Merge pull request #7 from ucb-bar/fsim-18-bump

FireSim 18 bump & Rewrites

.gitignore

@@ -9,3 +9,5 @@ soc/sim/firesim_build_temp
 deploy/hephaestus/logs/*
 deploy/hephaestus/img
 deploy/hephaestus/bw.txt
+/project
+soc/generated-src/*

deploy/config/config_deploy_gym.yaml

@@ -1,5 +1,5 @@
-#gym_env: 'AirSimEnv-v0'
-gym_env: 'InvertedPendulumFine-v4'
+gym_env: 'AirSimEnv-v0'
+# gym_env: 'InvertedPendulumFine-v4'
 firesim_freq: 10_000_000
 firesim_step: 10_000
 max_sim_time: 0.5

deploy/config/config_gym_AirSimEnv-v0.yaml

@@ -3,32 +3,56 @@ packets:
     id: 0x10
     type: "reqrsp"
     latency: 0
-    channel: 0
+    channel: 1
     indices:
       - "camera"
   - name: imu
     id: 0x20
     type: "reqrsp"
     latency: 0
-    channel: 0
+    channel: 1
     indices:
       - "imu"
   - name: 'accelerometer'
     id: 0x22
     type: "reqrsp"
     latency: 0
-    channel: 0
+    channel: 1
     indices:
       - "imu"
       - [0, 2]
   - name: 'gyroscope'
     id: 0x24
     type: "reqrsp"
     latency: 0
-    channel: 0
+    channel: 1
     indices:
       - "imu"
       - [3, 5]
+  # actions
+  - name: 'arm'
+    id: 0x01
+    type: "action_latch"
+    indices:
+      - "active"
+  - name: 'disarm'
+    id: 0x02
+    type: "action_latch"
+    indices:
+      - "active"
+  - name: 'takeoff'
+    id: 0x04
+    type: "action_latch"
+    indices:
+      - "active"
+
+channel_bandwidth: 
+  - 0
+  - 0
+  - 0
+
+gym_timestep: 0.001
+
 gym_kwargs:
   init_x: 0
   init_y: 0

deploy/config/config_gym_InvertedPendulumFine-v4.yaml

@@ -9,12 +9,20 @@ packets:
     id: 0x20
     type: "action_latch"
     indices:
+
 defaults:
   action: [0]
 # How env.step()'s time is interpreted by RoSE
 # e.g. in this case, frame_skip=2, sim_timestep=0.002, and custom_config.timestep=0.001
 # Units are in seconds.
+
+channel_bandwidth: 
+  - 0
+  - 0
+  - 0
+
 gym_timestep: 0.001
+
 gym_kwargs:
   mujoco_timestep: 0.0005
 

deploy/config/config_gym_LQR_gym_env-v0.yaml

@@ -6,6 +6,12 @@ packets:
     channel: 0
     indices: null
 #timestamp
+
+channel_bandwidth: 
+  - 0
+  - 0
+  - 0
+
 gym_kwargs:
   init_x: 0
   init_y: 0