diff --git a/V2/delay/delay_idle.txt b/V2/delay/delay_idle.txt
new file mode 100644
index 0000000..d35eb49
--- /dev/null
+++ b/V2/delay/delay_idle.txt
@@ -0,0 +1,100 @@
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diff --git a/V2/delay/delay_idle_rt.txt b/V2/delay/delay_idle_rt.txt
new file mode 100644
index 0000000..c1fcc6d
--- /dev/null
+++ b/V2/delay/delay_idle_rt.txt
@@ -0,0 +1,100 @@
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diff --git a/V2/delay/delay_load.txt b/V2/delay/delay_load.txt
new file mode 100644
index 0000000..3e35aaf
--- /dev/null
+++ b/V2/delay/delay_load.txt
@@ -0,0 +1,100 @@
+  1000000 10251030
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diff --git a/V2/delay/delay_load_rt.txt b/V2/delay/delay_load_rt.txt
new file mode 100644
index 0000000..aee26aa
--- /dev/null
+++ b/V2/delay/delay_load_rt.txt
@@ -0,0 +1,100 @@
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diff --git a/V2/delay/sleep_delay.gp b/V2/delay/sleep_delay.gp
new file mode 100644
index 0000000..a5bd96f
--- /dev/null
+++ b/V2/delay/sleep_delay.gp
@@ -0,0 +1,20 @@
+set title "{/=20 nanosleep delays}"
+set terminal postscript eps enhanced
+set xlabel "{/=20Period to sleep [nanoseconds]}"
+set ylabel "{/=20Measured delay [nanoseconds]}"
+set grid
+set autoscale
+set style data lines
+show style data
+
+set output 'delay_idle.eps'
+plot 'delay_idle.txt' using ($1):($2) title "{/=17 Load: no, RT: no}" lw 6
+
+set output 'delay_load.eps'
+plot 'delay_load.txt' using ($1):($2) title "{/=17 Load: yes, RT: no}" lw 6
+
+set output 'delay_idle_rt.eps'
+plot 'delay_idle_rt.txt' using ($1):($2) title "{/=17 Load: no, RT: yes}" lw 6
+
+set output 'delay_load_rt.eps'
+plot 'delay_load_rt.txt' using ($1):($2) title "{/=17 Load: yes, RT: yes}" lw 6
diff --git a/V2/sleep/Cargo.lock b/V2/sleep/Cargo.lock
new file mode 100644
index 0000000..d352971
--- /dev/null
+++ b/V2/sleep/Cargo.lock
@@ -0,0 +1,62 @@
+[root]
+name = "sleep"
+version = "0.1.0"
+dependencies = [
+ "argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "argparse"
+version = "0.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "kernel32-sys"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.21"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "redox_syscall"
+version = "0.1.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "time"
+version = "0.1.36"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+dependencies = [
+ "kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
+ "libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)",
+ "redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)",
+ "winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)",
+]
+
+[[package]]
+name = "winapi"
+version = "0.2.8"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[[package]]
+name = "winapi-build"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+
+[metadata]
+"checksum argparse 0.2.1 (registry+https://github.com/rust-lang/crates.io-index)" = "37bb99f5e39ee8b23b6e227f5b8f024207e8616f44aa4b8c76ecd828011667ef"
+"checksum kernel32-sys 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "7507624b29483431c0ba2d82aece8ca6cdba9382bff4ddd0f7490560c056098d"
+"checksum libc 0.2.21 (registry+https://github.com/rust-lang/crates.io-index)" = "88ee81885f9f04bff991e306fea7c1c60a5f0f9e409e99f6b40e3311a3363135"
+"checksum redox_syscall 0.1.17 (registry+https://github.com/rust-lang/crates.io-index)" = "29dbdfd4b9df8ab31dec47c6087b7b13cbf4a776f335e4de8efba8288dda075b"
+"checksum time 0.1.36 (registry+https://github.com/rust-lang/crates.io-index)" = "211b63c112206356ef1ff9b19355f43740fc3f85960c598a93d3a3d3ba7beade"
+"checksum winapi 0.2.8 (registry+https://github.com/rust-lang/crates.io-index)" = "167dc9d6949a9b857f3451275e911c3f44255842c1f7a76f33c55103a909087a"
+"checksum winapi-build 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "2d315eee3b34aca4797b2da6b13ed88266e6d612562a0c46390af8299fc699bc"
diff --git a/V2/sleep/Cargo.toml b/V2/sleep/Cargo.toml
new file mode 100644
index 0000000..48785e9
--- /dev/null
+++ b/V2/sleep/Cargo.toml
@@ -0,0 +1,9 @@
+[package]
+name = "sleep"
+version = "0.1.0"
+authors = ["Simon Wörner <git@simon-woerner.de>"]
+
+[dependencies]
+argparse = ">=0.2.1"
+libc = ">=0.2"
+time = ">=0.1.36"
diff --git a/V2/sleep/src/lib.rs b/V2/sleep/src/lib.rs
new file mode 100644
index 0000000..143e7a5
--- /dev/null
+++ b/V2/sleep/src/lib.rs
@@ -0,0 +1,80 @@
+extern crate libc;
+
+use std::time::Duration;
+
+#[cfg(target_os = "linux")]
+fn clock_nanosleep(clk_id: libc::clockid_t,
+                   flags: libc::c_int,
+                   rqtp: *const libc::timespec,
+                   rmtp: *mut libc::timespec)
+                   -> libc::c_int {
+    unsafe { libc::clock_nanosleep(clk_id, flags, rqtp as *const _, rmtp as *mut _) }
+}
+
+#[cfg(target_os = "macos")]
+fn nanosleep(rqtp: *const libc::timespec, rmtp: *mut libc::timespec) -> libc::c_int {
+    unsafe { libc::nanosleep(rqtp as *const _, rmtp as *mut _) }
+}
+
+/// Sleeps for the given duration.
