text: # -*- coding: utf-8 -*-
  import random
  from PyQt4 import QtCore, QtGui
  from PyQt4.QtCore import QTimer
  from PyQt4.QtCore import pyqtSlot
  import sys
  # import socket programming library
  import socket
  import cv2
  import time
  import numpy as np
  import os
  
  # import thread module
  from _thread import *
  import threading
  
  try:
      _fromUtf8 = QtCore.QString.fromUtf8
  except AttributeError:
      def _fromUtf8(s):
          return s
  
  try:
      _encoding = QtGui.QApplication.UnicodeUTF8
      def _translate(context, text, disambig):
          return QtGui.QApplication.translate(context, text, disambig, _encoding)
  except AttributeError:
      def _translate(context, text, disambig):
          return QtGui.QApplication.translate(context, text, disambig)
  
  
  ''' 
      Klasa WorkThread odpowiada za polaczenie z raspberry pi
      jest realizowana na watku, wywolywanym w konstruktorze
      glownego menu.
  '''
  class WorkThread(QtCore.QThread):
      def __init__(self):
          super(WorkThread, self).__init__()
          self.camera = cv2.VideoCapture('http://192.168.0.201:8080/')
          # self.camera = cv2.VideoCapture(0)
          self.running = True
  
      def run(self):
          while self.running:
              b, self.image = self.camera.read()
              self.image = cv2.cvtColor(self.image,cv2.COLOR_BGR2RGB)
              self.emit(QtCore.SIGNAL('update_Camera'), self.image)
  
      def stop(self):
          self.running = False
  
  
  '''
      Glowna klasa aplikacji
  '''
  class GUIApp(QtGui.QMainWindow):
  
      strProsto = _translate("MainWindow", "PROSTO", None)
      strLewo = _translate("MainWindow", "LEWO", None)
      strPrawo = _translate("MainWindow", "PRAWO", None)
      strStop = _translate("MainWindow", "STOP", None)
      strPrzod = _translate("MainWindow", "PRZOD", None)
      strWsteczny = _translate("MainWindow", "WSTECZNY", None)
  
      def __init__(self, parent=None):
          super(GUIApp, self).__init__(parent)
          self.setupUi(self)
  
          self.workThread = WorkThread()
          self.connect(self.workThread, QtCore.SIGNAL('update_Camera'), self.draw)
          self.workThread.start()
          # Ważne
          self.processThread = threading.Thread(target=self.showVal)
          self.processThread.start()
  
          self.reverse =  False
          self.lastSpeed = 0
  
          self.line = False
          self.normal =  True
  
          self.position = None
  
          self.pwmValue = 0
          self.pwmLeft = 0
          self.pwmRigt = 0
  
      def showVal(self):
          t = threading.currentThread()
          server_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
          server_socket.bind(('', 12016))
  
          messageFromClient, address = server_socket.recvfrom(1024)
          messegeDecode = messageFromClient.decode()
  
          sendStr = '0_0'
          if (messegeDecode):
              while getattr(t, "do_run", True):
                  if (self.pwmRigt is not 'q'):
                      self.pwmLeft = self.pwmValidation(self.pwmLeft)
                      self.pwmRigt = self.pwmValidation(self.pwmRigt)
                      self.label_4.setText(_translate("MainWindow", "PWM LEFT: " + str(self.pwmLeft), None))
                      self.label_7.setText(_translate("MainWindow", "PWM RIGHT: "+ str(self.pwmRigt), None))
                  sendStr = str(self.pwmLeft) + '_' + str(self.pwmRigt)
  
                  server_socket.sendto(sendStr.encode(), address)
                  time.sleep(.01)
  
