Function getExecutableDir

TextOpDeploy/src/unitree_mujoco/simulate/src/main.cc:75–189

return the path to the directory containing the current executable used to determine the location of auto-loaded plugin libraries

// return the path to the directory containing the current executable
// used to determine the location of auto-loaded plugin libraries
std::string getExecutableDir()
{
#if defined(_WIN32) || defined(__CYGWIN__)
    constexpr char kPathSep = '\\';
    std::string realpath = [&]() -> std::string
    {
        std::unique_ptr<char[]> realpath(nullptr);
        DWORD buf_size = 128;
        bool success = false;
        while (!success)
        {
            realpath.reset(new (std::nothrow) char[buf_size]);
            if (!realpath)
            {
                std::cerr << "cannot allocate memory to store executable path\n";
                return "";
            }

            DWORD written = GetModuleFileNameA(nullptr, realpath.get(), buf_size);
            if (written < buf_size)
            {
                success = true;
            }
            else if (written == buf_size)
            {
                // realpath is too small, grow and retry
                buf_size *= 2;
            }
            else
            {
                std::cerr << "failed to retrieve executable path: " << GetLastError() << "\n";
                return "";
            }
        }
        return realpath.get();
    }();
#else
    constexpr char kPathSep = '/';
#if defined(__APPLE__)
    std::unique_ptr<char[]> buf(nullptr);
    {
        std::uint32_t buf_size = 0;
        _NSGetExecutablePath(nullptr, &buf_size);
        buf.reset(new char[buf_size]);
        if (!buf)
        {
            std::cerr << "cannot allocate memory to store executable path\n";
            return "";
        }
        if (_NSGetExecutablePath(buf.get(), &buf_size))
        {
            std::cerr << "unexpected error from _NSGetExecutablePath\n";
        }
    }
    const char *path = buf.get();
#else
    const char *path = "/proc/self/exe";
#endif