[build] Upgrade to PMD 7.2.0 (#6718)

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -281,11 +281,11 @@ public int hashCode() {
   private static class FieldDimensions {
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "length")
-    public double fieldLength;
+    public final double fieldLength;
 
     @SuppressWarnings("MemberName")
     @JsonProperty(value = "width")
-    public double fieldWidth;
+    public final double fieldWidth;
 
     @JsonCreator()
     FieldDimensions(

cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java

@@ -15,7 +15,7 @@ public final class OpenCvLoader {
   static boolean libraryLoaded;
 
   /** Sets whether JNI should be loaded in the static block. */
-  public static class Helper {
+  public static final class Helper {
     private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
 
     /**

cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java

@@ -64,7 +64,10 @@ public boolean isValid() {
 
   private static final ReentrantLock s_lock = new ReentrantLock();
   private static final Map<Integer, Consumer<VideoEvent>> s_listeners = new HashMap<>();
+
+  @SuppressWarnings("PMD.SingularField")
   private static Thread s_thread;
+
   private static int s_poller;
   private static boolean s_waitQueue;
   private static final Condition s_waitQueueCond = s_lock.newCondition();

cscore/src/main/java/edu/wpi/first/cscore/VideoProperty.java

@@ -212,5 +212,5 @@ public String[] getChoices() {
   }
 
   int m_handle;
-  private Kind m_kind;
+  private final Kind m_kind;
 }

hal/src/generate/FRCNetComm.java.in

@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
 /**
  * JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
  */
+@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
 public final class FRCNetComm {
   /**
    * Resource type from UsageReporting.

hal/src/main/java/edu/wpi/first/hal/HAL.java

@@ -82,7 +82,7 @@ public final class HAL extends JNIWrapper {
 
   private static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
 
-  public static class SimPeriodicBeforeCallback implements AutoCloseable {
+  public static final class SimPeriodicBeforeCallback implements AutoCloseable {
     private SimPeriodicBeforeCallback(Runnable r) {
       m_run = r;
     }
@@ -128,7 +128,7 @@ public static void simPeriodicBefore() {
 
   private static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
 
-  public static class SimPeriodicAfterCallback implements AutoCloseable {
+  public static final class SimPeriodicAfterCallback implements AutoCloseable {
     private SimPeriodicAfterCallback(Runnable r) {
       m_run = r;
     }

ntcore/src/generate/main/java/NetworkTableEntry.java.jinja

@@ -541,14 +541,7 @@ public final class NetworkTableEntry implements Publisher, Subscriber {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    if (!(other instanceof NetworkTableEntry)) {
-      return false;
-    }
-
-    return m_handle == ((NetworkTableEntry) other).m_handle;
+    return other == this || other instanceof NetworkTableEntry entry && m_handle == entry.m_handle;
   }
 
   @Override

ntcore/src/generate/main/java/NetworkTableInstance.java.jinja

@@ -43,7 +43,6 @@ import us.hebi.quickbuf.ProtoMessage;
  * kept to the NetworkTableInstance returned by this function to keep it from being garbage
  * collected.
  */
-@SuppressWarnings("PMD.CouplingBetweenObjects")
 public final class NetworkTableInstance implements AutoCloseable {
   /** Client/server mode flag values (as returned by {@link #getNetworkMode()}). */
   public enum NetworkMode {
@@ -493,7 +492,10 @@ public final class NetworkTableInstance implements AutoCloseable {
   private static class ListenerStorage implements AutoCloseable {
     private final ReentrantLock m_lock = new ReentrantLock();
     private final Map<Integer, Consumer<NetworkTableEvent>> m_listeners = new HashMap<>();
+
+    @SuppressWarnings("PMD.SingularField")
     private Thread m_thread;
+
     private int m_poller;
     private boolean m_waitQueue;
     private final Event m_waitQueueEvent = new Event();
@@ -1239,10 +1241,7 @@ public final class NetworkTableInstance implements AutoCloseable {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
+    return other == this || other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
   }
 
   @Override

ntcore/src/generate/main/java/NetworkTableValue.java.jinja

@@ -154,12 +154,10 @@ public final class NetworkTableValue {
 {% endfor %}
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof NetworkTableValue ntOther
-        && m_type == ntOther.m_type
-        && m_value.equals(ntOther.m_value);
+    return other == this
+        || other instanceof NetworkTableValue ntOther
+            && m_type == ntOther.m_type
+            && m_value.equals(ntOther.m_value);
   }
 
   @Override

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java

@@ -18,7 +18,6 @@
 import us.hebi.quickbuf.ProtoMessage;
 
 /** A network table that knows its subtable path. */
-@SuppressWarnings("PMD.CouplingBetweenObjects")
 public final class NetworkTable {
   /** The path separator for sub-tables and keys. */
   public static final char PATH_SEPARATOR = '/';

ntcore/src/main/java/edu/wpi/first/networktables/ProtobufTopic.java

@@ -164,12 +164,10 @@ public ProtobufEntry<T> getEntry(T defaultValue, PubSubOption... options) {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof ProtobufTopic<?> topic
-        && super.equals(topic)
-        && m_proto == topic.m_proto;
+    return other == this
+        || other instanceof ProtobufTopic<?> topic
+            && super.equals(topic)
+            && m_proto == topic.m_proto;
   }
 
   @Override

ntcore/src/main/java/edu/wpi/first/networktables/StructArrayTopic.java

@@ -164,12 +164,10 @@ public Struct<T> getStruct() {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof StructArrayTopic<?> topic
-        && super.equals(topic)
-        && m_struct == topic.m_struct;
+    return other == this
+        || other instanceof StructArrayTopic<?> topic
+            && super.equals(topic)
+            && m_struct == topic.m_struct;
   }
 
