From a686fa00a1c93f340bf01033247b60791a022cf3 Mon Sep 17 00:00:00 2001
From: Joseph Eng <s-engjo@bsd405.org>
Date: Wed, 31 Jan 2024 15:27:59 -0800
Subject: [PATCH] Add AprilTagFieldLayout.loadStandardField() Also change
 AprilTagFields.loadFromResource() to use the new method

---
 .../wpi/first/apriltag/AprilTagFieldLayout.java | 17 +++++++++++++++++
 .../edu/wpi/first/apriltag/AprilTagFields.java  |  8 +-------
 2 files changed, 18 insertions(+), 7 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 5d0e4248878..d073660161b 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
@@ -16,6 +16,7 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.io.UncheckedIOException;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -221,6 +222,22 @@ public void serialize(Path path) throws IOException {
     new ObjectMapper().writeValue(path.toFile(), this);
   }
 
+  /**
+   * Get a standard {@link AprilTagFieldLayout}.
+   *
+   * @param field The loadable AprilTag field layout.
+   * @return AprilTagFieldLayout of the field.
+   * @throws UncheckedIOException If the layout does not exist.
+   */
+  public static AprilTagFieldLayout loadStandardField(AprilTagFields field) {
+    try {
+      return loadFromResource(field.m_resourceFile);
+    } catch (IOException e) {
+      throw new UncheckedIOException(
+          "Could not load AprilTagFieldLayout from " + field.m_resourceFile, e);
+    }
+  }
+
   /**
    * Deserializes a field layout from a resource within a internal jar file.
    *
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 653151e6266..1b50c5ae972 100644
--- a/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
+++ b/apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFields.java
@@ -4,7 +4,6 @@
 
 package edu.wpi.first.apriltag;
 
-import java.io.IOException;
 import java.io.UncheckedIOException;
 
 /** Loadable AprilTag field layouts. */
@@ -36,11 +35,6 @@ public enum AprilTagFields {
    * @throws UncheckedIOException If the layout does not exist
    */
   public AprilTagFieldLayout loadAprilTagLayoutField() {
-    try {
-      return AprilTagFieldLayout.loadFromResource(m_resourceFile);
-    } catch (IOException e) {
-      throw new UncheckedIOException(
-          "Could not load AprilTagFieldLayout from " + m_resourceFile, e);
-    }
+    return AprilTagFieldLayout.loadStandardField(this);
   }
 }