How build Linuxcnc with xenomai3?

Kernel version: 5.4.70
Xenomai version: 3.2
Linuxcnc version: 2.8

I tried to compile linuxcnc in the above environment, and successfully compiled all programs.
But when I run latency-test, it prompts "Note: Using POSIX non-realtime"

The following are my configuration steps:
During make, the posix/pthread.h header file in the uspace_xenomai.cc file cannot be found.
I modified it to cobalt/pthread.h corresponding to xenomai3. Then compile successfully!
But as I said at the beginning, the compiled program runs in a non-real-time environment.
It is not like some people will prompt to use Xenomai POSIX **** at runtime.Of course, the results of latency-test are very bad.
By the way, I used the latency compiled by xenomai to test and achieved very good results, so my xenomai real-time kernel and environment are working.
So, did I do something wrong or should I use a special Linuxcnc branch?

You would not use:

./configure --with-realtime=uspace

With Xenomai since realtime=uspace means POSIX realtime

I don't know but I expect LinuxCNC Xenomai support needs work.

Kernel is:
>> Linux debian10 5.4.70-xeno3 #3 SMP PREEMPT Sat Oct 16 13:37:44 UTC 2021 aarch64 GNU/Linux

The kernel is compiled manually by myself, and the latency test under xenomai shows that the real-time work I need under the current environment is normal
 

Ahh I did not realise that the somewhat misnamed:

./configure --with-realtime=uspace

Is supposed to work for RTAI and Xenomai if the proper files are present.

So, yes certainly possible configure is not finding these files so just building
POSIX realtime dependent LinuxCNC

Seems like
./configure --with-realtime=xenomai

Would be a lot clearer, and would complain about a missing Xenomai build environment
rather than buiding a mystery LinuxCNC version.

I think there is no problem with my xenomai installation~I compiled and installed the following packages in my system~
libxenomai-dev_2.99.0_arm64.deb
xenomai-kernel-source_2.99.0_all.deb
xenomai-runtime_2.99.0_arm64.deb
libxenomai1_2.99.0_arm64.deb
 

When I use ./configure uspace xenomai or ./configure xenomai, the prompt that appears corresponds to the following.
 

When I use ./configure --with-realtime=uspace under src, it can be seen that xeno-config was found in the output information, but I am not sure whether it is configured correctly.
 

When I execute make, it prompts that there is a problem with posix/pthread.h in usapce_xenomai.cc,
so I changed it to cobalt/pthread.h
so that it can be compiled and passed. Then as I said, it is non-real-time.

I have been working with lcnc and xenomai 3.1 long enough to assure you it works much better than with RTAI. I have been using it with ethercat master from IgH with RTDM drivers for realtek r8169 and intel i210 igb drivers, so far no issues, running cold and smooth
for anyone who wants to test i have a github repo where you can download all the compiled binaries for linux kernel, headers, xenomai libraries and runtime, ethercat master with rtdm drivers and linuxcnc ethercat (lcec) here
xenomai3.1 for lcnc
The part missing is just compiling linuxcnc. To do so just clone the linuxcnc repo and configure it as userpace (--with-realtime=uspace)
when executing lcnc it will say "Note: Using XENOMAI (posix-skin) realtime" as it is using posix skin for making life easier

Best regards
Franco