fast.py

"""FAST hardware platform.

Contains the hardware interface and drivers for the FAST Pinball platform
hardware, including the FAST Core and WPC controllers as well as FAST I/O
boards.
"""
import asyncio
import logging
import os
from copy import deepcopy
from distutils.version import StrictVersion

from typing import Dict, Set

from mpf.platforms.fast.fast_io_board import FastIoBoard
from mpf.platforms.fast.fast_servo import FastServo
from mpf.platforms.fast import fast_defines
from mpf.platforms.fast.fast_dmd import FASTDMD
from mpf.platforms.fast.fast_driver import FASTDriver
from mpf.platforms.fast.fast_gi import FASTGIString
from mpf.platforms.fast.fast_led import FASTDirectLED, FASTDirectLEDChannel
from mpf.platforms.fast.fast_light import FASTMatrixLight
from mpf.platforms.fast.fast_serial_communicator import FastSerialCommunicator
from mpf.platforms.fast.fast_switch import FASTSwitch

from mpf.core.platform import ServoPlatform, DmdPlatform, SwitchPlatform, DriverPlatform, LightsPlatform,\
    DriverSettings, SwitchSettings, DriverConfig, SwitchConfig
from mpf.core.utility_functions import Util


# pylint: disable-msg=too-many-instance-attributes
from mpf.platforms.interfaces.light_platform_interface import LightPlatformInterface


class FastHardwarePlatform(ServoPlatform, LightsPlatform, DmdPlatform,
                           SwitchPlatform, DriverPlatform):

    """Platform class for the FAST hardware controller."""

    __slots__ = ["dmd_connection", "net_connection", "rgb_connection", "serial_connections", "fast_leds",
                 "flag_led_tick_registered", "config", "machine_type", "hw_switch_data", "io_boards", "fast_commands"]

    def __init__(self, machine):
        """Initialise fast hardware platform.

        Args:
            machine: The main ``MachineController`` instance.
        """
        super().__init__(machine)
        self.log = logging.getLogger('FAST')
        self.log.debug("Configuring FAST hardware.")

        self.features['tickless'] = True

        self.dmd_connection = None
        self.net_connection = None
        self.rgb_connection = None
        self.serial_connections = set()         # type: Set[FastSerialCommunicator]
        self.fast_leds = {}
        self.flag_led_tick_registered = False
        self.config = None
        self.machine_type = None
        self.hw_switch_data = None
        self.io_boards = {}     # type: Dict[int, FastIoBoard]

        self.fast_commands = {'ID': lambda x, y: None,  # processor ID
                              'WX': lambda x, y: None,  # watchdog
                              'NI': lambda x, y: None,  # node ID
                              'RX': lambda x, y: None,  # RGB cmd received
                              'RA': lambda x, y: None,  # RGB all cmd received
                              'RF': lambda x, y: None,  # RGB fade cmd received
                              'DX': lambda x, y: None,  # DMD cmd received
                              'SX': lambda x, y: None,  # sw config received
                              'LX': lambda x, y: None,  # lamp cmd received
                              'PX': lambda x, y: None,  # segment cmd received
                              'WD': lambda x, y: None,  # watchdog
                              'SA': self.receive_sa,  # all switch states
                              '/N': self.receive_nw_open,    # nw switch open
                              '-N': self.receive_nw_closed,  # nw switch closed
                              '/L': self.receive_local_open,    # local sw open
                              '-L': self.receive_local_closed,  # local sw cls
                              '!B': self.receive_bootloader,    # nano bootloader message
                              }

    def get_info_string(self):
        """Dump infos about boards."""
        infos = ""
        if not self.net_connection:
            infos += "No connection to the NET CPU.\n"
        else:
            infos += "NET CPU: {} {} {}\n".format(
                self.net_connection.remote_processor,
                self.net_connection.remote_model,
                self.net_connection.remote_firmware)
        if not self.rgb_connection:
            infos += "No connection to the RGB CPU.\n"
        else:
            infos += "RGB CPU: {} {} {}\n".format(
                self.rgb_connection.remote_processor,
                self.rgb_connection.remote_model,
                self.rgb_connection.remote_firmware)
        if not self.dmd_connection:
            infos += "No connection to the DMD CPU.\n"
        else:
            infos += "DMD CPU: {} {} {}\n".format(
                self.dmd_connection.remote_processor,
                self.dmd_connection.remote_model,
                self.dmd_connection.remote_firmware)

