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  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,




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  last_flight = {}
  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)




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  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))
  for intensity in range(100, -1, 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---->




  last_flight = {}
  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_rgb' 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)




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