Changeset 18796 for branches/FACT++_lidctrl_new_eth/src

Timestamp:

03/30/17 13:06:59 (8 years ago)

Author:

(none)

Message:

lidctrl for 2017 version of lid-arduino firmware

Location:

branches/FACT++_lidctrl_new_eth/src

Files:

• HeadersLid.h (modified) (1 diff)
• json.hpp (added)
• lidctrl.cc (modified) (15 diffs)

branches/FACT++_lidctrl_new_eth/src/HeadersLid.h

@@ -4 +4 @@
 namespace Lid
 {
+    enum motor_stop_reason_t{
+        M_NO_REASON,
+        M_OVERCURRENT,
+        M_ZEROCURRENT,
+        M_TIMEOUT,
+        M_POSITION_REACHED,
+        M_USER_INTERUPT,
+    };
+
+    struct MotorReport
+    {
+        int8_t motor_id;
+        int32_t duration_in_ms;
+        motor_stop_reason_t stop_reason;
+        std::vector<int> current;
+        std::vector<int> position;
+    };
+
+    void to_json(nlohmann::json& j, const MotorReport& r) {
+        j = nlohmann::json{
+            {"motor_id", r.motor_id},
+            {"duration[ms]", r.duration_in_ms},
+            {"motor_stop_reason", {
+                {"motor_stop_id", r.stop_reason}
+            }},
+            {"current", r.current},
+            {"position", r.position}
+        };
+    }
+
+    void from_json(const nlohmann::json& j, MotorReport& r) {
+        r.motor_id = j.at("motor_id");
+        r.duration_in_ms = j.at("duration[ms]");
+        r.stop_reason = j.at("motor_stop_reason").at("motor_stop_id");
+        r.current = j.at("current").get<std::vector<int> >();
+        r.position = j.at("position").get<std::vector<int> >();
+    }
+
+    struct DimMotorReport
+    {
+        int32_t motor_id;
+        int32_t duration_in_ms;
+        int32_t stop_reason;
+        int32_t current[100];
+        int32_t position[100];
+
+        DimMotorReport(const MotorReport& mr){
+            motor_id = mr.motor_id;
+            duration_in_ms = mr.duration_in_ms;
+            stop_reason = mr.stop_reason;
+            // init with -1
+            for (size_t i=0; i<100; i++){
+                current[i] = -1;
+                position[i] = -1;
+            }
+            for (size_t i=0; i<mr.current.size(); i++){
+                current[i] = mr.current[i];
+            }
+            for (size_t i=0; i<mr.position.size(); i++){
+                position[i] = mr.position[i];
+            }
+        }
+    }__attribute__((__packed__));
+
     namespace State
     {
         enum states_t
         {
-            kDisconnected = 1,
-            kConnected,
-            kUnidentified,
-            kInconsistent,
+            kClosed,
+            kClosing,
+            kFailClose,
+            kOpen,
+            kOpening,
+            kFailOpen,
             kUnknown,
-            kPowerProblem,
-            kOvercurrent,
-            kClosed,
-            kOpen,
-            kMoving,
-            kLocked
+            kDisconnected,
+            kConnected
         };
-    };
-};
+    }
+}
+
 #endif

branches/FACT++_lidctrl_new_eth/src/lidctrl.cc

@@ -18 +18 @@
 
 #include "tools.h"
-
+#include "json.hpp"
+using json = nlohmann::json;
 #include "HeadersLid.h"
 
