1.引用M2MQTT库；

2.实现MQTT消息收发逻辑。

KinectCar/KinectCar.csproj

@@ -35,6 +35,10 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="M2Mqtt.Net, Version=4.3.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <HintPath>..\packages\M2Mqtt.4.3.0.0\lib\net45\M2Mqtt.Net.dll</HintPath>
+      <Private>True</Private>
+    </Reference>
     <Reference Include="Microsoft.Kinect, Version=2.0.0.0, Culture=neutral, PublicKeyToken=31bf3856ad364e35, processorArchitecture=MSIL" />
     <Reference Include="System" />
     <Reference Include="System.Data" />
@@ -87,6 +91,7 @@
       <Generator>ResXFileCodeGenerator</Generator>
       <LastGenOutput>Resources.Designer.cs</LastGenOutput>
     </EmbeddedResource>
+    <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>

KinectCar/MainWindow.xaml.cs

@@ -6,10 +6,12 @@
     using System.Windows;
     using System.Windows.Media;
     using Microsoft.Kinect;
-
-    /// <summary>
-    /// MainWindow.xaml 的交互逻辑
-    /// </summary>
+    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
     {
         // 活动的 Kinect 传感器
@@ -26,6 +28,14 @@
         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;
+        // 当前状态
+        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
 
         // INotifyPropertyChangedPropertyChanged 事件允许窗口控件绑定到可更改的数据
         public event PropertyChangedEventHandler PropertyChanged;
@@ -34,19 +44,19 @@
         {
             get
             {
-                return this.statusText;
+                return statusText;
             }
 
             set
             {
-                if (this.statusText != value)
+                if (statusText != value)
                 {
-                    this.statusText = value;
+                    statusText = value;
 
                     // 通知任何绑定元素文本已更改
-                    if (this.PropertyChanged != null)
+                    if (PropertyChanged != null)
                     {
-                        this.PropertyChanged(this, new PropertyChangedEventArgs("StatusText"));
+                        PropertyChanged(this, new PropertyChangedEventArgs("StatusText"));
                     }
                 }
             }
@@ -55,95 +65,100 @@
         public MainWindow()
         {
             // 目前支持一个传感器
-            this.kinectSensor = KinectSensor.GetDefault();
-
+            kinectSensor = KinectSensor.GetDefault();
             // 获取坐标映射器
-            this.coordinateMapper = this.kinectSensor.CoordinateMapper;
-
+            coordinateMapper = kinectSensor.CoordinateMapper;
             // 获取深度（显示）范围
-            FrameDescription frameDescription = this.kinectSensor.DepthFrameSource.FrameDescription;
-
+            FrameDescription frameDescription = kinectSensor.DepthFrameSource.FrameDescription;
             // 得到关节空间的大小
-            this.displayWidth = frameDescription.Width;
-            this.displayHeight = frameDescription.Height;
-
+            displayWidth = frameDescription.Width;
+            displayHeight = frameDescription.Height;
             // 打开渲染器的身体框架
-            this.bodyFrameReader = this.kinectSensor.BodyFrameSource.OpenReader();
-
+            bodyFrameReader = kinectSensor.BodyFrameSource.OpenReader();
             // 骨骼定义为两个关节之间的线
-            this.bones = new List<Tuple<JointType, JointType>>();
-
+            bones = new List<Tuple<JointType, JointType>>();
             // 躯干
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.Head, JointType.Neck));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.Neck, JointType.SpineShoulder));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.SpineMid));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineMid, JointType.SpineBase));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderRight));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineShoulder, JointType.ShoulderLeft));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.SpineBase, JointType.HipRight));
-            this.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
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderRight, JointType.ElbowRight));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowRight, JointType.WristRight));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristRight, JointType.HandRight));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandRight, JointType.HandTipRight));
-            this.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
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.ShoulderLeft, JointType.ElbowLeft));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.ElbowLeft, JointType.WristLeft));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.WristLeft, JointType.HandLeft));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.HandLeft, JointType.HandTipLeft));
-            this.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
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipRight, JointType.KneeRight));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeRight, JointType.AnkleRight));
-            this.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
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.HipLeft, JointType.KneeLeft));
-            this.bones.Add(new Tuple<JointType, JointType>(JointType.KneeLeft, JointType.AnkleLeft));
-            this.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
-            this.kinectSensor.IsAvailableChanged += this.Sensor_IsAvailableChanged;
-
+            kinectSensor.IsAvailableChanged += Sensor_IsAvailableChanged;
             // 打开传感器
-            this.kinectSensor.Open();
-
+            kinectSensor.Open();
             // 设置状态文本
-            this.StatusText = this.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
-            this.DataContext = this;
-
+            DataContext = this;
             // 初始化窗口的组件（控件）
-            this.InitializeComponent();
+            InitializeComponent();
         }
 
         private void Window_Loaded(object sender, RoutedEventArgs e)
         {
-            if (this.bodyFrameReader != null)
+            if (bodyFrameReader != null)
             {
-                this.bodyFrameReader.FrameArrived += this.Reader_FrameArrived;
+                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;
+            //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 });
+            // 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);
         }
 
         private void Window_Closing(object sender, CancelEventArgs e)
         {
-            if (this.bodyFrameReader != null)
+            if (bodyFrameReader != null)
             {
-                this.bodyFrameReader.Dispose();
-                this.bodyFrameReader = null;
+                bodyFrameReader.Dispose();
+                bodyFrameReader = null;
             }
 
