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Код: Выделить всё

LINUXCNC - 2.8.0~pre1
Machine configuration directory is '/home/cnc/linuxcnc/configs/sim.axis'
Machine configuration file is 'axis_mm.ini'
Starting LinuxCNC...
Found file(lib): /usr/share/linuxcnc/hallib/core_sim.hal
[b]Note: Using POSIX non-realtime[/b]
Found file(lib): /usr/share/linuxcnc/hallib/sim_spindle_encoder.hal
Found file(lib): /usr/share/linuxcnc/hallib/axis_manualtoolchange.hal
Found file(lib): /usr/share/linuxcnc/hallib/simulated_home.hal
note: MAXV     max: 53.340 units/sec 3200.400 units/min
note: LJOG     max: 53.340 units/sec 3200.400 units/min
note: LJOG default: 30.480 units/sec 1828.800 units/min
note: jog_order='XYZ'
note: jog_invert=set([])
task: main loop took 0.019612 seconds

Код: Выделить всё

# Don't let udev mess with our special network names
KERNEL=="vnic*|rteth*|rtlo", NAME="$env{INTERFACE_NAME}"
# Xenomai real-time devices
SUBSYSTEM=="rtdm", MODE="0660", GROUP="xenomai"
# allow RW access to /dev/mem
KERNEL=="mem", MODE="0660", GROUP="kmem"
# real-time heap device (Xenomai:rtheap)
KERNEL=="rtheap", MODE="0660", GROUP=="xenomai"
# real-time pipe devices (Xenomai:rtpipe)
KERNEL=="rtp[0-9]*", MODE="0660", GROUP="xenomai"

Код: Выделить всё

usermod -a -G xenomai,sudo,staff,kmem cnc

Код: Выделить всё

/usr/lib/libuspace-xenomai.so.0
/usr/lib/libuspace-xenomai.so

Код: Выделить всё

#ifdef USPACE_XENOMAI
static int detect_xenomai() {
    struct utsname u;
    uname(&u);
    return strcasestr (u.release, "-xenomai") != 0;
}
#else
static int detect_xenomai() {
    return 0;
}
#endif
...
...

static int detect_realtime() {
    struct stat st;
    if ((stat(EMC2_BIN_DIR "/rtapi_app", &st) < 0)
            || st.st_uid != 0 || !(st.st_mode & S_ISUID))
        return 0;
    return detect_env_override() || detect_preempt_rt() || detect_rtai() || detect_xenomai();
}

Код: Выделить всё

checking rpc/rpc.h presence... yes
checking for rpc/rpc.h... yes
checking for rtai-config... none
checking for xeno-config... /usr/bin/xeno-config
checking for realtime API(s) to use... uspace+xenomai
checking whether to enable userspace PCI access... yes
checking for libudev... yes - version 237
checking for cc version... not specified

Код: Выделить всё

...
Compiling hal/hal_lib.c
Compiling rtapi/uspace_xenomai.cc
rtapi/uspace_xenomai.cc: In member function ‘virtual unsigned char {anonymous}::XenomaiApp::do_inb(unsigned int)’:
rtapi/uspace_xenomai.cc:130:5: warning: no return statement in function returning non-void [-Wreturn-type]
     }
     ^
Compiling rtapi/uspace_ulapi.c
...

Код: Выделить всё

#ifdef HAVE_SYS_IO_H
#include <sys/io.h>
#endif
...
...
unsigned char do_inb(unsigned int port) {
#ifdef HAVE_SYS_IO_H
        return inb(port);
#endif
    }

    void do_outb(unsigned char val, unsigned int port) {
#ifdef HAVE_SYS_IO_H
        return outb(val, port);
#endif
    }

Код: Выделить всё

cnc@orangepipc2:~$ grep -r "Using POSIX non-realtime" /home/cnc/emc/
Binary file /home/cnc/emc/debian/linuxcnc-uspace/usr/bin/rtapi_app matches
/home/cnc/emc/src/rtapi/uspace_rtapi_app.cc:        rtapi_print_msg(RTAPI_MSG_ERR, "Note: Using POSIX non-realtime\n");
Binary file /home/cnc/emc/src/objects/rtapi/uspace_rtapi_app.o matches
Binary file /home/cnc/emc/bin/rtapi_app matches
/home/cnc/emc/docs/src/gui/gscreen.txt:Note: Using POSIX non-realtime

Код: Выделить всё

$ cat t.h
#define HELLO "Hello, World!"

$ cat t.c
#include <stdio.h>
#include "t.h"

void main(void) {
  printf("%s\n", HELLO);
}

$ make t
cc     t.c   -o t
$ ./t
Hello, World!
$ cc --version
cc (GCC) 9.2.1 20190827 (Red Hat 9.2.1-1)
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

$ 

Код: Выделить всё

#include "stdio.h"