Xenomai is a real-time development framework cooperating with the linux kernel in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the gnu/linux environment. xenomai provides its own api and emulation layers ("skins") to make migration from other rtos easier. examples are: psos+, vxworks, vrtx, uitron, rtai, posix.

documentation for xenomai realtime api.