text: # Copyright 2020 Amazon.com Inc or its affiliates. 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 importlib
  import os
  from pathlib import Path
  from typing import Optional
  
  from rpyutils import add_dll_directories_from_env
  
  
  def import_c_library(name: str, package: Optional[str] = None):
      """
      Import and return a C extension library using importlib, with consistent error messaging.
  
      See importlib.import_module documentation for details on the parameters and return type.
  
      :param name
      :param package
      :return The loaded module
      :raises ImportError
      """
      try:
          # Since Python 3.8, on Windows we should ensure DLL directories are
          # explicitly added to the search path.
          # See https://docs.python.org/3/whatsnew/3.8.html#bpo-36085-whatsnew
          with add_dll_directories_from_env('PATH'):
              return importlib.import_module(name, package=package)
      except ImportError as e:
          if e.path is None:
              import sysconfig
              expected_path = Path(__file__).parents[1] / (
                  name[1:] + sysconfig.get_config_var('EXT_SUFFIX'))
              assert not expected_path.is_file()
              e.msg += \
                  f"\nThe C extension '{expected_path}' isn't present on the " \
                  "system. Please refer to 'https://index.ros.org/doc/ros2/" \
                  'Troubleshooting/Installation-Troubleshooting/#import-' \
                  "failing-without-library-present-on-the-system' for " \
                  'possible solutions'
          if e.path is not None and os.path.isfile(e.path):
              e.msg += \
                  f"\nThe C extension '{e.path}' failed to be imported while " \
                  "being present on the system. Please refer to 'https://" \
                  'index.ros.org/doc/ros2/Troubleshooting/Installation-' \
                  'Troubleshooting/#import-failing-even-with-library-present-' \
                  "on-the-system' for possible solutions"
          raise
  