@@ -29 +30 @@
 class ConnectionLid : public Connection
 {
-protected:
-
-    struct Lid
-    {
-        int id;
-
-        float position;
-        float current;
-        string status;
-
-        Lid(int i) : id(i) { }
-
-        bool Set(const QDomNamedNodeMap &map)
-        {
-            if (!map.contains("id") || !map.contains("value"))
-                return false;
-
-            QString item  = map.namedItem("id").nodeValue();
-            QString value = map.namedItem("value").nodeValue();
-
-            const char c = '0'+id;
-
-            if (item==(QString("cur")+c))
-            {
-                current = value.toFloat();
-                return true;
-            }
-
-            if (item==(QString("pos")+c))
-            {
-                position = value.toFloat();
-                return true;
-            }
-
-            if (item==(QString("lid")+c))
-            {
-                status = value.toStdString();
-                return true;
-            }
-
-            return false;
-        }
-
-        void Print(ostream &out)
-        {
-            out << "Lid" << id << " @ " << position << " / " << current << "A [" << status << "]" << endl;
-        }
-
-    };
-
 private:
     uint16_t fInterval;
-
     bool fIsVerbose;
-
-    string fSite;
-    string fRdfData;
-
-    boost::array<char, 4096> fArray;
-
-    string fNextCommand;
-
+    boost::asio::streambuf fBuffer;
     Time fLastReport;
 
-    Lid fLid1;
-    Lid fLid2;
-
-    virtual void Update(const Lid &, const Lid &)
-    {
-    }
-
-
-    void ProcessAnswer()
-    {
-        if (fIsVerbose)
-        {
-            Out() << "------------------------------------------------------" << endl;
-            Out() << fRdfData << endl;
-            Out() << "------------------------------------------------------" << endl;
-        }
-
-        fRdfData.insert(0, "<?xml version=\"1.0\"?>\n");
-
-        QDomDocument doc;
-        if (!doc.setContent(QString(fRdfData.c_str()), false))
-        {
-            Warn("Parsing of html failed.");
-            return;
-        }
-
-        if (fIsVerbose)
-        {
-            Out() << "Parsed:\n-------\n" << doc.toString().toStdString() << endl;
-            Out() << "------------------------------------------------------" << endl;
-        }
-
-        const QDomNodeList imageElems = doc.elementsByTagName("span"); // "input"
-
-        /*
-        // elementById
-        for (unsigned int i=0; i<imageElems.length(); i++)
-        {
-            QDomElement e = imageElems.item(i).toElement();
-            Out() << "<" << e.tagName().toStdString() << " ";
-
-            QDomNamedNodeMap att = e.attributes();
-
-            for (int j=0; j<att.size(); j++)
-            {
-                Out() << att.item(j).nodeName().toStdString() << "=";
-                Out() << att.item(j).nodeValue().toStdString() << " ";
-            }
-            Out() << "> " << e.text().toStdString() << endl;
-        }*/
-
-        for (unsigned int i=0; i<imageElems.length(); i++)
-        {
-            const QDomElement e = imageElems.item(i).toElement();
-
-            const QDomNamedNodeMap att = e.attributes();
-
-            fLid1.Set(att);
-            fLid2.Set(att);
-        }
-
-        if (fIsVerbose)
-        {
-            fLid1.Print(Out());
-            fLid2.Print(Out());
-            Out() << "------------------------------------------------------" << endl;
-        }
-
-        Update(fLid1, fLid2);
-
-        fRdfData = "";
-
-        if ((fLid1.status!="Open" && fLid1.status!="Closed" && fLid1.status!="Power Problem" && fLid1.status!="Unknown" && fLid1.status!="Overcurrent") ||
-            (fLid2.status!="Open" && fLid2.status!="Closed" && fLid2.status!="Power Problem" && fLid2.status!="Unknown" && fLid1.status!="Overcurrent"))
-            Warn("Lid reported status unknown by lidctrl ("+fLid1.status+"/"+fLid2.status+")");
-
-        fLastReport = Time();
-    }
+    Lid::State::states_t fArduinoState;
+
+    virtual void UpdateControllerState(){}
+    virtual void UpdateMotorReport(Lid::MotorReport& report){}
 
     void HandleRead(const boost::system::error_code& err, size_t bytes_received)
@@ -179 +48 @@
             if (err==ba::error::eof)
             {
-                //Warn("Connection closed by remote host.");
-                ProcessAnswer();
-                PostClose(false);
+                Warn("Connection closed by remote host.");
+                PostClose(true);
                 return;
             }
@@ -197 +65 @@
             PostClose(err!=ba::error::basic_errors::operation_aborted);
 
