项目初始化

KinectCar/MainWindow.xaml

@@ -3,11 +3,10 @@
         xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
         xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
         xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-        xmlns:local="clr-namespace:KinectCar"
         mc:Ignorable="d"
         Title="MainWindow" Height="400" Width="400" Loaded="Window_Loaded" Closing="Window_Closing">
     <Grid>
-        <Label Name="status" Content="准备" HorizontalAlignment="Left" Margin="10,10,0,0" VerticalAlignment="Top"/>
+        <Label Name="Status" Content="准备" HorizontalAlignment="Left" Margin="10,10,0,0" VerticalAlignment="Top"/>
         <Label Content="{Binding StatusText}" HorizontalAlignment="Left" Margin="10,40,0,0" VerticalAlignment="Top"/>
 
     </Grid>

KinectCar/MainWindow.xaml.cs

@@ -4,38 +4,39 @@
     using System.Collections.Generic;
     using System.ComponentModel;
     using System.Windows;
-    using System.Windows.Media;
     using Microsoft.Kinect;
     using uPLibrary.Networking.M2Mqtt;
     using System.Net;
     using uPLibrary.Networking.M2Mqtt.Messages;
-    using System.Text;/// <summary>
-                      /// MainWindow.xaml 的交互逻辑
-                      /// </summary>
-    public partial class MainWindow : Window, INotifyPropertyChanged
+    using System.Text;
+
+    /// <summary>       
+    /// MainWindow.xaml 的交互逻辑
+    /// </summary>
+    public partial class MainWindow : INotifyPropertyChanged
     {
         // 活动的 Kinect 传感器
-        private KinectSensor kinectSensor = null;
+        private KinectSensor _kinectSensor = null;
         // 坐标映射器将一种类型的点映射到另一种
         private CoordinateMapper coordinateMapper = null;
         // 身体框架渲染器
         private BodyFrameReader bodyFrameReader = null;
         // 身体的数组
-        private Body[] bodies = null;
+        private Body[] _bodies = null;
         // 骨骼的定义
-        private List<Tuple<JointType, JointType>> bones;
+        private List<Tuple<JointType, JointType>> _bones;
         // 显示宽度，高度（深度空间）
         private int displayWidth, displayHeight;
         // 要显示的当前状态文本
         private string statusText = null;
         // 阈值（1/2框）（单位：米）
-        private float THRESHOLD = 0.15f;
+        private const float Threshold = 0.15f;
         // 当前状态
-        private int gesture = -1;
+        private int _gesture = -1;
 
         private static string MQTT_BROKER_ADDRESS = "123.207.151.92";
-        //创建客户端实例
-        MqttClient client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS), 1600, false, null, null, MqttSslProtocols.None); //主机为IP时
+        // 创建客户端实例
+        MqttClient _client = new MqttClient(IPAddress.Parse(MQTT_BROKER_ADDRESS), 1600, false, null, null, MqttSslProtocols.None); //主机为IP时
 