        infos += "\nBoards:\n"
        for board in self.io_boards.values():
            infos += board.get_description_string() + "\n"
        return infos

    def _update_net(self) -> str:
        """Update NET CPU."""
        infos = ""
        if not self.net_connection:
            infos += "No NET CPU connected. Cannot update.\n"
            return infos
        infos += "NET CPU is version {}\n".format(self.net_connection.remote_firmware)
        max_firmware = self.net_connection.remote_firmware
        update_config = None
        for update in self.config['firmware_updates']:
            if StrictVersion(update['version']) > StrictVersion(max_firmware) and update['type'] == "net":
                update_config = update

        if not update_config:
            infos += "Firmware is up to date. Will not update.\n"
            return infos
        infos += "Found an update to version {} for the NET CPU. Will flash file {}\n".format(
            update_config['version'], update_config['file'])
        firmware_file = os.path.join(self.machine.machine_path, update_config['file'])
        try:
            with open(firmware_file) as f:
                update_string = f.read().replace("\n", "\r")
        except FileNotFoundError:
            infos += "Could not find update file.\b"
            return infos
        self.net_connection.writer.write(update_string.encode())
        infos += "Update done.\n"
        return infos

    def update_firmware(self) -> str:
        """Upgrade the firmware of the CPUs."""
        return self._update_net()

    @asyncio.coroutine
    def initialize(self):
        """Initialise platform."""
        self.config = self.machine.config['fast']
        self.machine.config_validator.validate_config("fast", self.config)

        if self.config['debug']:
            self.debug = True

        self.machine_type = (
            self.machine.config['hardware']['driverboards'].lower())

        if self.machine_type == 'wpc':
            self.debug_log("Configuring the FAST Controller for WPC driver "
                           "board")
        else:
            self.debug_log("Configuring FAST Controller for FAST IO boards.")

        yield from self._connect_to_hardware()

    def stop(self):
        """Stop platform and close connections."""
        if self.net_connection:
            # set watchdog to expire in 1ms
            self.net_connection.writer.write(b'WD:1\r')
            self.net_connection.stop()
            self.net_connection = None

        if self.rgb_connection:
            self.rgb_connection.writer.write(b'BL:AA55\r')  # reset CPU using bootloader
            self.rgb_connection.stop()
            self.rgb_connection = None

        if self.dmd_connection:
            self.dmd_connection.writer.write(b'BL:AA55\r')  # reset CPU using bootloader
            self.dmd_connection.stop()
            self.dmd_connection = None

        self.serial_connections = set()

    @asyncio.coroutine
    def start(self):
        """Start listening for commands and schedule watchdog."""
        self.machine.clock.schedule_interval(self._update_watchdog, self.config['watchdog'] / 2000)

        for connection in self.serial_connections:
            yield from connection.start_read_loop()

    def __repr__(self):
        """Return str representation."""
        return '<Platform.FAST>'

    def register_io_board(self, board):
        """Register an IO board.

        Args:
            board: 'mpf.platform.fast.fast_io_board.FastIoBoard' to register
        """
        if board.node_id in self.io_boards:
            raise AssertionError("Duplicate node_id")
        self.io_boards[board.node_id] = board

    def _update_watchdog(self):
        """Send Watchdog command."""
        self.net_connection.send('WD:' + str(hex(self.config['watchdog']))[2:])

    def process_received_message(self, msg: str, remote_processor: str):
        """Send an incoming message from the FAST controller to the proper method for servicing.

        Args:
            msg: messaged which was received
        """
        if msg == "!SRE":
            # ignore system interrupt
            self.log.info("Received system interrupt from %s.", remote_processor)
            return

        if msg[2:3] == ':':
            cmd = msg[0:2]
            payload = msg[3:].replace('\r', '')
        else:   # pragma: no cover
            self.log.warning("Received malformed message: %s from %s", msg, remote_processor)
            return

        # Can't use try since it swallows too many errors for now
        if cmd in self.fast_commands:
            self.fast_commands[cmd](payload, remote_processor)
        else:   # pragma: no cover
            self.log.warning("Received unknown serial command? %s from %s.", msg, remote_processor)

    @asyncio.coroutine
    def _connect_to_hardware(self):
        """Connect to each port from the config.

        This process will cause the connection threads to figure out which processor they've connected to
        and to register themselves.
        """
        for port in self.config['ports']:
            comm = FastSerialCommunicator(platform=self, port=port,
                                          baud=self.config['baud'])
            yield from comm.connect()
            self.serial_connections.add(comm)

    def register_processor_connection(self, name: str, communicator):
        """Register processor.

        Once a communication link has been established with one of the
        processors on the FAST board, this method lets the communicator let MPF
        know which processor it's talking to.

        This is a separate method since we don't know which processor is on
        which serial port ahead of time.

        Args:
            communicator: communicator object
            name: name of processor
        """
        if name == 'DMD':
            self.dmd_connection = communicator
        elif name == 'NET':
            self.net_connection = communicator
        elif name == 'RGB':
            self.rgb_connection = communicator
            self.rgb_connection.send('RF:0')
            self.rgb_connection.send('RA:000000')  # turn off all LEDs
            self.rgb_connection.send('RF:{}'.format(
                Util.int_to_hex_string(self.config['hardware_led_fade_time'])))

    def update_leds(self):
        """Update all the LEDs connected to a FAST controller.

        This is done once per game loop for efficiency (i.e. all LEDs are sent as a single
        update rather than lots of individual ones).

        Also, every LED is updated every loop, even if it doesn't change. This
        is in case some interference causes a LED to change color. Since we
        update every loop, it will only be the wrong color for one tick.
        """
        dirty_leds = [led for led in self.fast_leds.values() if led.dirty]

        if dirty_leds:
            msg = 'RS:' + ','.join(["%s%s" % (led.number, led.current_color) for led in dirty_leds])
            self.rgb_connection.send(msg)

    @asyncio.coroutine
    def get_hw_switch_states(self):
        """Return hardware states."""
        return self.hw_switch_data

    def receive_nw_open(self, msg, remote_processor):
        """Process network switch open.

        Args:
            msg: switch number
        """
        assert remote_processor == "NET"
        self.machine.switch_controller.process_switch_by_num(state=0,
                                                             num=(msg, 1),
                                                             platform=self)

    def receive_nw_closed(self, msg, remote_processor):
        """Process network switch closed.

        Args:
            msg: switch number
        """
        assert remote_processor == "NET"
        self.machine.switch_controller.process_switch_by_num(state=1,
                                                             num=(msg, 1),
                                                             platform=self)

    def receive_local_open(self, msg, remote_processor):
        """Process local switch open.

        Args:
            msg: switch number
        """
        assert remote_processor == "NET"
        self.machine.switch_controller.process_switch_by_num(state=0,
                                                             num=(msg, 0),
                                                             platform=self)

    def receive_local_closed(self, msg, remote_processor):
        """Process local switch closed.

        Args:
            msg: switch number
        """
        assert remote_processor == "NET"
        self.machine.switch_controller.process_switch_by_num(state=1,
                                                             num=(msg, 0),
                                                             platform=self)

    def receive_sa(self, msg, remote_processor):
        """Receive all switch states.

        Args:
            msg: switch states as bytearray
        """
        assert remote_processor == "NET"
        self.debug_log("Received SA: %s", msg)

        hw_states = dict()

        _, local_states, _, nw_states = msg.split(',')

        for offset, byte in enumerate(bytearray.fromhex(nw_states)):
            for i in range(8):
                num = Util.int_to_hex_string((offset * 8) + i)
                if byte & (2**i):
                    hw_states[(num, 1)] = 1
                else:
                    hw_states[(num, 1)] = 0

        for offset, byte in enumerate(bytearray.fromhex(local_states)):
            for i in range(8):

                num = Util.int_to_hex_string((offset * 8) + i)

                if byte & (2**i):
                    hw_states[(num, 0)] = 1
                else:
                    hw_states[(num, 0)] = 0

        self.hw_switch_data = hw_states

    @staticmethod
    def convert_number_from_config(number):
        """Convert a number from config format to hex."""
        return Util.int_to_hex_string(number)

