diff --git a/server.c b/server.c
new file mode 100644
index 0000000000000000000000000000000000000000..06af57106d40c4ff6112d651357024e20b48771f
--- /dev/null
+++ b/server.c
@@ -0,0 +1,448 @@
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <dirent.h>
+#include <wiringPiI2C.h>
+#include <wiringPi.h>
+#include <sys/wait.h>
+
+#define BUFFER_MAX 3
+#define DIRECTION_MAX 56
+#define VALUE_MAX 256
+
+#define IN 0
+#define OUT 1
+#define PWM 0
+
+#define LOW 0
+#define HIGH 1
+
+#define DISTANCE 5
+
+#define POUT_UL 23
+#define PIN_UL 24
+#define POUT_LED 17
+
+// Define some device parameters
+#define I2C_ADDR 0x27 // I2C device address
+
+// Define some device constants
+#define LCD_CHR 1 // Mode - Sending data
+#define LCD_CMD 0 // Mode - Sending command
+
+#define LINE1 0x80 // 1st line
+#define LINE2 0xC0 // 2nd line
+
+#define LCD_BACKLIGHT 0x08 // On
+// LCD_BACKLIGHT = 0x00 # Off
+
+#define ENABLE 0b00000100 // Enable bit
+
+char msg[3];
+int led = 0;
+int fd;
+
+void typeFloat(float myFloat);
+void typeInt(int i);
+void ClrLcd(void);
+void lcdLoc(int line);
+void typeChar(char val);
+void typeln(const char *s);
+void lcd_byte(int bits, int mode);
+void lcd_toggle_enable(int bits);
+void lcd_init();
+
+void error_handling(char *message) {
+ fputs(message, stderr);
+ fputc('\n', stderr);
+ exit(1);
+}
+
+int flag = 0;
+
+// float to string
+void typeFloat(float myFloat) {
+ char buffer[20];
+ sprintf(buffer, "%4.2f", myFloat);
+ typeln(buffer);
+}
+
+// int to string
+void typeInt(int i) {
+ char array1[20];
+ sprintf(array1, "%d", i);
+ typeln(array1);
+}
+
+// clr lcd go home loc 0x80
+void ClrLcd(void) {
+ lcd_byte(0x01, LCD_CMD);
+ lcd_byte(0x02, LCD_CMD);
+}
+
+// go to location on LCD
+void lcdLoc(int line) {
+ lcd_byte(line, LCD_CMD);
+}
+
+// out char to LCD at current position
+void typeChar(char val) {
+
+ lcd_byte(val, LCD_CHR);
+}
+
+// this allows use of any size string
+void typeln(const char *s) {
+
+ while ( *s ) lcd_byte(*(s++), LCD_CHR);
+
+}
+
+void lcd_byte(int bits, int mode) {
+
+ //Send byte to data pins
+ // bits = the data
+ // mode = 1 for data, 0 for command
+ int bits_high;
+ int bits_low;
+ // uses the two half byte writes to LCD
+ bits_high = mode | (bits & 0xF0) | LCD_BACKLIGHT ;
+ bits_low = mode | ((bits << 4) & 0xF0) | LCD_BACKLIGHT ;
+
+ // High bits
+ wiringPiI2CReadReg8(fd, bits_high);
+ lcd_toggle_enable(bits_high);
+
+ // Low bits
+ wiringPiI2CReadReg8(fd, bits_low);
+ lcd_toggle_enable(bits_low);
+}
+
+void lcd_toggle_enable(int bits) {
+ // Toggle enable pin on LCD display
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits | ENABLE));
+ delayMicroseconds(500);
+ wiringPiI2CReadReg8(fd, (bits & ~ENABLE));
+ delayMicroseconds(500);
+}
+
+void lcd_init() {
+ // Initialise display
+ lcd_byte(0x33, LCD_CMD); // Initialise
+ lcd_byte(0x32, LCD_CMD); // Initialise
+ lcd_byte(0x06, LCD_CMD); // Cursor move direction
+ lcd_byte(0x0C, LCD_CMD); // 0x0F On, Blink Off
+ lcd_byte(0x28, LCD_CMD); // Data length, number of lines, font size
+ lcd_byte(0x01, LCD_CMD); // Clear display
