Disable frivolous PMD warnings and enable PMD in ntcore (#3419)

Some valid warnings like throwing NullPointerException or using a for loop instead of System.arraycopy() were fixed. Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were made concrete because they already had protected constructors. Fixes #1697.
2026-06-24 01:31:46 +00:00 · 2021-06-09 07:01:00 -07:00
parent 8284075ee4
commit c1e128bd5a
93 changed files with 154 additions and 326 deletions
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
@@ -21,7 +21,6 @@ import java.nio.ByteOrder;
 *
 * <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
 */
-@SuppressWarnings("PMD.UnusedPrivateField")
 public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
  private static final byte kRegWrite = 0x0A;
  private static final byte kRegRead = 0x0B;
@@ -37,7 +36,10 @@ public class ADXL362 implements Accelerometer, Sendable, AutoCloseable {
  private static final byte kFilterCtl_ODR_100Hz = 0x03;

  private static final byte kPowerCtl_UltraLowNoise = 0x20;
+
+  @SuppressWarnings("PMD.UnusedPrivateField")
  private static final byte kPowerCtl_AutoSleep = 0x04;
+
  private static final byte kPowerCtl_Measure = 0x02;

  public enum Axes {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
@@ -163,7 +163,6 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
  }

  @Override
-  @SuppressWarnings("PMD.UnusedFormalParameter")
  public void initSendable(SendableBuilder builder) {}

  private int m_channelIndex = -1;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -18,13 +18,6 @@ import java.util.concurrent.locks.Lock;
 import java.util.concurrent.locks.ReentrantLock;

 /** Provide access to the network communication data to / from the Driver Station. */
-@SuppressWarnings({
-  "PMD.CyclomaticComplexity",
-  "PMD.ExcessiveClassLength",
-  "PMD.ExcessivePublicCount",
-  "PMD.GodClass",
-  "PMD.TooManyFields"
-})
 public class DriverStation {
  /** Number of Joystick Ports. */
  public static final int kJoystickPorts = 6;
@@ -162,7 +155,6 @@ public class DriverStation {
      controlWord.forceSetDouble(0);
    }

-    @SuppressWarnings("PMD.NPathComplexity")
    private void sendMatchData(DriverStation driverStation) {
      AllianceStationID allianceID = HAL.getAllianceStation();
      boolean isRedAlliance = false;
@@ -268,8 +260,7 @@ public class DriverStation {
  private final MatchDataSender m_matchDataSender;

  // Internal Driver Station thread
-  @SuppressWarnings("PMD.SingularField")
-  private final Thread m_thread;
+  private Thread m_thread;

  private volatile boolean m_threadKeepAlive = true;

@@ -308,7 +299,6 @@ public class DriverStation {
   * <p>The single DriverStation instance is created statically with the instance static member
   * variable.
   */
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
  private DriverStation() {
    HAL.initialize(500, 0);
    m_waitForDataCount = 0;
@@ -340,6 +330,14 @@ public class DriverStation {
  /** Kill the thread. */
  public void release() {
    m_threadKeepAlive = false;
+    if (m_thread != null) {
+      try {
+        m_thread.join();
+      } catch (InterruptedException ex) {
+        Thread.currentThread().interrupt();
+      }
+      m_thread = null;
+    }
  }

  /**
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
@@ -18,7 +18,6 @@ import java.nio.ByteBuffer;
 * <p>This class is intended to be used by sensor (and other I2C device) drivers. It probably should
 * not be used directly.
 */
-@SuppressWarnings("PMD.GodClass")
 public class I2C implements AutoCloseable {
  public enum Port {
    kOnboard(0),
@@ -99,7 +98,7 @@ public class I2C implements AutoCloseable {
   * @param receiveSize Number of bytes to read from the device.
   * @return Transfer Aborted... false for success, true for aborted.
   */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "ByteBufferBackingArray"})
+  @SuppressWarnings("ByteBufferBackingArray")
  public synchronized boolean transaction(
      ByteBuffer dataToSend, int sendSize, ByteBuffer dataReceived, int receiveSize) {
    if (dataToSend.hasArray() && dataReceived.hasArray()) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
@@ -208,7 +208,6 @@ public abstract class IterativeRobotBase extends RobotBase {
    return m_period;
  }

-  @SuppressWarnings("PMD.CyclomaticComplexity")
  protected void loopFunc() {
    m_watchdog.reset();

