Add pmd and fix warnings

Signed-off-by: Jade Turner <spacey-sooty@proton.me>

.gitattributes

@@ -6,6 +6,5 @@
 *.traj text eol=lf
 *.chor text eol=lf
 src/main/java/frc/robot/generated/** linguist-generated
-src/main/java/frc/robot/BuildConstants.java linguist-generated
 *.traj linguist-generated
 *.chor linguist-generated

.github/workflows/ci.yml

@@ -0,0 +1,41 @@
+name: Build
+
+on: [pull_request, push]
+
+jobs:
+  build:
+    name: "Build Java"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2024-22.04
+    steps:
+    - uses: actions/checkout@v4
+    - name: Compile robot code
+      run: ./gradlew build
+
+  format:
+    name: "Lint and Format Java"
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
+    - name: Fetch all history and metadata
+      run: |
+        git checkout -b pr
+        git branch -f master origin/master
+    - uses: actions/setup-java@v4
+      with:
+        java-version: 17
+        distribution: temurin
+    - uses: gradle/gradle-build-action@v3
+    - uses: actions/setup-python@v5
+      with:
+        python-version: 3.8
+    - name: Install wpiformat
+      run: pip3 install wpiformat
+    - name: Run
+      run: wpiformat
+    - name: Check output
+      run: git --no-pager diff --exit-code HEAD
+    - name: Run spotless
+      run: ./gradlew build -PwithJavaFormat

build.gradle

@@ -101,8 +101,8 @@ dependencies {
 // Create version file
 project.compileJava.dependsOn(createVersionFile)
 gversion {
-    srcDir       = "src/main/java/"
-    classPackage = "frc.robot"
+    srcDir       = "src/main/java/generated/"
+    classPackage = "frc.robot.generated"
     className    = "BuildConstants"
     dateFormat   = "yyyy-MM-dd HH:mm:ss z"
     timeZone     = "Australia/Perth"
@@ -152,7 +152,7 @@ spotless {
     java {
         target fileTree('.') {
             include '**/*.java'
-            exclude '**/build/**', '**/build-*/**'
+            exclude '**/build/**', '**/build-*/**', 'src/main/java/generated/**'
         }
         toggleOffOn()
         googleJavaFormat()
@@ -190,3 +190,14 @@ spotless {
         endWithNewline()
     }
 }
+
+apply plugin: "pmd"
+
+pmd {
+    toolVersion = "7.3.0"
+    consoleOutput = true
+    sourceSets = [project.sourceSets["main"]]
+    reportsDir = file("${project.buildDir}/reports/pmd")
+    ruleSetFiles = files(file("$rootDir/pmd-ruleset.xml"))
+    ruleSets = []
+}

