chore: Fix or suppress new PMD warnings

.vscode/settings.json

@@ -13,7 +13,6 @@
     "addDeprecated",
     "addOverride",
     "invertEquals",
-    "qualifyMembers",
     "stringConcatToTextBlock"
   ],
   "java.completion.favoriteStaticMembers": [

buildSrc/src/main/groovy/com.chopshop166.chopshoplib.java-library-conventions.gradle

@@ -35,7 +35,7 @@ java {
 }
 
 pmd {
-    toolVersion = "6.54.0"
+    toolVersion = "7.2.0"
     ruleSets = []
     ruleSetFiles = files("$rootProject.projectDir/config/pmd-ruleset.xml")
 }

config/pmd-ruleset.xml

@@ -24,7 +24,8 @@
         <exclude name="ShortMethodName"/>
         <exclude name="ShortVariable"/>
         <exclude name="UseUnderscoresInNumericLiterals"/>
-        <exclude name="VariableNamingConventions"/>
+        <exclude name="UselessParentheses"/>
+        <exclude name="UseExplicitTypes"/>
     </rule>
     <rule ref="category/java/design.xml">
         <exclude name="AbstractClassWithoutAnyMethod"/>
@@ -40,7 +41,6 @@
     <rule ref="category/java/errorprone.xml">
         <exclude name="AvoidLiteralsInIfCondition"/>
         <exclude name="CloseResource"/>
-        <exclude name="DataflowAnomalyAnalysis"/>
         <exclude name="NonSerializableClass"/>
         <exclude name="NonStaticInitializer"/>
     </rule>

core/src/main/java/com/chopshop166/chopshoplib/ColorMath.java

@@ -102,8 +102,8 @@ private static double scalarLerp(final double start, final double end, final dou
      * @return a blend of the two colors based on the factor
      */
     public static Color lerp(final Color start, final Color end, final double factor) {
-        return new Color(ColorMath.scalarLerp(start.red, end.red, factor),
-                ColorMath.scalarLerp(start.green, end.green, factor),
-                ColorMath.scalarLerp(start.blue, end.blue, factor));
+        return new Color(scalarLerp(start.red, end.red, factor),
+                scalarLerp(start.green, end.green, factor),
+                scalarLerp(start.blue, end.blue, factor));
     }
 }

core/src/main/java/com/chopshop166/chopshoplib/RobotUtils.java

@@ -14,14 +14,13 @@
  * Utilities that are related to overall robot functionality.
  */
 public final class RobotUtils {
-    private RobotUtils() {
-    }
+    private RobotUtils() {}
 
     /**
      * Get a value if it exists, or a default value if it's null.
      *
-     * @param <T>          The type to get.
-     * @param value        The value to test.
+     * @param <T> The type to get.
+     * @param value The value to test.
      * @param defaultValue The default value for if value is null.
      * @return A null safe value
      */
@@ -55,7 +54,7 @@ public static Double[] toBoxed(final double... args) {
      *
      * @param minBound The lowest possible value.
      * @param maxBound The highest possible value.
-     * @param value    The value to clamp.
+     * @param value The value to clamp.
      * @return The provided value, clamped between minBound and maxBound.
      */
     public static double clamp(final double minBound, final double maxBound, final double value) {
@@ -67,7 +66,7 @@ public static double clamp(final double minBound, final double maxBound, final d
      *
      * @param minBound The lowest possible value.
      * @param maxBound The highest possible value.
-     * @param value    The value to clamp.
+     * @param value The value to clamp.
      * @return The provided value, clamped between minBound and maxBound.
      */
     public static float clamp(final float minBound, final float maxBound, final float value) {
@@ -79,7 +78,7 @@ public static float clamp(final float minBound, final float maxBound, final floa
      *
      * @param minBound The lowest possible value.
      * @param maxBound The highest possible value.
-     * @param value    The value to clamp.
+     * @param value The value to clamp.
      * @return The provided value, clamped between minBound and maxBound.
      */
     public static int clamp(final int minBound, final int maxBound, final int value) {
@@ -91,7 +90,7 @@ public static int clamp(final int minBound, final int maxBound, final int value)
      *
      * @param minBound The lowest possible value.
      * @param maxBound The highest possible value.
-     * @param value    The value to clamp.
+     * @param value The value to clamp.
      * @return The provided value, clamped between minBound and maxBound.
      */
     public static long clamp(final long minBound, final long maxBound, final long value) {
@@ -112,7 +111,7 @@ public static double sps(final double value) {
      * Sign Preserving Power
      *
      * @param value The value to multiply.
-     * @param exp   The value to exponentiate by.
+     * @param exp The value to exponentiate by.
      * @return The square of the given value, preserving sign.
      */
     public static double sppow(final double value, final double exp) {
@@ -123,7 +122,7 @@ public static double sppow(final double value, final double exp) {
      * Apply a deadband to an axis, elongating the remaining space.
      *
      * @param range The range to deaden.
-     * @param axis  The axis to pull from.
+     * @param axis The axis to pull from.
      * @return The new axis to use.
      */
     public static DoubleSupplier deadbandAxis(final double range, final DoubleSupplier axis) {
@@ -146,6 +145,7 @@ public static BooleanSupplier not(final BooleanSupplier func) {
      * 
      * @return The MAC address as a standardized string.
      */
+    @SuppressWarnings("PMD.ExceptionAsFlowControl")
     public static String getMACAddress() {
         try {
             final NetworkInterface iface = NetworkInterface.getByName("eth0");
@@ -161,7 +161,7 @@ public static String getMACAddress() {
                 sb.add(String.format("%02X", octet));
             }
             return sb.toString();
-        } catch (SocketException ex) {
+        } catch (final SocketException ex) {
             return "SocketException";
         }
     }

