[commandsv3] Performance improvement for schedule()

commandsv3/src/main/java/org/wpilib/command3/Binding.java

@@ -12,15 +12,16 @@
  * @param scope The scope in which the binding is active.
  * @param type The type of binding; or, when the bound command should run
  * @param command The bound command. Cannot be null.
- * @param frames The stack frames when the binding was created. Used for telemetry and error
- *     reporting so if a command throws an exception, we can tell users where that command was bound
- *     instead of giving a fairly useless backtrace of the command framework.
+ * @param stackTraceStore A {@link Throwable} storing stack frames when the binding was created.
+ *     Used for telemetry and error reporting so if a command throws an exception, we can tell users
+ *     where that command was bound instead of giving a fairly useless backtrace of the command
+ *     framework.
  */
-record Binding(BindingScope scope, BindingType type, Command command, StackTraceElement[] frames) {
+record Binding(BindingScope scope, BindingType type, Command command, Throwable stackTraceStore) {
   public Binding {
     ErrorMessages.requireNonNullParam(scope, "scope", "Binding");
     ErrorMessages.requireNonNullParam(type, "type", "Binding");
     ErrorMessages.requireNonNullParam(command, "command", "Binding");
-    ErrorMessages.requireNonNullParam(frames, "frames", "Binding");
+    ErrorMessages.requireNonNullParam(stackTraceStore, "stackTraceStore", "Binding");
   }
 }

commandsv3/src/main/java/org/wpilib/command3/Scheduler.java

@@ -220,10 +220,7 @@ public void setDefaultCommand(Mechanism mechanism, Command defaultCommand) {
 
     var binding =
         new Binding(
-            scope,
-            BindingType.CONTINUOUSLY_SCHEDULE_WHILE_HIGH,
-            defaultCommand,
-            new Throwable().getStackTrace());
+            scope, BindingType.CONTINUOUSLY_SCHEDULE_WHILE_HIGH, defaultCommand, new Throwable());
 
     var currentDefaultCommand = getDefaultCommandFor(mechanism);
     m_defaultCommandBindings.computeIfAbsent(mechanism, k -> new ArrayList<>()).add(binding);
@@ -559,8 +556,7 @@ public ScheduleResult schedule(Command command) {
 
     // Note: we use a throwable here instead of Thread.currentThread().getStackTrace() for easier
     //       stack frame filtering and modification.
-    var binding =
-        new Binding(scope, BindingType.IMMEDIATE, command, new Throwable().getStackTrace());
+    var binding = new Binding(scope, BindingType.IMMEDIATE, command, new Throwable());
 
     return schedule(binding);
   }
@@ -1015,7 +1011,9 @@ private void handleCommandException(CommandState state, RuntimeException e) {
 
     // Intercept the exception, inject stack frames from the schedule site, and rethrow it
     var binding = state.binding();
-    e.setStackTrace(CommandTraceHelper.modifyTrace(e.getStackTrace(), binding.frames()));
+    e.setStackTrace(
+        CommandTraceHelper.modifyTrace(
+            e.getStackTrace(), binding.stackTraceStore().getStackTrace()));
     emitCompletedWithErrorEvent(command, e);
 
     // Clean up child commands after emitting the event so child Canceled events are emitted

commandsv3/src/main/java/org/wpilib/command3/Trigger.java

@@ -551,7 +551,7 @@ void addBinding(BindingScope scope, BindingType bindingType, Command command) {
     //       stack frame filtering and modification.
     m_bindings
         .computeIfAbsent(bindingType, _k -> new ArrayList<>())
-        .add(new Binding(scope, bindingType, command, new Throwable().getStackTrace()));
+        .add(new Binding(scope, bindingType, command, new Throwable()));
 
     if (!m_bound) {
       // Ensure we're bound to the event loop.