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
@@ -163,7 +163,6 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
   *
   * @param value The state to set the relay.
   */
-  @SuppressWarnings("PMD.CyclomaticComplexity")
  public void set(Value value) {
    switch (value) {
      case kOff:
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
@@ -277,10 +277,7 @@ public abstract class RobotBase implements AutoCloseable {
  private static boolean m_suppressExitWarning;

  /** Run the robot main loop. */
-  @SuppressWarnings({
-    "PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
-    "PMD.CyclomaticComplexity", "PMD.NPathComplexity"
-  })
+  @SuppressWarnings("PMD.AvoidCatchingThrowable")
  private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
    System.out.println("********** Robot program starting **********");

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
@@ -13,7 +13,6 @@ import java.nio.ByteOrder;
 import java.nio.IntBuffer;

 /** Represents a SPI bus port. */
-@SuppressWarnings("PMD.CyclomaticComplexity")
 public class SPI implements AutoCloseable {
  public enum Port {
    kOnboardCS0(0),
@@ -258,7 +257,7 @@ public class SPI implements AutoCloseable {
   * @param dataReceived Buffer to receive data from the device.
   * @param size The length of the transaction, in bytes
   */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "ByteBufferBackingArray"})
+  @SuppressWarnings("ByteBufferBackingArray")
  public int transaction(ByteBuffer dataToSend, ByteBuffer dataReceived, int size) {
    if (dataToSend.hasArray() && dataReceived.hasArray()) {
      return transaction(dataToSend.array(), dataReceived.array(), size);
@@ -425,7 +424,6 @@ public class SPI implements AutoCloseable {

  private static final int kAccumulateDepth = 2048;

-  @SuppressWarnings("PMD.TooManyFields")
  private static class Accumulator implements AutoCloseable {
    Accumulator(
        int port,
@@ -482,7 +480,6 @@ public class SPI implements AutoCloseable {
    final boolean m_bigEndian; // is response big endian?
    final int m_port;

-    @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
    void update() {
      synchronized (m_mutex) {
        boolean done = false;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/SpeedControllerGroup.java
@@ -26,14 +26,11 @@ public class SpeedControllerGroup implements MotorController, Sendable, AutoClos
   *
   * @param speedControllers The SpeedControllers to add
   */
-  @SuppressWarnings("PMD.AvoidArrayLoops")
  public SpeedControllerGroup(
      SpeedController speedController, SpeedController... speedControllers) {
    m_speedControllers = new SpeedController[speedControllers.length + 1];
    m_speedControllers[0] = speedController;
-    for (int i = 0; i < speedControllers.length; i++) {
-      m_speedControllers[i + 1] = speedControllers[i];
-    }
+    System.arraycopy(speedControllers, 0, m_speedControllers, 1, speedControllers.length);
    init();
  }

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/XboxController.java
@@ -28,7 +28,7 @@ public class XboxController extends GenericHID {
    kBack(7),
    kStart(8);

-    @SuppressWarnings({"MemberName", "PMD.SingularField"})
+    @SuppressWarnings("MemberName")
    public final int value;

    Button(int value) {
@@ -45,7 +45,7 @@ public class XboxController extends GenericHID {
    kLeftTrigger(2),
    kRightTrigger(3);

-    @SuppressWarnings({"MemberName", "PMD.SingularField"})
+    @SuppressWarnings("MemberName")
    public final int value;

    Axis(int value) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/controller/PIDController.java
@@ -12,7 +12,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;

 /** Implements a PID control loop. */
-@SuppressWarnings("PMD.TooManyFields")
 public class PIDController implements Sendable, AutoCloseable {
  private static int instances;

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java
@@ -4,6 +4,8 @@

 package edu.wpi.first.wpilibj.drive;

+import static java.util.Objects.requireNonNull;
+
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -12,7 +14,6 @@ import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import java.util.StringJoiner;

 /**
 * A class for driving differential drive/skid-steer drive platforms such as the Kit of Parts drive
@@ -121,7 +122,9 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   * so before passing it in.
   */
  public DifferentialDrive(SpeedController leftMotor, SpeedController rightMotor) {
-    verify(leftMotor, rightMotor);
+    requireNonNull(leftMotor, "Left motor cannot be null");
+    requireNonNull(rightMotor, "Right motor cannot be null");
+
    m_leftMotor = leftMotor;
    m_rightMotor = rightMotor;
    SendableRegistry.addChild(this, m_leftMotor);
@@ -135,29 +138,6 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    SendableRegistry.remove(this);
  }

