From 0b50bd71c578859acbc50cdd6ba29e9e098210d7 Mon Sep 17 00:00:00 2001
From: Arnav495 <arnieincyberland@gmail.com>
Date: Tue, 16 Sep 2025 08:32:30 -0700
Subject: [PATCH] Copy code from FRC2025 repo.

---
 .../commands/vision/ShutdownOrangePi.java     | 87 +++++++++++++++++++
 1 file changed, 87 insertions(+)
 create mode 100644 src/main/java/frc/robot/commands/vision/ShutdownOrangePi.java

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
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 + ".");
+		}
+	}
+}
-- 
2.39.5