Update library, styleguide versions

build.gradle

@@ -1,10 +1,13 @@
 plugins {
     id 'java'
     id 'edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin' version '2020.2'
-    id 'com.github.spotbugs' version '5.1.3' apply false
+    id 'com.github.spotbugs' version '6.0.2' apply false
     id 'com.diffplug.spotless' version '6.20.0' apply false
 }
 
+import com.github.spotbugs.snom.Effort
+ext.spotbugsEffort = Effort.MAX
+
 repositories {
     mavenCentral()
 }

build_scripts/base_java.gradle

@@ -41,12 +41,12 @@ ext.getCurrentOs = {
 }
 
 ext {
-    wpiVersion = '2024.1.1'
+    wpiVersion = '2024.3.2'
     opencvYear = '2024'
     opencvVersion = '4.8.0-1'
-    phoenix5Version = '5.32.0-beta-5'
-    phoenix6Version = "24.0.0-beta-8"
-    revVersion = '2024.2.0'
+    phoenix5Version = '5.33.1'
+    phoenix6Version = "24.3.0"
+    revVersion = '2024.2.4'
     navxVersion = '2024.1.0'
 
     nativeOs = getCurrentOs() + getCurrentArch()

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/BaseConstants.java

@@ -1,5 +1,6 @@
 package org.snobotv2.examples.base;
 
+@SuppressWarnings("PMD.DataClass")
 public class BaseConstants
 {
     // PWM / CAN

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/DriveTrajectoryCommand.java

@@ -39,7 +39,7 @@ public static Command createWithVoltage(DrivetrainSubsystem drivetrain, Trajecto
                         drivetrain);
 
 
-        Command runThenStop = ramseteCommand.andThen(() -> drivetrain.stop());
+        Command runThenStop = ramseteCommand.andThen(drivetrain::stop);
 
         if (resetOnStart)
         {
@@ -68,7 +68,7 @@ public static Command createWithVelocity(DrivetrainSubsystem drivetrain, Traject
                         drivetrain);
 
 
-        Command runThenStop = ramseteCommand.andThen(() -> drivetrain.stop());
+        Command runThenStop = ramseteCommand.andThen(drivetrain::stop);
 
         if (resetOnStart)
         {

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/commands/auton/TurnToAngle.java

@@ -6,6 +6,7 @@
 
 public class TurnToAngle extends PIDCommand
 {
+    @SuppressWarnings("PMD.ConstructorCallsOverridableMethod")
     public TurnToAngle(DrivetrainSubsystem drivetrain, double goal)
     {
         super(new PIDController(.02, 0, 0.001),

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/DrivetrainSubsystem.java

@@ -81,11 +81,6 @@ final class CimDrivetrainConstants implements DrivetrainConstants
         public static final DifferentialDriveKinematics kDriveKinematics =
                 new DifferentialDriveKinematics(kTrackwidthMeters);
 
-
-        public CimDrivetrainConstants()
-        {
-        }
-
         @Override
         public DifferentialDrivetrainSim createSim()
         {
@@ -170,10 +165,6 @@ public DifferentialDrivetrainSim createSim()
                     null);
         }
 
-        public NeoDrivetrainConstants()
-        {
-        }
-
         @Override
         public double getGearing()
         {

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ElevatorSubsystem.java

@@ -22,12 +22,12 @@ final class ElevatorSimConstants
         public static ElevatorSim createSim()
         {
             return new ElevatorSim(
-                    ElevatorSimConstants.kElevatorGearbox,
-                    ElevatorSimConstants.kElevatorGearing,
-                    ElevatorSimConstants.kCarriageMass,
-                    ElevatorSimConstants.kElevatorDrumRadius,
-                    ElevatorSimConstants.kMinElevatorHeight,
-                    ElevatorSimConstants.kMaxElevatorHeight,
+                    kElevatorGearbox,
+                    kElevatorGearing,
+                    kCarriageMass,
+                    kElevatorDrumRadius,
+                    kMinElevatorHeight,
+                    kMaxElevatorHeight,
                     true,
                     0);
         }

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/LedSubsystem.java

@@ -65,11 +65,11 @@ public void periodic()
     private void rainbow()
     {
         // For every pixel
-        for (var i = 0; i < mLedBuffer.getLength(); i++)
+        for (int i = 0; i < mLedBuffer.getLength(); i++)
         {
             // Calculate the hue - hue is easier for rainbows because the color
             // shape is a circle so only one value needs to precess
-            final var hue = (mRainbowFirstPixelHue + (i * 180 / mLedBuffer.getLength())) % 180;
+            final int hue = (mRainbowFirstPixelHue + (i * 180 / mLedBuffer.getLength())) % 180;
             // Set the value
             mLedBuffer.setHSV(i, hue, 255, 128);
         }

