[build] Upgrade Gradle wrapper and plugins (#8767)

This fixes builds on JDK 26 for me.

apriltag/src/test/java/org/wpilib/vision/apriltag/AprilTagDetectorTest.java

@@ -110,7 +110,6 @@ class AprilTagDetectorTest {
     detector.removeFamily("tag16h5");
   }
 
-  @SuppressWarnings("PMD.AssignmentInOperand")
   public Mat loadImage(String resource) throws IOException {
     Mat encoded;
     try (InputStream is = getClass().getResource(resource).openStream()) {

build.gradle

@@ -187,5 +187,5 @@ ext.getCurrentArch = {
 }
 
 wrapper {
-    gradleVersion = '9.2.0'
+    gradleVersion = '9.4.1'
 }

commandsv2/src/main/java/org/wpilib/command2/SequentialCommandGroup.java

@@ -39,7 +39,6 @@ public class SequentialCommandGroup extends Command {
    *
    * @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(

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

@@ -26,6 +26,7 @@ import java.lang.invoke.WrongMethodTypeException;
  * <p>Teams don't need to use continuations directly with the commands framework; all mounting and
  * unmounting is handled by the command scheduler and a coroutine wrapper.
  */
+@SuppressWarnings("PMD.AvoidCatchingGenericException")
 final class Continuation {
   // The underlying jdk.internal.vm.Continuation object
   // https://github.com/openjdk/jdk/blob/jdk-21%2B35/src/java.base/share/classes/jdk/internal/vm/Continuation.java
@@ -114,7 +115,7 @@ final class Continuation {
    * @param scope the continuation's scope, used in yield
    * @param target the continuation's body
    */
-  @SuppressWarnings({"PMD.AvoidRethrowingException", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   Continuation(ContinuationScope scope, Runnable target) {
     try {
       m_continuation = CONSTRUCTOR.invoke(scope.m_continuationScope, target);
@@ -132,7 +133,7 @@ final class Continuation {
    * @return {@code true} for success; {@code false} for failure
    * @throws IllegalStateException if not currently in this continuation's scope
    */
-  @SuppressWarnings({"PMD.AvoidRethrowingException", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   public boolean yield() {
     try {
       return (boolean) YIELD.invoke(m_scope.m_continuationScope);
@@ -148,7 +149,7 @@ final class Continuation {
    * Mounts and runs the continuation body until the body calls {@link #yield()}. If the
    * continuation is suspended, it will continue from the most recent yield point.
    */
-  @SuppressWarnings({"PMD.AvoidRethrowingException", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   public void run() {
     try {
       RUN.invoke(m_continuation);
@@ -167,7 +168,7 @@ final class Continuation {
    *
    * @return whether this continuation is completed
    */
-  @SuppressWarnings({"PMD.AvoidRethrowingException", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   public boolean isDone() {
     try {
       return (boolean) IS_DONE.invoke(m_continuation);
@@ -185,7 +186,7 @@ final class Continuation {
    *
    * @param continuation the continuation to mount
    */
-  @SuppressWarnings({"PMD.AvoidRethrowingException", "PMD.AvoidCatchingGenericException"})
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   public static void mountContinuation(Continuation continuation) {
     try {
       if (continuation == null) {

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

@@ -10,6 +10,7 @@ import java.lang.invoke.MethodType;
 import java.util.Objects;
 
 /** A continuation scope. */
+@SuppressWarnings("PMD.AvoidCatchingGenericException")
 final class ContinuationScope {
   // The underlying jdk.internal.vm.ContinuationScope object
   // https://github.com/openjdk/jdk/blob/jdk-21%2B35/src/java.base/share/classes/jdk/internal/vm/ContinuationScope.java

cscore/src/main/java/org/wpilib/vision/camera/CvSource.java

@@ -40,7 +40,7 @@ public class CvSource extends ImageSource {
   }
 
   /**
-   * Put an OpenCV image and notify sinks
+   * Put an OpenCV image and notify sinks.
    *
    * <p>The image format is guessed from the number of channels. The channel mapping is as follows.
    * 1: kGray 2: kYUYV 3: BGR 4: BGRA Any other channel numbers will throw an error. If your image

cscore/src/main/java/org/wpilib/vision/camera/VideoListener.java

@@ -72,6 +72,7 @@ public class VideoListener implements AutoCloseable {
   private static boolean s_waitQueue;
   private static final Condition s_waitQueueCond = s_lock.newCondition();
 
