Edouard@2000: from ctypes import CDLL, RTLD_GLOBAL, pointer, c_int, POINTER, c_char, create_string_buffer
Edouard@2000: def TryPreloadXenomai():
Edouard@2000:     """
Edouard@2000:     Xenomai 3 (at least for version <= 3.0.6) do not handle properly dlclose
Edouard@2000:     of shared objects whose dlopen did trigger xenomai_init.
Edouard@2000:     As a workaround, this pre-loads xenomai libraries that need to be 
Edouard@2000:     initialized and call xenomai_init once for all.
Edouard@2000:     
Edouard@2000:     Xenomai auto init of libs MUST be disabled (see --auto-init-solib in xeno-config)
Edouard@2000:     """
Edouard@2000:     try:
Edouard@2000:         for name in ["cobalt", "modechk", "copperplate", "alchemy"]:
Edouard@2000:             globals()[name] = CDLL("lib"+name+".so", mode=RTLD_GLOBAL)
Edouard@2000:         cobalt.xenomai_init(pointer(c_int(0)), pointer((POINTER(c_char)*2)(create_string_buffer("prog_name"), None)))  
Edouard@2000:     except:
Edouard@2000:         pass