Update README.md

README.md

@@ -1,57 +1,120 @@
 ## ROS REALTIME TESTS ##
 
-This repository contains two test suites to validate the real-time capabilities of your ROS setup:
+This repository contains three test suites to validate the real-time capabilities of your ROS setup:
 
-* **timer_tests**:
+* **cyclic_timer_tests**:
 
-	This test suite validates the real-time characteristics of the ROS timer function by repeatedly setting the timer to a specified value and measuring the latency, by which the call of the callback function missed the actual timeout value.
+	This test suite validates the real-time characteristics of the cyclic ROS Timer function
+by setting the timer to a specific frequency and measuring the jitter by which the calls to the
+callback function miss the specified frequency.
+
+* **oneshot_timer_tests**:
+
+	This test suite validates the real-time characteristics of the ROS OneShot Timer function
+by repeatedly setting the timer to a specified value and measuring the latency, by which the call
+of the callback function missed the actual timeout value.
 
 * **communication_tests**:
 
-	This test suite validates the real-time characteristics of the Publish/Subscribe communication mechanism by starting one or multiple publisher and subscriber nodes and measuring the message transmission latency that occurs between the message's publication and its reception at the subscriber node(s).
+	This test suite validates the real-time characteristics of the Publish/Subscribe
+communication mechanism by starting one or multiple publisher and subscriber nodes and measuring
+the message transmission latency that occurs between the message's publication and its reception
+at the subscriber node(s).
+
+Generating plots to visualize your test results can be done by simply invoking gnuplot with the
+path to the corresponding logfile:
+```sh
+gnuplot [results.log]
+```
 
 ---
 
-## timer_tests Manual ##
+## cyclic_timer_tests Manual ##
 
 ### Synopsis ###
+```sh
+./cyclic_timer_tests [Options]
+```
+
+### Options ###
+
+* *-f <frequency>*
+
+	Specify the frequency in Hertz with that the timer shall call the callback function during
+the testing process.
+
+	If not specified, 1000 is chosen as default value.
+
+* *-p <file name prefix>*
 
-./timer_tests [Options] [Flags]
+	The string passed will be prepended to the names of the log files that are generated once
+the measurement is complete.
+
+* *-r <number of repetitions>*
+
+	Specify the number of measurement repetitions.
+
+	If not specified, 1000 is chosen as default value.
+
+* *-s <0/RR/FIFO>*
+
+	Specify which scheduling policy shall be used for the test node. You can choose between
+the three following policies:
+
+	* 0: Run with default process priority and scheduling.
+	* RR: Run with Real-Time process priority and Round-Robin scheduling.
+	* FIFO: Run with Real-Time process priority and FIFO scheduling.
+
+	If not specified, 0 is chosen as default value.
+
+---
+
+## oneshot_timer_tests Manual ##
+
+### Synopsis ###
+```sh
+./oneshot_timer_tests [Options]
+```
 
 ### Options ###
 
-* *--busy <0/1>*
+* *-b <0/1>*
 
 	Specify the measurement mode:
 
 	* 0: Default mode, using ROS::spin() in the main thread.
-	* 1: Busy mode. If this mode is specified, the main thread busy waits until the timer thread calls the callback function.
+	* 1: Busy mode. If this mode is specified, the main thread busy waits until the timer
+thread calls the callback function.
 
-	Note: Default mode tests the most common scenario, where a timer is set while another thread runs ROS::spin. Busy mode uses ROS::spinOnce() without sleep and therefore only measures the latency of the sleep call in the timer thread.
+	Note: Default mode tests the most common scenario, where a timer is set while another
+thread runs ROS::spin. Busy mode uses ROS::spinOnce() without sleep and therefore only measures
+the latency of the sleep call in the timer thread.
 
 	If not specified, default mode is used.
 
-* *--fp <file prefix>*
+* *-p <file name prefix>*
 
-	The string passed will be prepended to the log files that are generated once the measurement is complete.
+	The string passed will be prepended to the names of the log files that are generated once
+the measurement is complete.
 
-* *--rpts <number of repetitions>*
+* *-r <number of repetitions>*
 
 	Specify the number of measurement repetitions.
 
 	If not specified, 1000 is chosen as default value.
 
-* *--rtSched <0/RR/FIFO>*
+* *-s <0/RR/FIFO>*
 
-	Specify which scheduling policy shall be used for the test node. You can choose between the three following policies:
+	Specify which scheduling policy shall be used for the test node. You can choose between
+the three following policies:
 
 	* 0: Run with default process priority and scheduling.
 	* RR: Run with Real-Time process priority and Round-Robin scheduling.
 	* FIFO: Run with Real-Time process priority and FIFO scheduling.
 
 	If not specified, 0 is chosen as default value.
 
-* *--to <timeout in microseconds>*
+* *-t <timeout in microseconds>*
 
 	Specify the timeout in microseconds with which the ROS-Timer is triggered.
 
@@ -62,34 +125,47 @@ This repository contains two test suites to validate the real-time capabilities
 ## communication_tests Manual ##
 
 ### Synopsis ###
-
+```sh
 roslaunch communication_tests communication_tests.launch [Options]
+```
 
 ### Options ###
 
-* *amt:=<amount messages>*
+* *d:=<start delay>*
 
-	Specify the number of messages to send during the measurement process. If not specified, 1000 is chosen as default value.
+	Specify the amount of seconds to wait before starting the message publication process.
+Increase this value if the subscriber doesn't get the first messages.
 
-* *dly:=<start delay>*
+	If not specified, 1 second is chosen as default value.
 
-	Specify the amount of seconds to wait before starting the message publication process. Increase this value if the subscriber doesn't get the first messages.
+* *f:=<publication frequency>*
 
-	If not specified, 1 second is chosen as default value.
+	Specify the frequency in Hertz with that the messages are published during the
+testing process.
 
-* *fp:=<file prefix>*
+	If not specified, 1000 is chosen as default value.
 
-	The string passed will be prepended to the log files which are generated once the measurement is complete.
+* *l:=<message payload length>*
 
-* *freq:=<publication frequency>*
+	Specify the size of the additional message payload in Bytes. If a value >0 is specified,
+a payload of the specified size is appended to each of the test messages.
 
-	Specify the frequency in Hertz with that the messages are published during the testing process.
+	If not specified, 0 is chosen as default value.
 
-	If not specified, 1000 is chosen as default value.
+* *p:=<file name prefix>*
+
+	The string passed will be prepended to the names of the log files that are generated once
+the measurement is complete.
+
+* *r:=<number of repetitions>*
+
+	Specify the amount of messages to send during the measurement process. If not specified,
+1000 is chosen as default value.
 
-* *rtSched:=<0/RR/FIFO>*
+* *s:=<0/RR/FIFO>*
 
-	Specify which scheduling policy shall be used for the test nodes. You can choose between the three following policies:
+	Specify which scheduling policy shall be used for the test nodes. You can choose between
+the three following policies:
 
 	* 0: Run with default process priority and scheduling.
 	* RR: Run with Real-Time process priority and Round-Robin scheduling.