth in range(0, 360, 10):

    message_dict = GenerateServoMessage(
        laser=LASER_RED, angles=(azimuth, altitude))
    link.Write(DictToValueTuple(message_dict, write_keys, write_format_tuple))

    time.sleep(WRITE_DELAY_TIME)


last_angles = (0, 0)
last_laser = LASER_OFF
last_led = LED_OFF
def GenerateServoMessage(
    angles=None,
    laser=None,
    led=None,




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




  d['arduino_reset'] = reset

  return d


def HexColorToRGBTuple(hex_color):
  """Converts i.e.: #329a43 to (50, 154, 67)."""
  r = hex_color[1:3]
  g = hex_color[3:5]
  b = hex_color[5:7]
  return (int(r, 16), int(g, 16), int(b, 16))


def Gamma(c, gamma):
  """Converts a desired brightness 0..255 to a gamma-corrected PWM 0..255."""
  # Based on https://hackaday.com/2016/08/23/
  # rgb-leds-how-to-master-gamma-and-hue-for-perfect-brightness/
  return round(((c / MAX_PWM) ** gamma) * MAX_PWM)


def GammaRGB(rgb, gamma, brightness=1.0):
  """Gamma converts an RGB tuple at a selected brightness 0%..100%."""
  r = Gamma(rgb[0], gamma) * brightness
  g = Gamma(rgb[1], gamma) * brightness
  b = Gamma(rgb[2], gamma) * brightness
  return r, g, b


def GetGamma(configuration):
  """Returns gamma stored in configuration file."""
  return configuration['servo_rgb_gamma'] / 10  # gamma saved as whole number


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




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




  flight, json_desc_dict, configuration, additional_attr = InitialMessageValues(
      to_arduino_q)
  next_read = 0
  next_write = 0
  now = GetNow(json_desc_dict, additional_attr)
  gamma = GetGamma(configuration)

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

      if 'test_servos_ordinal' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_ordinal')
        ServoTestOrdinal(link, write_keys, write_format_tuple)
      elif 'test_servos_sweep' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_sweep')
        ServoTestSweep(link, write_keys, write_format_tuple)
      elif 'test_servos_led' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_rgb')
        ServoTestRgb(link, write_keys, write_format_tuple)
      elif 'test_servos_dim' in configuration:
        messageboard.RemoveSetting(configuration, 'test_servos_dim')
        ServoTestDim(
            link, write_keys, write_format_tuple,
            HexColorToRGBTuple(configuration['led_color']), gamma)

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

        # Turn off laser so line isn't traced while it moves to new position
        message_dict = GenerateServoMessage(laser=LASER_OFF)
        message_tuple = DictToValueTuple(
            message_dict, write_keys, write_format_tuple)
        link.Write(message_tuple)

      last_flight = flight

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




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