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private static void startThread() {
     s_thread =
         new Thread(

gradle/libs.versions.toml

@@ -37,10 +37,10 @@ mockito = ["mockito-core"]
 # Similar logic applies for JMH
 
 [plugins]
-build-shadow = { id = "com.gradleup.shadow", version = "9.1.0" }
+build-shadow = { id = "com.gradleup.shadow", version = "9.4.1" }
-lint-errorprone = { id = "net.ltgt.errorprone", version = "4.3.0" }
+lint-errorprone = { id = "net.ltgt.errorprone", version = "5.1.0" }
-lint-spotbugs = { id = "com.github.spotbugs", version = "6.4.2" }
+lint-spotbugs = { id = "com.github.spotbugs", version = "6.4.12" }
-lint-spotless = { id = "com.diffplug.spotless", version = "8.0.0" }
+lint-spotless = { id = "com.diffplug.spotless", version = "8.4.0" }
 
 wpilib-gradle-jni = { id = "org.wpilib.GradleJni", version = "2027.0.0" }
 # Note: these plugins can't be used. Their JARs are on the classpath for buildSrc,

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-9.2.0-bin.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-9.4.1-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME

gradlew

@@ -57,7 +57,7 @@
 #       Darwin, MinGW, and NonStop.
 #
 #   (3) This script is generated from the Groovy template
-#       https://github.com/gradle/gradle/blob/HEAD/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
+#       https://github.com/gradle/gradle/blob/2d6327017519d23b96af35865dc997fcb544fb40/platforms/jvm/plugins-application/src/main/resources/org/gradle/api/internal/plugins/unixStartScript.txt
 #       within the Gradle project.
 #
 #       You can find Gradle at https://github.com/gradle/gradle/.

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

@@ -579,6 +579,7 @@ public final class NetworkTableInstance implements AutoCloseable {
       m_poller = 0;
     }
 
+    @SuppressWarnings("PMD.AvoidCatchingGenericException")
     private void startThread() {
       m_thread =
           new Thread(

ntcore/src/generated/main/java/org/wpilib/networktables/NetworkTableInstance.java

@@ -859,6 +859,7 @@ public final class NetworkTableInstance implements AutoCloseable {
       m_poller = 0;
     }
 
+    @SuppressWarnings("PMD.AvoidCatchingGenericException")
     private void startThread() {
       m_thread =
           new Thread(

romiVendordep/src/main/java/org/wpilib/romi/RomiGyro.java

@@ -151,7 +151,7 @@ public class RomiGyro {
   }
 
   /**
-   * Return the rate of rotation of the gyro
+   * Return the rate of rotation of the gyro.
    *
    * <p>The rate is based on the most recent reading of the gyro.
    *

shared/java/javacommon.gradle

@@ -136,7 +136,7 @@ task run(type: JavaExec) {
 build.dependsOn devClasses
 
 jacoco {
-    toolVersion = "0.8.13"
+    toolVersion = "0.8.14"
 }
 
 jacocoTestReport {

shared/java/javastyle.gradle

@@ -5,7 +5,7 @@ if (project.hasProperty('skipJavaFormat')) {
 apply plugin: 'checkstyle'
 
 checkstyle {
-    toolVersion = "11.0.0"
+    toolVersion = "13.4.0"
     configDirectory = file("${project.rootDir}/styleguide")
     config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
 }
@@ -13,7 +13,7 @@ checkstyle {
 apply plugin: 'pmd'
 
 pmd {
-    toolVersion = '7.16.0'
+    toolVersion = '7.23.0'
     consoleOutput = true
     reportsDir = file("$project.buildDir/reports/pmd")
     ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))

styleguide/pmd-ruleset.xml

@@ -29,6 +29,7 @@
     <exclude name="LooseCoupling" />
     <exclude name="NonExhaustiveSwitch" />
     <exclude name="PreserveStackTrace" />
+    <exclude name="RelianceOnDefaultCharset" />
     <exclude name="ReplaceHashtableWithMap" />
     <exclude name="ReplaceVectorWithList" />
     <exclude name="SystemPrintln" />
@@ -53,6 +54,7 @@
   </rule>
 
