Josh Zhao wrote:
 > Hi all,
 >        I know Xenomai has integrated  IPC, but is it suitable for linux
 > task?

There are two answers:
- you can use Xenomai native skin rt pipes, they allow communication
  between real-time and non real-time tasks;
- you can make your linux task a Xenomai task with priority 0, and use
  Xenomai other IPCs, your linux task will oscillate between primary
  (that is real-time) when using IPC services and secondary (non
  real-time) mode when doing its non real-time duties.



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