-            fRdfData = "";
             return;
         }
 
-        fRdfData += string(fArray.data(), bytes_received);
-
-        //cout << "." << flush;
-
-        // Does the message contain a header?
-        const size_t p1 = fRdfData.find("\r\n\r\n");
-        if (p1!=string::npos)
-        {
-            // Does the answer also contain the body?
-            const size_t p2 = fRdfData.find("\r\n\r\n", p1+4);
-            if (p2!=string::npos)
-            {
-                ProcessAnswer();
-            }
-        }
-
-        // Go on reading until the web-server closes the connection
+        std::string fRdfData((std::istreambuf_iterator<char>(&fBuffer)),
+               std::istreambuf_iterator<char>());
+
+        json j;
+        try
+        {
+            j = json::parse(fRdfData);
+            if (fIsVerbose) Out() << j << endl;
+        }
+        catch(std::invalid_argument)
+        {
+            if (fIsVerbose) Out() << "invalid JSON found" << endl;
+            if (fIsVerbose) Out() << fRdfData << endl;
+            j = json::parse("{}");
+        }
+
+        try
+        {
+            fArduinoState = static_cast<Lid::State::states_t>(
+                j["state"]["state_id"].get<int>()
+            );
+            UpdateControllerState();
+        }
+        catch(std::domain_error){
+            if (fIsVerbose) Out() << "j is not ControllerState:" << j << endl;
+        }
+
+        try
+        {
+            Lid::MotorReport motor_report = j;
+            UpdateMotorReport(motor_report);
+        }
+        catch(std::domain_error){
+            if (fIsVerbose) Out() << "j is not MotorReport:" << j << endl;
+        }
+
+        //Update();
+        fLastReport = Time();
         StartReadReport();
     }
 
-    boost::asio::streambuf fBuffer;
-
     void StartReadReport()
     {
-        async_read_some(ba::buffer(fArray),
-                        boost::bind(&ConnectionLid::HandleRead, this,
-                                    dummy::error, dummy::bytes_transferred));
-    }
-
-    boost::asio::deadline_timer fKeepAlive;
-
-    void PostRequest(string cmd, const string &args="")
-    {
-        cmd += " "+fSite+" HTTP/1.1\r\n"
-            //"Connection: Keep-Alive\r\n"
-            ;
-
-        ostringstream msg;
-        msg << args.length();
-
-        cmd += "Content-Length: ";
-        cmd += msg.str();
-        cmd +="\r\n";
-
-        if (args.length()>0)
-            cmd += "\r\n"+args + "\r\n";
-
-        cmd += "\r\n";
-
-        //cout << "Post: " << cmd << endl;
-        PostMessage(cmd);
-    }
-
-    void HandleRequest(const bs::error_code &error)
-    {
-        // 125: Operation canceled (bs::error_code(125, bs::system_category))
-        if (error && error!=ba::error::basic_errors::operation_aborted)
-        {
-            ostringstream str;
-            str << "Write timeout of " << URL() << ": " << error.message() << " (" << error << ")";// << endl;
-            Error(str);
-
-            PostClose(false);
-            return;
-        }
-
-        if (!is_open())
-        {
-            // For example: Here we could schedule a new accept if we
-            // would not want to allow two connections at the same time.
-            PostClose(true);
-            return;
-        }
-
-        // Check whether the deadline has passed. We compare the deadline
-        // against the current time since a new asynchronous operation
-        // may have moved the deadline before this actor had a chance
-        // to run.
-        if (fKeepAlive.expires_at() > ba::deadline_timer::traits_type::now())
-            return;
-
-        Request();
-    }
-
-
-private:
+        ba::async_read_until(
+            *this,
+            fBuffer,
+            '\n',
+            boost::bind(
+                &ConnectionLid::HandleRead,
+                this,
+                dummy::error,
+                dummy::bytes_transferred
+            )
+        );
+    }
+
     // This is called when a connection was established
     void ConnectionEstablished()
     {
-        Request();
         StartReadReport();
-    }
-
-    void ConnectionFailed()
-    {
-        StartConnect();
+        PostMessage("s", 1);
     }
 
