Realizing myself as codependent

I  recently came to the conclusion that I was codependent on another woman I considered to be a friend. She was extremely needy and always wanted me to do things for her. I was told I was horrible and that I wasn't a true friend if I did not run at her beck and call.
Most recently, she had a baby, I was with her at the birth and five days thereafter. The baby was not gaining weight in the hospital to which I did not understand. At the end of five days, I had to go home to my own family. I have three children ( the youngest is nine years old). The hospital discharged the woman but not her infant daughter. The baby continued to remain in the hospital and I continued to visit. Three days after being in the pediatric wing, The state took custoday of the baby and kicked the lady out of the hospital because the baby was not gaining weight. The lady the person I considered a friend blamed me because I did what she requested which was look for people to help in anyway possible.
While in the hospital without even knowing, I was experiencing severe anxiety attacks at least two times because I did not the symptoms. I only read and did the survey because she told me I was a messed up individual so I did a psychology today questionnaire about psychological problems and confirmed with another set that I did have anxiety.
If I take the time to think about how much, I would like to help or change the situation for her, it triggers the anxiety.
I have just started reading the book from Nancy Groom, Escaping Bondage.
The hardest part for me is that I have always considered myself isolated and hesitant to trust people which is harder for me to commit to friendship so I feel slightly alone. There is an older lady who calls and talks to me on the phone for which I am grateful, so I have a phone buddy. However this phone friend lives right across the way from the woman who was making me codependent and did I mention this woman called the police on me because I tried to send an empathetic text message and she wanted nothing to do with it. I wanted to support the woman but she said that if I attended one of her court hearings for her baby that she would try to get me thrown in jail. I am very guarded because I fear she would try to get me thrown in jail for any reason because she is hurt from losing her child to the state.
Thank you for listening. I read the intro of the Nancy Groom book.