+ delayMicroseconds(500);
+}
+
+static int GPIOExport(int pin) {
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/export", O_WRONLY);
+ if (-1 == fd) {
+ fprintf(stderr, "Failed to open export for writing!\n");
+ return (-1);
+ }
+
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return (0);
+}
+
+static int GPIOUnexport(int pin) {
+ char buffer[BUFFER_MAX];
+ ssize_t bytes_written;
+ int fd;
+
+ fd = open("/sys/class/gpio/unexport", O_WRONLY);
+ if (-1 == fd) {
+ fprintf(stderr, "Failed to open unexport for writing!\n");
+ return (-1);
+ }
+ bytes_written = snprintf(buffer, BUFFER_MAX, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return (0);
+}
+
+static int GPIODirection(int pin, int dir) {
+ static const char s_directions_str[] = "in\0out";
+ char path[DIRECTION_MAX] = "/sys/class/gpio/gpio%d/direction";
+ int fd;
+
+ snprintf(path, DIRECTION_MAX, "/sys/class/gpio/gpio%d/direction", pin);
+
+ fd = open(path, O_WRONLY);
+ if (-1 == fd) {
+ fprintf(stderr, "Failed to open gpio direction for writing!\n");
+ return (-1);
+ }
+
+ if (-1 ==
+ write(fd, &s_directions_str[IN == dir ? 0 : 3], IN == dir ? 2 : 3)) {
+ fprintf(stderr, "Failed to set direction!\n");
+ return (-1);
+ }
+
+ close(fd);
+ return (0);
+}
+
+static int GPIORead(int pin) {
+ char path[VALUE_MAX];
+ char value_str[3];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_RDONLY);
+ if (-1 == fd) {
+ fprintf(stderr, "Failed to open gpio value for reading!\n");
+ return (-1);
+ }
+
+ if (-1 == read(fd, value_str, 3)) {
+ fprintf(stderr, "Failed to read value!\n");
+ return (-1);
+ }
+
+ close(fd);
+
+ return (atoi(value_str));
+}
+
+static int GPIOWrite(int pin, int value) {
+ static const char s_values_str[] = "01";
+ char path[VALUE_MAX];
+ int fd;
+
+ snprintf(path, VALUE_MAX, "/sys/class/gpio/gpio%d/value", pin);
+ fd = open(path, O_WRONLY);
+ if (-1 == fd) {
+ fprintf(stderr, "Failed to open gpio value for writing!\n");
+ return (-1);
+ }
+
+ if (1 != write(fd, &s_values_str[LOW == value ? 0 : 1], 1)) {
+ fprintf(stderr, "Failed to write value!\n");
+ return (-1);
+
+ close(fd);
+ return (0);
+ }
+}
+
+void* thread_situation(){//��Ȳ��
+ char msg[200] = {0};
+
+ if (GPIOExport(POUT_LED) == -1) {
+ exit(1);
+ }
+
+ if (GPIODirection(POUT_LED, OUT) == -1) {
+ exit(1);
+ }
+
+ while(1){
+ if(led == 1){
+ if (GPIOWrite(POUT_LED, 1) == -1) {
+ exit(1);
+ }
+ }else{
+ if (GPIOWrite(POUT_LED, 0) == -1) {
+ exit(1);
+ }
+ }
+ usleep(500 * 1000);
+ }
+
+ if (GPIOUnexport(POUT_LED) == -1) {
+ exit(1);
+ }
+}
+
+void* thread_ultrasonic(){//������ ����
+ char msg[200] = {0};
+ clock_t start_t, end_t;
+ double time;
+ if (-1 == GPIOExport(POUT_UL) || -1 == GPIOExport(PIN_UL)) {
+ printf("gpio export err\n");
+ exit(1);
+ }2
+ usleep(100000);
+ if (-1 == GPIODirection(POUT_UL, OUT) || -1 == GPIODirection(PIN_UL, IN)) {
+ printf("gpio direction err\n");
+ exit(1);
+ }
+ GPIOWrite(POUT_UL, 0);
+ usleep(10000);
+ // start
+ while (1){
+ if (-1 == GPIOWrite(POUT_UL, 1)) {
+ printf("gpio write/trigger err\n");
+ exit(1);
+ }
+ // 1sec == 1000000ultra_sec, 1ms = 1000ultra_sec
