cgse 2024.7.0__py3-none-any.whl → 2025.0.2__py3-none-any.whl

egse/fov/fov_hk.py

@@ -1,710 +0,0 @@
-import logging
-import multiprocessing
-import pickle
-import threading
-
-import click
-import invoke
-import numpy as np
-import rich
-import sys
-import zmq
-from math import sin, cos, acos, atan, atan2, radians, degrees
-from prometheus_client import start_http_server
-
-from egse.control import is_control_server_active
-from egse.fov import store_actual_fov_position
-from egse.settings import Settings
-from egse.setup import load_setup
-from egse.storage import is_storage_manager_active
-from egse.storage import register_to_storage_manager
-from egse.storage.persistence import CSV
-from egse.zmq_ser import connect_address, bind_address
-
-CTRL_SETTINGS = Settings.load("FOV HK Control Server")
-LOGGER = logging.getLogger(__name__)
-SITE_ID = Settings.load("SITE").ID
-ORIGIN = "FOV"
-
-TIMEOUT_RECV = 1.0  # seconds
-
-
-@click.group()
-def cli():
-    pass
-
-
-@cli.command()
-def start():
-    """ Start the FOV HK Control Server.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    Under the hood, this method calls the TH-specific implementation.  Only this generic function should be used, not
-    the TH-specific implementation.
-    """
-
-    multiprocessing.current_process().name = "fov_hk"
-    start_http_server(CTRL_SETTINGS.METRICS_PORT)
-
-    # The Storage Manager must be active (otherwise the HK cannot be stored)
-
-    if not is_storage_manager_active():
-
-        LOGGER.error("The Storage Manager is not running, start the core services before running the data acquisition.")
-        return
-
-        # Make sure the FOV position HK file contains the following columns:
-        #   - timestamp
-        #   - FOV_ACT_THETA: the actual gnomonic distance to the optical axis [degrees]
-        #   - FOV_ACT_PHI: the actual in-field angle [degrees]
-        #   - FOV_CMD_THETA: the commanded gnomonic distance to the optical axis [degrees]
-        #   - FOV_CMD_PHI: the commanded in-field angle [degrees]
-
-    register_to_storage_manager(ORIGIN, CSV, prep=dict(mode='a', column_names=["timestamp", "FOV_ACT_THETA",
-                                                                               "FOV_ACT_PHI", "FOV_CMD_THETA",
-                                                                               "FOV_CMD_PHI"]))
-
-    # Make sure you notice when a command has been issued to stop the FOV HK generation
-
-    context = zmq.Context()
-
-    endpoint = bind_address(CTRL_SETTINGS.PROTOCOL, CTRL_SETTINGS.COMMANDING_PORT)
-    commander = context.socket(zmq.REP)
-    commander.bind(endpoint)
-
-    poller = zmq.Poller()
-    poller.register(commander, zmq.POLLIN)
-
-    # Start listening for HK updates
-
-    sitehash = {
-        "CSL": _csl_start,
-        "CSL1": _csl1_start,
-        "CSL2": _csl2_start,
-        "IAS": _ias_start,
-        "INTA": _inta_start,
-        "SRON": _sron_start,
-    }
-
-    sitehash[SITE_ID](commander, poller)
-
-
-@cli.command()
-def start_bg():
-    """ Start the generation of FOV position HK as a background process.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    Under the hood, this method calls the TH-specific implementation.  Only this generic function should be used, not
-    the TH-specific implementation.
-    """
-
-    invoke.run(f"fov_hk start", disown=True)
-
-
-class FovHk:
-
-    def __init__(self):
-
-        self.setup = load_setup()
-        self.keep_acquiring_fov_hk = True
-
-    def run(self, commander, poller):
-
-        try:
-
-            while True:
-
-                if _check_commander_status(commander, poller):
-                    self.keep_acquiring_fov_hk = False
-                    break
-
-        except KeyboardInterrupt:
-
-            click.echo("KeyboardInterrupt caught!")
