Unhandled exception from `runOnce` command called from a Trigger if it creates further Triggers.

[chauser]

Describe the bug A clear and concise description of what the bug is.

Error at frc.robot.TestBehaviors.bindButtons(TestBehaviors.java:85): Unhandled exception: java.util.ConcurrentModificationException: Cannot bind EventLoop while it is running
        at edu.wpi.first.wpilibj.event.EventLoop.bind(EventLoop.java:28)
        at edu.wpi.first.wpilibj2.command.button.Trigger.addBinding(Trigger.java:70)
        at edu.wpi.first.wpilibj2.command.button.Trigger.onTrue(Trigger.java:110)
        at frc.robot.TestBehaviors.bindButtons(TestBehaviors.java:85)
        at edu.wpi.first.wpilibj2.command.FunctionalCommand.initialize(FunctionalCommand.java:52)
        at edu.wpi.first.wpilibj2.command.WrapperCommand.initialize(WrapperCommand.java:38)
        at edu.wpi.first.wpilibj2.command.CommandScheduler.initCommand(CommandScheduler.java:169)
        at edu.wpi.first.wpilibj2.command.CommandScheduler.schedule(CommandScheduler.java:212)
        at edu.wpi.first.wpilibj2.command.CommandScheduler.schedule(CommandScheduler.java:243)
        at edu.wpi.first.wpilibj2.command.Command.schedule(Command.java:538)
        at edu.wpi.first.wpilibj2.command.button.Trigger.lambda$onTrue$1(Trigger.java:113)
        at edu.wpi.first.wpilibj2.command.button.Trigger$1.run(Trigger.java:78)
        at java.base/java.lang.Iterable.forEach(Iterable.java:75)
        at edu.wpi.first.wpilibj.event.EventLoop.poll(EventLoop.java:38)
        at edu.wpi.first.wpilibj2.command.CommandScheduler.run(CommandScheduler.java:280)
        at frc.robot.Robot.robotPeriodic(Robot.java:24)
        at edu.wpi.first.wpilibj.IterativeRobotBase.loopFunc(IterativeRobotBase.java:400)
        at edu.wpi.first.wpilibj.TimedRobot.startCompetition(TimedRobot.java:133)
        at edu.wpi.first.wpilibj.RobotBase.runRobot(RobotBase.java:419)
        at edu.wpi.first.wpilibj.RobotBase.lambda$startRobot$1(RobotBase.java:490)
        at java.base/java.lang.Thread.run(Thread.java:840)

arising from this code:

      ...
      // var bindCommand(Commands.run(this::bindButtons).until(true));
      var bindCommand = Commands.runOnce(this::bindButtons);
      new Trigger(m_testerController.getHID()::isConnected)
              .onTrue(bindCommand.ignoringDisable(true));
      ...

private void bindButtons() {
        if (m_buttonsBound || !m_testerController.getHID().isConnected()) return;
        m_buttonsBound = true;
        // the following line is  frc.robot.TestBehaviors.bindButtons(TestBehaviors.java:85) in the traceback above
        m_testerController.start().onTrue(Commands.runOnce(m_coralSim::loadCoral).withName("LoadSimCoral"));
        m_testerController.rightBumper().whileTrue(new IntakeCommand(m_intake, m_elevator));
}

when m_testerController is connected causing bindButtons() to be run.

Expected behavior The bindButtons method binds the buttons without incurring an exception.

Desktop (please complete the following information):

• OS: Linux 22.04 (simulation). The nature of the behavior suggests that it would be the same on the roboRIO or any other desktop.
• Project Information:
• WPILib Information: Project Version: 2025.2.1 VS Code Version: 1.94.2 WPILib Extension Version: 2025.2.1 C++ Extension Version: 1.23.2 Java Extension Version: 1.38.0 Java Debug Extension Version: 0.58.2024090204 Java Dependencies Extension Version 0.24.1 Java Version: 17 Java Location: /home/hauser/wpilib/2025/jdk Vendor Libraries: PathplannerLib (2025.2.1) CTRE-Phoenix (v5) (5.35.1) CTRE-Phoenix (v6) (25.2.1) REVLib (2025.0.2) ReduxLib (2025.0.1) Studica (2025.0.1) ThriftyLib (2025.0.1) WPILib-New-Commands (1.0.0) maplesim (0.3.1) photonlib (v2025.1.1) YAGSL (2025.2.2)

Additional context For a couple of seasons I've had this as var bindCommand = Commands.run(this::bindButtons). It has worked fine, but this year I noticed that the command was left running after doing its job -- it should have been runOnce. But on changing it to runOnce it suffered the ConcurrentModificationException as shown above. I think that the problem is that when a Command is scheduled from a Trigger, the Command's start method is called from the Trigger processing loop; and Commands.runOnce places the method to be run as the start method of the Command that it constructs. Using var bindCommand(Commands.run(this::bindButtons).until(true)); instead, the error does not happen because this::bindButtons is placed as the execute method of the constructed command where it is called from the Scheduler loop. I'm not sure this needs to be fixed -- at this level of the system small changes may well affect other edge-case behaviors. But at least it is now noted and a work-around provided.

[KangarooKoala]

Thanks for the detailed bug report! Triggers are only intended to be bound once at startup, so it's unlikely we'll want to fix this behavior. (Glad you found a workaround though!)

On another note, is there a reason why you can't unconditionally bind the controls to m_testerController?

[chauser]

Yes -- the idea is to only bind those commands when the test controller is plugged in so that we can have the test code always present in the robot code but not get continuous warning about missing buttons and sticks when the test controller is not plugged in. And we definitely don't want it plugged in all the time because it lets you do things that are not intended for drivers to use in competition.

[KangarooKoala]

Ah, right, I forgot about the controller disconnected warnings. Since there's a workaround and this isn't a primary intended use of the API, I think this is fine? One of the maintainers should probably confirm before closing this issue.

[chauser]

No pressure from me to change it.

[Starlight220]

You can bind the buttons to a separate EventLoop and poll it depending on whether the controller is connected or not.

[KangarooKoala]

#7877 adds GenericHID.warnWhenDisabled() and CommandGenericHID.warnWhenDisabled() to let you indicate if a controller should emit a warning when disconnected. (This method is inherited by XboxController, CommandXboxController, and co.)