          server_socket.close()
  # funkcja odpowiada za renderowanie okienka
  # inicjacja wszytkich przyciskow
      def setupUi(self, MainWindow):
          MainWindow.setObjectName(_fromUtf8("MainWindow"))
          MainWindow.resize(1045, 810)
          MainWindow.setFocusPolicy(QtCore.Qt.StrongFocus)
          self.centralwidget = QtGui.QWidget(MainWindow)
          self.centralwidget.setMinimumSize(QtCore.QSize(1024, 768))
          self.centralwidget.setMaximumSize(QtCore.QSize(1024, 768))
          self.centralwidget.setObjectName(_fromUtf8("centralwidget"))
          self.gridLayoutWidget = QtGui.QWidget(self.centralwidget)
          self.gridLayoutWidget.setGeometry(QtCore.QRect(60, 10, 921, 482))
          self.gridLayoutWidget.setObjectName(_fromUtf8("gridLayoutWidget"))
          self.gridLayout = QtGui.QGridLayout(self.gridLayoutWidget)
          self.gridLayout.setObjectName(_fromUtf8("gridLayout"))
          self.label_3 = QtGui.QLabel(self.gridLayoutWidget)
          self.label_3.setMinimumSize(QtCore.QSize(640, 480))
          self.label_3.setMaximumSize(QtCore.QSize(640, 480))
          self.label_3.setObjectName(_fromUtf8("label_3"))
          self.gridLayout.addWidget(self.label_3, 0, 0, 1, 1)
          self.frame = QtGui.QFrame(self.centralwidget)
          self.frame.setGeometry(QtCore.QRect(40, 560, 931, 191))
          self.frame.setFrameShape(QtGui.QFrame.StyledPanel)
          self.frame.setFrameShadow(QtGui.QFrame.Raised)
          self.frame.setObjectName(_fromUtf8("frame"))
          self.pushButton_4 = QtGui.QPushButton(self.frame)
          self.pushButton_4.setGeometry(QtCore.QRect(10, 20, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_4.setFont(font)
          self.pushButton_4.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_4.setObjectName(_fromUtf8("pushButton_4"))
          self.pushButton = QtGui.QPushButton(self.frame)
          self.pushButton.setGeometry(QtCore.QRect(10, 130, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton.setFont(font)
          self.pushButton.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton.setObjectName(_fromUtf8("pushButton"))
          self.pushButton_5 = QtGui.QPushButton(self.frame)
          self.pushButton_5.setGeometry(QtCore.QRect(270, 20, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_5.setFont(font)
          self.pushButton_5.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_5.setObjectName(_fromUtf8("pushButton_5"))
          self.pushButton_6 = QtGui.QPushButton(self.frame)
          self.pushButton_6.setGeometry(QtCore.QRect(270, 130, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_6.setFont(font)
          self.pushButton_6.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_6.setObjectName(_fromUtf8("pushButton_6"))
          self.pushButton_7 = QtGui.QPushButton(self.frame)
          self.pushButton_7.setGeometry(QtCore.QRect(710, 10, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_7.setFont(font)
          self.pushButton_7.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_7.setObjectName(_fromUtf8("pushButton_7"))
          self.pushButton_8 = QtGui.QPushButton(self.frame)
          self.pushButton_8.setGeometry(QtCore.QRect(710, 130, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_8.setFont(font)
          self.pushButton_8.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_8.setObjectName(_fromUtf8("pushButton_8"))
          self.pushButton_9 = QtGui.QPushButton(self.frame)
          self.pushButton_9.setGeometry(QtCore.QRect(710, 70, 201, 51))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.pushButton_9.setFont(font)
          self.pushButton_9.setFocusPolicy(QtCore.Qt.NoFocus)
          self.pushButton_9.setObjectName(_fromUtf8("pushButton_9"))
          self.label_4 = QtGui.QLabel(self.centralwidget)
          self.label_4.setGeometry(QtCore.QRect(200, 520, 171, 31))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.label_4.setFont(font)
          self.label_4.setAlignment(QtCore.Qt.AlignCenter)
          self.label_4.setObjectName(_fromUtf8("label_4"))
          self.label_7 = QtGui.QLabel(self.centralwidget)
          self.label_7.setGeometry(QtCore.QRect(660, 520, 171, 31))
          font = QtGui.QFont()
          font.setPointSize(15)
          font.setBold(True)
          font.setWeight(75)
          self.label_7.setFont(font)
          self.label_7.setAlignment(QtCore.Qt.AlignCenter)
          self.label_7.setObjectName(_fromUtf8("label_7"))
          MainWindow.setCentralWidget(self.centralwidget)
          self.menubar = QtGui.QMenuBar(MainWindow)
          self.menubar.setGeometry(QtCore.QRect(0, 0, 1045, 21))
          self.menubar.setObjectName(_fromUtf8("menubar"))
          MainWindow.setMenuBar(self.menubar)
          self.statusbar = QtGui.QStatusBar(MainWindow)
          self.statusbar.setObjectName(_fromUtf8("statusbar"))
          MainWindow.setStatusBar(self.statusbar)
  
          self.retranslateUi(MainWindow)
          QtCore.QMetaObject.connectSlotsByName(MainWindow)
  # podpisanie wszytkich button-ow,
  # przyczepianie etykiet
      def retranslateUi(self, MainWindow):
          MainWindow.setWindowTitle(_translate("MainWindow", "MainWindow", None))
          self.label_3.setText(_translate("MainWindow", "Kamera", None))
  
          self.pushButton_4.setText(_translate("MainWindow", "START", None))
          self.pushButton.setText(_translate("MainWindow", "STOP", None))
  
          self.pushButton_5.setText(_translate("MainWindow", "LINE", None))
          self.pushButton_6.setText(_translate("MainWindow", "NORMAL", None))
          self.pushButton_7.setText(_translate("MainWindow", "NORMAL", None))
          self.pushButton_8.setText(_translate("MainWindow", "DRY", None))
          self.pushButton_9.setText(_translate("MainWindow", "SLIPPERY", None))
  
  
          self.label_4.setText(_translate("MainWindow", "PWM LEFT: ", None))
          self.label_7.setText(_translate("MainWindow", "PWM RIGHT: ", None))
  
          self.pushButton.clicked.connect(self.stop)
          self.pushButton_5.clicked.connect(self.showLine)
          self.pushButton_6.clicked.connect(self.showCamera)
          self.pushButton_4.clicked.connect(self.save)
  
