Chapter 20. Synchronization without Locking
Priority inversion avoidance mechanisms built into the RTSJ prevent some of the most insidious blocking problems between threads, but the structure of the RTSJ adds some new ones. The wait-free queues offer a programmer a mechanism that clearly exposes interactions between threads that should not engage in priority inversion or one of the automated mechanisms for avoiding inversion.
For instance, if a NoHeapRealtimeThread needs to share data with a heap-using thread, it will probably have the potential to block the no-heap thread over an interval ...
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