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




  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




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




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

      message_tuple = DictToValueTuple(
          message_dict, write_keys, write_format_tuple)
      Log(message_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):
  """Based on flight attributes, set the laser."""
  # Possible assignment based on:
  #   - ascending / descending / level
  #   - to SFO / from SFO / other
  #   - big plane / med plane / small plane
  #   - low alt / med alt / high alt
  #   - low speed / med speed / high speed




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

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




  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 = round(Gamma(rgb[0], gamma) * brightness)
  g = round(Gamma(rgb[1], gamma) * brightness)
  b = round(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




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




          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 = GammaRGB(
            HexColorToRGBTuple(configuration['led_color']), gamma)
        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):
  """Based on flight attributes, set the laser."""
  # Possible assignment based on:
  #   - ascending / descending / level
  #   - to SFO / from SFO / other
  #   - big plane / med plane / small plane
  #   - low alt / med alt / high alt
  #   - low speed / med speed / high speed




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