    def _parse_driver_number(self, number):
        try:
            board_str, driver_str = number.split("-")
        except ValueError:
            total_drivers = 0
            for board_obj in self.io_boards.values():
                total_drivers += board_obj.driver_count
            index = self.convert_number_from_config(number)

            if int(index, 16) >= total_drivers:
                raise AssertionError("Driver {} does not exist. Only {} drivers found. Driver number: {}".format(
                    int(index, 16), total_drivers, number))

            return index

        board = int(board_str)
        driver = int(driver_str)

        if board not in self.io_boards:
            raise AssertionError("Board {} does not exist for driver {}".format(board, number))

        if self.io_boards[board].driver_count <= driver:
            raise AssertionError("Board {} only has {} drivers. Driver: {}".format(
                board, self.io_boards[board].driver_count, number))

        index = 0
        for board_number, board_obj in self.io_boards.items():
            if board_number >= board:
                continue
            index += board_obj.driver_count

        return Util.int_to_hex_string(index + driver)

    def configure_driver(self, config: DriverConfig, number: str, platform_settings: dict) -> FASTDriver:
        """Configure a driver.

        Args:
            config: Driver config.

        Returns: Driver object
        """
        # dont modify the config. make a copy
        platform_settings = deepcopy(platform_settings)

        if not self.net_connection:
            raise AssertionError('A request was made to configure a FAST '
                                 'driver, but no connection to a NET processor'
                                 'is available')

        if not number:
            raise AssertionError("Driver needs a number")

        # If we have WPC driver boards, look up the driver number
        if self.machine_type == 'wpc':
            number = fast_defines.wpc_driver_map.get(number.upper())

            if ('connection' in platform_settings and
                    platform_settings['connection'].lower() == 'network'):
                platform_settings['connection'] = 1
            else:
                platform_settings['connection'] = 0  # local driver (default for WPC)

        # If we have FAST IO boards, we need to make sure we have hex strings
        elif self.machine_type == 'fast':

            number = self._parse_driver_number(number)

            # Now figure out the connection type
            if ('connection' in platform_settings and
                    platform_settings['connection'].lower() == 'local'):
                platform_settings['connection'] = 0
            else:
                platform_settings['connection'] = 1  # network driver (default for FAST)

        else:
            raise AssertionError("Invalid machine type: {}".format(
                self.machine_type))

        return FASTDriver(config, self, number, platform_settings)

    def _parse_servo_number(self, number):
        try:
            board_str, servo_str = number.split("-")
        except ValueError:
            return self.convert_number_from_config(number)

        board = int(board_str)
        servo = int(servo_str)
        if board < 0:
            raise AssertionError("Board needs to be positive.")

        if servo < 0 or servo > 5:
            raise AssertionError("Servo number has to be between 0 and 5.")

        # every servo board supports exactly 6 servos
        return self.convert_number_from_config(board * 6 + servo)

    @asyncio.coroutine
    def configure_servo(self, number: str):
        """Configure a servo.

        Args:
            number: Number of servo

        Returns: Servo object.
        """
        number_int = self._parse_servo_number(str(number))

        return FastServo(number_int, self.net_connection)

    def _parse_switch_number(self, number):
        try:
            board_str, switch_str = number.split("-")
        except ValueError:
            total_switches = 0
            for board_obj in self.io_boards.values():
                total_switches += board_obj.switch_count
            index = self.convert_number_from_config(number)

            if int(index, 16) >= total_switches:
                raise AssertionError("Switch {} does not exist. Only {} switches found. Switch number: {}".format(
                    int(index, 16), total_switches, number))

            return index

        board = int(board_str)
        switch = int(switch_str)

        if board not in self.io_boards:
            raise AssertionError("Board {} does not exist for switch {}".format(board, number))

        if self.io_boards[board].switch_count <= switch:
            raise AssertionError("Board {} only has {} switches. Switch: {}".format(
                board, self.io_boards[board].switch_count, number))

        index = 0
        for board_number, board_obj in self.io_boards.items():
            if board_number >= board:
                continue
            index += board_obj.switch_count

        return Util.int_to_hex_string(index + switch)

    def configure_switch(self, number: str, config: SwitchConfig, platform_config: dict) -> FASTSwitch:
        """Configure the switch object for a FAST Pinball controller.