   @Override

ntcore/src/main/java/edu/wpi/first/networktables/StructTopic.java

@@ -163,12 +163,10 @@ public Struct<T> getStruct() {
 
   @Override
   public boolean equals(Object other) {
-    if (other == this) {
-      return true;
-    }
-    return other instanceof StructTopic<?> topic
-        && super.equals(topic)
-        && m_struct == topic.m_struct;
+    return other == this
+        || other instanceof StructTopic<?> topic
+            && super.equals(topic)
+            && m_struct == topic.m_struct;
   }
 
   @Override

shared/java/javastyle.gradle

@@ -13,7 +13,7 @@ checkstyle {
 apply plugin: 'pmd'
 
 pmd {
-    toolVersion = '6.55.0'
+    toolVersion = '7.2.0'
     consoleOutput = true
     reportsDir = file("$project.buildDir/reports/pmd")
     ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))

styleguide/pmd-ruleset.xml

@@ -38,24 +38,28 @@
         value=".*'.*Arguments\(\)'.*" />
     </properties>
   </rule>
+  <rule ref="category/java/bestpractices.xml/UnusedLocalVariable">
+    <properties>
+      <property name="violationSuppressXPath" value="//Resource"/>
+    </properties>
+  </rule>
 
   <rule ref="category/java/design.xml">
     <exclude name="AvoidThrowingRawExceptionTypes" />
+    <exclude name="AvoidThrowingNewInstanceOfSameException" />
     <exclude name="CognitiveComplexity" />
+    <exclude name="CouplingBetweenObjects" />
     <exclude name="CyclomaticComplexity" />
     <exclude name="DataClass" />
-    <exclude name="ExcessiveClassLength" />
+    <exclude name="ExceptionAsFlowControl" />
     <exclude name="ExcessiveImports" />
-    <exclude name="ExcessiveMethodLength" />
     <exclude name="ExcessiveParameterList" />
     <exclude name="ExcessivePublicCount" />
     <exclude name="GodClass" />
     <exclude name="LawOfDemeter" />
     <exclude name="LoosePackageCoupling" />
     <exclude name="NPathComplexity" />
-    <exclude name="NcssConstructorCount" />
     <exclude name="NcssCount" />
-    <exclude name="NcssMethodCount" />
     <exclude name="TooManyFields" />
     <exclude name="TooManyMethods" />
   </rule>
@@ -67,10 +71,8 @@
     <exclude name="AvoidLiteralsInIfCondition" />
     <exclude name="CloseResource" />
     <exclude name="ConstructorCallsOverridableMethod" />
-    <exclude name="DataflowAnomalyAnalysis" />
     <exclude name="DoNotTerminateVM" />
     <exclude name="EmptyCatchBlock" />
-    <exclude name="EmptyWhileStmt" />
     <exclude name="FinalizeDoesNotCallSuperFinalize" />
     <exclude name="JUnitSpelling" />
     <exclude name="MissingSerialVersionUID" />
@@ -86,7 +88,6 @@
   </rule>
 
   <rule ref="category/java/performance.xml">
-    <exclude name="AvoidUsingShortType" />
     <exclude name="AvoidInstantiatingObjectsInLoops" />
   </rule>
 
@@ -98,7 +99,7 @@
   <!-- Custom Rules -->
   <rule name="UseRequireNonNull"
     message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."
-    language="java" class="net.sourceforge.pmd.lang.rule.XPathRule">
+    language="java" class="net.sourceforge.pmd.lang.rule.xpath.XPathRule">
     <description>Use Objects.requireNonNull() instead of throwing a
       NullPointerException yourself.</description>
     <properties>

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java

@@ -41,6 +41,7 @@ public ParallelRaceGroup(Command... commands) {
    *
    * @param commands Commands to add to the group.
    */
+  @SuppressWarnings("PMD.UseArraysAsList")
   public final void addCommands(Command... commands) {
     if (!m_finished) {
       throw new IllegalStateException(

wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java

@@ -38,6 +38,7 @@ public SequentialCommandGroup(Command... commands) {
    *
    * @param commands Commands to add, in order of execution.
    */
+  @SuppressWarnings("PMD.UseArraysAsList")
   public final void addCommands(Command... commands) {
     if (m_currentCommandIndex != -1) {
       throw new IllegalStateException(

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java

@@ -51,7 +51,7 @@ void cleanup() {
         new SwerveModuleState(0, Rotation2d.kZero)
       };
 
-  private SwerveModulePosition[] m_modulePositions =
+  private final SwerveModulePosition[] m_modulePositions =
       new SwerveModulePosition[] {
         new SwerveModulePosition(0, Rotation2d.kZero),
         new SwerveModulePosition(0, Rotation2d.kZero),

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -840,7 +840,7 @@ private void acquire() {
 
           if (calc_crc == imu_crc) {
             // Timestamp is at buffer[i]
-            m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
+            m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
 
             // Scale sensor data
             gyro_rate_x = (toShort(buffer[i + 5], buffer[i + 6]) * 0.04);

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -825,7 +825,7 @@ private void acquire() {
         // Could be multiple data sets in the buffer. Handle each one.
         for (int i = 0; i < data_to_read; i += dataset_len) {
           // Timestamp is at buffer[i]
-          m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
+          m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
 
           /*
            * System.out.println(((toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5],

wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java

@@ -168,7 +168,7 @@ public int getPeriodCycles() {
   public long getPeriodNanoSeconds() {
     int fpgaCycles = getPeriodCycles();
 
-    return (long) fpgaCycles * 1000L / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
+    return fpgaCycles * 1000L / (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
   }
 
   @Override