runtime/xenomai.py
author Edouard Tisserant
Tue, 13 Jul 2021 16:16:58 +0200
branchsvghmi
changeset 3278 2bcfbea6a2a8
parent 2015 4eeefc6a13fd
child 3750 f62625418bff
permissions -rw-r--r--
SVGHMI: Fixed typo on session manager unregister, leading to wrong count of sessions and then exceptions when creating more session than allowed in protocol options. Also added more safety check in protocol in case session would be missing.
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4eeefc6a13fd Fix codestyle
Andrey Skvortsov <andrej.skvortzov@gmail.com>
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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#
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# See COPYING.Runtime file for copyrights details.
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#
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from __future__ import absolute_import
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from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer
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parents: 2000
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parents: 2000
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def TryPreloadXenomai():
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    """
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    Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose
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    of shared objects whose dlopen did trigger xenomai_init.
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parents: 2000
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    As a workaround, this pre-loads xenomai libraries that need to be
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    initialized and call xenomai_init once for all.
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parents: 2000
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    Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)
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    """
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    try:
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        for name in ["cobalt", "modechk", "copperplate", "alchemy"]:
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            globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)
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        cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))
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    except Exception:
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        pass