From de961b2b7ed4601b13f73d9cecf69297c78a3b70 Mon Sep 17 00:00:00 2001
From: Gold856 <117957790+Gold856@users.noreply.github.com>
Date: Tue, 23 Jun 2026 13:45:24 -0400
Subject: [PATCH] [wpilibj] Fix incorrect robot name in reported error (#8294)

---
 .../java/org/wpilib/framework/RobotBase.java  | 30 ++++++++++++++++---
 .../org/wpilib/framework/TimedRobotTest.java  | 19 ++++++++++++
 2 files changed, 45 insertions(+), 4 deletions(-)

diff --git a/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java b/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
index 2b01b926ec..5d97b6a76f 100644
--- a/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
+++ b/wpilibj/src/main/java/org/wpilib/framework/RobotBase.java
@@ -303,6 +303,31 @@ public abstract class RobotBase implements AutoCloseable {
     return robot;
   }
 
+  /**
+   * Gets the Robot subclass name from a stack trace.
+   *
+   * @param elements The stack trace elements to walk.
+   * @return The Robot subclass name.
+   */
+  protected static String getRobotName(StackTraceElement[] elements) {
+    // Walk bottom to top to account for multiple layers of subclassing
+    for (int i = elements.length - 1; i >= 0; i--) {
+      StackTraceElement element = elements[i];
+      try {
+        // Skip our own class when walking
+        if (RobotBase.class.equals(Class.forName(element.getClassName()))) {
+          continue;
+        }
+        if (RobotBase.class.isAssignableFrom(Class.forName(element.getClassName()))) {
+          return element.getClassName();
+        }
+      } catch (ClassNotFoundException e) {
+        // Unreachable
+      }
+    }
+    return "Unknown";
+  }
+
   /** Run the robot main loop. */
   @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private static <T extends RobotBase> void runRobot(Class<T> robotClass) {
@@ -316,11 +341,8 @@ public abstract class RobotBase implements AutoCloseable {
       if (cause != null) {
         throwable = cause;
       }
-      String robotName = "Unknown";
       StackTraceElement[] elements = throwable.getStackTrace();
-      if (elements.length > 0) {
-        robotName = elements[0].getClassName();
-      }
+      String robotName = getRobotName(elements);
       DriverStationErrors.reportError(
           "Unhandled exception instantiating robot " + robotName + " " + throwable, elements);
       DriverStationErrors.reportError(
diff --git a/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java b/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
index b5230e6e7e..30e53051dc 100644
--- a/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
+++ b/wpilibj/src/test/java/org/wpilib/framework/TimedRobotTest.java
@@ -130,6 +130,25 @@ class TimedRobotTest {
     SimHooks.resumeTiming();
   }
 
+  @Test
+  void robotNameTest() {
+    // Simulated stack trace from a robot crash
+    StackTraceElement[] elements = {
+      new StackTraceElement("org.wpilib.framework.TimedRobot", "<init>", null, 1),
+      new StackTraceElement("org.wpilib.framework.TimedRobotTest$MockRobot", "<init>", null, 1),
+      new StackTraceElement(
+          "jdk.internal.reflect.DirectConstructorHandleAccessor", "newInstance", null, 1),
+      new StackTraceElement("java.lang.reflect.Constructor", "newInstanceWithCaller", null, 1),
+      new StackTraceElement("java.lang.reflect.Constructor", "newInstance", null, 1),
+      new StackTraceElement("org.wpilib.util.ConstructorMatch", "newInstance", null, 1),
+      new StackTraceElement("org.wpilib.framework.RobotBase", "constructRobot", null, 1),
+      new StackTraceElement("org.wpilib.framework.RobotBase", "runRobot", null, 1),
+      new StackTraceElement("org.wpilib.framework.RobotBase", "lambda$startRobot$0", null, 1),
+      new StackTraceElement("java.lang.Thread", "run", null, 1)
+    };
+    assertEquals("org.wpilib.framework.TimedRobotTest$MockRobot", MockRobot.getRobotName(elements));
+  }
+
   @Test
   @ResourceLock("timing")
   void disabledModeTest() {