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/* Author: Tim Field */

#include "collada_urdf/collada_urdf.h"
#include "collada_urdf/collada_writer.h"

using std::string;
using boost::shared_ptr;

namespace collada_urdf {

ColladaUrdfException::ColladaUrdfException(std::string const& what)
    : std::runtime_error(what)
{
}

bool colladaFromUrdfFile(string const& file, shared_ptr<DAE>& dom) {
    TiXmlDocument urdf_xml;
    if (!urdf_xml.LoadFile(file)) {
        ROS_ERROR("Could not load XML file");
        return false;
    }

    return colladaFromUrdfXml(&urdf_xml, dom);
}

bool colladaFromUrdfString(string const& xml, shared_ptr<DAE>& dom) {
    TiXmlDocument urdf_xml;
    if (urdf_xml.Parse(xml.c_str()) == 0) {
        ROS_ERROR("Could not parse XML document");
        return false;
    }

    return colladaFromUrdfXml(&urdf_xml, dom);
}

bool colladaFromUrdfXml(TiXmlDocument* xml_doc, shared_ptr<DAE>& dom) {
    urdf::Model robot_model;
    if (!robot_model.initXml(xml_doc)) {
        ROS_ERROR("Could not generate robot model");
        return false;
    }

    return colladaFromUrdfModel(robot_model, dom);
}

bool colladaFromUrdfModel(urdf::Model const& robot_model, shared_ptr<DAE>& dom) {
    ColladaWriter writer(robot_model);
    dom = writer.convert();

    return dom != shared_ptr<DAE>();
}

bool colladaToFile(shared_ptr<DAE> dom, string const& file) {
	daeString uri = dom->getDoc(0)->getDocumentURI()->getURI();
	return dom->writeTo(uri, file);
}

}