   <rule ref="category/java/design.xml">
+    <exclude name="AvoidDeeplyNestedIfStmts" />
     <exclude name="AvoidThrowingNewInstanceOfSameException" />
     <exclude name="AvoidThrowingRawExceptionTypes" />
     <exclude name="CognitiveComplexity" />
@@ -68,11 +70,13 @@
     <exclude name="LoosePackageCoupling" />
     <exclude name="NPathComplexity" />
     <exclude name="NcssCount" />
+    <exclude name="PublicMemberInNonPublicType" />
     <exclude name="TooManyFields" />
     <exclude name="TooManyMethods" />
   </rule>
 
   <rule ref="category/java/errorprone.xml">
+    <exclude name="AssignmentInOperand" />
     <exclude name="AssignmentToNonFinalStatic" />
     <exclude name="AvoidCatchingThrowable" />
     <exclude name="AvoidDuplicateLiterals" />

wpilibj/src/main/java/org/wpilib/framework/RobotBase.java

@@ -315,6 +315,7 @@ public abstract class RobotBase implements AutoCloseable {
   }
 
   /** Run the robot main loop. */
+  @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private static <T extends RobotBase> void runRobot(Class<T> robotClass) {
     System.out.println("********** Robot program starting **********");
 

wpilibj/src/main/java/org/wpilib/hardware/bus/SerialPort.java

@@ -198,7 +198,7 @@ public class SerialPort implements AutoCloseable {
   }
 
   /**
-   * Enable termination with the default terminator '\n'
+   * Enable termination with the default terminator '\n'.
    *
    * <p>Termination is currently only implemented for receive. When the terminator is received, the
    * read() or readString() will return fewer bytes than requested, stopping after the terminator.

wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHub.java

@@ -87,7 +87,7 @@ public class ExpansionHub implements AutoCloseable {
   private final DataStore m_dataStore;
 
   /**
-   * Constructs a new ExpansionHub for a given USB ID
+   * Constructs a new ExpansionHub for a given USB ID.
    *
    * <p>Multiple instances can be constructed, but will point to the same backing object with a ref
    * count.

wpilibj/src/main/java/org/wpilib/hardware/expansionhub/ExpansionHubServo.java

@@ -110,7 +110,7 @@ public class ExpansionHubServo implements AutoCloseable {
   }
 
   /**
-   * Sets the servo angle
+   * Sets the servo angle.
    *
    * <p>Servo angles range defaults to 0 to 180 degrees, but can be changed with setAngleRange().
    *

wpilibj/src/main/java/org/wpilib/hardware/motor/MotorSafety.java

@@ -31,7 +31,6 @@ public abstract class MotorSafety {
   private static final Object m_listMutex = new Object();
   private static Thread m_safetyThread;
 
-  @SuppressWarnings("PMD.AssignmentInOperand")
   private static void threadMain() {
     int event = WPIUtilJNI.makeEvent(false, false);
     DriverStationJNI.provideNewDataEventHandle(event);

wpilibj/src/main/java/org/wpilib/hardware/rotation/DutyCycleEncoder.java

@@ -170,7 +170,7 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
   }
 
   /**
-   * Get if the sensor is connected
+   * Get if the sensor is connected.
    *
    * <p>This uses the duty cycle frequency to determine if the sensor is connected. By default, a
    * value of 100 Hz is used as the threshold, and this value can be changed with {@link

wpilibjExamples/build.gradle

@@ -48,7 +48,7 @@ eclipse {
 }
 
 jacoco {
-    toolVersion = "0.8.13"
+    toolVersion = "0.8.14"
 }
 
 jacocoTestReport {

wpilibjExamples/src/main/java/org/wpilib/examples/drivedistanceoffboard/ExampleSmartMotorController.java

