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  /* Author: Ioan Sucan, Mathias Lüdtke, Dave Coleman */
  
  // MoveIt
  #include <moveit/rdf_loader/rdf_loader.h>
  #include <moveit/profiler/profiler.h>
  
  // ROS
  #include <ros/ros.h>
  #include <ros/package.h>
  
  // Boost
  #include <boost/filesystem.hpp>
  
  // C++
  #include <fstream>
  #include <streambuf>
  #include <algorithm>
  
  #ifdef _WIN32
  #define popen _popen
  #define pclose _pclose
  #endif
  
  rdf_loader::RDFLoader::RDFLoader(const std::string& robot_description)
  {
    moveit::tools::Profiler::ScopedStart prof_start;
    moveit::tools::Profiler::ScopedBlock prof_block("RDFLoader(robot_description)");
  
    ros::WallTime start = ros::WallTime::now();
    ros::NodeHandle nh("~");
    std::string content;
  
    if (!nh.searchParam(robot_description, robot_description_) || !nh.getParam(robot_description_, content))
    {
      ROS_ERROR_NAMED("rdf_loader", "Robot model parameter not found! Did you remap '%s'?", robot_description.c_str());
      return;
    }
  
    std::unique_ptr<urdf::Model> urdf(new urdf::Model());
    if (!urdf->initString(content))
    {
      ROS_ERROR_NAMED("rdf_loader", "Unable to parse URDF from parameter '%s'", robot_description_.c_str());
      return;
    }
    urdf_ = std::move(urdf);
  
    const std::string srdf_description(robot_description_ + "_semantic");
    std::string scontent;
    if (!nh.getParam(srdf_description, scontent))
    {
      ROS_ERROR_NAMED("rdf_loader", "Robot semantic description not found. Did you forget to define or remap '%s'?",
                      srdf_description.c_str());
      return;
    }
  
    srdf::ModelSharedPtr srdf(new srdf::Model());
    if (!srdf->initString(*urdf_, scontent))
    {
      ROS_ERROR_NAMED("rdf_loader", "Unable to parse SRDF from parameter '%s'", srdf_description.c_str());
      return;
    }
    srdf_ = std::move(srdf);
  
    ROS_DEBUG_STREAM_NAMED("rdf", "Loaded robot model in " << (ros::WallTime::now() - start).toSec() << " seconds");
  }
  
  rdf_loader::RDFLoader::RDFLoader(const std::string& urdf_string, const std::string& srdf_string)
  {
    moveit::tools::Profiler::ScopedStart prof_start;
    moveit::tools::Profiler::ScopedBlock prof_block("RDFLoader(string)");
  
    auto umodel = std::make_unique<urdf::Model>();
    if (umodel->initString(urdf_string))
    {
      auto smodel = std::make_shared<srdf::Model>();
      if (!smodel->initString(*umodel, srdf_string))
      {
        ROS_ERROR_NAMED("rdf_loader", "Unable to parse SRDF");
      }
      urdf_ = std::move(umodel);
      srdf_ = std::move(smodel);
    }
    else
    {
      ROS_ERROR_NAMED("rdf_loader", "Unable to parse URDF");
    }
  }
  
  bool rdf_loader::RDFLoader::isXacroFile(const std::string& path)
  {
    std::string lower_path = path;
    std::transform(lower_path.begin(), lower_path.end(), lower_path.begin(), ::tolower);
  
    return lower_path.find(".xacro") != std::string::npos;
  }
  
  bool rdf_loader::RDFLoader::loadFileToString(std::string& buffer, const std::string& path)
  {
    if (path.empty())
    {
      ROS_ERROR_NAMED("rdf_loader", "Path is empty");
      return false;
    }
  
    if (!boost::filesystem::exists(path))
    {
      ROS_ERROR_NAMED("rdf_loader", "File does not exist");
      return false;
    }
  
    std::ifstream stream(path.c_str());
    if (!stream.good())
    {
      ROS_ERROR_NAMED("rdf_loader", "Unable to load path");
      return false;
    }
  
    // Load the file to a string using an efficient memory allocation technique
    stream.seekg(0, std::ios::end);
    buffer.reserve(stream.tellg());
    stream.seekg(0, std::ios::beg);
    buffer.assign((std::istreambuf_iterator<char>(stream)), std::istreambuf_iterator<char>());
    stream.close();
  
    return true;
  }
  
  bool rdf_loader::RDFLoader::loadXacroFileToString(std::string& buffer, const std::string& path,
                                                    const std::vector<std::string>& xacro_args)
  {
    buffer.clear();
    if (path.empty())
    {
      ROS_ERROR_NAMED("rdf_loader", "Path is empty");
      return false;
    }
  
    if (!boost::filesystem::exists(path))
    {
      ROS_ERROR_NAMED("rdf_loader", "File does not exist");
      return false;
    }
  
    std::string cmd = "rosrun xacro xacro ";
    for (const std::string& xacro_arg : xacro_args)
      cmd += xacro_arg + " ";
    cmd += path;
  
    FILE* pipe = popen(cmd.c_str(), "r");
    if (!pipe)
    {
      ROS_ERROR_NAMED("rdf_loader", "Unable to load path");
      return false;
    }
  
    char pipe_buffer[128];
    while (!feof(pipe))
    {
      if (fgets(pipe_buffer, 128, pipe) != nullptr)
        buffer += pipe_buffer;
    }
    pclose(pipe);
  
    return true;
  }
  
  bool rdf_loader::RDFLoader::loadXmlFileToString(std::string& buffer, const std::string& path,
                                                  const std::vector<std::string>& xacro_args)
  {
    if (isXacroFile(path))
    {
      return loadXacroFileToString(buffer, path, xacro_args);
    }
  
    return loadFileToString(buffer, path);
  }
  
  bool rdf_loader::RDFLoader::loadPkgFileToString(std::string& buffer, const std::string& package_name,
                                                  const std::string& relative_path,
                                                  const std::vector<std::string>& xacro_args)
  {
    std::string package_path = ros::package::getPath(package_name);
  
    if (package_path.empty())
    {
      ROS_ERROR_STREAM_NAMED("rdf_loader", "ROS was unable to find the package name '" << package_name << "'");
      return false;
    }
  
    boost::filesystem::path path(package_path);
    // Use boost to cross-platform combine paths
    path = path / relative_path;
  
    return loadXmlFileToString(buffer, path.string(), xacro_args);
  }
  