        FAST Controllers support two types of switches: `local` and `network`.
        Local switches are switches that are connected to the FAST controller
        board itself, and network switches are those connected to a FAST I/O
        board.

        MPF needs to know which type of switch is this is. You can specify the
        switch's connection type in the config file via the ``connection:``
        setting (either ``local`` or ``network``).

        If a connection type is not specified, this method will use some
        intelligence to try to figure out which default should be used.

        If the DriverBoard type is ``fast``, then it assumes the default is
        ``network``. If it's anything else (``wpc``, ``system11``, ``bally``,
        etc.) then it assumes the connection type is ``local``. Connection types
        can be mixed and matched in the same machine.

        Args:
            config: Switch config.

        Returns: Switch object.
        """
        if not number:
            raise AssertionError("Switch needs a number")

        if not self.net_connection:
            raise AssertionError("A request was made to configure a FAST "
                                 "switch, but no connection to a NET processor"
                                 "is available")

        if self.machine_type == 'wpc':  # translate switch num to FAST switch
            number = fast_defines.wpc_switch_map.get(
                str(number).upper())
            if 'connection' not in platform_config:
                platform_config['connection'] = 0  # local switch (default for WPC)
            else:
                platform_config['connection'] = 1  # network switch

        elif self.machine_type == 'fast':
            if 'connection' not in platform_config:
                platform_config['connection'] = 1  # network switch (default for FAST)
            else:
                platform_config['connection'] = 0  # local switch

            try:
                number = self._parse_switch_number(number)
            except ValueError:
                raise AssertionError("Could not parse switch number {}. Seems "
                                     "to be not a valid switch number for the"
                                     "FAST platform.".format(number))

        # convert the switch number into a tuple which is:
        # (switch number, connection)
        number_tuple = (number, platform_config['connection'])

        self.debug_log("FAST Switch hardware tuple: %s", number)

        switch = FASTSwitch(config=config, number_tuple=number_tuple,
                            platform=self, platform_settings=platform_config)

        return switch

    def configure_light(self, number, subtype, platform_settings) -> LightPlatformInterface:
        """Configure light in platform."""
        if not self.net_connection:
            raise AssertionError('A request was made to configure a FAST Light, '
                                 'but no connection to a NET processor is '
                                 'available')
        if subtype == "gi":
            return FASTGIString(number, self.net_connection.send, self.machine,
                                int(1 / self.machine.config['mpf']['default_light_hw_update_hz'] * 1000))
        elif subtype == "matrix":
            return FASTMatrixLight(number, self.net_connection.send, self.machine,
                                   int(1 / self.machine.config['mpf']['default_light_hw_update_hz'] * 1000), self)
        elif not subtype or subtype == "led":
            if not self.flag_led_tick_registered:
                # Update leds every frame
                self.machine.clock.schedule_interval(self.update_leds,
                                                     1 / self.machine.config['mpf']['default_light_hw_update_hz'])
                self.flag_led_tick_registered = True

            number_str, channel = number.split("-")
            if number_str not in self.fast_leds:
                self.fast_leds[number_str] = FASTDirectLED(
                    number_str, int(self.config['hardware_led_fade_time']))
            fast_led_channel = FASTDirectLEDChannel(self.fast_leds[number_str], channel)

            return fast_led_channel
        else:
            raise AssertionError("Unknown subtype {}".format(subtype))

    def parse_light_number_to_channels(self, number: str, subtype: str):
        """Parse light channels from number string."""
        if subtype == "gi":
            if self.machine_type == 'wpc':  # translate number to FAST GI number
                number = fast_defines.wpc_gi_map.get(str(number).upper())
            else:
                number = self.convert_number_from_config(number)

            return [
                {
                    "number": number
                }
            ]
        elif subtype == "matrix":
            if self.machine_type == 'wpc':  # translate number to FAST light num
                number = fast_defines.wpc_light_map.get(str(number).upper())
            else:
                number = self.convert_number_from_config(number)

            return [
                {
                    "number": number
                }
            ]
        elif not subtype or subtype == "led":
            # if the LED number is in <channel> - <led> format, convert it to a
            # FAST hardware number
            if '-' in str(number):
                num = str(number).split('-')
                number = Util.int_to_hex_string((int(num[0]) * 64) + int(num[1]))
            else:
                number = self.convert_number_from_config(number)
            return [
                {
                    "number": number + "-0"
                },
                {
                    "number": number + "-1"
                },
                {
                    "number": number + "-2"
                },
            ]
        else:
            raise AssertionError("Unknown subtype {}".format(subtype))

    def configure_dmd(self):
        """Configure a hardware DMD connected to a FAST controller."""
        if not self.dmd_connection:
            raise AssertionError("A request was made to configure a FAST DMD, "
                                 "but no connection to a DMD processor is "
                                 "available.")

