// RemoteTestDlg.cpp : Implementation file // #include "stdafx.h" #include "RemoteTest.h" #include "RemoteTestDlg.h" #include "UPnPDlg.h" #include "VAIBOUPnPClient.h" #include "UserIdPwdDlg.h" #ifdef _DEBUG #define new DEBUG_NEW #undef THIS_FILE static char THIS_FILE[] = __FILE__; #endif class CAboutDlg : public CDialog { public: CAboutDlg(); // Dialog Data //{{AFX_DATA(CAboutDlg) enum { IDD = IDD_ABOUTBOX }; //}}AFX_DATA //{{AFX_VIRTUAL(CAboutDlg) protected: virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV support //}}AFX_VIRTUAL // Implementation protected: //{{AFX_MSG(CAboutDlg) //}}AFX_MSG DECLARE_MESSAGE_MAP() }; CAboutDlg::CAboutDlg() : CDialog(CAboutDlg::IDD) { //{{AFX_DATA_INIT(CAboutDlg) //}}AFX_DATA_INIT } void CAboutDlg::DoDataExchange(CDataExchange* pDX) { CDialog::DoDataExchange(pDX); //{{AFX_DATA_MAP(CAboutDlg) //}}AFX_DATA_MAP } BEGIN_MESSAGE_MAP(CAboutDlg, CDialog) //{{AFX_MSG_MAP(CAboutDlg) //}}AFX_MSG_MAP END_MESSAGE_MAP() ///////////////////////////////////////////////////////////////////////////// // CRemoteTestDlg dialog CRemoteTestDlg::CRemoteTestDlg(CWnd* pParent /*=NULL*/) : CDialog(CRemoteTestDlg::IDD, pParent) { //{{AFX_DATA_INIT(CRemoteTestDlg) //}}AFX_DATA_INIT m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME); m_vaibo = NULL; m_bConnected = false; m_isControl = false; m_fileTPDlg = NULL; m_imageTPDlg = NULL; m_audioTPDlg = NULL; m_senTPDlg = NULL; m_mriDlg = NULL; m_walkDlg = NULL; m_postureDlg = NULL; m_kickDlg = NULL; m_mtnDlg = NULL; m_3DDlg = NULL; m_isSentpStart = false; m_status = -1; m_posture = -1; m_contentsDlg = NULL; m_AutonomyDlg = NULL; m_ClockDlg = NULL; m_EtcDlg = NULL; m_TTSDlg = NULL; m_ProductIDDlg = NULL; m_VPRDlg = NULL; } void CRemoteTestDlg::DoDataExchange(CDataExchange* pDX) { CDialog::DoDataExchange(pDX); //{{AFX_DATA_MAP(CRemoteTestDlg) DDX_Control(pDX, IDC_IPADDRESS, m_ipAddress); //}}AFX_DATA_MAP } BEGIN_MESSAGE_MAP(CRemoteTestDlg, CDialog) //{{AFX_MSG_MAP(CRemoteTestDlg) ON_WM_SYSCOMMAND() ON_WM_PAINT() ON_WM_QUERYDRAGICON() ON_WM_CLOSE() ON_BN_CLICKED(IDC_BTN_CONNECT, OnBtnConnect) ON_BN_CLICKED(IDC_BTN_CONTROL, OnBtnControl) ON_BN_CLICKED(IDC_BTN_CONTROL2, OnBtnControl2) ON_BN_CLICKED(IDC_BTN_UPNP, OnBtnUPnP) ON_BN_CLICKED(IDC_BTN_SENTPDLG, OnBtnSenTPDlg) ON_BN_CLICKED(IDC_BTN_ITPDLG, OnBtnITPDlg) ON_BN_CLICKED(IDC_BTN_ATPDLG, OnBtnATPDlg) ON_BN_CLICKED(IDC_BTN_SHUTDOWN, OnBtnShutDown) ON_BN_CLICKED(IDC_BTN_REBOOT, OnBtnReboot) ON_BN_CLICKED(IDC_BTN_FTPDLG, OnBtnFTPDlg) ON_BN_CLICKED(IDC_BTN_WALKDLG, OnBtnWalkDlg) ON_BN_CLICKED(IDC_BTN_KICKDLG, OnBtnKickDlg) ON_BN_CLICKED(IDC_BTN_POSTUREDLG, OnBtnPostureDlg) ON_BN_CLICKED(IDC_BTN_MTNDLG, OnBtnMtnDlg) ON_BN_CLICKED(IDC_BTN_3DDLG, OnBtn3DDlg) ON_BN_CLICKED(IDC_BTN_CONTENTS, OnBtnContents) ON_BN_CLICKED(IDC_BTN_AUTONOMY, OnBtnAutonomy) ON_BN_CLICKED(IDC_BTN_CLOCK, OnBtnClock) ON_BN_CLICKED(IDC_BTN_BATTERY, OnBtnBattery) ON_BN_CLICKED(IDC_BTN_ISCONNECT, OnBtnIsconnect) ON_BN_CLICKED(IDC_BUTTON_TTS, OnBtnTTS) ON_BN_CLICKED(IDC_BTN_MRI, OnBtnMRI) ON_BN_CLICKED(IDC_BUTTON_PRODUCTID, OnButtonProductID) ON_BN_CLICKED(IDC_BUTTON_IDPWD, OnButtonIdpwd) ON_BN_CLICKED(IDC_BUTTON_VPR, OnButtonVPR) //}}AFX_MSG_MAP ON_REGISTERED_MESSAGE(WM_VAIBO_CONNECT, OnVAIBOConnect) ON_REGISTERED_MESSAGE(WM_VAIBO_DISCONNECT, OnVAIBODisconnect) ON_REGISTERED_MESSAGE(WM_VAIBO_SEMANTICS, OnVAIBOSemantics) ON_REGISTERED_MESSAGE(WM_VAIBO_INPUT_SEMANTICS, OnVAIBOInputSemantics) ON_REGISTERED_MESSAGE(WM_VAIBO_SENSOR_DATA, OnVAIBOSensorData) ON_REGISTERED_MESSAGE(WM_VAIBO_CLIENT_UPDATE, OnVAIBOClientUpdate) ON_REGISTERED_MESSAGE(WM_VAIBO_PRODUCTID, OnVAIBOProductID) ON_REGISTERED_MESSAGE(WM_VAIBO_BATTERY_LVL, OnVAIBOBatteryLevel) ON_REGISTERED_MESSAGE(WM_VAIBO_REMOTE_NOTIFY, OnVAIBORemoteNotify) ON_REGISTERED_MESSAGE(WM_MMFTP_SENDING, OnMMFTPSending) ON_REGISTERED_MESSAGE(WM_IMAGETP_UPDATE, OnITPImageUpdate) ON_REGISTERED_MESSAGE(WM_AUDIOTP_UPDATE, OnATPWaveUpdate) ON_REGISTERED_MESSAGE(WM_VAIBO_LOCK, OnVAIBOLock) ON_REGISTERED_MESSAGE(WM_VAIBO_SENSOR_ENABLE, OnVAIBOSensorEnable) ON_REGISTERED_MESSAGE(WM_VAIBO_SENSOR_DISABLE, OnVAIBOSensorDisable) // Local MESSAGE ON_REGISTERED_MESSAGE(WM_REMOTETEST_MOVEAIBO3D, OnAibo3DMove) END_MESSAGE_MAP() ///////////////////////////////////////////////////////////////////////////// // CRemoteTestDlg message handlers BOOL CRemoteTestDlg::OnInitDialog() { CDialog::OnInitDialog(); ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX); ASSERT(IDM_ABOUTBOX < 0xF000); CMenu* pSysMenu = GetSystemMenu(FALSE); if (pSysMenu != NULL) { CString strAboutMenu; strAboutMenu.LoadString(IDS_ABOUTBOX); if (!strAboutMenu.IsEmpty()) { pSysMenu->AppendMenu(MF_SEPARATOR); pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu); } } SetIcon(m_hIcon, TRUE); // Set big icon SetIcon(m_hIcon, FALSE); // Set small icon int nField0, nField1, nField2, nField3; LPCTSTR p; if ( m_vaibo == NULL ) { m_vaibo = new CVAIBO( this->m_hWnd ); } CRemoteTestApp *pApp = (CRemoteTestApp*)AfxGetApp(); p = pApp->m_aiboIP.GetBuffer( pApp->m_aiboIP.GetLength() ); ::sscanf( p, "%d.%d.%d.%d", &nField0, &nField1, &nField2, &nField3 ); pApp->m_aiboIP.ReleaseBuffer(); m_ipAddress.SetAddress( ( BYTE )nField0, ( BYTE )nField1, ( BYTE )nField2, ( BYTE )nField3 ); return TRUE; // return TRUE unless you set the focus to a control } void CRemoteTestDlg::OnSysCommand(UINT nID, LPARAM lParam) { if ((nID & 0xFFF0) == IDM_ABOUTBOX) { CAboutDlg dlgAbout; dlgAbout.DoModal(); } else { CDialog::OnSysCommand(nID, lParam); } } void CRemoteTestDlg::OnPaint() { if (IsIconic()) { CPaintDC dc(this); SendMessage(WM_ICONERASEBKGND, (WPARAM) dc.GetSafeHdc(), 0); int cxIcon = GetSystemMetrics(SM_CXICON); int cyIcon = GetSystemMetrics(SM_CYICON); CRect rect; GetClientRect(&rect); int x = (rect.Width() - cxIcon + 1) / 2; int y = (rect.Height() - cyIcon + 1) / 2; dc.DrawIcon(x, y, m_hIcon); } else { CDialog::OnPaint(); } } HCURSOR CRemoteTestDlg::OnQueryDragIcon() { return (HCURSOR) m_hIcon; } void CRemoteTestDlg::OnClose() { // Lead to deal with it before the management of Client, and carry it out // because the thread which used the function of Client inside runs. if ( m_audioTPDlg != NULL ) { m_audioTPDlg->DestroyWindow(); delete m_audioTPDlg; m_audioTPDlg = NULL; } m_vaibo->ImageClose(); m_vaibo->AudioClose(); if ( m_vaibo != NULL ) { if ( m_bConnected ) { m_vaibo->Disconnect(); } delete m_vaibo; } if ( m_senTPDlg != NULL ) { m_senTPDlg->DestroyWindow(); delete m_senTPDlg; m_senTPDlg = NULL; } if ( m_imageTPDlg != NULL ) { m_imageTPDlg->DestroyWindow(); delete m_imageTPDlg; m_imageTPDlg = NULL; } if ( m_fileTPDlg != NULL ) { m_fileTPDlg->DestroyWindow(); delete m_fileTPDlg; m_fileTPDlg = NULL; } if ( m_mriDlg != NULL ) { m_mriDlg->DestroyWindow(); delete m_mriDlg; m_mriDlg = NULL; } if ( m_walkDlg != NULL ) { m_walkDlg->DestroyWindow(); delete m_walkDlg; m_walkDlg = NULL; } if ( m_kickDlg != NULL ) { m_kickDlg->DestroyWindow(); delete m_kickDlg; m_kickDlg = NULL; } if ( m_postureDlg != NULL ) { m_postureDlg->DestroyWindow(); delete m_postureDlg; m_postureDlg = NULL; } if ( m_mtnDlg != NULL ) { m_mtnDlg->DestroyWindow(); delete m_mtnDlg; m_mtnDlg = NULL; } if ( m_3DDlg != NULL ) { m_3DDlg->DestroyWindow(); delete m_3DDlg; m_3DDlg = NULL; } if ( m_contentsDlg != NULL ) { m_contentsDlg->DestroyWindow(); delete m_contentsDlg; m_contentsDlg = NULL; } if ( m_AutonomyDlg != NULL ) { m_AutonomyDlg->DestroyWindow(); delete m_AutonomyDlg; m_AutonomyDlg = NULL; } if ( m_ClockDlg != NULL ) { m_ClockDlg->DestroyWindow(); delete m_ClockDlg; m_ClockDlg = NULL; } if ( m_ProductIDDlg!= NULL ) { m_ProductIDDlg->DestroyWindow(); delete m_ProductIDDlg; m_ProductIDDlg = NULL; } if ( m_VPRDlg ) { m_VPRDlg->DestroyWindow(); delete m_VPRDlg; m_VPRDlg = NULL; } if ( m_TTSDlg ) { m_TTSDlg->DestroyWindow(); delete m_TTSDlg; m_TTSDlg = NULL; } if ( m_EtcDlg ) { m_EtcDlg->DestroyWindow(); delete m_EtcDlg; m_EtcDlg = NULL; } CDialog::OnClose(); } void CRemoteTestDlg::OnOK() { OnClose(); CDialog::OnOK(); } void CRemoteTestDlg::OnBtnConnect() { if ( m_vaibo == NULL ) return; if ( !m_bConnected ) { CRemoteTestApp *app = (CRemoteTestApp*)AfxGetApp(); UpdateData(); CString strIP; BYTE nField0, nField1, nField2, nField3; m_ipAddress.GetAddress( nField0, nField1, nField2, nField3 ); strIP.Format( "%d.%d.%d.