1. 希望上位机在启动的时候能自动扫描到网络上的机器人，在该机器人系统重启或者其他原因导致的断开连接时给出提示（如下图），并在给机器人系统恢复后自动重连，如何实现？

2。上位机启动后自动扫描连接，可以在c#的form_load事件中添加如下代码

 private void Form1_Load(object sender, EventArgs e)

        {

            this.scanner = new NetworkScanner();

            this.scanner.Scan();

            //扫描网络上的机器人系统并将信息写入ListView

            ControllerInfoCollection controllers = scanner.Controllers;

            ListViewItem item = null;

            listView1.Items.Clear();

 

            foreach (ControllerInfo controllerInfo in controllers)

            {

                item = new ListViewItem(controllerInfo.SystemName);

                item.SubItems.Add(controllerInfo.IPAddress.ToString());

                item.SubItems.Add(controllerInfo.Version.ToString());

                item.SubItems.Add(controllerInfo.ControllerName);

                this.listView1.Items.Add(item);

                item.Tag = controllerInfo;

                 //用item.Tag标注该机器人系统名字，

                //以便在该系统断开连接时，自动在ListView中删去该系统名字

            }

3。 对于后期机器人系统的断开，可以在form_load事件中添加如下订阅，并编写对应处理函数

this.networkwatcher.Lost += newEventHandler<NetworkWatcherEventArgs>(HandleLostEvent);

this.networkwatcher.EnableRaisingEvents = true;

//添加对控制器断开网络连接事件的订阅

voidHandleLostEvent(object sender, NetworkWatcherEventArgs e)

       {

           foreach (ListViewItem item in listView1.Items)

           {

               if ((ControllerInfo)item.Tag==e.Controller)

               {

                  //如果在ListView中的controller信息与断开网络连接的controller信息一致

                   //将该条item删去

                   listView1.Items.Remove(item);

               }

           }

           MessageBox.Show(e.Controller.SystemName + " Lost Connection");

           //提示用户该机器人系统断开连接

       }

        4. 此时若机器人系统再次启动成功并接入网络，可以在form_load中添加如下订阅

 

this.networkwatcher = newNetworkWatcher(scanner.Controllers);

this.networkwatcher.Found += newEventHandler<NetworkWatcherEventArgs>(HandleFoundEvent);

//添加对新登入网络控制器事件的订阅

       voidHandleFoundEvent(object sender, NetworkWatcherEventArgs e)

       {

           this.Invoke(new

           EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),

           new Object[] { this, e });

       }

      

privatevoidAddControllerToListView(object sender, NetworkWatcherEventArgs e)

       {

           ControllerInfo controllerInfo = e.Controller;

           ListViewItem item = newListViewItem(controllerInfo.SystemName);

           item.SubItems.Add(controllerInfo.IPAddress.ToString());

           item.SubItems.Add(controllerInfo.Version.ToString());

           item.SubItems.Add(controllerInfo.ControllerName);

           item.Tag = controllerInfo;

           this.listView1.Items.Add(item);

       }