 public:
-    static const uint16_t kMaxAddr;
-
-public:
-    ConnectionLid(ba::io_service& ioservice, MessageImp &imp) : Connection(ioservice, imp()),
-        fIsVerbose(true), fLastReport(Time::none),
-        fLid1(1), fLid2(2), fKeepAlive(ioservice)
+    ConnectionLid(ba::io_service& ioservice, MessageImp &imp) :
+        Connection(ioservice, imp()),
+        fIsVerbose(true),
+        fLastReport(Time::none),
+        fArduinoState(Lid::State::states_t::kUnknown)
     {
         SetLogStream(&imp);
@@ -321 +152 @@
     }
 
-    void SetSite(const string &site)
-    {
-        fSite = site;
-    }
-
-    void Post(const string &post)
-    {
-        fNextCommand = post;
-
-        fLid1.status = "";
-        fLid2.status = "";
-        //PostRequest("POST", post);
-    }
-
-    void Request()
-    {
-        PostRequest("POST", fNextCommand);
-        fNextCommand = "";
-
-        fKeepAlive.expires_from_now(boost::posix_time::seconds(fInterval));
-        fKeepAlive.async_wait(boost::bind(&ConnectionLid::HandleRequest,
-                                          this, dummy::error));
-    }
-
     int GetInterval() const
     {
@@ -350 +157 @@
     }
 
-    int GetState() const
-    {
-        using namespace Lid;
-
-        // Timeout
-        if (fLastReport.IsValid() && fLastReport+boost::posix_time::seconds(fInterval*2)<Time())
-            return State::kDisconnected;
-
-        // Unidentified state detected
-        if ((!fLid1.status.empty() && fLid1.status!="Open" && fLid1.status!="Closed" && fLid1.status!="Power Problem" && fLid1.status!="Unknown" && fLid1.status!="Overcurrent") ||
-            (!fLid2.status.empty() && fLid2.status!="Open" && fLid2.status!="Closed" && fLid2.status!="Power Problem" && fLid2.status!="Unknown" && fLid2.status!="Overcurrent"))
-            return State::kUnidentified;
-
-        // This is an assumption, but the best we have...
-        if (fLid1.status=="Closed" && fLid2.status=="Power Problem")
-            return State::kClosed;
-        if (fLid2.status=="Closed" && fLid1.status=="Power Problem")
-            return State::kClosed;
-        if (fLid1.status=="Open" && fLid2.status=="Power Problem")
-            return State::kOpen;
-        if (fLid2.status=="Open" && fLid1.status=="Power Problem")
-            return State::kOpen;
-
-        // Inconsistency
-        if (fLid1.status!=fLid2.status)
-            return State::kInconsistent;
-
-        // Unknown
-        if (fLid1.status=="Unknown")
-            return State::kUnknown;
-
-        // Power Problem
-        if (fLid1.status=="Power Problem")
-            return State::kPowerProblem;
-
-        // Overcurrent
-        if (fLid1.status=="Overcurrent")
-            return State::kOvercurrent;
-
-        // Closed
-        if (fLid1.status=="Closed")
-            return State::kClosed;
-
-        // Open
-        if (fLid1.status=="Open")
-            return State::kOpen;
-
-        return State::kConnected;
+    Lid::State::states_t GetState()
+    {
+        return fArduinoState;
     }
 };
 