%d", nField0, nField1, nField2, nField3 ); if ( app->m_aiboIP != strIP ) { app->m_aiboIP = strIP; } int nAiboID; nAiboID = m_vaibo->Connect( (LPCTSTR)app->m_aiboIP/*, _T("testID"), _T("testPWD")*/ ); if (nAiboID < 0) { CString msgerr; msgerr.Format("AIBO connection error (%d), see VAIBODef.h", nAiboID); AfxMessageBox(msgerr); } else { m_aiboID = nAiboID; } // Until it is connected, button, invalidly buttonConnect().SetWindowText( "Connecting" ); buttonConnect().EnableWindow( false ); if ( m_mriDlg == NULL ) { m_mriDlg = new CMRIDlg( this ); m_mriDlg->Create( IDD_DLG_MRI ); } m_mriDlg->ShowWindow( SW_SHOW ); } else { if ( m_vaibo->GetStateImageTP() != IMAGETP_STATE_CLOSE ) { m_vaibo->ImageClose(); } m_vaibo->Disconnect(); } } void CRemoteTestDlg::OnBtnControl() { if ( m_vaibo == NULL ) return; if ( !m_isControl ) { // Control right acquisition request if ( m_vaibo->ExternalControl() ) { buttonControl().EnableWindow( false ); buttonControl2().EnableWindow( true ); m_isControl = true; if ( m_AutonomyDlg ) { m_AutonomyDlg->SetControlFlag( m_isControl ); } } } } void CRemoteTestDlg::OnBtnControl2() { if ( m_vaibo == NULL ) return; if ( m_isControl ) { // Control right transfer if ( m_vaibo->InternalControl() ) { buttonControl().EnableWindow( true ); buttonControl2().EnableWindow( false ); m_isControl = false; if ( m_AutonomyDlg ) { m_AutonomyDlg->SetControlFlag( m_isControl ); } } } } void CRemoteTestDlg::OnBtnUPnP() { CUPnPDlg dlg; if ( dlg.DoModal() == IDOK ) { CRemoteTestApp *pApp = (CRemoteTestApp*)AfxGetApp(); BYTE nField0, nField1, nField2, nField3; LPCTSTR p; p = pApp->m_aiboIP.GetBuffer( pApp->m_aiboIP.GetLength() ); ::sscanf( p, "%d.%d.%d.%d", &nField0, &nField1, &nField2, &nField3 ); pApp->m_aiboIP.ReleaseBuffer(); m_ipAddress.SetAddress( nField0, nField1, nField2, nField3 ); } } void CRemoteTestDlg::OnBtnSenTPDlg() { if ( m_senTPDlg == NULL ) { m_senTPDlg = new CSenTPDlg( this ); m_senTPDlg->Create( IDD_DLG_SENTP ); } m_senTPDlg->ShowWindow( SW_SHOW ); if ( !m_isSentpStart ) { m_vaibo->RequestNetService( SENSOR_ID ); m_isSentpStart = true; } } void CRemoteTestDlg::OnBtnFTPDlg() { if ( m_fileTPDlg == NULL ) { m_fileTPDlg = new CFTPDlg( m_vaibo ); m_fileTPDlg->Create( IDD_DLG_FTP ); } m_fileTPDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnITPDlg() { if ( m_imageTPDlg == NULL ) { m_imageTPDlg = new CITPDlg( m_vaibo, this ); m_imageTPDlg->Create( IDD_DLG_ITP ); } m_imageTPDlg->ShowWindow( SW_SHOW ); if ( m_vaibo->GetStateImageTP() == IMAGETP_STATE_CLOSE ) { if ( m_vaibo->ImageInit() != IMAGETP_STATE_ERR ){ if ( m_vaibo->ImageOpen() != IMAGETP_STATE_ERR ){ if ( m_vaibo->RequestNetService( IMAGE_ID ) == IMAGETP_STATE_ERR ){ } } } } } void CRemoteTestDlg::OnBtnATPDlg() { if ( m_audioTPDlg == NULL ) { m_audioTPDlg = new CATPDlg( m_vaibo, this ); m_audioTPDlg->Create( IDD_DLG_ATP ); m_vaibo->AudioInit(); m_audioTPDlg->m_vaibo = m_vaibo; } m_audioTPDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnWalkDlg() { if ( m_walkDlg == NULL ) { m_walkDlg = new CWalkDlg( m_vaibo, this ); m_walkDlg->Create( IDD_DLG_WALK ); } m_walkDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnKickDlg() { if ( m_kickDlg == NULL ) { m_kickDlg = new CKickDlg( m_vaibo, this ); m_kickDlg->Create( IDD_DLG_KICK ); } m_kickDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnPostureDlg() { if ( m_postureDlg == NULL ) { m_postureDlg = new CPostureDlg( m_vaibo, this ); m_postureDlg->Create( IDD_DLG_POSTURE ); } m_postureDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnMtnDlg() { if ( m_mtnDlg == NULL ) { m_mtnDlg = new CMtnDlg( m_vaibo, this ); m_mtnDlg->Create( IDD_DLG_MTN ); } m_mtnDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtn3DDlg() { if ( m_3DDlg == NULL ) { int robotDesign = m_vaibo->GetRobotDesign(); m_posture = m_vaibo->GetPosture(); m_3DDlg = new C3DDlg( robotDesign, Exchange3DPosture( m_posture ), this ); m_3DDlg->Create( IDD_DLG_3D ); } m_3DDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnShutDown() { if ( m_vaibo != NULL ) { m_vaibo->SendCmd( APPCMD_SHUTDOWN ); } } void CRemoteTestDlg::OnBtnReboot() { if ( m_vaibo != NULL ) { m_vaibo->SendCmd( APPCMD_REBOOT ); } } // It is sent when socket communication is started. LRESULT CRemoteTestDlg::OnVAIBOConnect( WPARAM wParam, LPARAM lParam ) { CString strBtn; strBtn.LoadString( IDS_DSCNCT_BTN ); // "Disconnect" buttonConnect().SetWindowText( strBtn ); buttonConnect().EnableWindow(); buttonControl().EnableWindow(); buttonControl2().EnableWindow( false ); buttonAutonomyDlg().EnableWindow(); buttonFTPDlg().EnableWindow(); buttonSENTPDlg().EnableWindow(); buttonITPDlg().EnableWindow(); buttonATPDlg().EnableWindow(); buttonWalkDlg().EnableWindow(); buttonKickDlg().EnableWindow(); buttonPostureDlg().EnableWindow(); buttonMtnDlg().EnableWindow(); buttonContentsDlg().EnableWindow(); buttonClockDlg().EnableWindow(); buttonBatteryDlg().EnableWindow(); buttonMRIDlg().EnableWindow(); buttonShutdown().EnableWindow(); buttonReboot().EnableWindow(); buttonVPR().EnableWindow(); m_bConnected = true; m_isControl = false; if ( m_AutonomyDlg ) { m_AutonomyDlg->SetControlFlag( m_isControl ); } m_vaibo->SetBatteryLevelNotify(); return S_OK; } // It is sent when socket communication is finished. LRESULT CRemoteTestDlg::OnVAIBODisconnect( WPARAM wParam, LPARAM lParam ) { CString strBtn; strBtn.LoadString( IDS_CNCT_BTN ); // "Connect" buttonConnect().SetWindowText( strBtn ); buttonConnect().EnableWindow(); buttonControl().EnableWindow( false ); buttonControl2().EnableWindow( false ); buttonAutonomyDlg().EnableWindow( false ); buttonFTPDlg().EnableWindow( false ); buttonSENTPDlg().EnableWindow( false ); buttonITPDlg().EnableWindow( false ); buttonATPDlg().EnableWindow( false ); buttonWalkDlg().EnableWindow( false ); buttonKickDlg().EnableWindow( false ); buttonPostureDlg().EnableWindow( false ); buttonMtnDlg().EnableWindow( false ); button3DDlg().EnableWindow( false ); buttonContentsDlg().EnableWindow( false ); buttonClockDlg().EnableWindow( false ); buttonBatteryDlg().EnableWindow( false ); buttonMRIDlg().EnableWindow( false ); buttonShutdown().EnableWindow( false ); buttonReboot().EnableWindow( false ); buttonProductID().EnableWindow( false ); buttonVPR().EnableWindow( false ); m_bConnected = false; m_isControl = false; if ( m_AutonomyDlg ) { m_AutonomyDlg->SetControlFlag( m_isControl ); } m_isSentpStart = false; if ( m_mriDlg != NULL ) { m_mriDlg->ShowWindow( SW_HIDE ); } if ( m_fileTPDlg != NULL ) { m_fileTPDlg->ResetItem(); m_fileTPDlg->ShowWindow( SW_HIDE ); } if ( m_senTPDlg != NULL ) { m_senTPDlg->ShowWindow( SW_HIDE ); } if ( m_imageTPDlg != NULL ) { m_imageTPDlg->ShowWindow( SW_HIDE ); } if ( m_audioTPDlg != NULL ) { m_audioTPDlg->StopDirectSound(); m_audioTPDlg->ShowWindow( SW_HIDE ); m_audioTPDlg->StartAudioTP( false ); m_audioTPDlg->StartNetAudio( false ); } if ( m_walkDlg != NULL ) { m_walkDlg->ShowWindow( SW_HIDE ); } if ( m_kickDlg != NULL ) { m_kickDlg->ShowWindow( SW_HIDE ); } if ( m_postureDlg != NULL ) { m_postureDlg->ShowWindow( SW_HIDE ); } if ( m_mtnDlg != NULL ) { m_mtnDlg->ShowWindow( SW_HIDE ); } if ( m_3DDlg != NULL ) { m_3DDlg->ShowWindow( SW_HIDE ); } if ( m_contentsDlg != NULL ) { m_contentsDlg->ShowWindow( SW_HIDE ); } if ( m_AutonomyDlg != NULL ) { m_AutonomyDlg->ShowWindow( SW_HIDE ); } if ( m_ClockDlg != NULL ) { m_ClockDlg->ShowWindow( SW_HIDE ); } if ( m_ProductIDDlg != NULL ) { m_ProductIDDlg->ShowWindow( SW_HIDE ); } if ( m_VPRDlg != NULL ) { m_VPRDlg->ShowWindow( SW_HIDE ); } if ( m_EtcDlg != NULL ) { m_EtcDlg->ShowWindow( SW_HIDE ); } return S_OK; } // It is sent when Semantics is received. LRESULT CRemoteTestDlg::OnVAIBOSemantics( WPARAM msg, LPARAM data ) { int nAiboID = HIWORD( msg ); msg = LOWORD( msg ); TRACE( "OnVAIBOSemantics invoked.\n" ); if ( msg == SEM_START ) { int nProtocolVersion[ 4 ]; if ( data == START_IMAGETP ) { m_vaibo->GetProtocolVersion( IMAGE_ID, nProtocolVersion ); TRACE( "Start ImageTP service(%d, %d, %d, %d)\n", nProtocolVersion[ 0 ],nProtocolVersion[ 1 ], nProtocolVersion[ 2 ], nProtocolVersion[ 3 ] ); m_vaibo->SendCmd( APPCMD_IMAGE_SETPARAM, true, CMDSID_PROFILE, IMAGE_PROFILE_MID ); if ( (m_vaibo->GetStateAudioTP() != AUDIOTP_STATE_CLOSE)&& (m_vaibo->GetStateNetAudio() != AUDIOTP_STATE_CLOSE) && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) ) { } } if ( data == START_AUDIOINTP ) { m_vaibo->GetProtocolVersion( AUDIO_IN_ID, nProtocolVersion ); TRACE( "Start AudioTP(IN) service(%d, %d, %d, %d)\n", nProtocolVersion[ 0 ],nProtocolVersion[ 1 ], nProtocolVersion[ 2 ], nProtocolVersion[ 3 ] ); if ( m_audioTPDlg != NULL ) { m_audioTPDlg->StartAudioTP( true ); } if ( (m_vaibo->GetStateImageTP() != IMAGETP_STATE_CLOSE)&& (m_vaibo->GetStateNetAudio() != AUDIOTP_STATE_CLOSE) && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) ) { } } if ( data == START_NETAUDIO ) { m_vaibo->GetProtocolVersion( NETAUDIO_ID, nProtocolVersion ); TRACE( "Start NetAudio service(%d, %d, %d, %d)\n", nProtocolVersion[ 0 ],nProtocolVersion[ 1 ], nProtocolVersion[ 2 ], nProtocolVersion[ 3 ] ); if ( m_audioTPDlg != NULL ) { m_audioTPDlg->StartNetAudio( true ); } if ( (m_vaibo->GetStateImageTP() != IMAGETP_STATE_CLOSE)&& (m_vaibo->GetStateAudioTP() != AUDIOTP_STATE_CLOSE) && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) ) { } } if ( data == START_SENSORTP ) { m_vaibo->GetProtocolVersion( SENSOR_ID, nProtocolVersion ); TRACE( "Start SensorTP service(%d, %d, %d, %d)\n", nProtocolVersion[ 0 ],nProtocolVersion[ 1 ], nProtocolVersion[ 2 ], nProtocolVersion[ 3 ] ); button3DDlg().EnableWindow(); // It is the place where ModelDesign was confirmed, and try to open a 3D dialog. if ( (m_vaibo->GetStateImageTP() != IMAGETP_STATE_CLOSE)&& (m_vaibo->GetStateAudioTP() != AUDIOTP_STATE_CLOSE) && (m_vaibo->GetStateNetAudio() != AUDIOTP_STATE_CLOSE) ) { } } if ( data == START_FTP ) { m_vaibo->GetProtocolVersion( FTP_ID, nProtocolVersion ); TRACE( "Start FTP service(%d, %d, %d, %d)\n", nProtocolVersion[ 0 ],nProtocolVersion[ 1 ], nProtocolVersion[ 2 ], nProtocolVersion[ 3 ] ); } } else if ( msg == SEM_DONE ) { CString msg; switch ( LOWORD( data ) ) { case DONE_SEND_CMD : msg = "Command execute finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_CHANGE_HEAD : msg = "ChangeHeadAngle() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_KICK : msg = "DoKick() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_HEADER : msg = "DoHeader() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_WALKING : msg = "DoWalking() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_SET_POSTURE : msg = "SetPosture() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_SEND_WAV : msg = "WAVE file transfer finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } if ( m_fileTPDlg != NULL ) { m_fileTPDlg->NotifyFTPStatus( FTP_DONE_TRANSMIT ); } break; case DONE_PLAY_WAV : msg = "WAVE file play finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } if ( m_TTSDlg != NULL ) { m_TTSDlg->NotifyPlayWave( DONE_PLAY_WAV ); } break; case DONE_PLAY_MOTION : msg = "PlayMotion() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_TURN_BODY : msg = "TurnBody() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_SET_CLOCK : msg = "SetClock() finished\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; case DONE_NETAUDIO : if ( data == RESULT_COMPLETE ) { msg = "NetAudio() start\r\n"; } else { msg = "NetAudio() finished\r\n"; } if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( msg ); } break; default: break; } } else if ( msg == SEM_STATUS ) { // Condition transition notice unsigned short status, posture; status = LOWORD( data ); posture = HIWORD( data ); if ( m_posture != posture ) { if ( m_3DDlg != NULL ) { m_3DDlg->SetPosture( Exchange3DPosture( posture ) ); } } TRACE("pos, status (%x,%x)->(%x,%x)\n",m_posture,m_status,posture,status); if ( ( m_posture != posture ) || ( m_status != status ) ) { m_status = status; m_posture = posture; DisplayStatusMessage(); } } else if ( msg == SEM_RESULT ) { // Result notice DisplaySemanticsMessage( msg, data ); } else if ( msg == SEM_FINISHED ) { // AIBO function result notice DisplaySemanticsMessage( msg, data ); } else if ( msg == SEM_ERROR ) { CString strMsg; switch ( data ) { case ERROR_LOOKUP_IMAGETP : strMsg = "ImageTP service lookup error."; break; case ERROR_REQ_IMAGETP : strMsg = "ImageTP request connection error."; break; case ERROR_LOOKUP_AUDIOIN : strMsg = "AudioTP(AIBO->PC) service lookup error."; break; case ERROR_REQ_AUDIOIN : strMsg = "AudioTP(AIBO->PC) request connection error."; break; case ERROR_LOOKUP_NETAUDIO : strMsg = "NetAudio(PC->AIBO) service lookup error."; break; case ERROR_REQ_NETAUDIO : strMsg = "NetAudio(PC->AIBO) request connection error."; break; case ERROR_LOOKUP_FTP : strMsg = "Ftp(PC->AIBO) request connection error."; break; case ERROR_REQ_FTP : strMsg = "ReqFtp(PC->AIBO) request connection error."; break; default: strMsg = "default(PC->AIBO) request connection error."; break; } AfxMessageBox( strMsg ); } return S_OK; } // It is sent when Semantics is received. LRESULT CRemoteTestDlg::OnVAIBOInputSemantics( WPARAM msg, LPARAM data ) { DisplayInputSemantics(); return S_OK; } // It is sent when sensor data are received. LRESULT CRemoteTestDlg::OnVAIBOSensorData( WPARAM wParam, LPARAM recArray ) { int numOfData, aiboID; aiboID = HIWORD( wParam ); numOfData = LOWORD( wParam ); if ( m_vaibo == NULL ) { return S_OK; } if ( m_bConnected && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) && m_isSentpStart ) { m_senTPDlg->SetSensorValue( numOfData, (SensorRec*)recArray ); // The indication of the sensor data } if ( m_bConnected && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) && m_imageTPDlg != NULL ) { m_imageTPDlg->SetPSDValue( numOfData, (SensorRec*)recArray ); // The indication of the sensor data } if ( m_bConnected && (m_vaibo->GetStateSensorTP() != SENSORTP_STATE_CLOSE) && m_3DDlg != NULL ) { m_3DDlg->UpdateSensorValue( numOfData, (SensorRec*)recArray ); // The renewal of the sensor data } return S_OK; } // It is sent when socket communication is started. LRESULT CRemoteTestDlg::OnVAIBOClientUpdate( WPARAM wParam, LPARAM lParam ) { int nOn, aiboID; aiboID = HIWORD( wParam ); nOn = LOWORD( wParam ); if ( nOn ) { OnVAIBOConnect( 0, 0 ); } else { OnVAIBODisconnect( 0, 0 ); } return S_OK; } LRESULT CRemoteTestDlg::OnVAIBOProductID( WPARAM wParam, LPARAM lParam ) { buttonProductID().EnableWindow(); if ( m_ProductIDDlg != NULL ) { m_ProductIDDlg->SetProductID(); } return S_OK; } LRESULT CRemoteTestDlg::OnVAIBOBatteryLevel( WPARAM wParam, LPARAM lParam ) { if ( m_mriDlg != NULL ) { m_mriDlg->DisplayBatteryLevel( lParam ); } return S_OK; } LRESULT CRemoteTestDlg::OnVAIBORemoteNotify( WPARAM wParam, LPARAM lParam ) { #if 0 if ( m_mriDlg != NULL ) { CString msg; if ( lParam == 0 ) { msg = _T("Notify Autonomy"); } else { msg = _T("Notify Remote"); } AfxMessageBox( msg ); } #endif return S_OK; } LRESULT CRemoteTestDlg::OnMMFTPSending( WPARAM wParam, LPARAM sendSize ) { if (sendSize == -1) { AfxMessageBox(_T("MMFTP: Size error")); m_fileTPDlg->NotifyFTPStatus( FTP_NOW_TRANSMITTING, -1 ); m_fileTPDlg->ResetItem(); m_vaibo->SendCmd( APPCMD_RELOAD ); } if ( m_fileTPDlg != NULL ) { m_fileTPDlg->NotifyFTPStatus( FTP_NOW_TRANSMITTING, sendSize ); } return S_OK; } LRESULT CRemoteTestDlg::OnITPImageUpdate( WPARAM wParam, LPARAM recvLen ) { return S_OK; } LRESULT CRemoteTestDlg::OnVAIBOLock( WPARAM wParam, LPARAM recvLen ) { return S_OK; } LRESULT CRemoteTestDlg::OnVAIBOSensorEnable( WPARAM wParam, LPARAM recvLen ) { return S_OK; } LRESULT CRemoteTestDlg::OnVAIBOSensorDisable( WPARAM wParam, LPARAM recvLen ) { return S_OK; } LRESULT CRemoteTestDlg::OnATPWaveUpdate( WPARAM wParam, LPARAM recvLen ) { if ( m_audioTPDlg != NULL ) { unsigned char *recvBuf = NULL; recvBuf = (unsigned char*)::calloc( 1, recvLen ); m_vaibo->AudioGetData( recvBuf, recvLen ); m_audioTPDlg->OutputWaveData( recvBuf, recvLen ); ::free( recvBuf ); } return S_OK; } void CRemoteTestDlg::DisplayInputSemantics( void ) { CString str2; CString str; int semID; int subInfo[4]; int etcInfo[4]; WORD wSemID; struct InputSemanticsInfo { char* strSemName; WORD wSemID; }; InputSemanticsInfo sSemInfoTable[] = { { "BALL", SEMID_BALL }, { "FAV", SEMID_FAV }, { "UNFAV", SEMID_UNFAV }, { "FLESH", SEMID_FLESH }, { "NEWCOL", SEMID_NEWCOL }, { "DANGER", SEMID_DANGER }, { "BRIGHT", SEMID_BRIGHT }, { "BONE", SEMID_BONE }, { "PINK", SEMID_PINK }, { "OBJECT", SEMID_OBJECT }, { "OBSTACLE", SEMID_OBSTACLE }, { "HAND", SEMID_HAND }, { "WALL", SEMID_WALL }, { "CLIFF", SEMID_CLIFF }, { "BORDER", SEMID_BORDER }, { "MOVE_OBJ", SEMID_MOVE_OBJ }, { "MOVEOBJ_ON", SEMID_MOVEOBJ_ON }, { "FACE", SEMID_FACE }, { "FACE_ID", SEMID_FACE_ID }, { "VOICE", SEMID_VOICE }, { "TONE", SEMID_TONE }, { "VOICE_BEGIN", SEMID_VOICE_BEGIN }, { "AIBO_SOUND", SEMID_AIBO_SOUND }, { "LOUD", SEMID_LOUD }, { "NOISY", SEMID_NOISY }, { "SPPLAY ", SEMID_SPPLAY }, { "E_RHYTHM", SEMID_E_RHYTHM }, { "EXPANSION", SEMID_EXPANSION }, { "EXTEMP", SEMID_EXTEMP }, { "INTEMP", SEMID_INTEMP }, { "BATTERY", SEMID_BATTERY }, { "FATIGUE", SEMID_FATIGUE }, { "HIT", SEMID_HIT }, { "PAT", SEMID_PAT }, { "CLICK", SEMID_CLICK }, { "LONGPAT", SEMID_LONGPAT }, { "TOUCH_ON", SEMID_TOUCH_ON }, { "TOUCH_OFF", SEMID_TOUCH_OFF }, { "MASTER_TOUCH", SEMID_MASTER_TOUCH }, { "GO_AUTO", SEMID_GO_AUTO }, { "GO_VG", SEMID_GO_VG }, { "GO_RESET", SEMID_GO_RESET }, { "MODE4", SEMID_MODE4 }, { "RESTRAINT", SEMID_RESTRAINT }, { "REG_START", SEMID_REG_START }, { "SW_TAIL_R", SEMID_SW_TAIL_R }, { "SW_TAIL_C", SEMID_SW_TAIL_C }, { "SW_TAIL_L", SEMID_SW_TAIL_L }, { "COLLISION", SEMID_COLLISION }, { "HOLD_IN_MOUTH", SEMID_HOLD_IN_MOUTH }, { "BACK_F", SEMID_BACK_F }, { "BACK_M", SEMID_BACK_M }, { "BACK_R", SEMID_BACK_R }, { "BACK_FM", SEMID_BACK_FM }, { "BACK_MR", SEMID_BACK_MR }, { "BACK_FR", SEMID_BACK_FR }, { "BACK_FMR", SEMID_BACK_FMR }, { "SLIDE_FMR", SEMID_SLIDE_FMR }, { "FCLIFF", SEMID_FCLIFF }, { "SMARKER", SEMID_SMARKER }, { "BOOT", SEMID_BOOT }, { "SYS_POSTURE", SEMID_SYS_POSTURE }, { "TZ_CHANGE", SEMID_TZ_CHANGE }, { "EMERGENCY", SEMID_EMERGENCY }, { "JOY", SEMID_JOY }, { "ANGRY", SEMID_ANGRY }, { "SAD", SEMID_SAD }, { "FEAR", SEMID_FEAR }, { "DISGUST", SEMID_DISGUST }, { "SURPRISE", SEMID_SURPRISE }, { "APPETITE", SEMID_APPETITE }, { "EXERCISE", SEMID_EXERCISE }, { "AFFECTION", SEMID_AFFECTION }, { "CURIOSITY", SEMID_CURIOSITY }, { "PLEASANT", SEMID_PLEASANT }, { "SELFISH", SEMID_SELFISH }, { "REFLECTIVE", SEMID_REFLECTIVE }, { "AWAKENING", SEMID_AWAKENING }, { "TIME_EVENT", SEMID_TIME_EVENT }, { "RISE_POSE", SEMID_RISE_POSE }, { "SRODAPlay", SEMID_SRODAPlay }, { "SRONEPlay", SEMID_SRONEPlay }, { "AM_S_MAIL", SEMID_AM_S_MAIL }, { "AM_S_MESSAGE", SEMID_AM_S_MESSAGE }, { "AM_S_WLAN", SEMID_AM_S_WLAN }, { "AM_S_PHOTO", SEMID_AM_S_PHOTO }, { "AM_S_TALK", SEMID_AM_S_TALK }, { "AM_S_CONFIG_NOTIFY", SEMID_AM_S_CONFIG_NOTIFY }, { "AM_S_MAILINFO", SEMID_AM_S_MAILINFO }, { "ATPSPPLAY", SEMID_ATPSPPLAY }, { "EPOLE", SEMID_EPOLE }, { "ECARD1", SEMID_ECARD1 }, { "ECARD2", SEMID_ECARD2 }, { "ESCENE1", SEMID_ESCENE1 }, { "ESCENE2", SEMID_ESCENE2 }, { "ESCENE3", SEMID_ESCENE3 }, { "EOBJ", SEMID_EOBJ }, { "EPTN", SEMID_EPTN }, { "VPR_RESULT", SEMID_VPR_RESULT }, { "MONITOR_PARMIT", SEMID_MONITOR_PARMIT }, { "VOLUME", SEMID_VOLUME }, { "TOUCH_BEGIN", SEMID_TOUCH_BEGIN }, { "STT_SEM", SEMID_STT_SEM }, }; char* comStatus[4] = { "INVALID", "ON", "OFF", "DONTCARE" }; char* pString = "???"; m_vaibo->GetInputSemantics( &semID, subInfo, etcInfo ); wSemID = LOWORD( semID ); if( wSemID == SEMID_OBJECT ) return; for ( int i = 0; i < sizeof( sSemInfoTable ) / sizeof( InputSemanticsInfo ); i++ ) { if ( sSemInfoTable[ i ].wSemID == wSemID ) { pString = sSemInfoTable[ i ].strSemName; break; } } str.Format("InputSemantics recieved. %s(0x%04X)\r\nSubInfo[0] = 0x%08X,\tSubInfo[1] = 0x%08X\r\nSubInfo[2] = 0x%08X,\tSubInfo[3] = 0x%08X\r\nComStatus=%s Level=0x%X Pitch=0x%X Position=0x%X\r\n", pString, wSemID, subInfo[0], subInfo[1], subInfo[2], subInfo[3], comStatus[etcInfo[0]],etcInfo[1],etcInfo[2],etcInfo[3] ); str2 += str; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( str2 ); } if( wSemID == SEMID_VOLUME) { if ( m_EtcDlg != NULL ) { m_EtcDlg->ChangeVolume(subInfo[0]); } } // The test of the 3D text indication if ( m_3DDlg ) { if ( m_3DDlg->m_aibo3D ) { m_3DDlg->m_aibo3D->SetDrawText2DString( pString ); m_3DDlg->m_aibo3D->SetDrawText3DString( pString ); } } } void CRemoteTestDlg::DisplaySemanticsMessage( WPARAM msg, LPARAM data ) { CString str2; CString str; int subInfo[ 4 ]; m_vaibo->GetSemInfo( subInfo ); if ( msg == SEM_RESULT ) { str.Format( "Result(SerialNo.:%d) : ", subInfo[0] ); switch ( data ) { case RESULT_COMPLETE : str += "Complete"; break; case RESULT_INCOMPLETE : str += "Incomplete"; break; case RESULT_UNKNOWN : str += "Unknown"; break; case RESULT_FOLLOWFAIL : str += "Follow Fail"; break; case RESULT_FOLLOWSTART : str += "Follow Start"; break; case RESULT_FOLLOWEND : str += "Follow End"; break; } str2 += str; str2 += "\r\n"; } else if ( msg == SEM_FINISHED ) { str.Format( "AIBO Function Finished(SerialNo.:%d) : ", subInfo[ 0 ] ); switch ( data ) { case FINISHED_COMPLETE : str += "Complete"; break; case FINISHED_INCOMPLETE : str += "Incomplete"; break; case FINISHED_UNKNOWN : str += "Unknown"; break; } str2 += str; str2 += "\r\n"; } if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( str2 ); } } void CRemoteTestDlg::DisplayStatusMessage() { CString str2; CString str; str.Format( "Posture, Status: " ); switch ( m_posture ) { case ST_POS_STAND : str += "Stand posture, "; break; case ST_POS_SIT : str += "Sit posture, "; break; case ST_POS_LIE : str += "Lie posture, "; break; case ST_POS_WALK : str += "Walk posture, "; break; case ST_POS_STATION : str += "Station posture, "; break; case ST_POS_PSTATION : str += "Pstation posture, "; break; case ST_POS_LIFT : str += "Lift posture, "; break; case ST_POS_NEUTRAL : str += "Neutral posture, "; break; case ST_POS_FALLDOWN : str += "Falldown, "; break; case ST_POS_MECHALOAD_H : str += "Mechaload High, "; break; case ST_POS_JAM : str += "Jamming, "; break; case ST_POS_UNKNOWN: case ST_POS_TEMP: case ST_POS_UNDEFINE: default: str += "Undefined posture, "; break; } switch ( m_status ) { case ST_STAT_UNKNOWN: str += "Unknown status"; break; case ST_STAT_DEFAULT: str += "Default status"; break; case ST_STAT_PLAY_WAV: str += "Play wave status"; break; case ST_STAT_PLAY_STREAM: str += "Play stream status"; break; case ST_STAT_PLAY_MOTION: str += "Play motion status"; break; case ST_STAT_POS_CHANGE: str += "Pos change status"; break; case ST_STAT_WALK_SLOW: str += "Walk slow status"; break; case ST_STAT_WALK_NORMAL: str += "Walk normal status"; break; case ST_STAT_WALK_FAST: str += "Walk fast status"; break; case ST_STAT_WALK_BACK: str += "Walk back status"; break; case ST_STAT_TURN_L_SLOW: str += "Turn left slow status"; break; case ST_STAT_TURN_L_NORMAL: str += "Turn left normal status"; break; case ST_STAT_TURN_L_FAST: str += "Turn left fast status"; break; case ST_STAT_TURN_R_SLOW: str += "Turn right slow status"; break; case ST_STAT_TURN_R_NORMAL: str += "Turn right normal status"; break; case ST_STAT_TURN_R_FAST: str += "Turn right fast status"; break; default: str += "Unknown status"; break; } str2 += str; str2 += "\r\n"; if ( m_mriDlg != NULL ) { m_mriDlg->DisplayOutput( str2 ); } } void CRemoteTestDlg::SensorTransferStart( void ) { if ( m_isSentpStart ) { m_vaibo->SensorTransferStart(); } } void CRemoteTestDlg::SensorTransferStop( void ) { if ( m_isSentpStart ) { m_vaibo->SensorTransferStop(); } } void CRemoteTestDlg::SensorSetSkipRate( int skip ) { if ( m_isSentpStart ) { m_vaibo->SensorSetSkipRate( skip ); } } int CRemoteTestDlg::Exchange3DPosture( int vaiboPosture ) { int posture3D; switch ( vaiboPosture ) { case ST_POS_STAND : posture3D = POSE_3D_STANDUP; break; case ST_POS_SIT : posture3D = POSE_3D_SITDOWN; break; case ST_POS_LIE : posture3D = POSE_3D_LIE; break; case ST_POS_WALK : posture3D = POSE_3D_WALKING; break; case ST_POS_SHUTDOWN : posture3D = POSE_3D_SHUTDOWN; break; case ST_POS_NEUTRAL : posture3D = POSE_3D_NORMAL; break; case ST_POS_LIFT : posture3D = POSE_3D_HOLDUP; break; case ST_POS_STATION : posture3D = POSE_3D_STATION; break; default : posture3D = POSE_3D_NORMAL; break; } return posture3D; } void CRemoteTestDlg::OnBtnContents() { if ( m_contentsDlg == NULL ) { m_contentsDlg = new CContentsDlg( m_vaibo ); m_contentsDlg->Create( IDD_DLG_CONTENTS ); } m_contentsDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnAutonomy() { if ( m_AutonomyDlg == NULL ) { m_AutonomyDlg = new CAutonomyDlg( m_vaibo ); m_AutonomyDlg->Create( IDD_DIALOG_BM ); m_AutonomyDlg->SetControlFlag( m_isControl ); } m_AutonomyDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnClock() { if ( m_ClockDlg == NULL ) { m_ClockDlg = new CClockDlg( m_vaibo ); m_ClockDlg->Create( IDD_DIALOG_CLOCK ); } m_ClockDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnBattery() { if ( m_EtcDlg == NULL ) { m_EtcDlg = new CEtcDlg( m_vaibo ); m_EtcDlg->Create( IDD_DLG_ETC ); } m_EtcDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnIsconnect() { if ( m_vaibo == NULL ) { return; } if (m_vaibo->IsConnect()) { AfxMessageBox(_T("Yes")); } else { AfxMessageBox(_T("No")); } } int CRemoteTestDlg::SensorGetSkipRate() { return m_vaibo->SensorGetSkipRate(); } LRESULT CRemoteTestDlg::OnAibo3DMove( WPARAM wParam, LPARAM lParam ) { if ( m_3DDlg ) { m_3DDlg->MoveAIBO( wParam, ( float )lParam ); } return S_OK; } void CRemoteTestDlg::OnBtnTTS() { if ( m_TTSDlg == NULL ) { m_TTSDlg = new CTTSDlg( this->m_vaibo ); m_TTSDlg->Create( IDD_DIALOG_TTS ); } m_TTSDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnBtnMRI() { if ( m_mriDlg == NULL ) { m_mriDlg = new CMRIDlg( this ); m_mriDlg->Create( IDD_DLG_MRI ); } m_mriDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::OnButtonProductID() { if ( m_ProductIDDlg == NULL ) { m_ProductIDDlg = new CProductIDDlg( this->m_vaibo ); m_ProductIDDlg->Create( IDD_DIALOG_PRODUCTID ); m_ProductIDDlg->SetProductID(); } m_ProductIDDlg->ShowWindow( SW_SHOW ); } void CRemoteTestDlg::SetControlFlag( bool isControl ) { m_isControl = isControl; if ( m_isControl ) { buttonControl().EnableWindow( false ); buttonControl2().EnableWindow( true ); } else { buttonControl().EnableWindow( true ); buttonControl2().EnableWindow( false ); } } void CRemoteTestDlg::OnButtonIdpwd() { CUserIdPwdDlg dlg( this->m_vaibo ); dlg.DoModal(); } void CRemoteTestDlg::OnButtonVPR() { if ( m_VPRDlg == NULL ) { m_VPRDlg = new CVPRDlg( this->m_vaibo ); m_VPRDlg->Create( IDD_DIALOG_VPR ); } m_VPRDlg->ShowWindow( SW_SHOW ); }