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  shutdown_remote = multiprocessing.Value('i')  # shared flag to initiate shutdown
  shutdown_servo = multiprocessing.Value('i')  # shared flag to initiate shutdown
  shutdown = (shutdown_remote, shutdown_servo)

  return (to_remote_q, to_servo_q, to_main_q, shutdown)


def RefreshArduinos(
    remote, servo,
    to_remote_q, to_servo_q, to_main_q, shutdown,
    flights, json_desc_dict, configuration):
  """Ensure arduinos are running, restarting if needed, & send them the current message"""
  remote, servo = ValidateArduinosRunning(
      remote, servo, to_remote_q, to_servo_q, to_main_q, shutdown, configuration)
  EnqueueArduinos(flights, json_desc_dict, configuration, to_servo_q, to_remote_q)
  return remote, servo


def ValidateArduinosRunning(
    remote, servo, to_remote_q, to_servo_q, to_main_q, shutdown, configuration):
  """Ensures that each of the enabled arduinos are running, restarting if needed."""

















  remote = ValidateSingleRunning(
      'enable_remote' in configuration,
      arduino.RemoteMain, p=remote,
      args=(to_remote_q, to_main_q, shutdown[0]))
  servo = ValidateSingleRunning(
      'enable_servos' in configuration,
      arduino.ServoMain, p=servo,
      args=(to_servo_q, to_main_q, shutdown[1]))
  return remote, servo


def ValidateSingleRunning(enabled, start_function, p=None, args=()):
  """Restarts a new instance of multiprocessing process if not running"""













  if not SHUTDOWN_SIGNAL:

    if not enabled:
      if p is not None:  # must have just requested a disabling of single instance
        args[2].value = 1  # trigger a shutdown on the single instance
      return None

    if p is None or not p.is_alive():
      if p is None:
        Log('Process for %s starting for first time' % str(start_function))
      elif VERBOSE:
        Log('Process (%s) for %s died; restarting' % (str(p), str(start_function)))
      args[2].value = 0  # (re)set shutdown flag to allow function to run
      p = multiprocessing.Process(target=start_function, args=args)
      p.daemon = True
      p.start()

  return p


def EnqueueArduinos(flights, json_desc_dict, configuration, to_servo_q, to_remote_q):
  """Send latest data to arduinos via their shared-memory queues"""
  last_flight = {}
  if flights:
    last_flight = flights[-1]

  if SIMULATION:
    now = json_desc_dict['now']
  else:
    now = time.time()

  additional_attributes = {}

  today = EpochDisplayTime(now, '%x')
  flight_count_today = len([1 for f in flights if DisplayTime(f, '%x') == today])




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  shutdown_remote = multiprocessing.Value('i')  # shared flag to initiate shutdown
  shutdown_servo = multiprocessing.Value('i')  # shared flag to initiate shutdown
  shutdown = (shutdown_remote, shutdown_servo)

  return (to_remote_q, to_servo_q, to_main_q, shutdown)


def RefreshArduinos(
    remote, servo,
    to_remote_q, to_servo_q, to_main_q, shutdown,
    flights, json_desc_dict, configuration):
  """Ensure arduinos are running, restarting if needed, & send them the current message"""
  remote, servo = ValidateArduinosRunning(
      remote, servo, to_remote_q, to_servo_q, to_main_q, shutdown, configuration)
  EnqueueArduinos(flights, json_desc_dict, configuration, to_servo_q, to_remote_q)
  return remote, servo


def ValidateArduinosRunning(
    remote, servo, to_remote_q, to_servo_q, to_main_q, shutdown, configuration):
  """Ensures that each of the enabled arduinos are running, restarting if needed.

  Args:
    remote: Running remote Arduino process (or if not previously running, None value)
    servo: Running servo Arduino process (or if not previously running, None value)
    to_remote_q: Multi-processing messaging queue for one-way comm from messageboard
      to remote arduino.
    to_servo_q: Multi-processing messaging queue for one-way comm from messageboard
      to servo arduino.
    to_main_q: Multi-processing messaging queue for one-way comm from arduinos to
      messageboard.
    shutdown: 2-tuple of multiprocessing flags (integers) used to signal to respective
      arduinos when they should be shutdown.
    configuration: Dictionary of configuration settings.

  Returns:
    A 2-tuple of the remote and servo running processes.
  """
  remote = ValidateSingleRunning(
      'enable_remote' in configuration,
      arduino.RemoteMain, p=remote,
      args=(to_remote_q, to_main_q, shutdown[0]))
  servo = ValidateSingleRunning(
      'enable_servos' in configuration,
      arduino.ServoMain, p=servo,
      args=(to_servo_q, to_main_q, shutdown[1]))
  return remote, servo


def ValidateSingleRunning(enabled, start_function, p=None, args=()):
  """Restarts a new instance of multiprocessing process if not running

  Args:
    enabled: Boolean indicating whether this arduino is enabled in the settings file.
    start_function: Function that will be started (with the given args) if a restart
      is needed.
    p: The existing process - if any - that should be checked to make sure its alive.
      If not passed, or if passed but not alive, it is restarted.
    args: A tuple of function parameters to pass unmodified to start_function.

  Returns:
    The running process - either the same one that was passed in, or a new one if a
    restart was needed.
  """
  if not SHUTDOWN_SIGNAL:

    if not enabled:
      if p is not None:  # must have just requested a disabling of single instance
        args[2].value = 1  # trigger a shutdown on the single instance
      return None

    if p is None or not p.is_alive():
      if p is None:
        Log('Process for %s starting for first time' % str(start_function))
      elif VERBOSE:
        Log('Process (%s) for %s died; restarting' % (str(p), str(start_function)))
      args[2].value = 0  # (re)set shutdown flag to allow function to run
      p = multiprocessing.Process(target=start_function, args=args)
      p.daemon = True  # TODO: perhaps value of false will address correlated BT failures?
      p.start()

  return p


def EnqueueArduinos(flights, json_desc_dict, configuration, to_servo_q, to_remote_q):
  """Send latest data to arduinos via their shared-memory queues"""
  last_flight = {}
  if flights:
    last_flight = flights[-1]

  if SIMULATION:
    now = json_desc_dict['now']
  else:
    now = time.time()

  additional_attributes = {}

  today = EpochDisplayTime(now, '%x')
  flight_count_today = len([1 for f in flights if DisplayTime(f, '%x') == today])




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