# Copyright 2023 Intel Corporation. All Rights Reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

import os
import xacro
import tempfile

def to_urdf(xacro_path, parameters=None):
    """Convert the given xacro file to URDF file.
    * xacro_path -- the path to the xacro file
    * parameters -- to be used when xacro file is parsed.
    """
    with tempfile.NamedTemporaryFile(prefix="%s_" % os.path.basename(xacro_path), delete=False) as xacro_file:
        urdf_path = xacro_file.name

    # open and process file
    doc = xacro.process_file(xacro_path, mappings=parameters)
    # open the output file
    with open(urdf_path, 'w') as urdf_file:
        urdf_file.write(doc.toprettyxml(indent='  '))

    return urdf_path