-            self.keep_acquiring_fov_hk = False
-
-            # Keyboard interrupt or stop command
-
-        LOGGER.info("Shutting down FOV HK")
-        self.close_sockets()
-        commander.close(linger=0)
-
-    def start_fov_hk_acquisition(self):
-
-        # Processing the content of the queue should be done in a separate thread
-
-        self.process_fov_hk_thread = threading.Thread(target=self.acquire_fov_hk)
-        self.process_fov_hk_thread.daemon = True
-        self.process_fov_hk_thread.start()
-
-    def acquire_fov_hk(self):
-        pass
-
-    def close_sockets(self):
-        pass
-
-
-class CslFovHk(FovHk):
-
-    def __init__(self):
-
-        super(CslFovHk, self).__init__()
-
-        setup = load_setup()
-        self.height_collimated_beam = setup.gse.stages.calibration.height_collimated_beam
-        self.offset_delta_x = setup.gse.stages.calibration.offset_delta_x
-        self.offset_phi = setup.gse.stages.calibration.offset_phi
-
-        # Create a socket and connect to the monitoring port
-
-        settings = Settings.load("Huber Control Server")
-        self.cmd_endpoint = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.COMMANDING_PORT)
-
-        monitoring_address = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.MONITORING_PORT)
-        self.monitoring_socket = zmq.Context().socket(zmq.SUB)
-        self.monitoring_socket.connect(monitoring_address)
-        self.monitoring_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.monitoring_timeout = 1.0
-
-        self.start_fov_hk_acquisition()
-
-    def acquire_fov_hk(self):
-
-        while self.keep_acquiring_fov_hk:
-
-            try:
-
-                socket_list, _, _ = zmq.select([self.monitoring_socket], [], [], timeout=self.monitoring_timeout)
-
-                # Monitoring information was received (before timeout)
-
-                if self.monitoring_socket in socket_list:
-
-                    pickle_string = self.monitoring_socket.recv()
-                    monitoring_info = pickle.loads(pickle_string)
-
-                    # Retrieve the position of the small and the big rotation stage
-
-                    position_big_rotation_stage = monitoring_info["big_rotation_stage_position"]
-                    position_translation_stage = monitoring_info["translation_stage_position"]
-
-                    # Gnomonic distance to optical axis and in-field angle [degrees]
-
-                    phi = self.offset_phi - position_big_rotation_stage
-                    tan_theta = (self.offset_delta_x - position_translation_stage) / self.height_collimated_beam
-                    theta = degrees(atan(tan_theta))
-
-                    store_actual_fov_position(theta, phi)
-
-                elif is_control_server_active(self.cmd_endpoint):
-                    self.monitoring_timeout += 0.5
-
-            except zmq.ZMQError:
-                pass
-
-    def close_sockets(self):
-
-        self.monitoring_socket.close()
-
-
-def _csl_start(commander, poller):
-    """ Start the generation of FOV position HK for CSL.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    csl_fov_hk = CslFovHk()
-    csl_fov_hk.run(commander, poller)
-
-
-class Csl1FovHk(FovHk):
-
-    def __init__(self):
-
-        super(Csl1FovHk, self).__init__()
-
-        setup = load_setup()
-        self.offset_alpha = setup.gse.stages.calibration.offset_alpha
-        self.alpha_correction_coefficients = setup.gse.stages.calibration.alpha_correction_coefficients
-        self.offset_phi = setup.gse.stages.calibration.offset_phi
-        self.phi_correction_coefficients = setup.gse.stages.calibration.phi_correction_coefficients
-
-        # Create a socket and connect to the monitoring port
-
-        settings = Settings.load("Huber Control Server")
-        self.cmd_endpoint = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.COMMANDING_PORT)
-
-        monitoring_address = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.MONITORING_PORT)
-        self.monitoring_socket = zmq.Context().socket(zmq.SUB)
-        self.monitoring_socket.connect(monitoring_address)
-        self.monitoring_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.monitoring_timeout = 1.0
-
-        self.start_fov_hk_acquisition()
-
-    def acquire_fov_hk(self):
-
-        while self.keep_acquiring_fov_hk:
-
-            try:
-
-                socket_list, _, _ = zmq.select([self.monitoring_socket], [], [], timeout=self.monitoring_timeout)
-
-                # Monitoring information was received (before timeout)
-
-                if self.monitoring_socket in socket_list:
-
-                    pickle_string = self.monitoring_socket.recv()
-                    monitoring_info = pickle.loads(pickle_string)
-
-                    # Retrieve the position of the small and the big rotation stage
-
-                    position_big_rotation_stage = monitoring_info["big_rotation_stage_position"]
-                    position_small_rotation_stage = monitoring_info["small_rotation_stage_position"]
-
