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[cmd3] Scope scheduled commands to the running opmode, if one exists (#8492)

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This prevents commands from outliving the opmodes in which they were
scheduled
This commit is contained in:
Sam Carlberg
2025-12-17 01:24:58 -05:00
committed by GitHub
parent 5a22abb85b
commit 7cb58962c5
7 changed files with 181 additions and 13 deletions
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19
commandsv3/src/main/java/org/wpilib/command3/Scheduler.java
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@@ -271,11 +271,26 @@ public final class Scheduler implements ProtobufSerializable {
// innermost commands that actually _do_ something to start running hundreds of milliseconds after
// their root ancestor was scheduled.
public ScheduleResult schedule(Command command) {
// Get the narrowest binding scope.
// This prevents commands from outliving the opmodes that scheduled them, or from outliving
// their parents (eg if someone writes a command that manually calls schedule(Command) instead
// of using triggers to do so).
Command currentCommand = currentCommand();
long currentOpmode = OpModeFetcher.getFetcher().getOpModeId();
BindingScope scope;
if (currentCommand != null) {
scope = BindingScope.forCommand(this, currentCommand);
} else if (currentOpmode != 0) {
scope = BindingScope.forOpmode(currentOpmode);
} else {
scope = BindingScope.global();
}
// Note: we use a throwable here instead of Thread.currentThread().getStackTrace() for easier
// stack frame filtering and modification.
var binding =
new Binding(
BindingScope.global(), BindingType.IMMEDIATE, command, new Throwable().getStackTrace());
new Binding(scope, BindingType.IMMEDIATE, command, new Throwable().getStackTrace());
return schedule(binding);
}