优化

KinectCar/KinectCar.csproj

@@ -14,6 +14,22 @@
     <ProjectTypeGuids>{60dc8134-eba5-43b8-bcc9-bb4bc16c2548};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}</ProjectTypeGuids>
     <WarningLevel>4</WarningLevel>
     <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
+    <PublishUrl>publish\</PublishUrl>
+    <Install>true</Install>
+    <InstallFrom>Disk</InstallFrom>
+    <UpdateEnabled>false</UpdateEnabled>
+    <UpdateMode>Foreground</UpdateMode>
+    <UpdateInterval>7</UpdateInterval>
+    <UpdateIntervalUnits>Days</UpdateIntervalUnits>
+    <UpdatePeriodically>false</UpdatePeriodically>
+    <UpdateRequired>false</UpdateRequired>
+    <MapFileExtensions>true</MapFileExtensions>
+    <AutorunEnabled>true</AutorunEnabled>
+    <ApplicationRevision>0</ApplicationRevision>
+    <ApplicationVersion>1.0.0.%2a</ApplicationVersion>
+    <IsWebBootstrapper>false</IsWebBootstrapper>
+    <UseApplicationTrust>false</UseApplicationTrust>
+    <BootstrapperEnabled>true</BootstrapperEnabled>
   </PropertyGroup>
   <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
     <PlatformTarget>AnyCPU</PlatformTarget>
@@ -114,7 +130,18 @@
   <ItemGroup>
     <None Include="App.config" />
   </ItemGroup>
-  <ItemGroup />
+  <ItemGroup>
+    <BootstrapperPackage Include=".NETFramework,Version=v4.5.2">
+      <Visible>False</Visible>
+      <ProductName>Microsoft .NET Framework 4.5.2 %28x86 和 x64%29</ProductName>
+      <Install>true</Install>
+    </BootstrapperPackage>
+    <BootstrapperPackage Include="Microsoft.Net.Framework.3.5.SP1">
+      <Visible>False</Visible>
+      <ProductName>.NET Framework 3.5 SP1</ProductName>
+      <Install>false</Install>
+    </BootstrapperPackage>
+  </ItemGroup>
   <ItemGroup>
     <Resource Include="Images\Kinect.ico" />
     <Resource Include="Images\Status.png" />

KinectCar/KinectCar.csproj.user

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <PublishUrlHistory />
+    <InstallUrlHistory />
+    <SupportUrlHistory />
+    <UpdateUrlHistory />
+    <BootstrapperUrlHistory />
+    <ErrorReportUrlHistory />
+    <FallbackCulture>zh-CN</FallbackCulture>
+    <VerifyUploadedFiles>false</VerifyUploadedFiles>
+  </PropertyGroup>
+</Project>

