This Tasker plugin allows you to send a (series of) ADB Shell command(s) to a remote device (or the device itself) that has ADB over WiFi enabled.
This app obviously does need Tasker to work as it's a plugin (https://play.google.com/store/apps/details?id=net.dinglisch.android.taskerm, this is a paid app with a 7 days free trial). Again, without Tasker it WON'T WORK. Was I clear enough? Anyways...

On the target device you can do anything you would normally be able to do when using the terminal or ADB Shell of that device. This includes opening apps, moving files, simulating input et cetera (The sky is the limit and Google is your friend).