         // INotifyPropertyChangedPropertyChanged 事件允许窗口控件绑定到可更改的数据
         public event PropertyChangedEventHandler PropertyChanged;
@@ -65,53 +66,53 @@
         public MainWindow()
         {
             // 目前支持一个传感器
-            kinectSensor = KinectSensor.GetDefault();
+            _kinectSensor = KinectSensor.GetDefault();
             // 获取坐标映射器
-            coordinateMapper = kinectSensor.CoordinateMapper;
+            coordinateMapper = _kinectSensor.CoordinateMapper;
             // 获取深度（显示）范围
-            FrameDescription frameDescription = kinectSensor.DepthFrameSource.FrameDescription;
+            FrameDescription frameDescription = _kinectSensor.DepthFrameSource.FrameDescription;
             // 得到关节空间的大小
             displayWidth = frameDescription.Width;
             displayHeight = frameDescription.Height;
             // 打开渲染器的身体框架
-            bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
+            bodyFrameReader = _kinectSensor.BodyFrameSource.OpenReader();
             // 骨骼定义为两个关节之间的线
-            bones = new List<Tuple<JointType, JointType>>();
+            _bones = new List<Tuple<JointType, JointType>>();
             // 躯干
-            bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
-            bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipLeft));
             // 右臂
-            bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.ThumbRight));
             // 左臂
-            bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.ThumbLeft));
             // 右腿
-            bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
-            bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.AnkleRight, JointType.FootRight));
             // 左腿
-            bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
-            bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
+            _bones.Add(new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft));
             // 设置 IsAvailableChanged 事件通知程序
-            kinectSensor.IsAvailableChanged += Sensor_IsAvailableChanged;
+            _kinectSensor.IsAvailableChanged += Sensor_IsAvailableChanged;
             // 打开传感器
-            kinectSensor.Open();
+            _kinectSensor.Open();
             // 设置状态文本
-            StatusText = kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.NoSensorStatusText;
+            StatusText = _kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.NoSensorStatusText;
             // 在这个简单的例子中使用window对象作为视图模型
             DataContext = this;
             // 初始化窗口的组件（控件）
@@ -125,14 +126,14 @@
                 bodyFrameReader.FrameArrived += Reader_FrameArrived;
             }
             // 注册消息接收处理事件，还可以注册消息订阅成功、取消订阅成功、与服务器断开等事件处理函数
-            client.MqttMsgPublishReceived += client_MqttMsgPublishReceived;
+            _client.MqttMsgPublishReceived += client_MqttMsgPublishReceived;
             //生成客户端 ID 并连接服务器
             string clientId = Guid.NewGuid().ToString();
-            client.Connect(clientId, "yumin", "minbb.cn");
-            // 订阅主题"wifi/car" 消息质量为 2
-            client.Subscribe(new string[] { "wifi/car" }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE });
+            _client.Connect(clientId, "yumin", "minbb.cn");
+            // 订阅主题"" 消息质量为 2
+            _client.Subscribe(new string[] { "iot.time" }, new byte[] { MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE });
             // 发布消息到主题 "wifi/car" 消息质量为 2,不保留 
-            client.Publish("wifi/car", Encoding.UTF8.GetBytes("I'm C#"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+            _client.Publish("iot.all", Encoding.UTF8.GetBytes("I'm C#"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
         }
 
         private void Window_Closing(object sender, CancelEventArgs e)
@@ -143,15 +144,13 @@
                 bodyFrameReader = null;
             }
 
-            if (kinectSensor != null)
-            {
-                kinectSensor.Close();
-                kinectSensor = null;
-            }
-            if (client != null)
+            if (_kinectSensor != null)
             {
-                client.Disconnect();
+                _kinectSensor.Close();
+                _kinectSensor = null;
             }
+
+            _client?.Disconnect();
         }
 
         void client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e)
@@ -168,23 +167,23 @@
             {
                 if (bodyFrame != null)
                 {
-                    if (bodies == null)
+                    if (_bodies == null)
                     {
-                        bodies = new Body[bodyFrame.BodyCount];
+                        _bodies = new Body[bodyFrame.BodyCount];
                     }
                     // 第一次调用GetAndRefreshBodyData时，Kinect将在数组中分配每个Body。只要这些主体对象没有被释放并且在数组中没有设置为null，那么这些主体对象将被重用。
-                    bodyFrame.GetAndRefreshBodyData(bodies);
+                    bodyFrame.GetAndRefreshBodyData(_bodies);
                     dataReceived = true;
                 }
             }
 
             if (dataReceived)
             {
-                foreach (Body body in bodies)
+                foreach (Body body in _bodies)
                 {
                     if (body.IsTracked)
                     {
-                        status.Content = "追踪到Body.";
+                        Status.Content = "追踪到Body.";
                         IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
 
