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What guide did you follow for installation, if you used one other than what our site has it may be in a different location, I suggest if you are still having trouble locating it to install "mlocate" and search for nrpe.cfg
Ok, I was going off of the user's link to you regarding my presentation. I don't believe anyone has created something like this which restarts a server besides that information is for Windows, there is another document which is for Linux, I suggest you start there. I am not sure if you will be able to supply a system command like that remotely without security risk.:
this way if it is able to send and receive data it will report back with the version of NRPE that the server is running. Make sure to check that the IP's are cross-allowed in the nrpe.cfg file, or under your xinetd directory if you compiled for xinetd. In addition check to make sure that port 5666 UDP/TCP is open on both machines.