#!/usr/bin/python3
# -*- coding: utf-8 -*-

from time import sleep
from huskylensPythonLibrary import HuskyLensLibrary
from base64 import b16decode

b16_table = ['0', '1', '2', '3', '4', '5', '6', '7', '8', '9', '0', 'A', 'B', 'C', 'D', 'E', 'F']
hu = HuskyLensLibrary("I2C", "", address=0x32)
encode_str = ''
control_flag = 0
while 1:
    ret_learned = hu.command_request_blocks_learned()
    if len(ret_learned) == 10:
        # 返回的顺序不合要求，自行排序
        ret_learned.sort(key=lambda x: x[1])
        ret1 = sorted(ret_learned[:4], key=lambda x: x[0])
        ret2 = sorted(ret_learned[4:8], key=lambda x: x[0])
        ret3 = ret_learned[-2:]
        ret_learned = ret1 + ret2 + ret3
        if ret_learned[-1][4] == 18:
            continue
        elif ret_learned[-1][4] == 20:  # 最后一位是控制位，20是停止位标签
            break
            pass
        elif ret_learned[-1][4] == 19:  # 19表示开始
            # 如果接收信息，ret_learned的长度应该是 10
            if control_flag != ret_learned[8][4]:  # index 8 是控制位
                for rec in ret_learned[:-2]:
                    # 第index 4 位是标签，前面的0-3是矩形框位置
                    # 这里为了方便计算，就不判断位置了
                    encode_str = encode_str + b16_table[rec[4]]
                    control_flag = ret_learned[8][4]  # index 8 是控制位
    sleep(0.3)
print(b16decode(encode_str).decode('utf-8'))