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/* Author: Wim Meeussen */

#include <fstream>
#include <iostream>
#include <string>
#include <vector>

#include "urdf/model.h"

/* we include the default parser for plain URDF files;
   other parsers are loaded via plugins (if available) */
#include <urdf_parser/urdf_parser.h>
#include <urdf_parser_plugin/parser.h>
#include <pluginlib/class_loader.hpp>

#include <boost/algorithm/string.hpp>
#include <boost/scoped_ptr.hpp>
#include <boost/thread.hpp>

#include <tinyxml.h>
#include <tinyxml2.h>

namespace urdf
{

static bool IsColladaData(const std::string & data)
{
  return data.find("<COLLADA") != std::string::npos;
}

bool Model::initFile(const std::string & filename)
{
  // get the entire file
  std::string xml_string;
  std::fstream xml_file(filename.c_str(), std::fstream::in);
  if (xml_file.is_open()) {
    while (xml_file.good() ) {
      std::string line;
      std::getline(xml_file, line);
      xml_string += (line + "\n");
    }
    xml_file.close();
    return Model::initString(xml_string);
  } else {
    ROS_ERROR("Could not open file [%s] for parsing.",filename.c_str());
    return false;
  }
}


bool Model::initParam(const std::string & param)
{
  return initParamWithNodeHandle(param, ros::NodeHandle());
}

bool Model::initParamWithNodeHandle(const std::string & param, const ros::NodeHandle & nh)
{
  std::string xml_string;

  // gets the location of the robot description on the parameter server
  std::string full_param;
  if (!nh.searchParam(param, full_param)){
    ROS_ERROR("Could not find parameter %s on parameter server", param.c_str());
    return false;
  }

  // read the robot description from the parameter server
  if (!nh.getParam(full_param, xml_string)){
    ROS_ERROR("Could not read parameter %s on parameter server", full_param.c_str());
    return false;
  }
  return Model::initString(xml_string);
}

bool Model::initXml(TiXmlDocument * xml_doc)
{
  if (!xml_doc) {
    ROS_ERROR("Could not parse the xml document");
    return false;
  }

  std::stringstream ss;
  ss << *xml_doc;

  return Model::initString(ss.str());
}

bool Model::initXml(TiXmlElement * robot_xml)
{
  if (!robot_xml) {
    ROS_ERROR("Could not parse the xml element");
    return false;
  }

  std::stringstream ss;
  ss << (*robot_xml);

  return Model::initString(ss.str());
}

bool Model::initXml(const tinyxml2::XMLDocument *xml_doc)
{
  if (!xml_doc) {
    ROS_ERROR("Could not parse the xml document");
    return false;
  }

  tinyxml2::XMLPrinter printer;
  xml_doc->Print(&printer);
  std::string str(printer.CStr());

  return Model::initString(str);
}

bool Model::initXml(const tinyxml2::XMLElement *robot_xml)
{
  if (!robot_xml) {
    ROS_ERROR("Could not parse the xml element");
    return false;
  }

  std::stringstream ss;
  tinyxml2::XMLPrinter printer;
  robot_xml->Accept(&printer);
  ss << printer.CStr();

  return Model::initString(ss.str());
}

bool Model::initString(const std::string & xml_string)
{
  urdf::ModelInterfaceSharedPtr model;

  // necessary for COLLADA compatibility
  if (IsColladaData(xml_string)) {
    ROS_DEBUG("Parsing robot collada xml string");

    static boost::mutex PARSER_PLUGIN_LOCK;
    static boost::scoped_ptr<pluginlib::ClassLoader<urdf::URDFParser> > PARSER_PLUGIN_LOADER;
    boost::mutex::scoped_lock _(PARSER_PLUGIN_LOCK);

    try {
      if (!PARSER_PLUGIN_LOADER) {
        PARSER_PLUGIN_LOADER.reset(new pluginlib::ClassLoader<urdf::URDFParser>("urdf_parser_plugin", "urdf::URDFParser"));
      }
      const std::vector<std::string> &classes = PARSER_PLUGIN_LOADER->getDeclaredClasses();
      bool found = false;
      for (std::size_t i = 0 ; i < classes.size() ; ++i) {
        if (classes[i].find("urdf/ColladaURDFParser") != std::string::npos) {
          boost::shared_ptr<urdf::URDFParser> instance = PARSER_PLUGIN_LOADER->createInstance(classes[i]);
          if (instance) {
            model = instance->parse(xml_string);
          }
          found = true;
          break;
        }
      }
      if (!found) {
        ROS_ERROR_STREAM("No URDF parser plugin found for Collada files. Did you install the corresponding package?");
      }
    }
    catch(pluginlib::PluginlibException& ex) {
      ROS_ERROR_STREAM("Exception while creating planning plugin loader " << ex.what() << ". Will not parse Collada file.");
    }
  } else {
    ROS_DEBUG("Parsing robot urdf xml string");
    model = parseURDF(xml_string);
  }

  // copy data from model into this object
  if (model) {
    this->links_ = model->links_;
    this->joints_ = model->joints_;
    this->materials_ = model->materials_;
    this->name_ = model->name_;
    this->root_link_ = model->root_link_;
    return true;
  }
  return false;
}
}  // namespace urdf