pmd-ruleset.xml

@@ -0,0 +1,125 @@
+<?xml version="1.0"?>
+<ruleset name="CurtinFRC Ruleset"
+  xmlns="http://pmd.sourceforge.net/ruleset/2.0.0"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xsi:schemaLocation="http://pmd.sourceforge.net/ruleset/2.0.0 http://pmd.sourceforge.net/ruleset_2_0_0.xsd">
+
+  <description>PMD Ruleset for Curtin FRC Projects</description>
+
+  <exclude-pattern>.*/*JNI.*</exclude-pattern>
+
+  <rule ref="category/java/bestpractices.xml">
+    <exclude name="AccessorClassGeneration" />
+    <exclude name="AccessorMethodGeneration" />
+    <exclude name="AvoidPrintStackTrace" />
+    <exclude name="AvoidReassigningCatchVariables" />
+    <exclude name="AvoidReassigningParameters" />
+    <exclude name="AvoidUsingHardCodedIP" />
+    <exclude name="ConstantsInInterface" />
+    <exclude name="JUnitAssertionsShouldIncludeMessage" />
+    <exclude name="JUnitTestContainsTooManyAsserts" />
+    <exclude name="JUnitTestsShouldIncludeAssert" />
+    <exclude name="JUnit4TestShouldUseAfterAnnotation" />
+    <exclude name="JUnit4TestShouldUseBeforeAnnotation" />
+    <exclude name="JUnit4TestShouldUseTestAnnotation" />
+    <exclude name="LooseCoupling" />
+    <exclude name="PreserveStackTrace" />
+    <exclude name="ReplaceHashtableWithMap" />
+    <exclude name="ReplaceVectorWithList" />
+    <exclude name="SwitchStmtsShouldHaveDefault" />
+    <exclude name="SystemPrintln" />
+    <exclude name="UseVarargs" />
+  </rule>
+  <rule ref="category/java/bestpractices.xml/UnusedPrivateMethod">
+    <properties>
+      <property name="violationSuppressRegex"
+        value=".*'.*Arguments\(\)'.*" />
+    </properties>
+  </rule>
+  <rule ref="category/java/bestpractices.xml/UnusedLocalVariable">
+    <properties>
+      <property name="violationSuppressXPath" value="//Resource" />
+    </properties>
+  </rule>
+
+  <rule ref="category/java/design.xml">
+    <exclude name="AvoidThrowingRawExceptionTypes" />
+    <exclude name="AvoidThrowingNewInstanceOfSameException" />
+    <exclude name="CognitiveComplexity" />
+    <exclude name="CouplingBetweenObjects" />
+    <exclude name="CyclomaticComplexity" />
+    <exclude name="DataClass" />
+    <exclude name="ExceptionAsFlowControl" />
+    <exclude name="ExcessiveImports" />
+    <exclude name="ExcessiveParameterList" />
+    <exclude name="ExcessivePublicCount" />
+    <exclude name="GodClass" />
+    <exclude name="LawOfDemeter" />
+    <exclude name="LoosePackageCoupling" />
+    <exclude name="NPathComplexity" />
+    <exclude name="NcssCount" />
+    <exclude name="TooManyFields" />
+    <exclude name="TooManyMethods" />
+  </rule>
+
+  <rule ref="category/java/errorprone.xml">
+    <exclude name="AssignmentToNonFinalStatic" />
+    <exclude name="AvoidCatchingThrowable" />
+    <exclude name="AvoidDuplicateLiterals" />
+    <exclude name="AvoidLiteralsInIfCondition" />
+    <exclude name="CloseResource" />
+    <exclude name="ConstructorCallsOverridableMethod" />
+    <exclude name="DoNotTerminateVM" />
+    <exclude name="EmptyCatchBlock" />
+    <exclude name="FinalizeDoesNotCallSuperFinalize" />
+    <exclude name="JUnitSpelling" />
+    <exclude name="MissingSerialVersionUID" />
+    <exclude name="NonSerializableClass" />
+    <exclude name="NullAssignment" />
+  </rule>
+
+  <rule ref="category/java/multithreading.xml">
+    <exclude name="AvoidSynchronizedAtMethodLevel" />
+    <exclude name="AvoidUsingVolatile" />
+    <exclude name="DoNotUseThreads" />
+    <exclude name="UseConcurrentHashMap" />
+  </rule>
+
+  <rule ref="category/java/performance.xml">
+    <exclude name="AvoidInstantiatingObjectsInLoops" />
+  </rule>
+
+  <rule name="UnnecessaryCastRule" language="java"
+    message="Avoid unnecessary casts"
+    class="net.sourceforge.pmd.lang.java.rule.codestyle.UnnecessaryCastRule"
+    externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/codestyle/UnnecessaryCastRule.java" />
+
+  <!-- Custom Rules -->
+  <rule name="UseRequireNonNull"
+    message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."
+    language="java" class="net.sourceforge.pmd.lang.rule.xpath.XPathRule">
+    <description>Use Objects.requireNonNull() instead of throwing a
+      NullPointerException yourself.</description>
+    <properties>
+      <property name="xpath">
+        <value>
+          <![CDATA[
+            //IfStatement[child::Expression//NullLiteral]/Statement//ThrowStatement/Expression/PrimaryExpression/PrimaryPrefix/AllocationExpression/ClassOrInterfaceType[@Image='NullPointerException']
+          ]]>
+        </value>
+      </property>
+    </properties>
+    <priority>3</priority>
+    <example>
+<![CDATA[
+                public class Example {
+                    public Example(Object example) {
+                        if (example == null) {
+                            throw new NullPointerException();
+                        }
+                    }
+                }
+            ]]>
+    </example>
+  </rule>
+</ruleset>

src/main/java/frc/robot/Robot.java

@@ -24,6 +24,7 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction;
+import frc.robot.generated.BuildConstants;
 import frc.robot.generated.TunerConstants;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.DriveIO;
@@ -48,9 +49,9 @@
 import org.littletonrobotics.urcl.URCL;
 
 public class Robot extends LoggedRobot {
-  private double MaxSpeed =
+  private final double MaxSpeed =
       TunerConstants.kSpeedAt12Volts.in(MetersPerSecond); // kSpeedAt12Volts desired top speed
-  private double MaxAngularRate =
+  private final double MaxAngularRate =
       RotationsPerSecond.of(0.75)
           .in(RadiansPerSecond); // 3/4 of a rotation per second max angular velocity
 

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -66,6 +66,7 @@ public boolean isTeleopAtSetpoint() {
    * SysId routine for characterizing steer. This is used to find PID gains for
    * the steer motors.
    */
+  @SuppressWarnings("PMD.UnusedPrivateField")
   private final SysIdRoutine m_sysIdRoutineSteer =
       new SysIdRoutine(
           new SysIdRoutine.Config(
@@ -84,6 +85,7 @@ public boolean isTeleopAtSetpoint() {
    * See the documentation of SwerveRequest.SysIdSwerveRotation for info on
    * importing the log to SysId.
    */
+  @SuppressWarnings("PMD.UnusedPrivateField")
   private final SysIdRoutine m_sysIdRoutineRotation =
       new SysIdRoutine(
           new SysIdRoutine.Config(

src/main/java/frc/robot/subsystems/drive/DriveIO.java

@@ -18,13 +18,13 @@ public static class DriveIOInputs {
     public SwerveModuleState[] moduleTargetStates = new SwerveModuleState[4];
     public Pose2d pose = new Pose2d();
     public ChassisSpeeds speeds = new ChassisSpeeds();
-    public double odometryPeriodSeconds = 0.0;
-    public int successfulDaqs = 0;
-    public int failedDaqs = 0;
+    public double odometryPeriodSeconds;
+    public int successfulDaqs;
+    public int failedDaqs;
 
