Deprecate AprilTagFields.loadAprilTagLayoutField() and LoadAprilTagLa…

…youtField()
KangarooKoala · Feb 2, 2024 · 7137325 · 7137325
1 parent 21bdc4f
commit 7137325
Show file tree

Hide file tree

Showing 6 changed files with 11 additions and 6 deletions.
diff --git a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
@@ -33,7 +33,9 @@ public enum AprilTagFields {
    *
    * @return AprilTagFieldLayout of the field
    * @throws UncheckedIOException If the layout does not exist
+   * @deprecated Use {@link AprilTagFieldLayout#loadField(AprilTagFields)} instead.
    */
+  @Deprecated(forRemoval = true, since = "2024")
   public AprilTagFieldLayout loadAprilTagLayoutField() {
     return AprilTagFieldLayout.loadField(this);
   }

diff --git a/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h b/apriltag/src/main/native/include/frc/apriltag/AprilTagFieldLayout.h
@@ -166,7 +166,9 @@ void from_json(const wpi::json& json, AprilTagFieldLayout& layout);
  *
  * @param field The predefined field
  * @return AprilTagFieldLayout of the field
+ * @deprecated Use AprilTagFieldLayout::LoadField() instead
  */
+[[deprecated("Use AprilTagFieldLayout::LoadField() instead")]]
 WPILIB_DLLEXPORT AprilTagFieldLayout
 LoadAprilTagLayoutField(AprilTagField field);
 

diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java b/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java
@@ -22,13 +22,14 @@ class LoadConfigTest {
   @ParameterizedTest
   @EnumSource(AprilTagFields.class)
   void testLoad(AprilTagFields field) {
-    AprilTagFieldLayout layout = Assertions.assertDoesNotThrow(field::loadAprilTagLayoutField);
+    AprilTagFieldLayout layout =
+        Assertions.assertDoesNotThrow(() -> AprilTagFieldLayout.loadField(field));
     assertNotNull(layout);
   }
 
   @Test
   void test2022RapidReact() {
-    AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
+    AprilTagFieldLayout layout = AprilTagFieldLayout.loadField(AprilTagFields.k2022RapidReact);
 
     // Blue Hangar Truss - Hub
     Pose3d expectedPose =

diff --git a/apriltag/src/test/native/cpp/LoadConfigTest.cpp b/apriltag/src/test/native/cpp/LoadConfigTest.cpp
@@ -21,7 +21,7 @@ std::vector<AprilTagField> GetAllFields() {
 
 TEST(AprilTagFieldsTest, TestLoad2022RapidReact) {
   AprilTagFieldLayout layout =
-      LoadAprilTagLayoutField(AprilTagField::k2022RapidReact);
+      AprilTagFieldLayout::LoadField(AprilTagField::k2022RapidReact);
 
   // Blue Hangar Truss - Hub
   auto expectedPose =
@@ -54,7 +54,7 @@ class AllFieldsFixtureTest : public ::testing::TestWithParam<AprilTagField> {};
 
 TEST_P(AllFieldsFixtureTest, CheckEntireEnum) {
   AprilTagField field = GetParam();
-  EXPECT_NO_THROW(LoadAprilTagLayoutField(field));
+  EXPECT_NO_THROW(AprilTagFieldLayout::LoadField(field));
 }
 
 INSTANTIATE_TEST_SUITE_P(ValuesEnumTestInstTests, AllFieldsFixtureTest,

diff --git a/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h b/wpilibcExamples/src/main/cpp/examples/DifferentialDrivePoseEstimator/include/Drivetrain.h
@@ -131,7 +131,7 @@ class Drivetrain {
   nt::DoubleArrayEntry& m_cameraToObjectEntryRef = m_cameraToObjectEntry;
 
   frc::AprilTagFieldLayout m_aprilTagFieldLayout{
-      frc::LoadAprilTagLayoutField(frc::AprilTagField::k2022RapidReact)};
+      frc::AprilTagFieldLayout::LoadField(frc::AprilTagField::k2022RapidReact)};
   frc::Pose3d m_objectInField{m_aprilTagFieldLayout.GetTagPose(0).value()};
 
   frc::PWMSparkMax m_leftLeader{1};

diff --git a/...c/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java b/...c/main/java/edu/wpi/first/wpilibj/examples/differentialdriveposeestimator/Drivetrain.java
@@ -125,7 +125,7 @@ public Drivetrain(DoubleArrayTopic cameraToObjectTopic) {
 
     m_cameraToObjectEntry = cameraToObjectTopic.getEntry(m_defaultVal);
 
-    m_objectInField = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField().getTagPose(0).get();
+    m_objectInField = AprilTagFieldLayout.loadField(AprilTagFields.k2022RapidReact).getTagPose(0).get();
 
     SmartDashboard.putData("Field", m_fieldSim);
     SmartDashboard.putData("FieldEstimation", m_fieldApproximation);