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/subsystems/ShooterSubsystem.java

@@ -14,7 +14,7 @@ final class FlywheelSimConstants
 
         public static FlywheelSim createSim()
         {
-            return new FlywheelSim(FlywheelSimConstants.kGearbox, FlywheelSimConstants.kGearing, FlywheelSimConstants.kInertia);
+            return new FlywheelSim(kGearbox, kGearing, kInertia);
         }
 
         private FlywheelSimConstants()

examples/test_robot_base/src/main/java/org/snobotv2/examples/base/trajectories/TrajectoryFactory.java

@@ -15,6 +15,7 @@
 
 public final class TrajectoryFactory
 {
+    @SuppressWarnings("PMD.DataClass")
     public static final class AutoConstants
     {
         public static final double kMaxSpeedMetersPerSecond = 3;
@@ -95,7 +96,7 @@ public static Trajectory createControlPanelToSecondShot(DrivetrainSubsystem.Driv
     public static TrajectoryConfig getTrajectoryConfig(DrivetrainSubsystem.DrivetrainConstants drivetrainConstants)
     {
         // Create a voltage constraint to ensure we don't accelerate too fast
-        var autoVoltageConstraint =
+        DifferentialDriveVoltageConstraint autoVoltageConstraint =
                 new DifferentialDriveVoltageConstraint(
                         new SimpleMotorFeedforward(
                                 drivetrainConstants.getKsVolts(),

examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/Constants.java

@@ -1,5 +1,6 @@
 package org.snobotv2.examples.base_swerve;
 
+@SuppressWarnings("PMD.DataClass")
 public class Constants
 {
     public static final int FRONT_LEFT_DRIVE_MOTOR_PORT = 3;

examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems/BaseSwerveDriveSubsystem.java

@@ -195,9 +195,9 @@ public void initSendable(SendableBuilder builder)
             builder.setSmartDashboardType("SwerveDrive");
             for (BaseSwerveModule module : mModules) // NOPMD(CloseResource)
             {
-                builder.addDoubleProperty(module.getName() + "/CurrentStateAngle", () -> module.getState().angle.getDegrees(), null);
+                builder.addDoubleProperty(module.getName() + "/CurrentStateAngle", module.getState().angle::getDegrees, null);
                 builder.addDoubleProperty(module.getName() + "/CurrentStateSpeed", () -> module.getState().speedMetersPerSecond, null);
-                builder.addDoubleProperty(module.getName() + "/DesiredStateAngle", () -> module.getDesiredState().angle.getDegrees(), null);
+                builder.addDoubleProperty(module.getName() + "/DesiredStateAngle", module.getDesiredState().angle::getDegrees, null);
                 builder.addDoubleProperty(module.getName() + "/DesiredStateSpeed", () -> module.getDesiredState().speedMetersPerSecond, null);
                 builder.addDoubleProperty(module.getName() + "/DrivePercentage", module::getDriveMotorPercentage, null);
                 builder.addDoubleProperty(module.getName() + "/TurningPercentage", module::getTurningMotorPercentage, null);

examples/test_robot_base_swerve/src/main/java/org/snobotv2/examples/base_swerve/subsystems/BaseSwerveModule.java

@@ -8,7 +8,9 @@
 public interface BaseSwerveModule extends Sendable, AutoCloseable
 {
     // MK4i - L1
+    @SuppressWarnings("PMD.UselessParentheses")
     double TURNING_GEAR_RATION = (50.0 / 14.0) * (60.0 / 10.0);
+    @SuppressWarnings("PMD.UselessParentheses")
     double DRIVE_GEAR_RATION = (50.0 / 14.0) * (19.0 / 25.0) * (45.0 / 15.0);
 
     @Override

examples/test_robot_phoenix5/src/test/java/org/snobotv2/examples/phoenix5/subsystems/BasePhoenix5UnitTest.java

@@ -5,6 +5,7 @@
 import org.snobotv2.test_utils.BaseUnitTest;
 
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 public class BasePhoenix5UnitTest extends BaseUnitTest
 {
     protected void ctreSimLoop()

examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/CtreUtils.java

@@ -52,13 +52,13 @@ public static double falconToRpm(double velocityCounts, double gearRatio)
 
     public static double mpsToFalcon(double velocity, double circumference, double gearRatio)
     {
-        double wheelRPM = (velocity * 60) / circumference;
+        double wheelRPM = velocity * 60 / circumference;
         return rpmToFalcon(wheelRPM, gearRatio);
     }
 
     public static double falconToMps(double velocityCounts, double circumference, double gearRatio)
     {
         double wheelRPM = falconToRpm(velocityCounts, gearRatio);
-        return (wheelRPM * circumference) / 60;
+        return wheelRPM * circumference / 60;
     }
 }

examples/test_robot_phoenix5_swerve/src/main/java/org/snobotv2/examples/phoenix5_swerve/subsystems/SwerveModule.java

