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




  #pylint: enable = bad-whitespace
  write_keys, write_format_tuple, write_format_string = SplitFormat(
      write_config)

  # write_format: azimuth, altitude, R, G, & B intensity
  # read heartbeat: millis
  link = Serial(
      *SERVO_CONNECTION, read_timeout=60,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_SERVO_CONNECTION,
      to_parent_q=to_parent_q,
      read_format='l', write_format=write_format_string, name='Servo')
  link.Open()

  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,




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




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




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

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




  #pylint: enable = bad-whitespace
  write_keys, write_format_tuple, write_format_string = SplitFormat(
      write_config)

  # write_format: azimuth, altitude, R, G, & B intensity
  # read heartbeat: millis
  link = Serial(
      *SERVO_CONNECTION, read_timeout=60,
      error_pin=messageboard.GPIO_ERROR_ARDUINO_SERVO_CONNECTION,
      to_parent_q=to_parent_q,
      read_format='l', write_format=write_format_string, name='Servo')
  link.Open()

  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)
  brightness = 1.0
  brightness_step = 0.1

  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,




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




    if time.time() >= next_read:
      heartbeat = link.Read()  # simple ack message sent by servos
      next_read = time.time() + READ_DELAY_TIME_SERVO
      if heartbeat and VERBOSE:
        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)
        if brightness > 0:
          brightness -= brightness_step
        rgb_tuple = GammaRGB(
            HexColorToRGBTuple(configuration['led_color']),
            gamma, brightness=brightness)
        message_dict = GenerateServoMessage(
            laser=laser_rgb, angles=current_angles, led=rgb_tuple)

      elif configuration['servo_mode'] == 'laser_only':
        if brightness > 0:
          brightness -= brightness_step
        rgb_tuple = GammaRGB(
            HexColorToRGBTuple(configuration['led_color']),
            gamma, brightness=brightness)
        message_dict = GenerateServoMessage(laser=LASER_OFF, led=rgb_tuple)

      else:
        if brightness < 1:
          brightness += brightness_step
        rgb_tuple = GammaRGB(
            HexColorToRGBTuple(configuration['led_color']),
            gamma, brightness=brightness)
        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




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