Fixed wrong doc

Also introduced graceful error handling when trying to access
interactive mode on Windows.

.gitignore

@@ -0,0 +1,4 @@
+O.*
+.cvsignore
+.vscode
+utils/__pycache__

README.md

@@ -17,15 +17,38 @@ The folder "utils" contains utility scripts for working with masterMacs motor co
 - decodeError.py: Take the return message of a R11 (read error) command and print it in human-readable form.
 - writeRead.py: Send messages to the controller and receive answers.
 
-## Developer guide
+These scripts can be run from anywhere. On Linux, the shebang (#!) automatically
+calls the system Python 3 executable:
+
+```bash
+# To show the help, use either flag -h or --help (works on all scripts)
+/path/to/mastermacs_repo/utils/decodeStatus.py -h 
+/path/to/mastermacs_repo/utils/decodeError.py --help
+/path/to/mastermacs_repo/utils/writeRead.py -h
+
+# To run in non-interactive mode, give the value as an argument
+/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+/path/to/mastermacs_repo/utils/decodeError.py 5678
+/path/to/mastermacs_repo/utils/writeRead.py "R11"
+
+# To run in interactive mode, don't give any argument. This only works on Linux
+/path/to/mastermacs_repo/utils/decodeStatus.py
+/path/to/mastermacs_repo/utils/decodeError.py
+/path/to/mastermacs_repo/utils/writeRead.py
+```
+
+To use these scripts on Windows, prefix the Python 3 executable:
+```bash
+C:/path/to/python3.exe C:/path/to/mastermacs_repo/utils/decodeStatus.py 1234
+```
 
 ### Usage in IOC shell
 
-masterMacs exposes the following IOC shell functions (all in masterMacsController.cpp):
+masterMacs exposes the following IOC shell functions:
 - `masterMacsController`: Create a new controller object.
 - `masterMacsAxis`: Create a new axis object.
 
-The full mcu.cmd file looks like this:
+The full masterMacsX.cmd file looks like this:
 
 ```
 # Define the name of the controller and the corresponding port
@@ -62,6 +85,8 @@ dbLoadTemplate("$(TOP)/$(NAME).substitutions", "INSTR=$(INSTR)$(NAME):,CONTROLLE
 dbLoadRecords("$(masterMacs_DB)/asynRecord.db","P=$(INSTR)$(NAME),PORT=$(ASYN_PORT)")
 ```
 
+## Developer guide
+
 ### Versioning
 
 Please see the documentation for the module sinqMotor: https://git.psi.ch/sinq-epics-modules/sinqmotor/-/blob/main/README.md.

src/masterMacsAxis.cpp

@@ -916,7 +916,7 @@ asynStatus masterMacsAxis::readEncoderType() {
 
     /*
     Defined encoder IDs:
-    0=INC (Incremental)
+    0=INC (Incremental or no encoder)
     1=SSI (Absolute encoder with SSI interface)
     2=SSI (Absolute encoder with BiSS interface)
      */

src/masterMacsAxis.h

@@ -148,163 +148,191 @@ class HIDDEN masterMacsAxis : public sinqAxis {
 
     /**
      * @brief Read the Master MACS status with the xR10 command and store
-     * the result in axisStatus_
+     * the result in axisStatus (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisStatus();
 
     /*
-    The functions below read the specified status bit from the axisStatus
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
-    boolean.
+    The functions below read the specified status bit from the axisStatus (see
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool readyToBeSwitchedOn();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchedOn();
 
     // Bit 2 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool faultConditionSet();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool voltagePresent();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool quickStopping();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool switchOnDisabled();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool warning();
 
     // Bit 8 is unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool remoteMode();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool targetReached();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool internalLimitActive();
 
     // Bits 12 and 13 are unused
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool setEventHasOcurred();
 
     /**
-     * @brief Read the property from axisStatus_
+     * @brief Read the property from axisStatus (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool powerEnabled();
 
     /**
-     * @brief Read the Master MACS status with the xR10 command and store
-     * the result in axisStatus_
+     * @brief Read the Master MACS error with the xR10 command and store
+     * the result in axisError (see masterMacsAxisImpl redefinition in
+     * masterMacsAxis.cpp)
      *
      */
     asynStatus readAxisError();
 
     /*
-    The functions below read the specified error bit from the axisError_
-    bitset. Since a bit can either be 0 or 1, the return value is given as a
-    boolean.
+    The functions below read the specified error bit from the axisError (see
+    masterMacsAxisImpl redefinition in masterMacsAxis.cpp) bitset. Since a bit
+    can either be 0 or 1, the return value is given as a boolean.
     */
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool shortCircuit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool encoderError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool followingError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool communicationError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool feedbackError();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeLimitSwitch();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool positiveSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool negativeSoftwareLimit();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overCurrent();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overTemperature();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool overVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool underVoltage();
 