@@ -23,7 +23,6 @@ public class ExampleSmartMotorController {
    *
    * @param port The port for the controller.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
   public ExampleSmartMotorController(int port) {}
 
   /**

wpilibjExamples/src/main/java/org/wpilib/examples/elevatorexponentialprofile/ExampleSmartMotorController.java

@@ -21,7 +21,6 @@ public class ExampleSmartMotorController {
    *
    * @param port The port for the controller.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
   public ExampleSmartMotorController(int port) {}
 
   /**

wpilibjExamples/src/main/java/org/wpilib/examples/elevatortrapezoidprofile/ExampleSmartMotorController.java

@@ -21,7 +21,6 @@ public class ExampleSmartMotorController {
    *
    * @param port The port for the controller.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
   public ExampleSmartMotorController(int port) {}
 
   /**

wpimath/src/main/java/org/wpilib/math/autodiff/Slice.java

@@ -7,7 +7,6 @@ package org.wpilib.math.autodiff;
 import java.util.OptionalInt;
 
 /** Represents a sequence of elements in an iterable object. */
-@SuppressWarnings("PMD.UnusedFormalParameter")
 public class Slice {
   /** Type tag used to designate an omitted argument of the slice. */
   public static class None {

wpimath/src/main/java/org/wpilib/math/autodiff/Variable.java

@@ -54,7 +54,7 @@ public class Variable implements AutoCloseable {
    * @param handleTypeTag Handle type tag.
    * @param handle Variable handle.
    */
-  @SuppressWarnings({"PMD.UnusedFormalParameter", "this-escape"})
+  @SuppressWarnings("this-escape")
   public Variable(Handle handleTypeTag, long handle) {
     m_handle = handle;
     VariablePool.register(this);

wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator.java

@@ -68,7 +68,6 @@ public class PoseEstimator<T> {
    *     in meters, y position in meters, and heading in radians). Increase these numbers to trust
    *     the vision pose measurement less.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
   public PoseEstimator(
       Kinematics<T, ?, ?> kinematics,
       Odometry<T> odometry,

wpimath/src/main/java/org/wpilib/math/estimator/PoseEstimator3d.java

@@ -75,7 +75,6 @@ public class PoseEstimator3d<T> {
    *     in meters, y position in meters, z position in meters, and angle in radians). Increase
    *     these numbers to trust the vision pose measurement less.
    */
-  @SuppressWarnings("PMD.UnusedFormalParameter")
   public PoseEstimator3d(
       Kinematics<T, ?, ?> kinematics,
       Odometry3d<T> odometry,

wpiutil/src/main/java/org/wpilib/util/struct/DynamicStruct.java

@@ -378,7 +378,7 @@ public final class DynamicStruct {
    * @throws IllegalArgumentException if field is not a member of this struct
    * @throws IllegalStateException if struct descriptor is invalid
    */
-  @SuppressWarnings({"PMD.CollapsibleIfStatements", "PMD.AvoidDeeplyNestedIfStmts"})
+  @SuppressWarnings("PMD.CollapsibleIfStatements")
   public String getStringField(StructFieldDescriptor field) {
     if (field.getType() != StructFieldType.CHAR) {
       throw new UnsupportedOperationException("field is not char type");

wpiutil/src/test/java/org/wpilib/util/ConstructorMatchTest.java

@@ -11,11 +11,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 import java.util.Optional;
 import org.junit.jupiter.api.Test;
 
-@SuppressWarnings({
+@SuppressWarnings({"PMD.TestClassWithoutTestCases", "RedundantModifier"})
-  "PMD.TestClassWithoutTestCases",
-  "PMD.UnusedFormalParameter",
-  "RedundantModifier"
-})
 class ConstructorMatchTest {
   public static class TestClass {
     public TestClass() {}

xrpVendordep/src/main/java/org/wpilib/xrp/XRPGyro.java

@@ -165,7 +165,7 @@ public class XRPGyro {
   }
 
   /**
-   * Return the rate of rotation of the gyro
+   * Return the rate of rotation of the gyro.
    *
    * <p>The rate is based on the most recent reading of the gyro.
    *