Copy code from FRC2025 repo.

diff --git a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
new file mode 100644 (file)
index 0000000..7913b51
--- /dev/null
+++ b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
@@ -0,0 +1,87 @@
+package frc.robot.commands.vision;
+
+import java.io.IOException;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Robot;
+import frc.robot.constants.VisionConstants;
+
+public class ShutdownOrangePi extends Command {
+       private Process process;
+       private boolean passwordTyped;
+       private Pattern promptMatcher;
+
+       public ShutdownOrangePi() {
+               promptMatcher = Pattern.compile("password: ?$");
+       }
+
+       @Override
+       public boolean runsWhenDisabled() {
+               return true;
+       }
+
+       @Override
+       public void initialize() {
+               passwordTyped = false;
+               if (Robot.isSimulation()) {
+                       // this will probably break on Windows systems so...
+                       System.out.println("What OrangePi? This is simulation!");
+               } else {
+                       try {
+                               String[] commandString = new String[] { "ssh",
+                                               "-o", "UserKnownHostsFile /dev/null",
+                                               "-o", "StrictHostKeyChecking no",
+                                               VisionConstants.ORANGEPI_USERNAME + "@" + VisionConstants.ORANGEPI_IP,
+                                               "sudo", "shutdown", "now" };
+                               this.process = Runtime.getRuntime().exec(commandString);
+                       } catch (Exception e) {
+                               String message = e.getMessage() == null ? "unknown" : e.getMessage();
+                               System.out.println("Failed to shutdown OrangePi. Reason: " + message);
+                       }
+               }
+       }
+
+       @Override
+       public void execute() {
+               if (this.process == null) return; // command creation failed for some reason
+               if (this.passwordTyped) return; // don't try typing the password if we've already done it
+
+               try {
+                       // read as much as possible
+                       int availibleBytes = this.process.getInputStream().available();
+                       byte[] buffer = new byte[availibleBytes];
+                       this.process.getInputStream().read(buffer, 0, availibleBytes);
+                       String asStr = new String(buffer);
+
+                       Matcher matches = promptMatcher.matcher(asStr);
+                       if (matches.find()) { // if we're at the prompt...
+                               this.process.getOutputStream().write((VisionConstants.ORANGEPI_PASSWORD + "\n").
+                                       getBytes()); // ...type the password
+                               this.process.getOutputStream().flush();
+                               this.passwordTyped = true;
+                       }
+               } catch (IOException e) {
+                       this.cancel();
+               }
+       }
+
+       @Override
+       public boolean isFinished() {
+               return this.process == null || !this.process.isAlive();
+       }
+
+       @Override
+       public void end(boolean interrupted) {
+               if (this.process == null) return;
+               
+               if (interrupted) {
+                       this.process.destroy(); // end the command if we've been interrupted
+               } else if (!this.process.isAlive()) {
+                       int exitValue = this.process.exitValue();
+                       if (exitValue != 0) // abnormal termination
+                               System.out.println("OrangePi shutdown failed with exit code " + exitValue + ".");
+               }
+       }
+}