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/* Author: Wim Meeussen */

#include <boost/algorithm/string.hpp>
#include <ros/ros.h>
#include <vector>
#include "urdf/model.h"

namespace urdf{

bool urdfFromColladaFile(std::string const& daefilename, Model& model);
bool urdfFromColladaData(std::string const& data, Model& model);
bool urdfFromTiXML(TiXmlElement *robot_xml, Model& model);
bool IsColladaFile(const std::string& filename);
bool IsColladaData(const std::string& data);


bool Model::initFile(const std::string& filename)
{
  // necessary for COLLADA compatibility
  if( IsColladaFile(filename) ) {
    return urdfFromColladaFile(filename,*this);
  }
  TiXmlDocument xml_doc;
  xml_doc.LoadFile(filename);

  return init(&xml_doc);
}


bool Model::initParam(const std::string& param)
{
  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 initString(xml_string);
}


bool Model::initString(const std::string& xml_string)
{
  // necessary for COLLADA compatibility
  if( IsColladaData(xml_string) ) {
    return urdfFromColladaData(xml_string,*this);
  }

  TiXmlDocument xml_doc;
  xml_doc.Parse(xml_string.c_str());

  return init(&xml_doc);
}


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

  // necessary for COLLADA compatibility
  if( !!xml_doc->RootElement() ) {
    if( std::string("COLLADA") == xml_doc->RootElement()->ValueStr() ) {
      return urdfFromTiXML(xml_doc->RootElement(),*this);
    }
  }

  return init(xml_doc);
}

bool Model::initXml(TiXmlElement *robot_xml)
{
  ROS_DEBUG("Parsing robot xml");
  if (!robot_xml) return false;

  // necessary for COLLADA compatibility
  if( std::string("COLLADA") == robot_xml->ValueStr() ) {
    return urdfFromTiXML(robot_xml,*this);
  }

  return init(robot_xml);
}

}// namespace