From 3b084ecbe0f14f9bd3e25cef57746677a41e17d8 Mon Sep 17 00:00:00 2001
From: Brennen Puth <99607748+brennenputh@users.noreply.github.com>
Date: Wed, 18 Jan 2023 23:42:39 -0500
Subject: [PATCH] [apriltag] AprilTagFieldLayout: Improve API shape for loading
 builtin JSONs (#4949)

---
 .../edu/wpi/first/apriltag/AprilTagFieldLayout.java  |  5 ++++-
 .../java/edu/wpi/first/apriltag/AprilTagFields.java  | 12 ++++++++++++
 .../java/edu/wpi/first/apriltag/LoadConfigTest.java  |  7 ++-----
 3 files changed, 18 insertions(+), 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
index 821bd9591a..2c9bc4769c 100644
--- 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 class AprilTagFieldLayout {
   }
 
   /**
-   * 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
index 6143920eab..be9caecb9e 100644
--- 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
index ab15994657..901c72bd89 100644
--- 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 =