-                    # Gnomonic distance to optical axis and in-field angle [degrees]
-
-                    theta = (position_small_rotation_stage + self.offset_alpha - self.alpha_correction_coefficients[0])\
-                        / self.alpha_correction_coefficients[1]
-
-                    phi_correction = self.phi_correction_coefficients[1] * theta + self.phi_correction_coefficients[0]
-                    phi = -position_big_rotation_stage - self.offset_phi - phi_correction
-
-                    store_actual_fov_position(theta, phi)
-
-                elif is_control_server_active(self.cmd_endpoint):
-                    self.monitoring_timeout += 0.5
-
-            except zmq.ZMQError:
-                pass
-
-    def close_sockets(self):
-
-        self.monitoring_socket.close()
-
-
-def _csl1_start(commander, poller):
-    """ Start the generation of FOV position HK for CSL1.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    csl1_fov_hk = Csl1FovHk()
-    csl1_fov_hk.run(commander, poller)
-
-
-def _csl2_start(commander, poller):
-    """ Start the generation of FOV position HK for CSL2.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-    # At this point, the relation between the configuration of the Huber Stages and the source position is considered
-    # the same for CSL2 as for CSL1 (only the calibration of the Huber Stages is potentially different in the setup)
-    csl2_fov_hk = Csl1FovHk()
-    csl2_fov_hk.run(commander, poller)
-
-
-class SronFovHk(FovHk):
-
-    def __init__(self):
-
-        super(SronFovHk, self).__init__()
-
-        # Create a socket and connect to the monitoring port
-
-        settings = Settings.load("Aerotech Ensemble Control Server")
-        self.cmd_endpoint = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.COMMANDING_PORT)
-
-        monitoring_address = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.MONITORING_PORT)
-        self.monitoring_socket = zmq.Context().socket(zmq.SUB)
-        self.monitoring_socket.connect(monitoring_address)
-        self.monitoring_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.monitoring_timeout = 1.0
-
-        self.start_fov_hk_acquisition()
-
-    def acquire_fov_hk(self):
-
-        while self.keep_acquiring_fov_hk:
-
-            try:
-
-                socket_list, _, _ = zmq.select([self.monitoring_socket], [], [], timeout=self.monitoring_timeout)
-
-                # Monitoring information was received (before timeout)
-
-                if self.monitoring_socket in socket_list:
-
-                    pickle_string = self.monitoring_socket.recv()
-                    monitoring_info = pickle.loads(pickle_string)
-
-                    # Update the timeout, to be more in line with the monitoring frequency of the CS (i.e. the delay).
-                    # Take 0.5s extra to be on the safe side.
-
-                    monitoring_timeout = monitoring_info["delay"] / 1000.0 + 0.5  # [s]
-
-                    # Retrieve the position of the gimbal
-
-                    rotx = radians(monitoring_info["alpha"])    # [radians]
-                    roty = radians(monitoring_info["beta"])     # [radians]
-
-                    if isinstance(roty, float):
-                        rotx = np.array([rotx])
-                        roty = np.array([roty])
-
-                    tolerance = 1.e-5
-
-                    # Corrections based on #598
-                    # Copied from camtest.commanding.function.sron_functions.gimbal_rotations_to_fov_angles
-                    theta = np.arccos(np.cos(rotx) * np.cos(roty))
-
-                    phi = np.zeros_like(roty)
-
-                    sel = np.where(np.abs(roty) < tolerance)
-
-                    phi[sel] = np.sign(rotx[sel]) * np.pi/2.
-
-                    sel = np.where(np.abs(roty) > tolerance)
-
-                    phi[sel] = np.arctan2(-np.sin(-rotx[sel]) * np.cos(roty[sel]), np.sin(roty[sel]))
-
-                    theta, phi = np.rad2deg(theta), np.rad2deg(phi)
-
-                    store_actual_fov_position(theta[0], phi[0])
-
-                elif is_control_server_active(self.cmd_endpoint):
-                    self.monitoring_timeout += 0.5
-
-            except zmq.ZMQError:
-                pass
-
-    def close_sockets(self):
-
-        self.monitoring_socket.close()
-
-
-def _sron_start(commander, poller):
-    """ Start the generation of FOV position HK for SRON.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    sron_fov_hk = SronFovHk()
-    sron_fov_hk.run(commander, poller)
-
-
-class IasFovHk(FovHk):
-
-    def __init__(self):
-
-        super(IasFovHk, self).__init__()
-
-        # Create a socket and connect to the monitoring port
-
-        settings = Settings.load("Hexapod ZONDA Control Server")
-        self.cmd_endpoint = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.COMMANDING_PORT)
-
-        monitoring_address = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.MONITORING_PORT)
-        self.monitoring_socket = zmq.Context().socket(zmq.SUB)
-        self.monitoring_socket.connect(monitoring_address)