-  /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
-   * exception's error message will specify all null motors, e.g. {@code
-   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to the
-   * programmer.
-   *
-   * @throws NullPointerException if any of the given motors are null
-   */
-  @SuppressWarnings("PMD.AvoidThrowingNullPointerException")
-  private void verify(SpeedController leftMotor, SpeedController rightMotor) {
-    if (leftMotor != null && rightMotor != null) {
-      return;
-    }
-    StringJoiner joiner = new StringJoiner(", ");
-    if (leftMotor == null) {
-      joiner.add("leftMotor");
-    }
-    if (rightMotor == null) {
-      joiner.add("rightMotor");
-    }
-    throw new NullPointerException(joiner.toString());
-  }
-
  /**
   * Arcade drive method for differential drive platform. The calculated values will be squared to
   * decrease sensitivity at low speeds.
@@ -212,7 +192,7 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
   * @param allowTurnInPlace If set, overrides constant-curvature turning for turn-in-place
   *     maneuvers.
   */
-  @SuppressWarnings({"ParameterName", "PMD.CyclomaticComplexity"})
+  @SuppressWarnings("ParameterName")
  public void curvatureDrive(double xSpeed, double zRotation, boolean allowTurnInPlace) {
    if (!m_reported) {
      HAL.report(
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/KilloughDrive.java
@@ -4,6 +4,8 @@

 package edu.wpi.first.wpilibj.drive;

+import static java.util.Objects.requireNonNull;
+
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -12,7 +14,6 @@ import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import java.util.StringJoiner;

 /**
 * A class for driving Killough drive platforms.
@@ -122,7 +123,10 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
      double leftMotorAngle,
      double rightMotorAngle,
      double backMotorAngle) {
-    verify(leftMotor, rightMotor, backMotor);
+    requireNonNull(leftMotor, "Left motor cannot be null");
+    requireNonNull(rightMotor, "Right motor cannot be null");
+    requireNonNull(backMotor, "Back motor cannot be null");
+
    m_leftMotor = leftMotor;
    m_rightMotor = rightMotor;
    m_backMotor = backMotor;
@@ -150,33 +154,6 @@ public class KilloughDrive extends RobotDriveBase implements Sendable, AutoClose
    SendableRegistry.remove(this);
  }

-  /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
-   * exception's error message will specify all null motors, e.g. {@code
-   * NullPointerException("leftMotor, rightMotor")}, to give as much information as possible to the
-   * programmer.
-   *
-   * @throws NullPointerException if any of the given motors are null
-   */
-  @SuppressWarnings("PMD.AvoidThrowingNullPointerException")
-  private void verify(
-      SpeedController leftMotor, SpeedController rightMotor, SpeedController backMotor) {
-    if (leftMotor != null && rightMotor != null && backMotor != null) {
-      return;
-    }
-    StringJoiner joiner = new StringJoiner(", ");
-    if (leftMotor == null) {
-      joiner.add("leftMotor");
-    }
-    if (rightMotor == null) {
-      joiner.add("rightMotor");
-    }
-    if (backMotor == null) {
-      joiner.add("backMotor");
-    }
-    throw new NullPointerException(joiner.toString());
-  }
-
  /**
   * Drive method for Killough platform.
   *
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java
@@ -4,6 +4,8 @@

 package edu.wpi.first.wpilibj.drive;

+import static java.util.Objects.requireNonNull;
+
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -12,7 +14,6 @@ import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.SpeedController;
 import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
 import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
-import java.util.StringJoiner;

 /**
 * A class for driving Mecanum drive platforms.
@@ -104,7 +105,11 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
      SpeedController rearLeftMotor,
      SpeedController frontRightMotor,
      SpeedController rearRightMotor) {
-    verify(frontLeftMotor, rearLeftMotor, frontRightMotor, rearRightMotor);
+    requireNonNull(frontLeftMotor, "Front-left motor cannot be null");
+    requireNonNull(rearLeftMotor, "Rear-left motor cannot be null");
+    requireNonNull(frontRightMotor, "Front-right motor cannot be null");
+    requireNonNull(rearRightMotor, "Rear-right motor cannot be null");
+
    m_frontLeftMotor = frontLeftMotor;
    m_rearLeftMotor = rearLeftMotor;
    m_frontRightMotor = frontRightMotor;
@@ -122,39 +127,6 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
    SendableRegistry.remove(this);
  }

