Cleanup command.

diff --git a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
index 83a351b2d450af32acc38e39cdbab0843dcde902..22e947a17d77a8aca24f19103809194eaa07ac6e 100644 (file)
--- a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
+++ b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
@@ -1,9 +1,10 @@
 package frc.robot.commands.vision;
 
-import java.io.IOException;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.attribute.PosixFilePermissions;
 
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Robot;
 import frc.robot.constants.VisionConstants;
@@ -15,14 +16,11 @@ import frc.robot.constants.VisionConstants;
 public class ShutdownOrangePi extends Command {
        private String hostname;
        private Process process;
-       private boolean passwordTyped;
-       private Pattern promptMatcher;
 
        /**
         * @param hostname The hostname or IP of the orangepi to shut down.
         */
        public ShutdownOrangePi(String hostname) {
-               promptMatcher = Pattern.compile("password: ?$");
                assert hostname != null;
                this.hostname = hostname;
        }
@@ -34,27 +32,24 @@ public class ShutdownOrangePi extends Command {
 
        @Override
        public void initialize() {
-               passwordTyped = false;
                if (Robot.isSimulation()) {
-                       // this will probably break on Windows systems so...
+                       // needs to run on an actual roborio because of architecture-specific binaries
                        System.out.println("Would shut down OrangePi at " + hostname + " if this was real.");
                        return;
                }
 
                try {
-                       // String[] commandString = new String[] { "ssh",
-                       //              "-o", "UserKnownHostsFile /dev/null",
-                       //              "-o", "StrictHostKeyChecking no",
-                       //              VisionConstants.ORANGEPI_USERNAME + "@" + hostname,
-                       //              "sudo", "shutdown", "now" };
+                       String binPath = Filesystem.getDeployDirectory() + "/sshpass";
+                       Files.setPosixFilePermissions(Path.of(binPath), PosixFilePermissions.fromString("rwxr-xr-x"));
 
                        String[] commandString = new String[] {
-                                               "/home/lvuser/deploy/sshpass",
+                                               binPath,
                                                "-p", "raspberry",
-                                               "ssh", "-o", "StrictHostKeyChecking=no",
+                                               "ssh",
+                                               "-o", "StrictHostKeyChecking=no",
                                                VisionConstants.ORANGEPI_USERNAME + "@" + hostname,
                                                "sudo", "shutdown", "now" 
-                                       };
+                       };
                
                        this.process = Runtime.getRuntime().exec(commandString);
                } catch (Exception e) {
@@ -63,30 +58,6 @@ public class ShutdownOrangePi extends Command {
                }
        }
 
-       @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();
@@ -95,18 +66,16 @@ public class ShutdownOrangePi extends Command {
        @Override
        public void end(boolean interrupted) {
                if (this.process == null) return;
-               
-               if (this.process.isAlive())
-                       this.process.destroy(); // end the process if we've been interrupted
 
-               if (interrupted) {
+               if (this.process.isAlive()) {
                        this.process.destroy(); // end the process if we've been interrupted
                } else {
+                       // only grab exit value if the process has had time to exit
                        int exitValue = this.process.exitValue();
                        if (exitValue != 0) // abnormal termination
-                               System.out.println("OrangePi shutdown failed with exit code " + exitValue + ".");
+                               System.out.println("OrangePi shutdown of " + hostname + " failed with exit code " + exitValue + ".");
                        else
-                               System.out.println("OrangePi shutdown succesful.");
+                               System.out.println("OrangePi shutdown of " + hostname + " succesful.");
                }
        }
 }