Fix several path/file handling issues

Author: hwiedPro

phobos/ci/base_model.py

@@ -23,10 +23,12 @@ def __init__subclass__(self, configfile, pipeline, processed_model_exists=True):
         self.processed_model_exists = processed_model_exists
         self.pipeline = pipeline
 
+        self.configfile = None
         if type(configfile) is str:
             if not os.path.isfile(configfile):
                 raise Exception('{} not found!'.format(configfile))
             self.cfg = load_json(open(configfile, 'r'))
+            self.configfile = configfile
         else:
             self.cfg = configfile
 
@@ -151,11 +153,12 @@ def _load_robot(self):
                 # create a robot with the basic properties given
                 self.robot = Robot(name=self.robotname if self.robotname else None)
         else:
-            if os.path.exists(os.path.join(self.exportdir, "smurf", self.robotname + ".smurf")):
+            load_file = os.path.join(self.exportdir, "smurf", getattr(self, "filename", self.robotname) + ".smurf")
+            if os.path.exists(load_file):
                 self.robot = Robot(name=self.robotname if self.robotname else None,
-                                   inputfile=os.path.join(self.exportdir, "smurf", self.robotname + ".smurf"))
+                                   inputfile=load_file)
             else:
-                raise Exception('Preprocessed file {} not found!'.format(self.basefile))
+                raise Exception('Preprocessed file {} not found!'.format(load_file))
 
     def _join_to_basefile(self):
         # get all the models we need
@@ -735,7 +738,12 @@ def export(self):
         for vc in self.robot.collisions + self.robot.visuals:
             if isinstance(vc.geometry, representation.Mesh):
                 self.processed_meshes = self.processed_meshes.union([os.path.realpath(f["filepath"]) for f in vc.geometry._exported.values()])
-                self.processed_meshes.add(os.path.realpath(vc.geometry.abs_filepath))
+                try:
+                    self.processed_meshes.add(os.path.realpath(vc.geometry.abs_filepath))
+                except IOError:
+                    # This mesh has been edited and has no source mesh any more that could provide a file path
+                    pass
+
         if "keep_files" in self.deployment:
             git.reset(self.targetdir, "autobuild", "master")
             misc.store_persisting_files(self.pipeline, self.targetdir, self.deployment["keep_files"], self.exportdir)

phobos/ci/pipeline.py

@@ -29,7 +29,7 @@ class Pipeline(yaml.YAMLObject):
     def __init__(self, configfile, model_file=None, processed_model_exists=False, subclass=False):
         self.processing_failed = {}
         self.test_results = {}
-        self.configdir = os.path.abspath(os.path.dirname(configfile))
+        self.configdir = os.path.dirname(os.path.abspath(configfile))
         self.processed_model_exists = processed_model_exists
         if not os.path.isfile(configfile):
             raise Exception('{} not found!'.format(configfile))
@@ -40,6 +40,8 @@ def __init__(self, configfile, model_file=None, processed_model_exists=False, su
         for (k, v) in kwargs.items():
             setattr(self, k, v)
 
+        self.root = os.path.expandvars(self.root)
+
         if model_file:
             self.model_definitions = [model_file]
 
@@ -50,10 +52,11 @@ def __init__(self, configfile, model_file=None, processed_model_exists=False, su
         if not subclass:
             assert hasattr(self, "model_definitions") and len(self.model_definitions) > 0
             assert hasattr(self, "root") and self.root is not None and len(self.root) > 0
-    
-            self.root = os.path.abspath(os.path.join(self.configdir, self.root))
+
+            if not os.path.abspath(self.root):
+                self.root = os.path.abspath(os.path.join(self.configdir, self.root))
             log.info(f"Working from {self.root}")
-            self.git_rev = git.revision(os.path.abspath(self.configdir))
+            self.git_rev = git.revision(self.configdir)
             self.temp_dir = os.path.join(self.root, "temp")
             self.faillog = os.path.join(self.temp_dir, "failures.txt")
             self.test_protocol = os.path.join(self.temp_dir, "test_protocol.txt")

phobos/io/representation.py

@@ -646,7 +646,12 @@ def read_history(cls, targetpath):
     @property
     def abs_filepath(self):
         if len(self._exported) == 0:
-            out = self.input_file if self.input_file is not None else self._mesh_object.get("input_file", None)
+            out = self.input_file
+            if out is None and self._mesh_object:
+                try:
+                    out = self._mesh_object["input_file"]
+                except:
+                    out = None
             if out is None:
                 raise IOError(f"This mesh ({self.unique_name}) hasn't been exported nor is an input file known, which could be used.")
             return out
@@ -711,7 +716,7 @@ def file_exists(self):
         return os.path.isfile(self.abs_filepath)
 
     def available(self):
-        return self.file_exists() or self.mesh_object is not None
+        return self.mesh_object is not None or self.file_exists()
 
     def is_lfs_checked_out(self):
         if self.input_file is not None and os.path.isfile(self.input_file):

phobos/utils/xml.py

@@ -86,7 +86,7 @@ def read_relative_filename(filename, start_file_path):
         start_file_path = os.path.abspath(start_file_path)
     if start_file_path.split(".")[-1] in IMPORT_TYPES:
         start_file_path = os.path.dirname(start_file_path)  # /bla/blub/xyz/blib.xyz -> /bla/blub/xyz
-    if filename.startswith("package://"):  # ROS Package
+    if filename.startswith("package:"):  # ROS Package
         if os.path.basename(start_file_path) in IMPORT_TYPES+["xacro"]:
             package_dir = os.path.dirname(start_file_path)  # /bla/blub/xyz -> /bla/blub
         else: