>> Is there any problem to use C++ and Xenomai 2.4.0 ?
> Don't we need to worry about object instantiation ? Thanks

Worry as much as you want. But you may want to save that for when something doesn't work ;)

We use Xenomai for a C++ userland application with a mix of real-time and non-real-time threads. We do not see any issues introduced by Xenomai wrt object instantiation. Of course, instantiating objects while you are in a real-time thread may affect performance so you may want most of those already allocated and ready to go when you need real-time behaviors.

hth

                                  - Tom

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Thomas Lockhart
Supervisor, Distributed and Real-time Group
Instrument Software and Science Data Systems
Caltech/JPL