+///
+/// Uses `clock_nanosleep` on linux and `nanosleep` on darwin.
+pub fn sleep(duration: Duration) -> Result<Duration, libc::c_int> {
+    let ts = duration_to_timespec(duration);
+    let mut remain = libc::timespec {
+        tv_sec: 0,
+        tv_nsec: 0,
+    };
+
+    #[cfg(target_os = "linux")]
+    let ret = clock_nanosleep(libc::CLOCK_MONOTONIC, 0, &ts, &mut remain);
+
+    #[cfg(target_os = "macos")]
+    let ret = nanosleep(&ts, &mut remain);
+
+    if ret == 0 {
+        Ok(timespec_to_duration(remain))
+    } else {
+        Err(ret)
+    }
+}
+
+fn duration_to_timespec(duration: Duration) -> libc::timespec {
+    libc::timespec {
+        tv_sec: duration.as_secs() as libc::time_t,
+        tv_nsec: duration.subsec_nanos() as libc::c_long,
+    }
+}
+
+fn timespec_to_duration(timespec: libc::timespec) -> Duration {
+    Duration::new(timespec.tv_sec as u64, timespec.tv_nsec as u32)
+}
+
+/// Set scheduler policy and priority for process with given pid.
+///
+/// If `pid` equals zero, the policy of the calling process will be set.
+///
+/// # Examples
+///
+/// ```rust
+/// // set *round-robin* policy (default) and priority 99 (realtime) for own process
+/// set_scheduler(0, libc::SCHED_RR, 99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_scheduler(pid: libc::pid_t, policy: libc::c_int, priority: libc::c_int) -> libc::c_int {
+    let param = libc::sched_param { sched_priority: priority };
+    unsafe { libc::sched_setscheduler(pid, policy, &param) }
+}
+
+/// Set scheduler *round-robin* policy (default) and priority for own process.
+///
+/// # Examples
+///
+/// ```rust
+/// // set *round-robin* policy (default) and priority 99 (realtime)
+/// set_priority(99);
+/// ```
+#[cfg(target_os = "linux")]
+pub fn set_priority(priority: i32) -> libc::c_int {
+    set_scheduler(0, libc::SCHED_RR, priority)
+}
diff --git a/V2/sleep/src/main.rs b/V2/sleep/src/main.rs
new file mode 100644
index 0000000..7ed1183
--- /dev/null
+++ b/V2/sleep/src/main.rs
@@ -0,0 +1,152 @@
+#![feature(step_by)]
+extern crate argparse;
+extern crate sleep;
+extern crate time;
+
+use std::io::prelude::*;
+use std::fs::File;
+use std::path::Path;
+use std::time::Duration;
+
+use argparse::{ArgumentParser, Print, Store};
+use sleep::sleep;
+use time::precise_time_ns;
+
+#[cfg(target_os = "linux")]
+use argparse::StoreTrue;
+
+#[cfg(target_os = "linux")]
+use sleep::set_priority;
+
+fn duration_from_ns(duration_ns: u64) -> Duration {
+    Duration::new(duration_ns / 1_000_000_000,
+                  (duration_ns % 1_000_000_000) as u32)
+}
+fn duration_to_ns(duration: Duration) -> u64 {
+    duration.as_secs() * 1_000_000_000u64 + duration.subsec_nanos() as u64
+}
+
+fn measure_duration(sleep_duration: Duration) -> Duration {
+    let start = precise_time_ns();
+    let _remain = sleep(sleep_duration);
+    let end = precise_time_ns();
+
+    #[cfg(debug_assertions)]
+    println!("remain = {:?}", _remain);
+
+    let duration = end - start;
+    let duration = duration_from_ns(duration);
+
+    #[cfg(debug_assertions)]
+    println!("duration = {:?}", duration);
+
+    duration
+}
+
+fn measure_delay(sleep_duration: Duration) -> (Duration, Duration) {
+    let duration = measure_duration(sleep_duration);
+    let delay = duration - sleep_duration;
+
+    #[cfg(debug_assertions)]
+    println!("delay = {:?}", delay);
+
+    (duration, delay)
+}
+
+fn measure_delay_loop(sleep_duration: Duration, count: u64) -> Vec<(Duration, Duration)> {
+    println!("Starting measurment with period {}s {}ns for {} loops",
+             sleep_duration.as_secs(),
+             sleep_duration.subsec_nanos(),
+             count);
+    let mut data: Vec<(Duration, Duration)> = Vec::with_capacity(count as usize);