-  /**
-   * Verifies that all motors are nonnull, throwing a NullPointerException if any of them are. The
-   * exception's error message will specify all null motors, e.g. {@code
-   * NullPointerException("frontLeftMotor, rearRightMotor")}, to give as much information as
-   * possible to the programmer.
-   *
-   * @throws NullPointerException if any of the given motors are null
-   */
-  @SuppressWarnings({"PMD.AvoidThrowingNullPointerException", "PMD.CyclomaticComplexity"})
-  private void verify(
-      SpeedController frontLeft,
-      SpeedController rearLeft,
-      SpeedController frontRight,
-      SpeedController rearRightMotor) {
-    if (frontLeft != null && rearLeft != null && frontRight != null && rearRightMotor != null) {
-      return;
-    }
-    StringJoiner joiner = new StringJoiner(", ");
-    if (frontLeft == null) {
-      joiner.add("frontLeftMotor");
-    }
-    if (rearLeft == null) {
-      joiner.add("rearLeftMotor");
-    }
-    if (frontRight == null) {
-      joiner.add("frontRightMotor");
-    }
-    if (rearRightMotor == null) {
-      joiner.add("rearRightMotor");
-    }
-    throw new NullPointerException(joiner.toString());
-  }
-
  /**
   * Drive method for Mecanum platform.
   *
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
@@ -128,7 +128,6 @@ public class LiveWindow {
   * <p>Actuators are handled through callbacks on their value changing from the SmartDashboard
   * widgets.
   */
-  @SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
  public static synchronized void updateValues() {
    // Only do this if either LiveWindow mode or telemetry is enabled.
    if (!liveWindowEnabled && !telemetryEnabled) {
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/MotorControllerGroup.java
@@ -20,14 +20,11 @@ public class MotorControllerGroup implements MotorController, Sendable, AutoClos
   *
   * @param motorControllers The MotorControllers to add
   */
-  @SuppressWarnings("PMD.AvoidArrayLoops")
  public MotorControllerGroup(
      MotorController motorController, MotorController... motorControllers) {
    m_motorControllers = new MotorController[motorControllers.length + 1];
    m_motorControllers[0] = motorController;
-    for (int i = 0; i < motorControllers.length; i++) {
-      m_motorControllers[i + 1] = motorControllers[i];
-    }
+    System.arraycopy(motorControllers, 0, m_motorControllers, 1, motorControllers.length);
    init();
  }

--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
@@ -10,7 +10,6 @@ import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.wpilibj.DriverStation;

 /** Class to control a simulated driver station. */
-@SuppressWarnings({"PMD.UseUtilityClass", "PMD.GodClass", "PMD.ExcessivePublicCount"})
 public final class DriverStationSim {
  private DriverStationSim() {
    throw new UnsupportedOperationException("This is a utility class!");
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/RoboRioSim.java
@@ -7,9 +7,12 @@ package edu.wpi.first.wpilibj.simulation;
 import edu.wpi.first.hal.simulation.NotifyCallback;
 import edu.wpi.first.hal.simulation.RoboRioDataJNI;

-/** Class to control a simulated RoboRIO. */
-@SuppressWarnings({"PMD.ExcessivePublicCount", "PMD.UseUtilityClass"})
-public class RoboRioSim {
+/** A utility class to control a simulated RoboRIO. */
+public final class RoboRioSim {
+  private RoboRioSim() {
+    // Utility class
+  }
+
  /**
   * Register a callback to be run when the FPGA button state changes.
   *
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -153,7 +153,6 @@ public class FieldObject2d {
    }
  }

-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
  private synchronized void updateFromEntry() {
    if (m_entry == null) {
      return;
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableRegistry.java
@@ -441,11 +441,7 @@ public class SendableRegistry {
   * @param dataHandle data handle to get data object passed to callback
   * @param callback function to call for each object
   */
-  @SuppressWarnings({
-    "PMD.CyclomaticComplexity",
-    "PMD.AvoidInstantiatingObjectsInLoops",
-    "PMD.AvoidCatchingThrowable"
-  })
+  @SuppressWarnings("PMD.AvoidCatchingThrowable")
  public static synchronized void foreachLiveWindow(
      int dataHandle, Consumer<CallbackData> callback) {
    CallbackData cbdata = new CallbackData();
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java
@@ -22,7 +22,6 @@ import java.util.Set;
 * <p>When a value is put into the SmartDashboard here, it pops up on the SmartDashboard on the
 * laptop. Users can put values into and get values from the SmartDashboard.
 */
-@SuppressWarnings("PMD.GodClass")
 public final class SmartDashboard {
  /** The {@link NetworkTable} used by {@link SmartDashboard}. */
  private static final NetworkTable table =