一、主流实时协议对比 以下是 Xenomai、Preempt-RT、LGH(Linux with RT-Preempt and Generic Hardware)、标准.NET + 实时内核、.NET NanoFramework 的区别与关系总结,按技术分类和场景进行对比: 1. Xenomai 2. Preempt-RT(RT-Preempt Patch) 3. LGH(Linux with RT-Preempt and Generic Hardware) 4. 标准.NET + 实时内核(如X…