KinectCar/MainWindow.xaml.cs

@@ -200,7 +200,7 @@ namespace KinectCar
                 new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft),
                 new Tuple<JointType, JointType>(JointType.AnkleLeft, JointType.FootLeft)
             };
-            
+
             // 设置状态文本
             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
@@ -347,49 +347,77 @@ namespace KinectCar
                             float ySpineMid = positionSpineMid.Y;
                             float ZSpineMid = positionSpineMid.Z;
                             // 追踪到所需目标。
-
-                            // Console.WriteLine(body.HandRightState);
-                            // Console.WriteLine(body.HandLeftState);
-                            // 双手进入控制区域
-                            if (body.HandRightState == HandState.Closed && body.HandLeftState == HandState.Closed && yHandRight > ySpineMid && yHandLeft > xSpineMid)
+                            if (body.HandRightState == HandState.Open && body.HandLeftState == HandState.Open)
                             {
-                                TipText = "前进";
-                                _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("8"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
-                                // 角度计算
-                                var value = Math.Atan2((yHandRight - yHandLeft), (xHandRight - xHandLeft)) * 180 / Math.PI;
-                                // 20 < value < 80 
-                                if (20 < value && value < 90)
-                                {
-                                    TipText = "左前方行驶";
-                                    _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("4"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
-                                }
-                                //  < value < 170
-                                if (-90 < value && value < -20)
-                                {
-                                    TipText = "右前方行驶";
-                                    _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("6"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
-                                }
+                                TipText = "停止";
+                                //Console.WriteLine("stop");
+                                _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("0"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
                             }
-                            // 双手进入控制区域
-                            if (body.HandRightState == HandState.Lasso && body.HandLeftState == HandState.Lasso && yHandRight > ySpineMid && yHandLeft > xSpineMid)
+                            //前进逻辑
+                            if (Count % 2 == 1)
                             {
-                                // 角度计算
-                                _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("Reversing"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
-                                var value = Math.Atan2((yHandRight - yHandLeft), (xHandRight - xHandLeft)) * 180 / Math.PI;
-                                // 20 < value < 80 
-                                if (20 < value && value < 90)
+                                // 控制汽车逻辑
+                                if (body.HandRightState == HandState.Closed && body.HandLeftState == HandState.Closed)
                                 {
-                                    TipText = "右后方行驶";
-                                    _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("Reversing right"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+                                    // 角度计算
+                                    var value = Math.Atan2((yHandRight - yHandLeft), (xHandRight - xHandLeft)) * 180 / Math.PI;
+
+                                    if (20 > value && value > -20)
+                                    {
+                                        TipText = "前进";
+                                        Console.WriteLine("go");
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("8"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+
+                                    }
+                                    // 右高左低 
+                                    if (20 < value && value < 90)
+                                    {
+                                        TipText = "左前方行驶";
+                                        Console.WriteLine("left");
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("4"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+
+                                    }
+                                    //  左高右低
+                                    if (-90 < value && value < -20)
+                                    {
+                                        TipText = "右前方行驶";
+                                        Console.WriteLine("rightt");
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("6"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+                                    }
                                 }
-                                //  < value < 170
-                                if (-90 < value && value < -20)
+
+                            }
+                            //后退逻辑
+                            if (Count % 2 == 0)
+                            {
+                                // 控制汽车逻辑
+                                if (body.HandRightState == HandState.Closed && body.HandLeftState == HandState.Closed)
                                 {
-                                    TipText = "左后方行驶";
-                                    _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("Reversing left"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+
+                                    var value = Math.Atan2((yHandRight - yHandLeft), (xHandRight - xHandLeft)) * 180 / Math.PI;
+
+                                    if (20 > value && value > -20)
+                                    {
+                                        TipText = "后退";
+                                        Console.WriteLine("brak");
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("2"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+
+                                    }
+                                    // 右高左低 
+                                    if (20 < value && value < 90)
+                                    {
+                                        TipText = "左方行驶";
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("4"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+
+                                    }
+                                    // 左高右低
+                                    if (-90 < value && value < -20)
+                                    {
+                                        TipText = "右方行驶";
+                                        _client.Publish(Const.MQTT_TOPIC_CAR_CTRL, Encoding.UTF8.GetBytes("6"), MqttMsgBase.QOS_LEVEL_EXACTLY_ONCE, false);
+                                    }
                                 }
                             }
-
                             // 麦克风管理
                             if (jointHead.TrackingState == TrackingState.Tracked
                                && jointHandRight.TrackingState == TrackingState.Tracked
@@ -417,7 +445,7 @@ namespace KinectCar
                                 {
                                     if (positionHandRight.Y < positionHead.Y)
                                     {
-                                        Console.WriteLine("手势合格,麦克风打开.键盘输入 下键");
+                                        Console.WriteLine("手势合格  ,麦克风打开.键盘输入 下键");
                                         open1 = false;
                                         open2 = false;
                                     }
@@ -457,8 +485,7 @@ namespace KinectCar
                                         open4 = false;
                                     }
                                 }
-
-                                ////未使用功能 执行一次开启，再次重复关闭
+                                //未使用功能 执行一次开启，再次重复关闭
                                 if (open4 && open1)
                                 {
                                     if (positionHandLeft.Y < positionHead.Y && positionHandRight.Y < positionHead.Y)