Xenomai-在GNU/Linux上实现RTOS仿真框架

Question

Ubuntu 18.04.1 LTS

Linux内核4.9.38

Xenomai-3.0.5

安装Xenomai 3.0.5用户空间库的补丁程序

$cd xenomai-3.0.5

$./configure --with-pic --with-core=cobalt --enable-smp --disable-tls --enable-dlopen-libs --disable-clock-monotonic-raw

config.status: creating include/smokey/Makefile
config.status: creating include/trank/Makefile
config.status: creating include/trank/posix/Makefile
config.status: creating include/trank/native/Makefile
config.status: creating include/trank/rtdm/Makefile
config.status: creating include/xenomai/Makefile
config.status: creating doc/Makefile
config.status: creating doc/doxygen/Makefile
config.status: creating doc/doxygen/xeno3prm-common.conf
config.status: creating doc/doxygen/xeno3prm-html.conf
config.status: creating doc/doxygen/xeno3prm-latex.conf
config.status: creating doc/gitdoc/Makefile
config.status: creating doc/asciidoc/Makefile
config.status: creating include/xeno_config.h
config.status: include/xeno_config.h is unchanged
config.status: executing depfiles commands
config.status: executing libtool commands

$make CFLAGS=-no-pie -j`nproc` && make install


make[1]: Entering directory '/home/efdas/usr/src/xenomai-3.0.5/scripts'
make[1]: Nothing to be done for 'all'.
make[1]: Leaving directory '/home/efdas/usr/src/xenomai-3.0.5/scripts'
Making all in testsuite
make[1]: Entering directory '/home/efdas/usr/src/xenomai-3.0.5/testsuite'
Making all in latency
make[2]: Entering directory '/home/efdas/usr/src/xenomai-3.0.5/testsuite/latency'
Making all in latency
/bin/bash: line 20: cd: latency: No such file or directory
Makefile:424: recipe for target 'all-recursive' failed
make[2]: *** [all-recursive] Error 1
make[2]: Leaving directory '/home/efdas/usr/src/xenomai-3.0.5/testsuite/latency'
Makefile:420: recipe for target 'all-recursive' failed
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory '/home/efdas/usr/src/xenomai-3.0.5/testsuite'
Makefile:460: recipe for target 'all-recursive' failed
make: *** [all-recursive] Error 1

Answer 1

我假设您试图在4.9.38Linux内核上使用泽诺麦。因为Ubuntu18.04只支持4.15、4.18、5.0和5.4。我还假设，您使用的是自定义内核。

为了使Xenomai工作，您需要一个受支持的Linux内核版本和一个compatible glibc。如果您已经在自定义内核上，并选择Ubuntu18.04，因为glibc是兼容的:为什么要使用4年版本的Xenomai？

我建议将Xenomai当前版本与当前的Linux结合使用(目前只有5.4是支持 for x86)。Ubuntu提供的内核做不到这一点，因为它们也是修补程序，Xenomai补丁通常只适用于上游内核。

关于测试套件/延迟的问题:测试套件对于工作的Xenomai来说并不是必需的。因此，禁用它们是无害的。但是，使用测试套件对于识别glibc兼容性问题尤其有用。

为了清楚起见，修补Linux内核并安装用于glibc的Xenomai铜板扩展只是个开始。您需要重写您希望使用Xenomai的实时行为的应用程序。