-            if (this.kinectSensor != null)
+            if (kinectSensor != null)
             {
-                this.kinectSensor.Close();
-                this.kinectSensor = null;
+                kinectSensor.Close();
+                kinectSensor = null;
             }
+            if (client != null)
+            {
+                client.Disconnect();
+            }
+        }
+
+        void client_MqttMsgPublishReceived(object sender, MqttMsgPublishEventArgs e)
+        {
+            //处理接收到的消息
+            string msg = System.Text.Encoding.Default.GetString(e.Message);
+            Console.WriteLine("收到消息 = " + msg + "\r\n");
         }
 
         private void Reader_FrameArrived(object sender, BodyFrameArrivedEventArgs e)
@@ -153,12 +168,12 @@
             {
                 if (bodyFrame != null)
                 {
-                    if (this.bodies == null)
+                    if (bodies == null)
                     {
-                        this.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(this.bodies);
+                    bodyFrame.GetAndRefreshBodyData(bodies);
                     dataReceived = true;
                 }
             }
@@ -172,19 +187,105 @@
                         status.Content = "追踪到Body.";
                         IReadOnlyDictionary<JointType, Joint> joints = body.Joints;
 
-                        Joint jointHead = joints[JointType.Head], jointHandRight = joints[JointType.HandRight];
-                        CameraSpacePoint positionHead = jointHead.Position, positionHandRight = jointHandRight.Position;
-                        if (jointHead.TrackingState == TrackingState.Tracked && jointHandRight.TrackingState == TrackingState.Tracked)
+                        Joint jointHandRight = joints[JointType.HandRight], jointShoulderRight = joints[JointType.ShoulderRight];
+                        CameraSpacePoint positionHandRight = jointHandRight.Position, positionShoulderRight = jointShoulderRight.Position;
+                        if (jointHandRight.TrackingState == TrackingState.Tracked &&
+                            jointShoulderRight.TrackingState == TrackingState.Tracked)
                         {
-                            Console.WriteLine("X = " + positionHead.X + ", Y = " + positionHead.Y + ", Z = " + positionHead.Z);
-                            Console.WriteLine("X = " + positionHandRight.X + ", Y = " + positionHandRight.Y + ", Z = " + positionHandRight.Z);
+                            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)
+                            {
+                                // 中 - 5
+                                if(gesture != 5)
+                                {
+                                    gesture = 5;
+                                    Console.WriteLine("中");
+                                }
+                            }
+                            else if(xHandRight > 2 * xShoulderRight - THRESHOLD && xHandRight < 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 上 - 2
+                                if (gesture != 2)
+                                {
+                                    gesture = 2;
+                                    Console.WriteLine("上");
+                                }
+                            }
+                            else if (xHandRight > 2 * xShoulderRight - THRESHOLD && xHandRight < 2 * xShoulderRight + THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 下 - 8
+                                if (gesture != 8)
+                                {
+                                    gesture = 8;
+                                    Console.WriteLine("下");
+                                }
+                            }
+                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight > 2 * yShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 左 - 4
+                                if (gesture != 4)
+                                {
+                                    gesture = 4;
+                                    Console.WriteLine("左");
+                                }
+                            }
+                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 右 - 6
+                                if (gesture != 6)
+                                {
+                                    gesture = 6;
+                                    Console.WriteLine("右");
+                                }
+                            }
+                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 右上 - 3
+                                if (gesture != 3)
+                                {
+                                    gesture = 3;
+                                    Console.WriteLine("右上");
+                                }
+                            }
+                            else if (xHandRight > 2 * xShoulderRight + THRESHOLD && yHandRight < 2 * yShoulderRight - THRESHOLD)
+                            {
+                                // 右下 - 9
+                                if (gesture != 9)
+                                {
+                                    gesture = 9;
+                                    Console.WriteLine("右下");
+                                }
+                            }
+                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight > 2 * yShoulderRight + THRESHOLD)
+                            {
+                                // 左上 - 1
+                                if (gesture != 1)
+                                {
+                                    gesture = 1;
+                                    Console.WriteLine("左上");
+                                }
+                            }
+                            else if (xHandRight < 2 * xShoulderRight - THRESHOLD && yHandRight < 2 * yShoulderRight - THRESHOLD)
+                            {
+                                // 左下 - 7
+                                if (gesture != 7)
+                                {
+                                    gesture = 7;
+                                    Console.WriteLine("左下");
+                                }
+                            }
+                            //Console.WriteLine("X = " + positionHead.X + ", Y = " + positionHead.Y + ", Z = " + positionHead.Z);
+                            //Console.WriteLine("X = " + positionHandRight.X + ", Y = " + positionHandRight.Y + ", Z = " + positionHandRight.Z);
                         }
 
                         // 将关节点转换为深度（显示）空间
                         //Dictionary<JointType, Point> jointPoints = new Dictionary<JointType, Point>();
                         //foreach (JointType jointType in joints.Keys)
                         //{
-                        //    DepthSpacePoint depthSpacePoint = this.coordinateMapper.MapCameraPointToDepthSpace(positionHead);
+                        //    DepthSpacePoint depthSpacePoint = coordinateMapper.MapCameraPointToDepthSpace(positionHead);
                         //    jointPoints[jointType] = new Point(depthSpacePoint.X, depthSpacePoint.Y);
                         //}
                     }
@@ -199,7 +300,7 @@
         private void Sensor_IsAvailableChanged(object sender, IsAvailableChangedEventArgs e)
         {
             // 如果失败，设置状态文本
-            this.StatusText = this.kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.SensorNotAvailableStatusText;
+            StatusText = kinectSensor.IsAvailable ? Properties.Resources.RunningStatusText : Properties.Resources.SensorNotAvailableStatusText;
         }
     }
 }

KinectCar/packages.config

@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="M2Mqtt" version="4.3.0.0" targetFramework="net452" />
+</packages>