You can try using a Netty connector rather than an HTTP connector from your client. However, I'm not terribly hopeful that it will work. ActiveMQ Artemis (i.e. the JMS implementation in Wildfly 10) supports older HornetQ clients, but the reverse is not necessarily true.
Yes, Justin is right. You'll need to create netty acceptor on broker and then create legacy-connection-factory on client machine which will have configured connector to broker's netty acceptor. This is the only way how to make this work afaik. This requires to let another port open on broker machine.