Real Time Programming (1998)
ganssle.com
ganssle.com
It should be noted that completing a task too early can be a failure as well.
+ Friend of mine that works on high end video processors mentioned getting into a pissing match with the hardware guys because the particular processor they were designing had back ground machinery that would run and 'stop the world' for a ~ms. He say 'you can't do that' and they respond with 'the benchmarks run fine, go away'