        return FASTDMD(self.machine, self.dmd_connection.send)

    @classmethod
    def get_coil_config_section(cls):
        """Return coil config section."""
        return "fast_coils"

    @classmethod
    def get_switch_config_section(cls):
        """Return switch config section."""
        return "fast_switches"

    def _check_switch_coil_combincation(self, switch, coil):
        switch_number = int(switch.hw_switch.number[0], 16)
        coil_number = int(coil.hw_driver.number, 16)

        # first 8 switches always work
        if 0 <= switch_number <= 7:
            return

        switch_index = 0
        coil_index = 0
        for board_obj in self.io_boards.values():
            # if switch and coil are on the same board we are fine
            if switch_index <= switch_number < switch_index + board_obj.switch_count and \
                    coil_index <= coil_number < coil_index + board_obj.driver_count:
                return
            coil_index += board_obj.driver_count
            switch_index += board_obj.switch_count

        raise AssertionError("Driver {} and switch {} are on different boards. Cannot apply rule!".format(
            coil.hw_driver.number, switch.hw_switch.number))

    def set_pulse_on_hit_and_release_rule(self, enable_switch, coil):
        """Set pulse on hit and release rule to driver."""
        self.debug_log("Setting Pulse on hit and release HW Rule. Switch: %s,"
                       "Driver: %s", enable_switch.hw_switch.number,
                       coil.hw_driver.number)

        self._check_switch_coil_combincation(enable_switch, coil)

        driver = coil.hw_driver

        cmd = '{}{},{},{},18,{},{},00,{},00'.format(
            driver.get_config_cmd(),
            coil.hw_driver.number,
            driver.get_control_for_cmd(enable_switch),
            enable_switch.hw_switch.number[0],
            Util.int_to_hex_string(coil.pulse_settings.duration),
            driver.get_pwm_for_cmd(coil.pulse_settings.power),
            driver.get_recycle_ms_for_cmd(coil.recycle, coil.pulse_settings.duration))

        enable_switch.hw_switch.configure_debounce(enable_switch.debounce)
        driver.set_autofire(cmd, coil.pulse_settings.duration, coil.pulse_settings.power, 0)

    def set_pulse_on_hit_and_enable_and_release_and_disable_rule(self, enable_switch, disable_switch, coil):
        """Set pulse on hit and enable and release and disable rule on driver."""
        # Potential command from Dave:
        # Command
        # [DL/DN]:<DRIVER_ID>,<CONTROL>,<SWITCH_ID_ON>,<75>,<SWITCH_ID_OFF>,<Driver On Time1>,<Driver On Time2 X 100mS>,
        # <PWM2><Driver Rest Time><CR>#
        # SWITCH_ID_ON would be the flipper switch
        # SWITCH_ID_OFF would be the EOS switch.
        # So for the flipper, Driver On Time1 will = the maximum time the coil can be held on if the EOS fails.
        # Driver On Time2 X 100mS would not be used for a flipper, so set it to 0.
        # And PWM2 should be left on full 0xff unless you need less power for some reason.
        self.debug_log("Setting Pulse on hit and release with HW Rule. Switch:"
                       "%s, Driver: %s", enable_switch.hw_switch.number,
                       coil.hw_driver.number)