-const uint16_t ConnectionLid::kMaxAddr = 0xfff;
-
 // ------------------------------------------------------------------------
 
 #include "DimDescriptionService.h"
 
-class ConnectionDimWeather : public ConnectionLid
+class ConnectionDimLid : public ConnectionLid
 {
 private:
-    DimDescribedService fDim;
+    DimDescribedService fDimControllerState;
+    DimDescribedService fDimMotorReport;
 
 public:
-    ConnectionDimWeather(ba::io_service& ioservice, MessageImp &imp) :
+    ConnectionDimLid(ba::io_service& ioservice, MessageImp &imp) :
         ConnectionLid(ioservice, imp),
-        fDim("LID_CONTROL/DATA", "S:2;F:2;F:2",
-             "|status[bool]:Lid1/2 open or closed"
-             "|I[A]:Lid1/2 current"
-             "|P[dac]:Lid1/2 hall sensor position in averaged dac counts")
-    {
-    }
-
-    void Update(const Lid &l1, const Lid &l2)
-    {
-        struct DimData
-        {
-            int16_t status[2];
-            float   current[2];
-            float   position[2];
-
-            DimData() { status[0] = status[1] = -1; }
-
+        fDimControllerState(
+            "LID_CONTROL/CONTROLLER_STATE",
+            "S",
+            "|state[int]: arduino state id"
+            ),
+        fDimMotorReport(
+            "LID_CONTROL/MOTOR",
+            "I:1;I:1;I:1;I:100;I:100",
+            "|id[byte]: motor id"
+            "|duration[int32]: movement time in [ms]"
+            "|stop_reason[byte]: Lid::motor_stop_reason_t"
+            "|current[int32]: power drawn by motor [3.4mA]"
+            "|position[int32]: position measured by hall sensor"
+            )
+
+    {
+    }
+
+    void UpdateControllerState()
+    {
+        struct DimControllerState
+        {
+            int16_t state;
         } __attribute__((__packed__));
 
-        DimData data;
-
-        if (l1.status=="Unknown")
-            data.status[0] = 3;
-        if (l1.status=="Power Problem")
-            data.status[0] = 2;
-        if (l1.status=="Open")
-            data.status[0] = 1;
-        if (l1.status=="Closed")
-            data.status[0] = 0;
-
-        if (l2.status=="Unknown")
-            data.status[1] = 3;
-        if (l2.status=="Power Problem")
-            data.status[1] = 2;
-        if (l2.status=="Open")
-            data.status[1] = 1;
-        if (l2.status=="Closed")
-            data.status[1] = 0;
-
-        data.current[0]  = l1.current;
-        data.current[1]  = l2.current;
-
-        data.position[0] = l1.position;
-        data.position[1] = l2.position;
-
-        fDim.setQuality(GetState());
-        fDim.Update(data);
+        DimControllerState s;
+        s.state = GetState();
+        fDimControllerState.setQuality(GetState());
+        fDimControllerState.Update(s);
+    }
+
+    void UpdateMotorReport(Lid::MotorReport& report)
+    {
+        Lid::DimMotorReport dim_report(report);
+        fDimMotorReport.setQuality(GetState());
+        fDimMotorReport.Update(dim_report);
     }
 };
@@ -472 +222 @@
 private:
     S fLid;
-    Time fLastCommand;
-    Time fSunRise;
-
-    uint16_t fTimeToMove;
 
     bool CheckEventSize(size_t has, const char *name, size_t size)
@@ -498 +244 @@
     }
 
-    int Post(const EventImp &evt)
-    {
-        fLid.Post(evt.GetText());
+    int Open()
+    {
+        fLid.PostMessage("o", 1);
         return T::GetCurrentState();
     }
 
