In summary, the Xenomai latency fails in the Intel Xenomai intel-corei7-64 image, when run with QEMU.

The problem may be reproduced from a Ubuntu 18.04 host by following these steps:

• In a terminal, install Go:

  wget https://dl.google.com/go/go1.14.2.linux-amd64.tar.gz
  sudo tar -C /usr/local -xzf go1.14.2.linux-amd64.tar.gz
  rm go1.14.2.linux-amd64.tar.gz
  PATH=$PATH:/usr/local/go/bin
  

• Install the Yocto Project dependencies:

  sudo apt-get install gawk wget git-core diffstat unzip texinfo gcc-multilib \
       build-essential chrpath socat cpio python3 python3-pip python3-pexpect \
       xz-utils debianutils iputils-ping python3-git python3-jinja2 libegl1-mesa libsdl1.2-dev \
       pylint3 xterm
  

• Clone Intel Xenomai and run the download script (when prompted, type "1"):

  git clone [email protected]:intel/xenomai.git
  cd xenomai
  chmod 755 download.sh
  ./download.sh
  

• Bake the XFCE image:

  cd snapshots/manifest_1/
  source poky/oe-init-build-env build
  bitbake -k core-image-xfce-sdk
  

• Run the image in QEMU (when prompted for login, type "root"):

  runqemu intel-corei7-64 qemuparams="-m 2048 -smp 4" slirp nographic
  

• Check the Xenomai install:

  dmesg | grep -i Xenomai
  cat /proc/xenomai/sched/threads
  

• Export the LD_LIBRARY_PATH and PATH:

  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/xenomai/lib
  export PATH=$PATH:/usr/xenomai/bin
  

• Make sure we are root and our real-time priority soft limit is not too restrictive:

  whoami
  ulimit -r unlimited
  

• Add root to the allowed group:

  cat /sys/module/xenomai/parameters/allowed_group
  ls -l /sys/module/xenomai/parameters/allowed_group 
  chmod 744 /sys/module/xenomai/parameters/allowed_group
  echo "0" >> /sys/module/xenomai/parameters/allowed_group
  cat /sys/module/xenomai/parameters/allowed_group
  

• Run the Xenomai latency:

  latency -p 1000
  

Actual result:

• latency return code is 1.
• latency fails with the following log:

  == Sampling period: 1000 us
  == Test mode: periodic user-mode task
  == All results in microseconds
  latency: pthread_create(latency): Operation not permitted
  

Expected result: The latency test should display a message every second with minimum, maximum and average latency values.

PS: Xenomai is new to me, so I am certainly missing something fairly obvious, but I cannot figure this out. Any help would be very much appreciated.

You may want to have a look at https://github.com/siemens/kas to model this in-tree, i.e. in the layer describing a complete image (could be meta-xenomai in your case). https://gitlab.denx.de/Xenomai/xenomai-images uses that pattern, though for building demo and test images from a real distribution (Debian). A Yocto example with kas can be found at https://github.com/siemens/meta-iot2000.