[Communication] PR2: Set up IADS proxy for Mailbox use

Assets/Scripts/IADS/IadsCommsAgent.cs

@@ -0,0 +1,122 @@
+using System;
+using UnityEngine;
+
+// IADS proxy for supporting mailbox message sending and receiving.
+
+public class IadsCommsAgent : MonoBehaviour, IAgent {
+  public event AgentTerminatedEventHandler OnTerminated;
+
+  // Hierarchical node linked to the IADS mailbox endpoint.
+  [SerializeReference]
+  private HierarchicalAgent _hierarchicalAgent;
+
+  // Placeholder velocity set to zero for IADS.
+  [SerializeField]
+  private Vector3 _velocity = Vector3.zero;
+
+  // Placeholder acceleration set to zero for IADS.
+  [SerializeField]
+  private Vector3 _acceleration = Vector3.zero;
+
+  // Placeholder accelerationInput set to zero for IADS.
+  [SerializeField]
+  private Vector3 _accelerationInput = Vector3.zero;
+
+  public HierarchicalAgent HierarchicalAgent {
+    get => _hierarchicalAgent;
+    set => _hierarchicalAgent = value;
+  }
+
+  public Configs.StaticConfig StaticConfig { get; set; }
+  public Configs.AgentConfig AgentConfig { get; set; }
+  public IMovement Movement { get; set; }
+  public IController Controller { get; set; }
+  public ISensor Sensor { get; set; }
+  public IAgent TargetModel { get; set; }
+
+  public Vector3 Position {
+    get => transform.position;
+    set => transform.position = value;
+  }
+
+  public Vector3 Velocity {
+    get => _velocity;
+    set => _velocity = value;
+  }
+
+  public float Speed => _velocity.magnitude;
+
+  public Vector3 Acceleration {
+    get => _acceleration;
+    set => _acceleration = value;
+  }
+
+  public Vector3 AccelerationInput {
+    get => _accelerationInput;
+    set => _accelerationInput = value;
+  }
+
+  public bool IsPursuer => false;
+
+  // Setting ElpasedTime has to be dependent on SimManager to have uniform clock time.
+  public float ElapsedTime =>
+      SimManager.Instance?.ElapsedTime ??
+      throw new InvalidOperationException(
+          $"{nameof(IadsCommsAgent)} requires {nameof(SimManager)} to provide deterministic simulation time.");
+  public bool IsTerminated { get; private set; } = false;
+
+  public Transform Transform => transform;
+  public Vector3 Up => transform.up;
+  public Vector3 Forward => transform.forward;
+  public Vector3 Right => transform.right;
+  public Quaternion InverseRotation => Quaternion.Inverse(transform.rotation);
+
+  public float MaxForwardAcceleration() {
+    throw CreateUnsupportedException(nameof(MaxForwardAcceleration));
+  }
+
+  public float MaxNormalAcceleration() {
+    throw CreateUnsupportedException(nameof(MaxNormalAcceleration));
+  }
+
+  public void CreateTargetModel(IHierarchical target) {
+    throw CreateUnsupportedException(nameof(CreateTargetModel));
+  }
+
+  public void DestroyTargetModel() {
+    throw CreateUnsupportedException(nameof(DestroyTargetModel));
+  }
+
+  public void UpdateTargetModel() {
+    throw CreateUnsupportedException(nameof(UpdateTargetModel));
+  }
+
+  public void Terminate() {
+    if (IsTerminated) {
+      return;
+    }
+    IsTerminated = true;
+    OnTerminated?.Invoke(this);
+  }
+
+  public Transformation GetRelativeTransformation(IAgent target) {
+    throw CreateUnsupportedException($"{nameof(GetRelativeTransformation)}(IAgent)");
+  }
+
+  public Transformation GetRelativeTransformation(IHierarchical target) {
+    throw CreateUnsupportedException($"{nameof(GetRelativeTransformation)}(IHierarchical)");
+  }
+
+  public Transformation GetRelativeTransformation(in Vector3 waypoint) {
+    throw CreateUnsupportedException($"{nameof(GetRelativeTransformation)}(Vector3)");
+  }
+
+  private NotSupportedException CreateUnsupportedException(string memberName) {
+    string targetModelState =
+        TargetModel == null
+            ? " TargetModel is null on this proxy."
+            : " TargetModel is set on this proxy, which indicates the mailbox-only IADS proxy is being used as a physical agent.";
+    return new NotSupportedException(
+        $"{nameof(IadsCommsAgent)}.{memberName} is unsupported because {nameof(IadsCommsAgent)} is a comms-only mailbox proxy, not a physical/sensing agent.{targetModelState}");
+  }
+}