-    int Open()
-    {
-        fLastCommand = Time();
-        fLid.Post("Button5=");
-        return Lid::State::kMoving;
-    }
+    int RequestStatus()
+    {
+        fLid.PostMessage("s", 1);
+        return T::GetCurrentState();
+    }
+
     int Close()
     {
-        fLastCommand = Time();
-        fLid.Post("Button6=");
-        return Lid::State::kMoving;
-
-    }
-    /*
-    int MoveMotor(const EventImp &evt, int mid)
-    {
-        if (!CheckEventSize(evt.GetSize(), "MoveMotor", 2))
-            return T::kSM_FatalError;
-
-        if (evt.GetUShort()>0xfff)
-        {
-            ostringstream msg;
-            msg << "Position " << evt.GetUShort() << " for motor " << mid+1 << " out of range [0,1023].";
-            T::Error(msg);
-            return T::GetCurrentState();
-        }
-
-        fLid.MoveMotor(mid, evt.GetUShort());
-
+        fLid.PostMessage("c", 1);
         return T::GetCurrentState();
-    }*/
-
-    int Unlock()
+    }
+
+    int Execute()
     {
         return fLid.GetState();
     }
-
-    int Execute()
-    {
-        const int rc = fLid.GetState();
-        const int state = T::GetCurrentState();
-
-        if (state==Lid::State::kMoving &&
-            (rc==Lid::State::kConnected || rc==Lid::State::kDisconnected) &&
-            fLastCommand+boost::posix_time::seconds(fTimeToMove+fLid.GetInterval()) > Time())
-        {
-            return Lid::State::kMoving;
-        }
-
-        const Time now;
-        if (now>fSunRise)
-        {
-            if (state!=Lid::State::kClosed && state!=Lid::State::kLocked && state>Lid::State::kDisconnected)
-            {
-                T::Error("Lidctrl not in 'Closed' at end of nautical twilight!");
-                Close();
-            }
-
-            fSunRise = now.GetNextSunRise(-6);
-
-            ostringstream msg;
-            msg << "During next sun-rise nautical twilight will end at " << fSunRise;
-            T::Info(msg);
-
-            return Lid::State::kLocked;
-        }
-
-        return rc==Lid::State::kConnected ? state : rc;
-    }
-
 
 public:
     StateMachineLidControl(ostream &out=cout) :
-        StateMachineAsio<T>(out, "LID_CONTROL"), fLid(*this, *this),
-        fSunRise(Time().GetNextSunRise(-6))
+        StateMachineAsio<T>(out, "LID_CONTROL"), fLid(*this, *this)
     {
         // State names
@@ -587 +278 @@
                      "Connection established, but status still not known");
 
-        T::AddStateName(Lid::State::kUnidentified, "Unidentified",
-                     "At least one lid reported a state which could not be identified by lidctrl");
-
-        T::AddStateName(Lid::State::kInconsistent, "Inconsistent",
-                     "Both lids show different states");
-
         T::AddStateName(Lid::State::kUnknown, "Unknown",
-                     "Arduino reports at least one lids in an unknown status");
-
-        T::AddStateName(Lid::State::kPowerProblem, "PowerProblem",
-                     "Arduino reports both lids to have a power problem (might also be that both are at the end switches)");
-
-        T::AddStateName(Lid::State::kOvercurrent, "Overcurrent",
-                     "Arduino reports both lids to have a overcurrent (might also be that both are at the end switches)");
+                     "Arduino just restarted");
 
         T::AddStateName(Lid::State::kClosed, "Closed",
@@ -608 +287 @@
                      "Both lids are open");
 
-        T::AddStateName(Lid::State::kMoving, "Moving",
-                     "Lids are supposed to move, waiting for next status");
-
-        T::AddStateName(Lid::State::kLocked, "Locked",
-                        "Locked, no commands accepted except UNLOCK.");
-
+        T::AddStateName(Lid::State::kClosing, "Closing",
+                     "Lids are Closing");
+
+        T::AddStateName(Lid::State::kFailClose, "FailClose",
+                     "Closing failed: timeout?|user_interrupt?");
+
+        T::AddStateName(Lid::State::kOpening, "Opening",
+                     "Lids are Opening");
+
+        T::AddStateName(Lid::State::kFailOpen, "FailOpen",
+                     "Opening failed: timeout?|user_interrupt?|overcurrent?");
 
