Add rcpputils for find_library

rmw_implementation/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 
+find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 
 # provides FindPoco.cmake and Poco on platforms without it
@@ -54,6 +55,7 @@ else()
     src/functions.cpp)
   ament_target_dependencies(${PROJECT_NAME}
     "Poco"
+    "rcpputils"
     "rmw")
   target_compile_definitions(${PROJECT_NAME}
     PUBLIC "DEFAULT_RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}")

rmw_implementation/package.xml

@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
   <!--

rmw_implementation/src/functions.cpp

@@ -13,104 +13,23 @@
 // limitations under the License.
 
 #include <cstddef>
-#include <cstdio>
-#include <cstring>
 
-#include <list>
 #include <string>
 
-#include <fstream>
-#include <sstream>
-
 #include "rcutils/allocator.h"
 #include "rcutils/format_string.h"
 #include "rcutils/types/string_array.h"
 
 #include "Poco/SharedLibrary.h"
 
+#include "rcpputils/find_library.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/names_and_types.h"
 #include "rmw/get_node_info_and_types.h"
 #include "rmw/get_service_names_and_types.h"
 #include "rmw/get_topic_names_and_types.h"
 #include "rmw/rmw.h"
 
-std::string get_env_var(const char * env_var)
-{
-  char * value = nullptr;
-#ifndef _WIN32
-  value = getenv(env_var);
-#else
-  size_t value_size;
-  _dupenv_s(&value, &value_size, env_var);
-#endif
-  std::string value_str = "";
-  if (value) {
-    value_str = value;
-#ifdef _WIN32
-    free(value);
-#endif
-  }
-  // printf("get_env_var(%s) = %s\n", env_var, value_str.c_str());
-  return value_str;
-}
-
-std::list<std::string> split(const std::string & value, const char delimiter)
-{
-  std::list<std::string> list;
-  std::istringstream ss(value);
-  std::string s;
-  while (std::getline(ss, s, delimiter)) {
-    list.push_back(s);
-  }
-  // printf("split(%s) = %zu\n", value.c_str(), list.size());
-  return list;
-}
-
-bool is_file_exist(const char * filename)
-{
-  std::ifstream h(filename);
-  // printf("is_file_exist(%s) = %s\n", filename, h.good() ? "true" : "false");
-  return h.good();
-}
-
-std::string find_library_path(const std::string & library_name)
-{
-  const char * env_var;
-  char separator;
-  const char * filename_prefix;
-  const char * filename_extension;
-#ifdef _WIN32
-  env_var = "PATH";
-  separator = ';';
-  filename_prefix = "";
-  filename_extension = ".dll";
-#elif __APPLE__
-  env_var = "DYLD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".dylib";
-#else
-  env_var = "LD_LIBRARY_PATH";
-  separator = ':';
-  filename_prefix = "lib";
-  filename_extension = ".so";
-#endif
-  std::string search_path = get_env_var(env_var);
-  std::list<std::string> search_paths = split(search_path, separator);
-
-  std::string filename = filename_prefix;
-  filename += library_name + filename_extension;
-
-  for (auto it : search_paths) {
-    std::string path = it + "/" + filename;
-    if (is_file_exist(path.c_str())) {
-      return path;
-    }
-  }
-  return "";
-}
-
 #define STRINGIFY_(s) #s
 #define STRINGIFY(s) STRINGIFY_(s)
 
@@ -119,11 +38,12 @@ get_library()
 {
   static Poco::SharedLibrary * lib = nullptr;
   if (!lib) {
-    std::string env_var = get_env_var("RMW_IMPLEMENTATION");
+    const char * cenv_var = getenv("RMW_IMPLEMENTATION");
+    std::string env_var = cenv_var ? cenv_var : "";
     if (env_var.empty()) {
       env_var = STRINGIFY(DEFAULT_RMW_IMPLEMENTATION);
     }
-    std::string library_path = find_library_path(env_var);
+    std::string library_path = rcpputils::find_library_path(env_var);
     if (library_path.empty()) {
       RMW_SET_ERROR_MSG(
         ("failed to find shared library of rmw implementation. Searched " + env_var).c_str());