core/src/main/java/com/chopshop166/chopshoplib/commands/CommandRobot.java

@@ -173,7 +173,7 @@ public Command safeStateSubsystems(final SmartSubsystem... subsystems) {
      * @return An instance of the given type, or null.
      */
     public static <T> T getRobotMap(final Class<T> rootClass, final String pkg) {
-        return CommandRobot.getRobotMap(rootClass, pkg, null);
+        return getRobotMap(rootClass, pkg, null);
     }
 
     /**
@@ -187,7 +187,7 @@ public static <T> T getRobotMap(final Class<T> rootClass, final String pkg) {
     public <T> T getRobotMap(final Class<T> rootClass, final T defaultValue) {
         final Class<? extends CommandRobot> clazz = this.getClass();
         final String pkg = clazz.getPackage().getName();
-        return CommandRobot.getRobotMap(rootClass, pkg, defaultValue);
+        return getRobotMap(rootClass, pkg, defaultValue);
     }
 
     /**
@@ -201,7 +201,7 @@ public <T> T getRobotMap(final Class<T> rootClass, final T defaultValue) {
      */
     public static <T> T getRobotMap(final Class<T> rootClass, final String pkg,
             final T defaultValue) {
-        return CommandRobot.getMapForName(RobotUtils.getMACAddress(), rootClass, pkg, defaultValue);
+        return getMapForName(RobotUtils.getMACAddress(), rootClass, pkg, defaultValue);
     }
 
     /**
@@ -215,7 +215,7 @@ public static <T> T getRobotMap(final Class<T> rootClass, final String pkg,
      */
     public static <T> T getMapForName(final String name, final Class<T> rootClass,
             final String pkg) {
-        return CommandRobot.getMapForName(name, rootClass, pkg, null);
+        return getMapForName(name, rootClass, pkg, null);
     }
 
     /**

core/src/main/java/com/chopshop166/chopshoplib/commands/RepeatWhileCommand.java

@@ -16,18 +16,6 @@ public class RepeatWhileCommand extends Command {
     /** The command to repeat. */
     private final Command cmd;
 
-    /**
-     * Create a command that repeats a command while a condition is true.
-     * 
-     * @param name The name of the command.
-     * @param cmd The command to repeat.
-     * @param cond The condition to test.
-     */
-    public RepeatWhileCommand(final String name, final Command cmd, final BooleanSupplier cond) {
-        this(cmd, cond);
-        this.setName(name);
-    }
-
     /**
      * Create a command that repeats a command while a condition is true.
      * 

core/src/main/java/com/chopshop166/chopshoplib/controls/ButtonXboxController.java

@@ -35,7 +35,7 @@ public enum POVDirection {
         UP_LEFT(315);
 
         /** The angle of the direction enum. */
-        private int dPadRotation;
+        private final int dPadRotation;
 
         // Returns an integer representing the angle on the POV.
         private int getAngle() {

core/src/main/java/com/chopshop166/chopshoplib/drive/DiffDriveSubsystem.java

@@ -39,6 +39,7 @@ public class DiffDriveSubsystem
      * 
      * @param map The object mapping hardware to software objects.
      */
+    @SuppressWarnings("PMD.ConstructorCallsOverridableMethod")
     public DiffDriveSubsystem(final DifferentialDriveMap map) {
         super(new DifferentialDriveData(), map);
         this.odometry = new DifferentialDriveOdometry(this.getRotation(), 0.0, 0.0);

core/src/main/java/com/chopshop166/chopshoplib/drive/SDSSwerveModule.java

@@ -180,7 +180,7 @@ public SDSSwerveModule(final Translation2d moduleLocation, final CtreEncoder ste
         this.location = moduleLocation;
         this.steeringEncoder = steeringEncoder;
         this.steeringController = steeringController;
-        this.driveController = SDSSwerveModule.configureDriveMotor(driveController, conf);
+        this.driveController = configureDriveMotor(driveController, conf);
         this.steeringPID = pid;
         this.steeringPID.enableContinuousInput(-180, 180);
         this.steeringErrorDriveRatio = steeringErrorDriveRatio;

core/src/main/java/com/chopshop166/chopshoplib/leds/LEDStripBuffer.java

@@ -123,6 +123,7 @@ public SegmentConfig mirrorSegment(final SegmentConfig origConfig, final ColorFo
      * @param config The segment.
      * @param tags The string tags.
      */
+    @SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops"})
     public void addTags(final SegmentConfig config, final String... tags) {
         for (final String tag : tags) {
             this.segmentTagMap.putIfAbsent(tag, new HashSet<>());

core/src/main/java/com/chopshop166/chopshoplib/leds/patterns/FirePattern.java

@@ -76,7 +76,7 @@ protected Color heatToColor(final byte h) {
     private void calculateFire(final int sparks) {
         // Cool down each cell a little
         for (int i = 1; i < this.heat.length; i++) {
-            final int cooldown = this.rand.nextInt((this.heat.length * 10) / this.heat.length + 2);
+            final int cooldown = this.rand.nextInt(12);
 
             if (cooldown > this.heat[i]) {
                 this.heat[i] = 0;

core/src/main/java/com/chopshop166/chopshoplib/logging/LoggedSubsystem.java

@@ -35,7 +35,7 @@ public LoggedSubsystem(final D ioData, final M map) {
      * 
      * @return The data object.
      */
-    public D getData() {
+    public final D getData() {
         return this.ioData;
     }
 
@@ -44,7 +44,7 @@ public D getData() {
      * 
      * @return The data object.
      */
-    public M getMap() {
+    public final M getMap() {
         return this.map;
     }
 

core/src/main/java/com/chopshop166/chopshoplib/motors/Modifier.java

@@ -3,7 +3,6 @@
 import java.util.function.BooleanSupplier;
 import java.util.function.DoublePredicate;
 import java.util.function.DoubleUnaryOperator;
-
 import com.chopshop166.chopshoplib.SampleBuffer;
 import com.google.common.math.Stats;
 
@@ -20,7 +19,7 @@ public interface Modifier extends DoubleUnaryOperator {
      * @return The new speed.
      */
     static Modifier upperLimit(final BooleanSupplier limit) {
-        return Modifier.speedFilter(speed -> speed > 0.0 && limit.getAsBoolean());
+        return speedFilter(speed -> speed > 0.0 && limit.getAsBoolean());
     }
 
     /**
@@ -30,7 +29,7 @@ static Modifier upperLimit(final BooleanSupplier limit) {
      * @return The new speed.
      */
     static Modifier lowerLimit(final BooleanSupplier limit) {
-        return Modifier.speedFilter(speed -> speed < 0.0 && limit.getAsBoolean());
+        return speedFilter(speed -> speed < 0.0 && limit.getAsBoolean());
     }
 
     /**
@@ -40,7 +39,7 @@ static Modifier lowerLimit(final BooleanSupplier limit) {
      * @return The new speed.
      */
     static Modifier deadband(final double band) {
-        return Modifier.speedFilter(speed -> Math.abs(speed) < band);
+        return speedFilter(speed -> Math.abs(speed) < band);
     }
 
     /**
@@ -69,7 +68,7 @@ static Modifier scalingDeadband(final double range) {
      */
     static Modifier rollingAverage(final int numSamples) {
         /** The samples to average. */
-        final SampleBuffer<Double> buffer = new SampleBuffer<>(numSamples);
+        final var buffer = new SampleBuffer<Double>(numSamples);
         return speed -> {
             buffer.add(speed);
             return Stats.of(buffer).mean();

core/src/main/java/com/chopshop166/chopshoplib/motors/ModifierGroup.java

@@ -18,8 +18,7 @@ public class ModifierGroup extends ArrayList<DoubleUnaryOperator> implements Dou
      * @param ms Modifiers to start with.
      */
     public ModifierGroup(final DoubleUnaryOperator... ms) {
-        super();
-        this.addAll(Arrays.asList(ms));
+        super(Arrays.asList(ms));
     }
 
     /**

core/src/main/java/com/chopshop166/chopshoplib/motors/SwPIDMotorController.java

@@ -52,7 +52,7 @@ public static SwPIDMotorController position(final MotorController motor,
      */
     public static SwPIDMotorController position(final SmartMotorController motor,
             final PIDController pid) {
-        return SwPIDMotorController.position(motor, pid, motor.getEncoder());
+        return position(motor, pid, motor.getEncoder());
     }
 
     /**
@@ -77,7 +77,7 @@ public static SwPIDMotorController velocity(final MotorController motor,
      */
     public static SwPIDMotorController velocity(final SmartMotorController motor,
             final PIDController pid) {
-        return SwPIDMotorController.velocity(motor, pid, motor.getEncoder());
+        return velocity(motor, pid, motor.getEncoder());
     }
 
     /**