@@ -212,7 +212,7 @@ public void initSendable(SendableBuilder builder)
         builder.addDoubleProperty("MotorAngle", () -> getTurningMotorAngle().getDegrees(), null);
 
         builder.addDoubleProperty("TurnTicks", mAzimuthMotor::getSelectedSensorPosition, null);
-        builder.addDoubleProperty("TurnGoalDegrees", () -> mDesiredState.angle.getDegrees(), null);
+        builder.addDoubleProperty("TurnGoalDegrees", mDesiredState.angle::getDegrees, null);
         builder.addDoubleProperty("TurnGoalTicks", () -> mTurnGoalTicks, null);
 
         builder.addDoubleProperty("DriveVelTicks", mDriveMotor::getSelectedSensorVelocity, null);

examples/test_robot_rev/src/main/java/org/snobotv2/examples/rev/subsystems/RevDrivetrain.java

@@ -22,7 +22,7 @@
 public class RevDrivetrain extends BaseDrivetrainSubsystem
 {
     private static final DrivetrainConstants DRIVETRAIN_CONSTANTS = new NeoDrivetrainConstants();
-    private static final double ENCODER_CONSTANT = (1.0 / DRIVETRAIN_CONSTANTS.getGearing()) * DRIVETRAIN_CONSTANTS.getkWheelDiameterMeters() * Math.PI;
+    private static final double ENCODER_CONSTANT = 1.0 / DRIVETRAIN_CONSTANTS.getGearing() * DRIVETRAIN_CONSTANTS.getkWheelDiameterMeters() * Math.PI;
 
     private final SimableCANSparkMax mLeadLeft; // NOPMD
     private final SimableCANSparkMax mFollowerLeft; // NOPMD

examples/test_robot_rev_swerve/src/main/java/org/snobotv2/examples/rev_swerve/subsystems/SwerveModule.java

@@ -28,7 +28,7 @@
 
 public class SwerveModule implements BaseSwerveModule
 {
-    private static final double DRIVE_ENCODER_CONSTANT = (1.0 / DRIVE_GEAR_RATION) * DriveSubsystem.kWheelCircumfranceMeters;
+    private static final double DRIVE_ENCODER_CONSTANT = 1.0 / DRIVE_GEAR_RATION * DriveSubsystem.kWheelCircumfranceMeters;
 
     private static final double DEFAULT_FF = 0.34;
     private static final double DEFAULT_P = 0.001;
@@ -210,7 +210,7 @@ public void initSendable(SendableBuilder builder)
         builder.addDoubleProperty("MotorAngle", () -> getTurningMotorAngle().getDegrees(), null);
 
         builder.addDoubleProperty("TurnDegrees", mAzimuthEncoder::getPosition, null);
-        builder.addDoubleProperty("TurnGoalDegrees", () -> mDesiredState.angle.getDegrees(), null);
+        builder.addDoubleProperty("TurnGoalDegrees", mDesiredState.angle::getDegrees, null);
 
         builder.addDoubleProperty("DriveMps", mDriveEncoder::getVelocity, null);
         builder.addDoubleProperty("DriveGoalMps", () -> mDesiredState.speedMetersPerSecond, null);

snobot_sim_java_base/src/main/java/org/snobotv2/SimDeviceDumpHelper.java

@@ -19,8 +19,7 @@ public static void dumpSimDevices()
         builder.append("***************************************************\nDumping devices:\n");
         for (SimDeviceInfo deviceInfo : SimDeviceSim.enumerateDevices(""))
         {
-            builder.append("Got a device: \n");
-            builder.append("  ").append(deviceInfo.name).append('\n');
+            builder.append("Got a device: \n").append("  ").append(deviceInfo.name).append('\n');
             for (SimDeviceDataJNI.SimValueInfo valueInfo : SimDeviceDataJNI.enumerateSimValues(deviceInfo.handle))
             {
                 builder

snobot_sim_java_base/src/main/java/org/snobotv2/coordinate_gui/commands/BaseRamseteCoordinateGuiCommand.java