     /**
-     * @brief Read the property from axisError_
+     * @brief Read the property from axisError (see masterMacsAxisImpl
+     * redefinition in masterMacsAxis.cpp)
      */
     bool stoFault();
 

utils/decodeError.py

@@ -9,73 +9,82 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, January 2025
 """
 
+import platform
+
 from decodeCommon import interactive, decode, print_decoded
 
 # List of tuples which encodes the states given in the file description.
 # Index first with the bit index, then with the bit value
 interpretation = [
-    ("Not specified", "Not specified"), # Bit 0
-    ("Ok", "Short circuit"), # Bit 1
-    ("Ok", "Encoder error"), # Bit 2
-    ("Ok", "Following error"), # Bit 3
-    ("Ok", "Communication error"), # Bit 4
-    ("Ok", "Feedback error"), # Bit 5
-    ("Ok", "Positive limit switch hit"), # Bit 6
-    ("Ok", "Negative limit switch hit"), # Bit 7
-    ("Ok", "Positive software limit hit"), # Bit 8
-    ("Ok", "Negative software limit hit"), # Bit 9
-    ("Ok", "Over-current"), # Bit 10
-    ("Ok", "Over-temperature drive"), # Bit 11
-    ("Ok", "Over-voltage"), # Bit 12
-    ("Ok", "Under-voltage"), # Bit 13
-    ("Not specified", "Not specified"), # Bit 14
-    ("Ok", "STO fault (STO input is on disable state)"), # Bit 15
+    ("Not specified", "Not specified"),  # Bit 0
+    ("Ok", "Short circuit"),  # Bit 1
+    ("Ok", "Encoder error"),  # Bit 2
+    ("Ok", "Following error"),  # Bit 3
+    ("Ok", "Communication error"),  # Bit 4
+    ("Ok", "Feedback error"),  # Bit 5
+    ("Ok", "Positive limit switch hit"),  # Bit 6
+    ("Ok", "Negative limit switch hit"),  # Bit 7
+    ("Ok", "Positive software limit hit"),  # Bit 8
+    ("Ok", "Negative software limit hit"),  # Bit 9
+    ("Ok", "Over-current"),  # Bit 10
+    ("Ok", "Over-temperature drive"),  # Bit 11
+    ("Ok", "Over-voltage"),  # Bit 12
+    ("Ok", "Under-voltage"),  # Bit 13
+    ("Not specified", "Not specified"),  # Bit 14
+    ("Ok", "STO fault (STO input is on disable state)"),  # Bit 15
 ]
 
+help = """
+Decode R11 message of MasterMACs
+------------------
+    
+MasterMACs returns its error message (R11) as a floating-point number.
+The bits of this float encode different states. These states are stored 
+in the interpretation variable.
+
+This script can be used in two different ways:
+    
+Option 1: Single Command
+------------------------
+
+Usage: decodeError.py value
+    
+'value' is the return value of a R11 command. This value is interpreted
+bit-wise and the result is printed out.
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: decodeError.py
+
+ONLY AVAILABLE ON LINUX!
+
+A prompt will be opened. Type in the return value of a R11 command, hit
+enter and the interpretation will be printed in the prompt. After that,
+the next value can be typed in. Type 'quit' to close the prompt.
+"""
+
 if __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
-            Decode R11 message of MasterMACs
-            ------------------
-                
-            MasterMACs returns its error message (R11) as a floating-point number.
-            The bits of this float encode different states. These states are stored 
-            in the interpretation variable.
-            
-            This script can be used in two different ways:
-                
-            Option 1: Single Command
-            ------------------------
-
-            Usage: decodeError.py value
-                
-            'value' is the return value of a R11 command. This value is interpreted
-            bit-wise and the result is printed out.
-
-            Option 2: CLI Mode
-            ------------------       
-
-            Usage: decodeError.py
-            
-            A prompt will be opened. Type in the return value of a R11 command, hit
-            enter and the interpretation will be printed in the prompt. After that,
-            the next value can be typed in. Type 'quit' to close the prompt.
-            """)
-
-        
+            print(help)
         if number is not None:
             print("Motor error")
-            print("============")
+            print("===========")
             (bit_list, interpreted) = decode(number, interpretation)
             print_decoded(bit_list, interpreted)

utils/decodeStatus.py

@@ -9,71 +9,81 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, December 2024
 """
 