                         Joint jointHandRight = joints[JointType.HandRight], jointShoulderRight = joints[JointType.ShoulderRight];
@@ -195,85 +194,85 @@
                             float xHandRight = positionHandRight.X, yHandRight = positionHandRight.Y;
                             float xShoulderRight = positionShoulderRight.X, yShoulderRight = positionShoulderRight.Y;
                             // 右手位置判定（基于右肩为原点且无深度检测）
-                            if (xHandRight >= 2 * xShoulderRight - THRESHOLD && xHandRight <= 2 * xShoulderRight + THRESHOLD && 
-                                yHandRight >= 2 * yShoulderRight - THRESHOLD && yHandRight <= 2 * yShoulderRight + THRESHOLD)
+                            if (xHandRight >= 2 * xShoulderRight - Threshold && xHandRight <= 2 * xShoulderRight + Threshold && 
+                                yHandRight >= 2 * yShoulderRight - Threshold && yHandRight <= 2 * yShoulderRight + Threshold)
                             {
                                 // 中 - 5
-                                if(gesture != 5)
+                                if(_gesture != 5)
                                 {
-                                    gesture = 5;
+                                    _gesture = 5;
                                     Console.WriteLine("中");
                                 }
                             }
-                            else if(xHandRight > 2 * xShoulderRight - THRESHOLD && xHandRight < 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            else if(xHandRight > 2 * xShoulderRight - Threshold && xHandRight < 2 * xShoulderRight + Threshold && yHandRight > 2 * yShoulderRight + Threshold)
                             {
                                 // 上 - 2
-                                if (gesture != 2)
+                                if (_gesture != 2)
                                 {
-                                    gesture = 2;
+                                    _gesture = 2;
                                     Console.WriteLine("上");
                                 }
                             }
-                            else if (xHandRight > 2 * xShoulderRight - THRESHOLD && xHandRight < 2 * xShoulderRight + THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            else if (xHandRight > 2 * xShoulderRight - Threshold && xHandRight < 2 * xShoulderRight + Threshold && yHandRight < 2 * yShoulderRight + Threshold)
                             {
                                 // 下 - 8
-                                if (gesture != 8)
+                                if (_gesture != 8)
                                 {
-                                    gesture = 8;
+                                    _gesture = 8;
                                     Console.WriteLine("下");
                                 }
                             }
-                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight > 2 * yShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            else if (xHandRight < 2 * xShoulderRight - Threshold && yHandRight > 2 * yShoulderRight - Threshold && yHandRight < 2 * yShoulderRight + Threshold)
                             {
                                 // 左 - 4
-                                if (gesture != 4)
+                                if (_gesture != 4)
                                 {
-                                    gesture = 4;
+                                    _gesture = 4;
                                     Console.WriteLine("左");
                                 }
                             }
-                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            else if (xHandRight > 2 * xShoulderRight + Threshold && yHandRight > 2 * yShoulderRight - Threshold && yHandRight < 2 * yShoulderRight + Threshold)
                             {
                                 // 右 - 6
-                                if (gesture != 6)
+                                if (_gesture != 6)
                                 {
-                                    gesture = 6;
+                                    _gesture = 6;
                                     Console.WriteLine("右");
                                 }
                             }
-                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            else if (xHandRight > 2 * xShoulderRight + Threshold && yHandRight > 2 * yShoulderRight + Threshold)
                             {
                                 // 右上 - 3
-                                if (gesture != 3)
+                                if (_gesture != 3)
                                 {
-                                    gesture = 3;
+                                    _gesture = 3;
                                     Console.WriteLine("右上");
                                 }
                             }
-                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight < 2 * yShoulderRight - THRESHOLD)
+                            else if (xHandRight > 2 * xShoulderRight + Threshold && yHandRight < 2 * yShoulderRight - Threshold)
                             {
                                 // 右下 - 9
-                                if (gesture != 9)
+                                if (_gesture != 9)
                                 {
-                                    gesture = 9;
+                                    _gesture = 9;
                                     Console.WriteLine("右下");
                                 }
                             }
-                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            else if (xHandRight < 2 * xShoulderRight - Threshold && yHandRight > 2 * yShoulderRight + Threshold)
                             {
                                 // 左上 - 1
-                                if (gesture != 1)
+                                if (_gesture != 1)
                                 {
-                                    gesture = 1;
+                                    _gesture = 1;
                                     Console.WriteLine("左上");
                                 }
                             }
-                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight - THRESHOLD)
+                            else if (xHandRight < 2 * xShoulderRight - Threshold && yHandRight < 2 * yShoulderRight - Threshold)
                             {
                                 // 左下 - 7
-                                if (gesture != 7)
+                                if (_gesture != 7)
                                 {
-                                    gesture = 7;
+                                    _gesture = 7;
                                     Console.WriteLine("左下");
                                 }
                             }
@@ -293,14 +292,14 @@
             }
             else
             {
-                status.Content = "无";
+                Status.Content = "无";
             }
         }
 
         private void Sensor_IsAvailableChanged(object sender, IsAvailableChangedEventArgs e)
         {
             // 如果失败，设置状态文本
-            StatusText = kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.SensorNotAvailableStatusText;
+            StatusText = _kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.SensorNotAvailableStatusText;
         }
     }
 }