Xenomai通信机制XDDP源代码的部分学习

In the Xenomai API documentation, you have also an example of regular (i.e. non-real-time) thread and a real-time task communicating through an XDDP socket:
https://xenomai.org/documentation/xenomai-3/html/xeno3prm/xddp-echo_8c-example.html.
Your ROS node should behave as the regular thread does.

Then we would like to read this source code of regular thread for the website.

 * regular_thread---------------------------------------+  |
 *   =>  open /dev/rtp0                                 |  ^
 *   =>  read traffic from RT domain via read()         |  |
 *   =>  echo traffic back to RT domain via write()     +--+
 */
static void *regular_thread(void *arg)
{
   
        char buf[128], *devname;
        int fd, ret;
        if (asprintf(&devname, "/dev/rtp%d", XDDP_PORT) < 0)
                fail("asprintf");
        fd = open(devname, O_RDWR);
        free(devname);
        if (fd < 0)
                fail("open");
        for (;;) {
   
                /* Get the next message from realtime_thread. */