        # TODO: hold does not work here
        self._check_switch_coil_combincation(enable_switch, coil)
        self._check_switch_coil_combincation(disable_switch, coil)

        driver = coil.hw_driver

        cmd = '{}{},{},{},75,{},{},00,{},{}'.format(
            driver.get_config_cmd(),
            coil.hw_driver.number,
            driver.get_control_for_cmd(enable_switch, disable_switch),
            enable_switch.hw_switch.number[0],
            disable_switch.hw_switch.number[0],
            Util.int_to_hex_string(coil.pulse_settings.duration),
            driver.get_pwm_for_cmd(coil.pulse_settings.power),
            driver.get_recycle_ms_for_cmd(coil.recycle, coil.pulse_settings.duration))

        enable_switch.hw_switch.configure_debounce(enable_switch.debounce)
        disable_switch.hw_switch.configure_debounce(disable_switch.debounce)
        driver.set_autofire(cmd, coil.pulse_settings.duration, coil.pulse_settings.power, 0)

    def set_pulse_on_hit_rule(self, enable_switch: SwitchSettings, coil: DriverSettings):
        """Set pulse on hit rule on driver."""
        self.debug_log("Setting Pulse on hit and release HW Rule. Switch: %s,"
                       "Driver: %s", enable_switch.hw_switch.number,
                       coil.hw_driver.number)

        self._check_switch_coil_combincation(enable_switch, coil)

        driver = coil.hw_driver

        cmd = '{}{},{},{},10,{},{},00,00,{}'.format(
            driver.get_config_cmd(),
            coil.hw_driver.number,
            driver.get_control_for_cmd(enable_switch),
            enable_switch.hw_switch.number[0],
            Util.int_to_hex_string(coil.pulse_settings.duration),
            driver.get_pwm_for_cmd(coil.pulse_settings.power),
            driver.get_recycle_ms_for_cmd(coil.recycle, coil.pulse_settings.duration))

        enable_switch.hw_switch.configure_debounce(enable_switch.debounce)
        driver.set_autofire(cmd, coil.pulse_settings.duration, coil.pulse_settings.power, 0)

    def set_pulse_on_hit_and_enable_and_release_rule(self, enable_switch: SwitchSettings, coil: DriverSettings):
        """Set pulse on hit and enable and relase rule on driver."""
        self.debug_log("Setting Pulse on hit and enable and release HW Rule. "
                       "Switch: %s, Driver: %s",
                       enable_switch.hw_switch.number, coil.hw_driver.number)

        self._check_switch_coil_combincation(enable_switch, coil)

        driver = coil.hw_driver

        cmd = '{}{},{},{},18,{},{},{},{},00'.format(
            driver.get_config_cmd(),
            driver.number,
            driver.get_control_for_cmd(enable_switch),
            enable_switch.hw_switch.number[0],
            Util.int_to_hex_string(coil.pulse_settings.duration),
            driver.get_pwm_for_cmd(coil.pulse_settings.power),
            driver.get_pwm_for_cmd(coil.hold_settings.power),
            driver.get_recycle_ms_for_cmd(coil.recycle, coil.pulse_settings.duration))

        enable_switch.hw_switch.configure_debounce(enable_switch.debounce)
        driver.set_autofire(cmd, coil.pulse_settings.duration, coil.pulse_settings.power, coil.hold_settings.power)

    def clear_hw_rule(self, switch, coil):
        """Clear a hardware rule.

        This is used if you want to remove the linkage between a switch and
        some driver activity. For example, if you wanted to disable your
        flippers (so that a player pushing the flipper buttons wouldn't cause
        the flippers to flip), you'd call this method with your flipper button
        as the *sw_num*.

        Args:
            switch: The switch whose rule you want to clear.
            coil: The coil whose rule you want to clear.

        """
        self.debug_log("Clearing HW Rule for switch: %s, coils: %s",
                       switch.hw_switch.number, coil.hw_driver.number)

        # TODO: check that the rule is switch + coil and not another switch + this coil

        driver = coil.hw_driver

        driver.clear_autofire(driver.get_config_cmd(), driver.number)

    def receive_bootloader(self, msg, remote_processor):
        """Process bootloader message."""
        self.debug_log("Got Bootloader message: %s from", msg, remote_processor)
        if msg in ('00', '02'):
            self.error_log("The FAST %s processor rebooted. Unfortunately, that means that it lost all it's state "
                           "(such as hardware rules or switch configs). This is likely cause by an unstable power "
                           "supply but it might as well be a firmware bug. MPF will exit now.", remote_processor)
            self.machine.stop("FAST {} rebooted during game".format(remote_processor))