@@ -64,7 +64,7 @@ public BaseRamseteCoordinateGuiCommand(
     @Override
     public void initialize() {
         m_prevTime = -1;
-        var initialState = m_trajectory.sample(0);
+        Trajectory.State initialState = m_trajectory.sample(0);
         m_prevSpeeds =
             m_kinematics.toWheelSpeeds(
                 new ChassisSpeeds(
@@ -90,7 +90,7 @@ public void execute() {
         double dt = curTime - m_prevTime;
         Pose2d pose = getPose();
 
-        var targetWheelSpeeds =
+        DifferentialDriveWheelSpeeds targetWheelSpeeds =
             m_kinematics.toWheelSpeeds(
                 m_follower.calculate(pose, m_trajectory.sample(curTime)));
 

snobot_sim_java_phoenix5/src/test/java/org/snobotv2/module_wrappers/phoenix5/BasePhoenix5UnitTest.java

@@ -7,6 +7,7 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 public class BasePhoenix5UnitTest extends BaseUnitTest
 {
     protected void ctreSimLoop()

snobot_sim_java_phoenix6/src/test/java/org/snobotv2/module_wrappers/phoenix6/BasePhoenix6UnitTest.java

@@ -3,6 +3,7 @@
 import edu.wpi.first.hal.HAL;
 import org.snobotv2.test_utils.BaseUnitTest;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 public class BasePhoenix6UnitTest extends BaseUnitTest
 {
     protected void ctreSimLoop()

snobot_sim_java_revlib/src/main/java/com/revrobotics/SparkSimHelper.java

@@ -14,7 +14,7 @@
 import java.util.logging.Level;
 import java.util.logging.Logger;
 
-@SuppressWarnings("PMD.AvoidDuplicateLiterals")
+@SuppressWarnings({"PMD.AvoidDuplicateLiterals", "PMD.TooManyMethods"})
 public class SparkSimHelper
 {
     private static final Logger LOGGER = Logger.getLogger(SparkSimHelper.class.getName());
@@ -92,6 +92,7 @@ public void reset()
         }
     }
 
+    @SuppressWarnings("PMD.NullAssignment")
     public SparkSimHelper(SimDeviceSim deviceSim, CANSparkBase sparkMax, long sparkMaxHandle)
     {
         mSparkMaxHandle = sparkMaxHandle;

snobot_sim_java_revlib/src/test/java/org/snobotv2/module_wrappers/rev/BaseRevlibUnitTest.java

@@ -6,6 +6,7 @@
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 public class BaseRevlibUnitTest extends BaseUnitTest
 {
     @SafeVarargs

snobot_sim_java_test_utils/src/main/java/org/snobotv2/test_utils/BaseUnitTest.java

@@ -10,6 +10,7 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 
+@SuppressWarnings("PMD.TestClassWithoutTestCases")
 public class BaseUnitTest
 {
     protected static final double DEFAULT_EPSILON = 1e-3;

styleguide/pmd-ruleset.xml

@@ -10,6 +10,12 @@
     <!-- temp -->
     <exclude-pattern>.*/edu/wpi/first/.*</exclude-pattern>
 
+    <rule ref="category/java/bestpractices.xml/LooseCoupling">
+        <properties>
+            <property name="allowedTypes" value="java.util.TreeMap" />
+        </properties>
+    </rule>
+
     <rule ref="category/java/bestpractices.xml">
         <exclude name="GuardLogStatement" />
         <exclude name="JUnitTestsShouldIncludeAssert" />
@@ -84,7 +90,6 @@
         <!-- <exclude name="AvoidCatchingThrowable" /> -->
         <!-- <exclude name="AvoidDuplicateLiterals" /> -->
         <!-- <exclude name="AvoidLiteralsInIfCondition" /> -->
-        <exclude name="BeanMembersShouldSerialize" />
         <!-- <exclude name="ConstructorCallsOverridableMethod" /> -->
         <!-- <exclude name="DataflowAnomalyAnalysis" /> -->
         <!-- <exclude name="DoNotCallSystemExit" /> -->

styleguide/styleguide.gradle

@@ -17,23 +17,24 @@ jacocoTestReport {
 
 
 checkstyle {
-    toolVersion = "10.1"
+    toolVersion = "10.12.2"
     configDirectory = file("${project.rootDir}/styleguide")
     config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
 }
 
 pmd {
-    toolVersion = '6.39.0'
+    toolVersion = '7.3.0'
     consoleOutput  = true
     reportsDir = file("${project.buildDir}/reports/pmd")
     ruleSetFiles = files(file("$rootDir/styleguide/pmd-ruleset.xml"))
     ruleSets = []
 }
 
+
 spotbugs {
     toolVersion = '4.7.3'
     excludeFilter = file("$rootDir/styleguide/findbugs_suppressions.xml")
-    effort = "max"
+    effort = spotbugsEffort
 }
 
 spotbugsMain {