Recent surveys have shown a strong trend in the embedded microprocessor applications market toward using real-time operating systems in embedded software applications. Operating systems help developers of real-time systems manage the complexity of their applications and provide a standard interlace to their systems' resources. Additionally, when a commercial operating system (OS) is purchased, development time is frequently reduced due to the modular components and libraries supplied by the as. What has not followed this trend toward real-time as usage, however, is the availability of real-time development tools that allow a designer to debug a real-time as as it interacts with the target application.
There are two debug options available to customers who are using real-time operating systems as part of their embedded applications.
Option 1: Use a non-real-time debugger commonly based on a software monitor technology. Generally this monitor is linked in with  the target application along with the as kernel itself and provides debug access through which the as data structures and communications mechanisms can be interrogated and controlled to some degree.
Option 2: Use real-time emulation trace analysis or logic analysis.
ESC_1992_Vol2_Page127_Kuzara – Emulation and Logic Analysis in RealTime Debugging.pdf