+
+    for _ in 0..count {
+        let (duration, delay) = measure_delay(sleep_duration);
+        data.push((duration, delay));
+
+        #[cfg(debug_assertions)]
+        print_delay(duration, delay);
+    }
+
+    data
+}
+
+fn print_delay(duration: Duration, delay: Duration) {
+    println!("value: {} s {} ns\tdelay: {} s {} ns\trelativ delay = {:.2}%\traw_data: {:?}",
+             duration.as_secs(),
+             duration.subsec_nanos(),
+             delay.as_secs(),
+             delay.subsec_nanos(),
+             (duration_to_ns(delay) * 100) as f64 / duration_to_ns(duration) as f64,
+             delay);
+}
+
+fn main() {
+    let mut min: u64 = 1_000_000;
+    let mut max: u64 = 100_000_000;
+    let mut step: u64 = 1_000_000;
+    let mut count: u64 = 100;
+    let mut output: String = "".to_string();
+    let mut file: Option<File> = None;
+
+    #[cfg(target_os = "linux")]
+    let mut realtime: bool = false;
+
+    #[cfg(target_os = "macos")]
+    let realtime: bool = false;
+
+    {
+        let mut ap = ArgumentParser::new();
+        ap.set_description(env!("CARGO_PKG_DESCRIPTION"));
+        ap.refer(&mut min).add_option(&["--min"], Store, "Sleep period start");
+        ap.refer(&mut max).add_option(&["--max"], Store, "Sleep period end");
+        ap.refer(&mut step).add_option(&["--step"], Store, "Sleep period step size");
+        ap.refer(&mut count).add_option(&["--loop"], Store, "Count of measurements per period");
+        #[cfg(target_os = "linux")]
+        ap.refer(&mut realtime).add_option(&["--rt"], StoreTrue, "Set realtime priority");
+        ap.refer(&mut output).add_option(&["-o", "--out"], Store, "Output file");
+        ap.add_option(&["-V", "--version"],
+                      Print(env!("CARGO_PKG_VERSION").to_string()),
+                      "Show version");
+        ap.parse_args_or_exit();
+    }
+
+    if realtime {
+        #[cfg(target_os = "linux")]
+        let ret = set_priority(99);
+
+        #[cfg(target_os = "macos")]
+        let ret = 0;
+
+        if ret != 0 {
+            panic!("Set realtime priority failed.");
+        }
+    }
+
+    if output != "" {
+        file = Some(File::create(Path::new(output.as_str())).expect(format!("Open file '{}' failed",
+                                                                            output)
+                                                                            .as_str()));
+    }
+
+    for duration in (min..max + 1).step_by(step) {
+        let data = measure_delay_loop(duration_from_ns(duration), count);
+        let max_delay = data.iter().max().expect("Max delay not found");
+
+        #[cfg(debug_assertions)]
+        println!("max_delay = {:?}", max_delay);
+
+        print_delay(max_delay.0, max_delay.1);
+
+        match file.as_ref() {
+            Some(mut f) => {
+                let value = format!("{: >9} {}\n", duration, duration_to_ns(max_delay.1));
+                f.write_all(value.as_bytes()).expect(format!("Write value '{}' to '{}' file failed",
+                                                             value,
+                                                             output)
+                                                             .as_str());
+            }
+            None => {}
+        }
+    }
+}
diff --git a/ci/run-cargo-test.sh b/ci/run-cargo-test.sh
index bc151bb..d5d7d00 100755
--- a/ci/run-cargo-test.sh
+++ b/ci/run-cargo-test.sh
@@ -3,10 +3,8 @@
 ERROR=0
 
 while IFS= read -r -d '' f; do
-  dir="$(dirname "${f}")"
-
-  echo "run 'cargo test' in ${dir}"
-  cd "${dir}" && cargo test
+  echo "run 'cargo test' with ${f}"
+  cargo test --manifest-path="${f}"
 
   if [[ $? -ne 0 ]]; then
     ERROR=1