Unit testing real-time / concurrent software

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How should I unit test threaded code?

The classical unit testing is basically just putting x in and expecting y out, and automating that process. So it's good for testing anything that doesn't involve time. But then, most of the nontrivial bugs I've come across have had something to do with timing. Threads corrupt each others' data, or cause deadlocks. Nondeterministic behavior happens – in one run out of million. Hard stuff.

Is there anything useful out there for "unit testing" parts of multithreaded, concurrent systems? How do such tests work? Isn't it necessary to run the subject of such test for a long time and vary the environment in some clever manner, to become reasonably confident that it works correctly?

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