# Initialization

## Library Initialization

The underlaying CANlib library is initialized when the module `canlib.canlib` is imported. This will initialize the CANlib library and enumerate all currently available CAN channels.

## Library Deinitialization and Cleanup

Strictly speaking it is not necessary to clean up anything before terminating the application. If the application quits unexpectedly, the device driver will ensure the CAN controller is deactivated and the driver will also ensure the firmware (if any) is left in a consistent state.

To reinitialize the library in an orderly fashion you may want to call `writeSync` with a short timeout for each open handle before closing them with `canlib.canlib.Channel.close`, to ensure the transmit queues are empty. You can then start afresh by calling `canlib.canlib.reinitializeLibrary`.

Note

When calling `canlib.canlib.reinitializeLibrary`, all previously opened CAN handles (`canlib.canlib.Channel`) will be closed and invalidated.