         // Verbosity commands
@@ -621 +305 @@
              "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data");
 
-        T::AddEvent("OPEN", Lid::State::kUnidentified, Lid::State::kInconsistent, Lid::State::kUnknown, Lid::State::kPowerProblem, Lid::State::kClosed)
+        T::AddEvent("OPEN")
             (bind(&StateMachineLidControl::Open, this))
             ("Open the lids");
 
-        T::AddEvent("CLOSE")(Lid::State::kUnidentified)(Lid::State::kInconsistent)(Lid::State::kUnknown)(Lid::State::kOvercurrent)(Lid::State::kPowerProblem)(Lid::State::kOpen)
+        T::AddEvent("CLOSE")
             (bind(&StateMachineLidControl::Close, this))
             ("Close the lids");
 
-        T::AddEvent("POST", "C")(Lid::State::kUnidentified)(Lid::State::kInconsistent)(Lid::State::kUnknown)(Lid::State::kOvercurrent)(Lid::State::kPowerProblem)(Lid::State::kOpen)(Lid::State::kClosed)(Lid::State::kMoving)
-            (bind(&StateMachineLidControl::Post, this, placeholders::_1))
-            ("set verbosity state"
-             "|verbosity[bool]:disable or enable verbosity for received data (yes/no), except dynamic data");
-
-        T::AddEvent("UNLOCK", Lid::State::kLocked)
-            (bind(&StateMachineLidControl::Unlock, this))
-            ("Unlock if in locked state.");
+        T::AddEvent("STATUS")
+            (bind(&StateMachineLidControl::RequestStatus, this))
+            ("Request Arduino Status");
     }
 
@@ -644 +323 @@
         fLid.SetInterval(conf.Get<uint16_t>("interval"));
         fLid.SetDebugTx(conf.Get<bool>("debug-tx"));
-        fLid.SetSite(conf.Get<string>("url"));
         fLid.SetEndpoint(conf.Get<string>("addr"));
         fLid.StartConnect();
-
-        fTimeToMove = conf.Get<uint16_t>("time-to-move");
-
         return -1;
     }
@@ -707 +382 @@
 void PrintHelp()
 {
-//    Main::PrintHelp<StateMachineFTM<StateMachine, ConnectionFTM>>();
-
-    /* Additional help text which is printed after the configuration
-     options goes here */
-
-    /*
-     cout << "bla bla bla" << endl << endl;
-     cout << endl;
-     cout << "Environment:" << endl;
-     cout << "environment" << endl;
-     cout << endl;
-     cout << "Examples:" << endl;
-     cout << "test exam" << endl;
-     cout << endl;
-     cout << "Files:" << endl;
-     cout << "files" << endl;
-     cout << endl;
-     */
 }
 
@@ -743 +400 @@
             return RunShell<LocalStream, StateMachine, ConnectionLid>(conf);
         else
-            return RunShell<LocalStream, StateMachineDim, ConnectionDimWeather>(conf);
+            return RunShell<LocalStream, StateMachineDim, ConnectionDimLid>(conf);
     }
     // Cosole access w/ and w/o Dim
@@ -756 +413 @@
     {
         if (conf.Get<int>("console")==0)
-            return RunShell<LocalShell, StateMachineDim, ConnectionDimWeather>(conf);
+            return RunShell<LocalShell, StateMachineDim, ConnectionDimLid>(conf);
         else
-            return RunShell<LocalConsole, StateMachineDim, ConnectionDimWeather>(conf);
+            return RunShell<LocalConsole, StateMachineDim, ConnectionDimLid>(conf);
     }