+import platform
+
 from decodeCommon import interactive, decode, print_decoded
 
 # List of tuples which encodes the states given in the file description.
 # Index first with the bit index, then with the bit value
 interpretation = [
-    ("Not ready to be switched on", "Ready to be switched on"), # Bit 0
-    ("Not switched on", "Switched on"), # Bit 1
-    ("Disabled", "Enabled"), # Bit 2
-    ("Ok", "Fault condition set"), # Bit 3
-    ("Motor supply voltage absent ", "Motor supply voltage present"), # Bit 4
-    ("Motor performs quick stop", "Ok"), # Bit 5
-    ("Switch on enabled", "Switch on disabled"), # Bit 6
-    ("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"), # Bit 7
-    ("Not specified", "Not specified"), # Bit 8
-    ("Motor does not execute command messages (local mode)", "Motor does execute command messages (remote mode)"), # Bit 9
-    ("Target not reached", "Target reached"), # Bit 10
-    ("Ok", "Internal limit active (current, voltage, velocity or position)"), # Bit 11
-    ("Not specified", "Not specified"), # Bit 12
-    ("Not specified", "Not specified"), # Bit 13
-    ("Not specified", "Not specified"), # Bit 14
-    ("Not specified", "Not specified"), # Bit 15
+    ("Not ready to be switched on", "Ready to be switched on"),  # Bit 0
+    ("Not switched on", "Switched on"),  # Bit 1
+    ("Disabled", "Enabled"),  # Bit 2
+    ("Ok", "Fault condition set"),  # Bit 3
+    ("Motor supply voltage absent ", "Motor supply voltage present"),  # Bit 4
+    ("Motor performs quick stop", "Ok"),  # Bit 5
+    ("Switch on enabled", "Switch on disabled"),  # Bit 6
+    ("Ok", "Warning: Movement function was called while motor is still moving. The function call is ignored"),  # Bit 7
+    ("Not specified", "Not specified"),  # Bit 8
+    ("Motor does not execute command messages (local mode)",
+     "Motor does execute command messages (remote mode)"),  # Bit 9
+    ("Target not reached", "Target reached"),  # Bit 10
+    ("Ok", "Internal limit active (current, voltage, velocity or position)"),  # Bit 11
+    ("Not specified", "Not specified"),  # Bit 12
+    ("Not specified", "Not specified"),  # Bit 13
+    ("Not specified", "Not specified"),  # Bit 14
+    ("Not specified", "Not specified"),  # Bit 15
 ]
 
+help = """
+Decode R10 message of MasterMACs
+------------------
+    
+MasterMACs returns its status message (R10) as a floating-point number.
+The bits of this float encode different states. These states are stored 
+in the interpretation variable.
+
+This script can be used in two different ways:
+    
+Option 1: Single Command
+------------------------
+
+Usage: decodeStatus.py value
+    
+'value' is the return value of a R10 command. This value is interpreted
+bit-wise and the result is printed out.
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: decodeStatus.py
+
+ONLY AVAILABLE ON LINUX!
+
+A prompt will be opened. Type in the return value of a R10 command, hit
+enter and the interpretation will be printed in the prompt. After that,
+the next value can be typed in. Type 'quit' to close the prompt.
+"""
+
 if __name__ == "__main__":
     from sys import argv
 
+    if "-h" or "--help" in argv:
+        print(help)
+
     if len(argv) == 1:
         # Start interactive mode
-        interactive()
+        if platform.system() == "Linux":
+            interactive()
+        else:
+            print(help)
     else:
 
         number = None
         try:
             number = int(float(argv[1]))
-
         except:
-            print("""
-            Decode R10 message of MasterMACs
-            ------------------
-                
-            MasterMACs returns its status message (R10) as a floating-point number.
-            The bits of this float encode different states. These states are stored 
-            in the interpretation variable.
-            
-            This script can be used in two different ways:
-                
-            Option 1: Single Command
-            ------------------------
-
-            Usage: decodeStatus.py value
-                
-            'value' is the return value of a R10 command. This value is interpreted
-            bit-wise and the result is printed out.
-
-            Option 2: CLI Mode
-            ------------------       
-
-            Usage: decodeStatus.py
-            
-            A prompt will be opened. Type in the return value of a R10 command, hit
-            enter and the interpretation will be printed in the prompt. After that,
-            the next value can be typed in. Type 'quit' to close the prompt.
-            """)
-
-        
+            print(help)
         if number is not None:
             print("Motor status")
             print("============")

utils/writeRead.py

@@ -6,51 +6,72 @@ To read the manual, simply run this script without any arguments.
 Stefan Mathis, April 2025
 """
 