      # zatrzymanie pojazdu
      # uruchamia się po naciśnięciu przycisku
      def stop(self):
          print("stop")
      # funkcja odpowiada za wyswietlenie obrazu wykrycia lini
      def showLine(self):
          self.normal = False
      # pokazuje widok z kamery
      def showCamera(self):
          self.normal = True
      # zamkniecie okienka
      def closeEvent(self, event):
          self.workThread.stop()
          event.accept()
      # funkcja odpowiada za rysowania lini
      def drawLines(self, img,lines):
          listX = []
          for line in lines:
              for x1, y1, x2, y2 in line:
                  cv2.line(img, (x1, y1), (x2, y2), (0, 255, 0), 2)
                  listX.append(x1)
          position = min(listX)+max(listX)/2
          height, width, channel = img.shape
          bpl = 3 * width
          self.qImg = QtGui.QImage(img, width, height, bpl, QtGui.QImage.Format_RGB888)
  
          return None
  
      # funkcja odpowiada za wyswietlanie widoku z kamery
      def draw(self, img):
          threshold = 80
          minLineLength = 40
          gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
          blurred2 = cv2.GaussianBlur(gray, (9, 9), 0)
          edged2 = cv2.Canny(blurred2, 25, 50)
          lines = cv2.HoughLinesP(edged2, 1, np.pi / 180, threshold, 0, minLineLength, 100);
          self.position = None
          if self.normal:
              try:
                  self.position = self.drawLines(img, lines)
              except:
                  height, width, channel = img.shape
                  bpl = 3 * width
                  self.qImg = QtGui.QImage(img, width, height, bpl, QtGui.QImage.Format_RGB888)
          else:
              gray = cv2.cvtColor(edged2, cv2.COLOR_GRAY2RGB)
              height, width, chanel = gray.shape
              bpl = 3 * width
              self.qImg = QtGui.QImage(gray, width, height, bpl, QtGui.QImage.Format_RGB888)
  
          pix = QtGui.QPixmap(self.qImg)
          self.label_3.setPixmap(pix)
          self.label_3.show()
  
      def keyPressEvent(self, event):
  
          if event.key() == QtCore.Qt.Key_1:
              self.pwmLeft += 2
              event.accept()
  
          if event.key() == QtCore.Qt.Key_2:
              self.pwmLeft -= 2
              event.accept()
  
          # -----------------------------------------------
          if event.key() == QtCore.Qt.Key_0:
              self.pwmRigt += 2
              event.accept()
  
          if event.key() == QtCore.Qt.Key_9:
              self.pwmRigt -= 2
              event.accept()
  
          if event.key() == QtCore.Qt.Key_Escape:
              self.pwmRigt = 'q'
              self.pwmLeft = 'q'
              event.accept()
  
          if event.key() == QtCore.Qt.Key_Space:
              self.pwmRigt = 0
              self.pwmLeft = 0
              event.accept()
  
      def pwmValidation(self, pwm):
          pwm = 100 if pwm>= 100 else pwm
          pwm = 0 if pwm<= 0 else pwm
          return pwm
  
      def testFunction(self):
          sendStr = str(self.pwmLeft)+"_"+str(self.pwmRigt)
  
          print(sendStr)
  
  
      def closeEvent(self, event):
          self.processThread.do_run = False
  
      def save(self):
          pass
  
  def main():
      app = QtGui.QApplication(sys.argv)  # A new instance of QApplication
      form = GUIApp()                 # We set the form to be our ExampleApp (design)
      form.show()                         # Show the form
      app.exec_()                         # and execute the app
  
  
  if __name__ == '__main__':              # if we're running file directly and not importing it
      main()                              # run the main function
  
  # lower = np.array([0, 0, 0])
  # upper = np.array([30, 30, 30])
  # img2 = cv2.inRange(img, lower, upper)
  # connected
  # blurred = cv2.GaussianBlur(img2, (5, 5), 0)
  # edged = cv2.Canny(blurred, 90, 170)
  # cv2.imshow("color detection", img2)
  # cv2.imshow("connected method", edged)
  # self.drawLines(img, lines)
  # cv2.imshow("edged detection", gray)