Reformat command.

diff --git a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
index 7913b5175b1c6e85df92e027f17ff34c4f7b9a93..b2c0de1bbc51b708ce9218225c37528915b99aed 100644 (file)
--- a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
+++ b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
@@ -8,6 +8,10 @@ import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Robot;
 import frc.robot.constants.VisionConstants;
 
+/**
+ * Run the ssh command to shutdown a single Orange Pi.
+ * Uses the username and password set in {@link frc.robot.constantsVisionConstants}.
+ */
 public class ShutdownOrangePi extends Command {
        private Process process;
        private boolean passwordTyped;
@@ -28,18 +32,18 @@ public class ShutdownOrangePi extends Command {
                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);
-                       }
+                       return;
+
+               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);
                }
        }
 
@@ -57,8 +61,8 @@ public class ShutdownOrangePi extends Command {
 
                        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().write((VisionConstants.ORANGEPI_PASSWORD + "\n")
+                                               .getBytes()); // ...type the password
                                this.process.getOutputStream().flush();
                                this.passwordTyped = true;
                        }
@@ -76,12 +80,11 @@ public class ShutdownOrangePi extends Command {
        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 + ".");
-               }
+               if (this.process.isAlive())
+                       this.process.destroy(); // end the process if we've been interrupted
+
+               int exitValue = this.process.exitValue();
+               if (exitValue != 0) // abnormal termination
+                       System.out.println("OrangePi shutdown failed with exit code " + exitValue + ".");
        }
 }