You're probably thinking of a hard real-time RTOS with time slices and WCET constraints.

For soft real-time, you basically only need low latency.

Threads with priorities, synchronization primitives and some way of handling interrupts is generally considered good enough.

From the description, this sounds like the kind of RTOS that runs most embedded RT applications currently if perhaps a bit heavier in features than the average with filesystem and networking support.