make scheduler timeslice configurable

launcher/src/main.rs

@@ -108,6 +108,14 @@ impl AppConfig for Config {
                     .help("Cycle time (us, append \"s\" or \"ms\" for coarser time)")
                     .takes_value(true),
             )
+            .arg(
+                clap::Arg::with_name("sched")
+                    .long("sched")
+                    .short("S")
+                    .value_name("MILLIS")
+                    .help("Scheduler switch time (ms, append \"u\", \"s\" or \"ms\" for other unit)")
+                    .takes_value(true),
+            )
     }
 
     fn configure(mut self, clap: &ArgMatches) -> anyhow::Result<Self> {
@@ -126,11 +134,28 @@ impl AppConfig for Config {
             } else if t.ends_with("s") {
                 (&t[..(t.len()-1)], 1000_000)
             } else {
-                (t, 1)
+                (t, 1) // us default
             };
 
             self.cycle_time = Duration::from_micros(t.parse::<u64>().expect("parse -C value") * mul);
-            println!("ct = {:?}", self.cycle_time);
+        }
+
+        if let Some(t) = clap.value_of("sched") {
+            let (t, mul) = if t.ends_with("us") {
+                (&t[..(t.len()-2)], 1)
+            } else if t.ends_with("ms") {
+                (&t[..(t.len()-2)], 1000)
+            } else if t.ends_with("m") {
+                (&t[..(t.len()-1)], 1000)
+            } else if t.ends_with("u") {
+                (&t[..(t.len()-1)], 1)
+            } else if t.ends_with("s") {
+                (&t[..(t.len()-1)], 1000_000)
+            } else {
+                (t, 1000) // ms default
+            };
+
+            self.switch_time = Duration::from_micros(t.parse::<u64>().expect("parse -S value") * mul);
         }
         Ok(self)
     }