script/local.py

@@ -53,6 +53,15 @@ def system_check(robot_move=True):
             raise Exception("Guiding tool not parked")
         
 
+def start_puck_detection():
+    run("tools/RestartPuckDetection")
+
+def check_puck_detection():
+    return run("tools/CheckPuckDetection")
+
+def stop_puck_detection():
+    run("tools/StopPuckDetection")
+
 ###################################################################################################
 #  Device initialization
 ###################################################################################################

script/tools/CheckPuckDetection.py

@@ -0,0 +1,6 @@
+USR,PWD = "pi", "raspberry"
+HOST,PORT = "tell-raspberrypi", 22
+CMD= "sudo systemctl status puck_detection.service"
+
+ret = run("tools/SshExec")
+set_return(ret)

script/tools/RestartPuckDetection.py

@@ -0,0 +1,6 @@
+USR,PWD = "pi", "raspberry"
+HOST,PORT = "tell-raspberrypi", 22
+CMD= "sudo systemctl stop puck_detection.service;sudo systemctl start puck_detection.service"
+
+ret = run("tools/SshExec")
+set_return(ret)

script/tools/SshExec.py

@@ -0,0 +1,61 @@
+import com.jcraft.jsch.Channel as Channel
+import com.jcraft.jsch.ChannelShell as ChannelShell
+import com.jcraft.jsch.JSch as JSch
+import com.jcraft.jsch.JSchException as JSchException
+import com.jcraft.jsch.Session as Session
+import java.lang.System as System
+import java.io.PrintStream as PrintStream
+
+
+#Parameters:
+#CMD
+#USR
+#PWD
+#HOST
+#PORT
+
+jsch= JSch()
+session=jsch.getSession(USR, HOST, PORT)
+session.setPassword(PWD)
+session.setConfig("StrictHostKeyChecking", "no")
+session.connect()
+
+#channel=session.openChannel("shell")
+#input_stream=channel.getInputStream()
+#output_stream = channel.getOutputStream()
+#print_stream = PrintStream(output_stream, True)
+#print_stream.println("ls")   
+
+channel=session.openChannel("exec")
+channel.setCommand(CMD)
+channel.setInputStream(None)
+channel.setOutputStream(System.out)
+channel.setErrStream(System.err)
+input_stream=channel.getInputStream()
+
+
+def wait_ret():
+    global input_stream
+    rx = ""
+    while True:                
+        while (input_stream.available() > 0):
+        	i = input_stream.read()
+        	if i < 0: 
+        	    break
+        	rx=rx+chr(i)    	        	        
+        if channel.closed: 
+            break
+        time.sleep(0.1)              
+    return rx  
+    
+
+channel.connect()
+
+try:
+    ret = wait_ret()    
+except:
+    channel.disconnect()
+    session.disconnect()
+    raise
+
+set_return(ret)

script/tools/StopPuckDetection.py

@@ -0,0 +1,8 @@
+USR,PWD = "pi", "raspberry"
+HOST,PORT = "tell-raspberrypi", 22
+CMD= "sudo systemctl stop puck_detection.service"
+
+ret = run("tools/SshExec")
+set_return(ret)
+
+