[apriltag] AprilTagFieldLayout: Improve API shape for loading builtin…

… JSONs (wpilibsuite#4949)
Starlight220 · Mar 2, 2023 · b033977 · b033977
1 parent 3958306
commit b033977
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Showing 3 changed files with 18 additions and 6 deletions.
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
@@ -189,7 +189,10 @@ public void serialize(Path path) throws IOException {
   }
 
   /**
-   * Deserializes a field layout from a resource within a jar file.
+   * Deserializes a field layout from a resource within a internal jar file.
+   *
+   * <p>Users should use {@link AprilTagFields#loadAprilTagLayoutField()} to load official layouts
+   * and {@link #AprilTagFieldLayout(String)} for custom layouts.
    *
    * @param resourcePath The absolute path of the resource
    * @return The deserialized layout

diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
@@ -4,6 +4,8 @@
 
 package edu.wpi.first.apriltag;
 
+import java.io.IOException;
+
 public enum AprilTagFields {
   k2022RapidReact("2022-rapidreact.json"),
   k2023ChargedUp("2023-chargedup.json");
@@ -18,4 +20,14 @@ public enum AprilTagFields {
   AprilTagFields(String resourceFile) {
     m_resourceFile = kBaseResourceDir + resourceFile;
   }
+
+  /**
+   * Get a {@link AprilTagFieldLayout} from the resource JSON.
+   *
+   * @return AprilTagFieldLayout of the field
+   * @throws IOException If the layout does not exist
+   */
+  public AprilTagFieldLayout loadAprilTagLayoutField() throws IOException {
+    return AprilTagFieldLayout.loadFromResource(m_resourceFile);
+  }
 }
diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java b/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java
@@ -23,16 +23,13 @@ class LoadConfigTest {
   @ParameterizedTest
   @EnumSource(AprilTagFields.class)
   void testLoad(AprilTagFields field) {
-    AprilTagFieldLayout layout =
-        Assertions.assertDoesNotThrow(
-            () -> AprilTagFieldLayout.loadFromResource(field.m_resourceFile));
+    AprilTagFieldLayout layout = Assertions.assertDoesNotThrow(field::loadAprilTagLayoutField);
     assertNotNull(layout);
   }
 
   @Test
   void test2022RapidReact() throws IOException {
-    AprilTagFieldLayout layout =
-        AprilTagFieldLayout.loadFromResource(AprilTagFields.k2022RapidReact.m_resourceFile);
+    AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
 
     // Blue Hangar Truss - Hub
     Pose3d expectedPose =