-        self.monitoring_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.monitoring_timeout = 1.0
-
-        self.start_fov_hk_acquisition()
-
-    def acquire_fov_hk(self):
-
-        while self.keep_acquiring_fov_hk:
-
-            try:
-
-                socket_list, _, _ = zmq.select([self.monitoring_socket], [], [], timeout=self.monitoring_timeout)
-
-                # Monitoring information was received (before timeout)
-
-                if self.monitoring_socket in socket_list:
-
-                    pickle_string = self.monitoring_socket.recv()
-                    monitoring_info = pickle.loads(pickle_string)
-
-                    # Retrieve the rotation angles around the y- and z-axis [degrees]
-                    # (the rotation angle around the x-axis and the translation are not needed here)
-
-                    rot_y_z_mini = 1 / 3600  # lower threshold: 1 arcsecond = 1/3600 degree
-
-                    *_, hexapod_rot_y, hexapod_rot_z = monitoring_info["user"]
-
-                    if hexapod_rot_y < rot_y_z_mini and hexapod_rot_z < rot_y_z_mini:
-                        theta = 0
-                        phi = 0
-
-                    else:
-                        hexapod_rot_y = radians(hexapod_rot_y)  # Rotation angle around the x-axis [radians]
-                        hexapod_rot_z = radians(hexapod_rot_z)  # Rotation angle around the y-axis [radians]
-
-                        theta = degrees(acos(cos(hexapod_rot_y) * cos(hexapod_rot_z)))
-                        phi = degrees(atan2(sin(hexapod_rot_z), -sin(hexapod_rot_y) * cos(hexapod_rot_z)))
-
-                    store_actual_fov_position(theta, phi)
-
-                elif is_control_server_active(self.cmd_endpoint):
-                    self.monitoring_timeout += 0.5
-
-            except zmq.ZMQError:
-                pass
-
-    def close_sockets(self):
-
-        self.monitoring_socket.close()
-
-
-def _ias_start(commander, poller):
-    """ Start the generation of FOV position HK for IAS.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    # Calculate the field angles (theta, phi), based on the current configuration of the relevant mechanisms
-    # Call store_actual_fov_position to save them to the appropriate HK file
-
-    ias_fov_hk = IasFovHk()
-    ias_fov_hk.run(commander, poller)
-
-
-class IntaFovHk(FovHk):
-
-    def __init__(self):
-
-        super(IntaFovHk, self).__init__()
-
-        # Create a socket and connect to the monitoring port
-
-        settings = Settings.load("Gimbal Control Server")
-        self.cmd_endpoint = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.COMMANDING_PORT)
-
-        monitoring_address = connect_address(settings.PROTOCOL, settings.HOSTNAME, settings.MONITORING_PORT)
-        self.monitoring_socket = zmq.Context().socket(zmq.SUB)
-        self.monitoring_socket.connect(monitoring_address)
-        self.monitoring_socket.setsockopt_string(zmq.SUBSCRIBE, "")
-        self.monitoring_timeout = 1.0
-
-        self.start_fov_hk_acquisition()
-
-    def acquire_fov_hk(self):
-
-        while self.keep_acquiring_fov_hk:
-
-            try:
-
-                socket_list, _, _ = zmq.select([self.monitoring_socket], [], [], timeout=self.monitoring_timeout)
-
-                # Monitoring information was received (before timeout)
-
-                if self.monitoring_socket in socket_list:
-
-                    # Retrieve the rotation angles around the y- and z-axis [degrees]
-                    # (the rotation angle around the x-axis and the translation are not needed here)
-
-                    pickle_string = self.monitoring_socket.recv()
-                    monitoring_info = pickle.loads(pickle_string)
-
-                    # Retrieve the rotation angles around the x- and y-axis [degrees]
-                    # See GimbalProtocol.get_status for details
-                    grx, gry = monitoring_info["user"]
-
-                    #
-                    # According to inta_point_source_to_fov:
-                    #   grx = np.rad2deg(-np.arcsin(np.sin(np.deg2rad(theta)) * np.sin(np.deg2rad(phi))))
-                    #   gry = np.rad2deg(np.arctan2(np.sin(np.deg2rad(theta)) * np.cos(np.deg2rad(phi)), np.cos(np.deg2rad(theta))))
-                    #
-                    # grx and gry are already in degrees, therefore:
-                    #
-                    
-                    theta = np.rad2deg(np.arccos(np.cos(np.deg2rad(grx))*np.cos(np.deg2rad(gry))))
-                    phi   = np.rad2deg(np.arctan2(-np.sin(np.deg2rad(grx)), np.cos(np.deg2rad(grx))*np.sin(np.deg2rad(gry))))   
-                    
-                    store_actual_fov_position(theta, phi)
-
-                elif is_control_server_active(self.cmd_endpoint):
-                    self.monitoring_timeout += 0.5
-
-            except zmq.ZMQError:
-                pass
-
-    def close_sockets(self):
-        self.cmd_endpoint.close()
-        self.monitoring_socket.close()
-
-
-def _inta_start(commander, poller):
-    """ Start the generation of FOV position HK for INTA.
