Is prayer permissible with pre-seminal fluid (madhy), which is discharged upon thinking or touching without seminal fluid (maniy) being discharged?

Madhy (pre-seminal fluid) is impure, and its emission nullifies wudu' (ablution). If it is emitted, it is obligatory to perform istinja' (washing the private parts), purify any part of the body or clothes it may have touched, and then perform wudu' for prayer. If it is emitted during prayer, it is obligatory to interrupt the prayer, purify oneself, repeat the wudu', and then resume the prayer. However, if its emission is continuous, like سلس (incontinence), one must take precautions and perform wudu' for each prayer after its time has begun. If its emission is not continuous, then the prayer of someone from whom madhy was emitted without performing wudu' is invalid.