How should we best execute a path planner generated command from within one of our commands?

[rakar]

In cases where we want to produce a ppl command (for a dynamic path from points that are not previously known) in the initialization method of one of our commands, how should we best execute that command. We started with:

ourCmd {
  initialization() {
    make points;
    make path;
    cmd = AutoBuilder.followPath(path);
    cmd.schedule();
  }
  end(...) {
    cmd.cancel();
  }
}

we the bind:
joystick.a().whileTrue(new ourCmd());

Which worked for a while, but after a number of updates fails to call end() when button A is released. The followPath command will run to completion regardless of releasing the button. This is not good for testing with things go awry. So we have shifted to:

ourCmd {
  initialization() {
    make points;
    make path;
    cmd = AutoBuilder.followPath(path);
    cmd.initialize();
  }
  execute(){
    execute();
  }
  end(...) {
    cmd.end();
  }
  isfinished {
    return cmd.isfinished();
  }
}

This works, but… I feel that there should be some better way. I don’t see an AutoBuilder.followPath(Supplier) method.
What is the best practice for doing this?

Thanks,
Rich