fix: use shutil.which to find executable to make platform independent and move to common implementation in ament_lint

Signed-off-by: Tony Paulussen <[email protected]>

Author: tony-p

ament_clang_format/ament_clang_format/main.py

@@ -25,6 +25,8 @@
 
 import yaml
 
+from ament_lint.filesystem_helpers import find_executable
+
 
 def main(argv=sys.argv[1:]):
     config_file = os.path.join(
@@ -245,16 +247,6 @@ def main(argv=sys.argv[1:]):
     return rc
 
 
-def find_executable(file_names):
-    paths = os.getenv('PATH').split(os.path.pathsep)
-    for file_name in file_names:
-        for path in paths:
-            file_path = os.path.join(path, file_name)
-            if os.path.isfile(file_path) and os.access(file_path, os.X_OK):
-                return file_path
-    return None
-
-
 def get_files(paths, extensions):
     files = []
     for path in paths:

ament_clang_format/package.xml

@@ -17,6 +17,7 @@
   <author>Dirk Thomas</author>
   <author email="[email protected]">Michel Hidalgo</author>
 
+  <exec_depend>ament_lint</exec_depend>
   <exec_depend>clang-format</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
 

ament_clang_tidy/ament_clang_tidy/main.py

@@ -30,6 +30,7 @@
 
 import yaml
 
+from ament_lint.filesystem_helpers import find_executable
 
 def main(argv=sys.argv[1:]):
     extensions = ['c', 'cc', 'cpp', 'cxx', 'h', 'hh', 'hpp', 'hxx']
@@ -265,16 +266,6 @@ def start_subprocess(full_cmd):
             f.write(xml)
 
 
-def find_executable(file_names):
-    paths = os.getenv('PATH').split(os.path.pathsep)
-    for file_name in file_names:
-        for path in paths:
-            file_path = os.path.join(path, file_name)
-            if os.path.isfile(file_path) and os.access(file_path, os.X_OK):
-                return file_path
-    return None
-
-
 def get_compilation_db_files(paths):
     files = []
     for path in paths:

ament_clang_tidy/package.xml

@@ -16,6 +16,7 @@
   <author>Claire Wang</author>
   <author email="[email protected]">Michel Hidalgo</author>
 
+  <exec_depend>ament_lint</exec_depend>
   <exec_depend>clang-tidy</exec_depend>
   <exec_depend>python3-yaml</exec_depend>
 

ament_lint/ament_lint/filesystem_helpers.py

@@ -0,0 +1,22 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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 shutil
+
+def find_executable(file_names: list[str]) -> str | None:
+    for name in file_names:
+        found = shutil.which(name)
+        if found:
+            return found
+    return None