Listing 10: (a) RTLinux contested mutex test; RTLinux contested mutex output.

(a)
Thread A
   clock_gettime(CLOCK_REALTIME, &start);
   pthread_mutex_lock(&mutex);
   sem_post(&start_sem);
   pthread_mutex_unlock(&mutex);
Thread B
   sem_wait(&start_sem);
   pthread_mutex_lock(&mutex);
   clock_gettime(CLOCK_REALTIME, &end);
   pthread_mutex_unlock(&mutex);

(b)
Contested Mutex Acquisition: (96h 0m 0s test)
40.6 us