-
-    This process will only store the actual FOV position (in field angles, expressed in degrees).  The commanded
-    position needs to be stored from the MGSE commanding in plato-test-scripts.
-
-    This function should never be called.  Instead, call the generic function start().
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    # Calculate the field angles (theta, phi), based on the current configuration of the relevant mechanisms
-    # Call store_actual_fov_position to save them to the appropriate HK file
-
-    inta_fov_hk = IntaFovHk()
-    inta_fov_hk.run(commander, poller)
-
-
-@cli.command()
-def stop():
-    """Stop the FOV HK Control Server. """
-
-    # In the while True loop in the start command, _should_stop needs to force a break from the loop.When this happens
-    # (and also when a keyboard interrupt has been caught), the monitoring socket needs to be closed (this needs to be
-    # done in the TH - specific implementation of _start).  Unregistering from the Storage Manager is done
-    # automatically.
-
-    response = send_request("quit")
-    if response == "ACK":
-        rich.print("FOV HK successfully terminated.")
-    else:
-        rich.print(f"[red] ERROR: {response}")
-
-
-@cli.command()
-def status():
-    """Print the status of the FOV HK Control Server."""
-
-    rich.print("FOV HK:")
-
-    response = send_request("status")
-
-    if response.get("status") == "ACK":
-        rich.print("  Status: [green]active")
-        rich.print(f"  Hostname: {response.get('host')}")
-        rich.print(f"  Commanding port: {response.get('command_port')}")
-    else:
-        rich.print("  Status: [red]not active")
-
-
-def send_request(command_request: str):
-    """Sends a request to the FOV HK Control Server and waits for a response.
-
-    Args:
-        - command_request: Request.
-
-    Returns: Response to the request.
-    """
-
-    ctx = zmq.Context().instance()
-    endpoint = connect_address(CTRL_SETTINGS.PROTOCOL, CTRL_SETTINGS.HOSTNAME, CTRL_SETTINGS.COMMANDING_PORT)
-    socket = ctx.socket(zmq.REQ)
-    socket.connect(endpoint)
-
-    socket.send(pickle.dumps(command_request))
-    rlist, _, _ = zmq.select([socket], [], [], timeout=TIMEOUT_RECV)
-
-    if socket in rlist:
-        response = socket.recv()
-        response = pickle.loads(response)
-    else:
-        response = {"error": "Receive from ZeroMQ socket timed out for FOV HK Control Server."}
-    socket.close(linger=0)
-
-    return response
-
-
-def _check_commander_status(commander, poller) -> bool:
-    """ Check the status of the commander.
-
-    Checks whether a command has been received by the given commander.
-
-    Returns: True if a quit command was received; False otherwise.
-
-    Args:
-        - commander: Commanding socket for the FOV HK generation.
-        - poller: Poller for the FOV HK generation.
-    """
-
-    socks = dict(poller.poll(timeout=10))   # Timeout of 10ms
-
-    if commander in socks:
-        pickle_string = commander.recv()
-        command = pickle.loads(pickle_string)
-
-        if command.lower() == "quit":
-            commander.send(pickle.dumps("ACK"))
-            return True
-
-        if command.lower() == "status":
-            response = dict(
-                status="ACK",
-                host=CTRL_SETTINGS.HOSTNAME,
-                command_port=CTRL_SETTINGS.COMMANDING_PORT
-            )
-            commander.send(pickle.dumps(response))
-            return False
-
-    return False
-
-
-# def handle_command(command) -> dict:
-#     """Handle commands that are sent to the commanding socket."""
-#
-#     response = dict(
-#         timestamp=format_datetime(),
-#     )
-#
-#     if command.lower() == 'status':
-#         response.update(dict(status="ACK",
-#                              host=CTRL_SETTINGS.HOSTNAME,
-#                              listening_port=,
-#                              command_port=CTRL_SETTINGS.COMMANDING_PORT
-#                              ))
-#
-#     return response
-
-
-if __name__ == "__main__":
-
-    sys.exit(cli())