软件包：librtpi-dev（1.0.0-1 以及其他的）

realtime capable pthread locking primitives (dev)

The Real-Time Priority Inheritance Library (librtpi) is intended to bridge the gap between the glibc pthread implementation and a functionally correct priority inheritance for pthread locking primitives, such as pthread_mutex and pthread_condvar. Specifically, priority based wakeup is required for correct operation, in contrast to the more time-based ordered wakeup groups in the glibc pthread condvar implementation.

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