[core] Text renderer should include name of violated rule

**Affects PMD Version:** 
6.16.0, 6.17.0

**Description:**
Error messages generated in text output do not reference the name of the rule violated. Without it, it's hard to find documentation on how to resolve the error. The rule name is needed for the SuppressWarnings annotation. 

**Running PMD through:** [CLI | Ant] 