-    public double gyroRate = 0.0;
+    public double gyroRate;
     public Rotation3d rotation3d = new Rotation3d();
-    public boolean odometryIsValid = false;
+    public boolean odometryIsValid;
   }
 
   public default void updateInputs(DriveIOInputs inputs) {}

src/main/java/frc/robot/subsystems/drive/DriveIOCTRE.java

@@ -4,18 +4,17 @@
 import com.ctre.phoenix6.swerve.SwerveDrivetrain;
 import com.ctre.phoenix6.swerve.SwerveDrivetrainConstants;
 import com.ctre.phoenix6.swerve.SwerveModuleConstants;
-import com.ctre.phoenix6.swerve.SwerveRequest;
-import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj.Notifier;
 import edu.wpi.first.wpilibj.RobotController;
 
 /**
  * Class that extends the Phoenix SwerveDrivetrain class and implements subsystem so it can be used
  * in command-based projects easily.
  */
+@SuppressWarnings("PMD.SingularField")
 public class DriveIOCTRE extends SwerveDrivetrain implements DriveIO {
   private static final double kSimLoopPeriod = 0.005; // 5 ms
-  private Notifier m_simNotifier = null;
+  private Notifier m_simNotifier;
   private double m_lastSimTime;
 
   public DriveIOCTRE(
@@ -55,16 +54,6 @@ public void updateInputs(DriveIOInputs inputs) {
     inputs.odometryIsValid = isOdometryValid();
   }
 
-  @Override
-  public void resetPose(Pose2d pose) {
-    super.resetPose(pose);
-  }
-
-  @Override
-  public void setControl(SwerveRequest request) {
-    super.setControl(request);
-  }
-
   private void startSimThread() {
     m_lastSimTime = Utils.getCurrentTimeSeconds();
 

src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -5,10 +5,10 @@
 public interface ShooterIO {
   @AutoLog
   public static class ShooterIOInputs {
-    public double position = 0.0;
-    public double velocity = 0.0;
-    public double appliedVolts = 0.0;
-    public double currentAmps = 0.0;
+    public double position;
+    public double velocity;
+    public double appliedVolts;
+    public double currentAmps;
   }
 
   /** Updates the set of loggable inputs. */

src/main/java/frc/robot/subsystems/vision/VisionIOLimelight.java

@@ -12,7 +12,7 @@
 public class VisionIOLimelight implements VisionIO {
   private final NetworkTable impl;
   private final DoubleArraySubscriber botpose;
-  double[] validIds = null;
+  double[] validIds;
   private final String camera;
 
   public VisionIOLimelight(String camera) {
@@ -41,6 +41,6 @@ public void updateInputs(VisionIOInputs inputs) {
   @Override
   public void setValidIds(double[] validIds) {
     impl.getDoubleArrayTopic("fiducial_id_filters_set").publish().set(validIds);
-    this.validIds = validIds;
+    this.validIds = validIds.clone();
   }
 }

src/main/java/frc/robot/subsystems/vision/VisionIOSim.java

@@ -56,7 +56,7 @@ public void updateInputs(VisionIOInputs inputs) {
     inputs.camera = cameraName;
 
     var results = camera.getAllUnreadResults();
-    if (results.size() > 0) {
+    if (results.isEmpty()) {
       var result = results.get(results.size() - 1);
       if (result.getMultiTagResult().isPresent()) {
         inputs.estimatedPose =

src/main/java/frc/robot/util/Util.java

@@ -5,7 +5,7 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.util.WPIUtilJNI;
 
-public class Util {
+public final class Util {
   private Util() {}
 
   /** Time in milliseconds */

src/main/java/frc/robot/BuildConstants.java → src/main/java/generated/frc/robot/generated/BuildConstants.java

@@ -1,4 +1,4 @@
-package frc.robot;
+package frc.robot.generated;
 
 /**
  * Automatically generated file containing build version information.
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025-Reefscape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 1;
-  public static final String GIT_SHA = "9bf7dbcdc5f4ab1a52da29bfb97fb310e4722d02";
-  public static final String GIT_DATE = "2024-12-01 15:18:41 AWST";
+  public static final int GIT_REVISION = 3;
+  public static final String GIT_SHA = "a19e6abe401ffc7d43c87ddc67ae93211b27a8ab";
+  public static final String GIT_DATE = "2024-12-01 19:28:10 AWST";
   public static final String GIT_BRANCH = "master";
-  public static final String BUILD_DATE = "2024-12-01 19:22:02 AWST";
-  public static final long BUILD_UNIX_TIME = 1733052122409L;
+  public static final String BUILD_DATE = "2024-12-01 19:43:18 AWST";
+  public static final long BUILD_UNIX_TIME = 1733053398752L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}