1 from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer

     2 def TryPreloadXenomai():

     3     """

     4     Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose

     5     of shared objects whose dlopen did trigger xenomai_init.

     6     As a workaround, this pre-loads xenomai libraries that need to be 

     7     initialized and call xenomai_init once for all.

     8     

     9     Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)

    10     """

    11     try:

    12         for name in ["cobalt", "modechk", "copperplate", "alchemy"]:

    13             globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)

    14         cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))  

    15     except:

    16         pass