runtime/xenomai.py
author Edouard Tisserant
Thu, 05 Jul 2018 11:11:01 +0200
branchnevow_service_rework
changeset 2212 cf1718962567
parent 2000 9fa2f8ede5d6
child 2015 4eeefc6a13fd
permissions -rw-r--r--
WampClient : Simplified, removed dead code, use exception for handling failures and misconfiguration, check existence of mandatory parameters.
from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer
def TryPreloadXenomai():
    """
    Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose
    of shared objects whose dlopen did trigger xenomai_init.
    As a workaround, this pre-loads xenomai libraries that need to be 
    initialized and call xenomai_init once for all.
    
    Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)
    """
    try:
        for name in ["cobalt", "modechk", "copperplate", "alchemy"]:
            globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)
        cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))  
    except:
        pass