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.

wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java

@@ -52,7 +52,7 @@ public class LinearSystemLoopTest {
   }
 
   @Test
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   public void testStateSpaceEnabled() {
 
     m_loop.reset(VecBuilder.fill(0, 0));
@@ -82,7 +82,7 @@ public class LinearSystemLoopTest {
   }
 
   @Test
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   public void testFlywheelEnabled() {
 
     LinearSystem<N1, N1, N1> plant =

wpimath/src/test/java/edu/wpi/first/math/controller/RamseteControllerTest.java

@@ -21,7 +21,6 @@ class RamseteControllerTest {
   private static final double kAngularTolerance = Math.toRadians(2);
 
   @Test
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   void testReachesReference() {
     final var controller = new RamseteController(2.0, 0.7);
     var robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));

wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java

@@ -22,11 +22,7 @@ import java.util.Random;
 import org.junit.jupiter.api.Test;
 
 public class DifferentialDrivePoseEstimatorTest {
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.ExcessiveMethodLength",
-    "PMD.AvoidInstantiatingObjectsInLoops"
-  })
+  @SuppressWarnings("LocalVariableName")
   @Test
   public void testAccuracy() {
     var estimator =

wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java

@@ -98,11 +98,7 @@ public class ExtendedKalmanFilterTest {
         });
   }
 
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.AvoidInstantiatingObjectsInLoops",
-    "PMD.ExcessiveMethodLength"
-  })
+  @SuppressWarnings("LocalVariableName")
   @Test
   public void testConvergence() {
     double dtSeconds = 0.00505;

wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java

@@ -72,7 +72,6 @@ public class KalmanFilterTest {
   }
 
   @Test
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public void testSwerveKFStationary() {
 
     var random = new Random();
@@ -121,7 +120,6 @@ public class KalmanFilterTest {
   }
 
   @Test
-  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
   public void testSwerveKFMovingWithoutAccelerating() {
 
     var random = new Random();
@@ -178,7 +176,7 @@ public class KalmanFilterTest {
   }
 
   @Test
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   public void testSwerveKFMovingOverTrajectory() {
 
     var random = new Random();

wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java

@@ -20,11 +20,7 @@ import org.junit.jupiter.api.Test;
 
 public class MecanumDrivePoseEstimatorTest {
   @Test
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.AvoidInstantiatingObjectsInLoops",
-    "PMD.ExcessiveMethodLength"
-  })
+  @SuppressWarnings("LocalVariableName")
   public void testAccuracy() {
     var kinematics =
         new MecanumDriveKinematics(

wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java

@@ -20,11 +20,7 @@ import org.junit.jupiter.api.Test;
 
 public class SwerveDrivePoseEstimatorTest {
   @Test
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.AvoidInstantiatingObjectsInLoops",
-    "PMD.ExcessiveMethodLength"
-  })
+  @SuppressWarnings("LocalVariableName")
   public void testAccuracy() {
     var kinematics =
         new SwerveDriveKinematics(

wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java

@@ -103,11 +103,7 @@ public class UnscentedKalmanFilterTest {
         });
   }
 
-  @SuppressWarnings({
-    "LocalVariableName",
-    "PMD.AvoidInstantiatingObjectsInLoops",
-    "PMD.ExcessiveMethodLength"
-  })
+  @SuppressWarnings("LocalVariableName")
   @Test
   public void testConvergence() {
     double dtSeconds = 0.00505;
@@ -293,7 +289,7 @@ public class UnscentedKalmanFilterTest {
   }
 
   @Test
-  @SuppressWarnings({"LocalVariableName", "ParameterName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings({"LocalVariableName", "ParameterName"})
   public void testLinearUKF() {
     var dt = 0.020;
     var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);

wpimath/src/test/java/edu/wpi/first/math/spline/CubicHermiteSplineTest.java

@@ -23,7 +23,7 @@ class CubicHermiteSplineTest {
   private static final double kMaxDy = 0.00127;
   private static final double kMaxDtheta = 0.0872;
 
-  @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
+  @SuppressWarnings("ParameterName")
   private void run(Pose2d a, List<Translation2d> waypoints, Pose2d b) {
     // Start the timer.
     // var start = System.nanoTime();

wpimath/src/test/java/edu/wpi/first/math/spline/QuinticHermiteSplineTest.java

@@ -20,7 +20,7 @@ class QuinticHermiteSplineTest {
   private static final double kMaxDy = 0.00127;
   private static final double kMaxDtheta = 0.0872;
 
-  @SuppressWarnings({"ParameterName", "PMD.UnusedLocalVariable"})
+  @SuppressWarnings("ParameterName")
   private void run(Pose2d a, Pose2d b) {
     // Start the timer.
     // var start = System.nanoTime();

wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveKinematicsConstraintTest.java

@@ -15,7 +15,7 @@ import java.util.Collections;
 import org.junit.jupiter.api.Test;
 
 class DifferentialDriveKinematicsConstraintTest {
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   @Test
   void testDifferentialDriveKinematicsConstraint() {
     double maxVelocity = Units.feetToMeters(12.0); // 12 feet per second

wpimath/src/test/java/edu/wpi/first/math/trajectory/DifferentialDriveVoltageConstraintTest.java

@@ -20,7 +20,7 @@ import java.util.Collections;
 import org.junit.jupiter.api.Test;
 
 class DifferentialDriveVoltageConstraintTest {
-  @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
+  @SuppressWarnings("LocalVariableName")
   @Test
   void testDifferentialDriveVoltageConstraint() {
     // Pick an unreasonably large kA to ensure the constraint has to do some work

wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java

@@ -10,7 +10,6 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
 
 import org.junit.jupiter.api.Test;
 
-@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
 class TrapezoidProfileTest {
   private static final double kDt = 0.01;
 

wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java

@@ -19,6 +19,12 @@ import org.junit.jupiter.api.DynamicTest;
 import org.junit.jupiter.api.Test;
 import org.junit.jupiter.api.TestFactory;
 
+// Declaring this class abstract prevents UtilityClassTest from running on itself and throwing the
+// following exception:
+//
+// org.junit.jupiter.api.extension.ParameterResolutionException: No ParameterResolver registered
+// for parameter [java.lang.Class<T> arg0] in constructor [protected
+// edu.wpi.first.wpilibj.UtilityClassTest(java.lang.Class<T>)].
 @SuppressWarnings("PMD.AbstractClassWithoutAbstractMethod")
 public abstract class UtilityClassTest<T> {
   private final Class<T> m_clazz;