+import platform
+
 import struct
 import socket
-import curses
+
+help = """
+Send commands to and receive replies from MasterMACS controllers
+
+Option 1: Single Command
+------------------------
+
+Usage: writeRead.py pmachost:port command
+This then returns the response for command. 
+
+Option 2: CLI Mode (Linux-only)
+-------------------------------
+
+Usage: writeRead.py pmachost:port
+
+ONLY AVAILABLE ON LINUX!
+
+You can then type in a command, hit enter, and the response will see
+the reponse, before being prompted to again enter a command. Type
+'quit' to close prompt.
+"""
+
 
 def packMasterMacsCommand(command):
-    # 0x0D = Carriage return 
-    buf = struct.pack('B',0x0D)
-    buf = bytes(command,'utf-8') + buf
-    return bytes(command,'utf-8')
+    # 0x0D = Carriage return
+    buf = struct.pack('B', 0x0D)
+    buf = bytes(command, 'utf-8') + buf
+    return bytes(command, 'utf-8')
+
 
 def readMasterMacsReply(input):
     msg = bytearray()
     expectAck = True
     while True:
         b = input.recv(1)
-        bint = int.from_bytes(b,byteorder='little')
-        if bint == 2 or bint == 7: #STX or BELL
+        bint = int.from_bytes(b, byteorder='little')
+        if bint == 2 or bint == 7:  # STX or BELL
             expectAck = False
             continue
-        if expectAck and bint == 6: # ACK
+        if expectAck and bint == 6:  # ACK
             return bytes(msg)
         else:
-            if bint == 13 and not expectAck: # CR
+            if bint == 13 and not expectAck:  # CR
                 return bytes(msg)
             else:
                 msg.append(bint)
 
+
 if __name__ == "__main__":
     from sys import argv
 
-    try:
-
+    if "-h" or "--help" in argv:
+        print(help)
+    else:
         addr = argv[1].split(':')
-        s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
-        s.connect((addr[0],int(addr[1])))
+        s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        s.connect((addr[0], int(addr[1])))
 
-        if len(argv) == 3:
-            buf = packMasterMacsCommand(argv[2])
-            s.send(buf)
-            reply = readMasterMacsReply(s)
-            print(reply.decode('utf-8') + '\n')
+        if len(argv) == 2:
 
-        else:
-
-            try:
+            if platform.system() == "Linux":
+                import curses
 
                 stdscr = curses.initscr()
                 curses.noecho()
@@ -80,13 +101,13 @@ if __name__ == "__main__":
                         if ptr > 0:
                             ptr -= 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_DOWN:
                         if ptr < len(history) - 1:
                             ptr += 1
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                     elif c == curses.KEY_ENTER or c == ord('\n') or c == ord('\r'):
                         if history[ptr] == 'quit':
@@ -112,7 +133,7 @@ if __name__ == "__main__":
                         stdscr.refresh()
 
                     else:
-                        if ptr < len(history) - 1: # Modifying previous input
+                        if ptr < len(history) - 1:  # Modifying previous input
                             if len(history[-1]) == 0:
                                 history[-1] = history[ptr]
                                 ptr = len(history) - 1
@@ -125,47 +146,34 @@ if __name__ == "__main__":
                             if len(history[ptr]) == 0:
                                 continue
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-4] + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-4] + \
+                                history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x-1)
                             stdscr.refresh()
 
                         else:
                             (y, x) = stdscr.getyx()
-                            history[ptr] = history[ptr][0:x-3] + chr(c) + history[ptr][x-3:]
+                            history[ptr] = history[ptr][0:x-3] + \
+                                chr(c) + history[ptr][x-3:]
                             stdscr.addch("\r")
-                            stdscr.clrtoeol() 
+                            stdscr.clrtoeol()
                             stdscr.addstr(">> " + history[ptr])
                             stdscr.move(y, x+1)
                             stdscr.refresh()
-
-            finally:
-
-                # to quit
-                curses.nocbreak()
-                stdscr.keypad(False)
-                curses.echo()
-                curses.endwin()
-
-    except:
-        print("""
-        Invalid Arguments
-
-        Option 1: Single Command
-        ------------------------
-
-        Usage: writeRead.py pmachost:port command
-        This then returns the response for command. 
-
-        Option 2: CLI Mode
-        ------------------
-
-        Usage: writeRead.py pmachost:port
-
-        You can then type in a command, hit enter, and the response will see
-        the reponse, before being prompted to again enter a command. Type
-        'quit' to close prompt.
-        """)
-
+                    # to quit
+                    curses.nocbreak()
+                    stdscr.keypad(False)
+                    curses.echo()
+                    curses.endwin()
+            else:
+                print(help)
+        elif len(argv) == 3:
+            buf = packMasterMacsCommand(argv[2])
+            s.send(buf)
+            reply = readMasterMacsReply(s)
+            print(reply.decode('utf-8') + '\n')
+        else:
+            print(help)