From: Arnav495 <arnieincyberland@gmail.com>
Date: Tue, 16 Sep 2025 16:28:49 +0000 (-0700)
Subject: Support multiple OrangePis to shutdown.
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=2762d2a749fe153d7d95add6abf9e94ab289f7e4;p=FRC2026.git

Support multiple OrangePis to shutdown.
---

diff --git a/src/main/java/frc/robot/commands/vision/ShutdownAllPis.java b/src/main/java/frc/robot/commands/vision/ShutdownAllPis.java
new file mode 100644
index 0000000..a6d7360
--- /dev/null
+++ b/src/main/java/frc/robot/commands/vision/ShutdownAllPis.java
@@ -0,0 +1,20 @@
+package frc.robot.commands.vision;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.constants.VisionConstants;
+
+/**
+ * Shutdown all Orange Pis listed by hostname in
+ * {@link frc.robot.constants.VisionConstants}
+ */
+public class ShutdownAllPis extends ParallelCommandGroup {
+	public ShutdownAllPis() {
+		ShutdownOrangePi[] commands =
+			new ShutdownOrangePi[VisionConstants.ORANGEPI_HOSTNAMES.length];
+		for (int i = 0; i < commands.length; i++) {
+			commands[i] = new ShutdownOrangePi(VisionConstants.ORANGEPI_HOSTNAMES[i]);
+		}
+
+		addCommands(commands);
+	}
+}
diff --git a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
index b2c0de1..c9078ca 100644
--- a/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
+++ b/src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java
@@ -13,12 +13,18 @@ import frc.robot.constants.VisionConstants;
  * Uses the username and password set in {@link frc.robot.constantsVisionConstants}.
  */
 public class ShutdownOrangePi extends Command {
+	private String hostname;
 	private Process process;
 	private boolean passwordTyped;
 	private Pattern promptMatcher;
 
-	public ShutdownOrangePi() {
+	/**
+	 * @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;
 	}
 
 	@Override
@@ -31,14 +37,15 @@ public class ShutdownOrangePi extends Command {
 		passwordTyped = false;
 		if (Robot.isSimulation()) {
 			// this will probably break on Windows systems so...
-			System.out.println("What OrangePi? This is simulation!");
+			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 + "@" + VisionConstants.ORANGEPI_IP,
+					VisionConstants.ORANGEPI_USERNAME + "@" + hostname,
 					"sudo", "shutdown", "now" };
 			this.process = Runtime.getRuntime().exec(commandString);
 		} catch (Exception e) {
diff --git a/src/main/java/frc/robot/constants/VisionConstants.java b/src/main/java/frc/robot/constants/VisionConstants.java
index 4d61900..1e268b4 100644
--- a/src/main/java/frc/robot/constants/VisionConstants.java
+++ b/src/main/java/frc/robot/constants/VisionConstants.java
@@ -174,4 +174,9 @@ public class VisionConstants {
             new Transform3d(
                     new Translation3d(Units.inchesToMeters(10), 0, Units.inchesToMeters(24)),
                     new Rotation3d(0, Units.degreesToRadians(20), 0))));
-}
\ No newline at end of file
+
+	// used to cleanly shutdown the OrangePi
+	public static final String[] ORANGEPI_HOSTNAMES = {"photonfront.local", "photonback.local"};
+	public static final String ORANGEPI_USERNAME = "pi";
+	public static final String ORANGEPI_PASSWORD = "raspberry";
+}