Cyber: Implement py_init wrapper for Python3.

cyber/py_wrapper/BUILD

@@ -21,6 +21,26 @@ cc_library(
     ],
 )
 
+cc_binary(
+    name = "_cyber_init_py3.so",
+    linkshared = True,
+    deps = [
+        ":py3_init",
+    ],
+)
+
+cc_library(
+    name = "py3_init",
+    srcs = ["py_init.cc"],
+    hdrs = ["py_init.h"],
+    defines = ["PY_MAJOR_VERSION=3"],
+    deps = [
+        "//cyber:cyber_core",
+        "@fastrtps",
+        "@python3",
+    ],
+)
+
 cc_test(
     name = "py_init_test",
     srcs = [

cyber/py_wrapper/py_init.cc

@@ -77,10 +77,28 @@ static PyMethodDef _cyber_init_methods[] = {
     {"py_is_shutdown", cyber_py_is_shutdown, METH_NOARGS, ""},
     {"py_waitforshutdown", cyber_py_waitforshutdown, METH_NOARGS, ""},
 
-    {NULL, NULL, 0, NULL} /* sentinel */
+    {nullptr, nullptr, 0, nullptr} /* sentinel */
 };
 
 /// Init function of this module
+#if PY_MAJOR_VERSION >= 3
+PyMODINIT_FUNC PyInit___cyber_init_py3(void) {
+  static struct PyModuleDef _cyber_init_module_def = {
+      PyModuleDef_HEAD_INIT,
+      "_cyber_init_py3",    // Module name.
+      "CyberInit module",   // Module doc.
+      -1,                   // Module size.
+      _cyber_init_methods,  // Module methods.
+      nullptr,
+      nullptr,
+      nullptr,
+      nullptr,
+  };
+
+  return PyModule_Create(&_cyber_init_module_def);
+}
+#else
 PyMODINIT_FUNC init_cyber_init(void) {
   Py_InitModule("_cyber_init", _cyber_init_methods);
 }
+#endif