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?

In a terminal:
uname -a
result ?

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
 

PCW wrote:

You would not use:

./configure --with-realtime=uspace

With Xenomai since realtime=uspace means POSIX realtime
 

I thought that LinuxCNC knew how to use userspace Xenomai realtime, but it has been a very long time since I tried it. 

linuxcnc.org/docs/master/html/code/build...nc.html#_build_modes

The test at the configure stage is here:  github.com/LinuxCNC/linuxcnc/blob/faab5f...rc/configure.ac#L226

There might be a clue here;  github.com/LinuxCNC/linuxcnc/blob/2e75b0...dder/README.txt#L173

Do you have a xeno-config file in the default path? 
 

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.