Using configure --with-smp-linux produces an executable which will hang if loadable modules are used, and a program is loaded from the command line (i.e. combination of options dx -mdf ... -program ...). The workaround is to start OpenDX with the top-level picker menu (dx -mdf ...), then load the desired program with "Run Visual Programs ..."). Alternatively, do not use --with-smp-linux
The problem appears to be limited to the loadable-module initialization code: once the startup is successful, visual programs and loadable modules function normally.