+ usleep(10);
+ GPIOWrite(POUT_UL, 0);
+
+ while (GPIORead(PIN_UL) == 0) {
+ start_t = clock();
+ }
+ while (GPIORead(PIN_UL) == 1) {
+ end_t = clock();
+ }
+
+ time = (double)(end_t - start_t) / CLOCKS_PER_SEC; // ms
+ if(time/2*34000<DISTANCE){
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("Process Start");
+ led = 1;
+ flag = 1;
+ }else if(flag == 1){
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("Processing...");
+ }else{
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("waiting");
+ led = 0;
+ }
+
+ usleep(1000000);
+ }
+ if (-1 == GPIOUnexport(POUT_UL) || -1 == GPIOUnexport(PIN_UL)) exit(1);
+}
+
+void* thread_LCD(){
+ if (wiringPiSetup () == -1) exit (1);
+ fd = wiringPiI2CSetup(I2C_ADDR);
+ printf("fd = %d ", fd);
+ lcd_init(); // setup LCD
+}
+
+void* action(void* arg){
+ int clnt_sock = *((int*)arg);
+ char msg[100] = {0};
+ pid_t var;
+ int state;
+ int count = 0;
+ var = fork(); //�ڽ����μ��� ����
+ if(var==0){
+ printf("[pid:%d] redirect client fd\n",getpid(),clnt_sock);//Ŭ���̾�Ʈ�� ���� ���� ȣ��
+ while(1){
+ read(clnt_sock,msg,sizeof(msg)); //Ŭ���̾�Ʈ�� ���� ������ �ƿ�
+ if(!strcmp(msg,"END")){
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("drone check");
+ lcdLoc(LINE2);
+ typeln("complete");
+ flag = 0;
+ }else if(!strcmp(msg,"NO")){
+ count++;
+ if(count >= 5){
+ ClrLcd();
+ lcdLoc(LINE1);
+ typeln("Belt Maifunction");
+ count = 0;
+ flag = 0;
+ }
+ }
+ }
+ }else{
+ printf("[pid:%d] process forekd\n",getpid());
+ wait(&state);//�ڽ����μ����� ���� �� �� ���� ���
+ }
+ close(clnt_sock);
+}
+
+void* do_clnt(void* arg){
+ int thr_id;
+ struct sockaddr_in clnt_addr;
+ socklen_t clnt_addr_size;
+ int serv_sock = *((int*)arg);
+ int clnt_sock[55]; //Ŭ���̾�Ʈ ������ ���� ����
+ int i = 0;
+ pthread_t tid[2];
+ while (1) {
+ clnt_sock[i] = -1;
+ clnt_addr_size = sizeof(clnt_addr);
+ clnt_sock[i] =
+ accept(serv_sock, (struct sockaddr *)&clnt_addr, &clnt_addr_size);
+ if (clnt_sock[i] == -1) error_handling("accept() error");
+ printf("[*] client join\n");
+ printf("[*] wait for client\n");
+ pthread_create(&tid[i],NULL,action,(void*)&clnt_sock[i]); //��Ƽ�����带 ����Ͽ� shell�Լ� ȣ��
+ pthread_detach(tid[i]);//������ ����
+ i++;
+ }
+ close(serv_sock);//���� ����
+}
+
+int main(int argc, char *argv[]) {
+ int serv_sock;
+ struct sockaddr_in serv_addr;
+ int status;
+ int thr_id;
+
+ if (argc != 2) {
+ printf("Usage : %s <port>\n", argv[0]);
+ }
+
+ serv_sock = socket(PF_INET, SOCK_STREAM, 0);
+ if (serv_sock == -1) error_handling("socket() error");
+
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+ serv_addr.sin_port = htons(atoi(argv[1]));
+ if (bind(serv_sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1)
+ error_handling("bind() error");
+
+ if (listen(serv_sock, 5) == -1) error_handling("listen() error");
+ printf("[*] socket initialized\n");
+ printf("[*] wait for client\n");
+ pthread_t tid[4];
+ thr_id = pthread_create(&tid[0], NULL, thread_LCD, NULL);//��Ƽ������� LCD �۵�
+ if (thr_id < 0) {
+ perror("thread create error : ");
+ exit(0);
+ }
+ thr_id = pthread_create(&tid[1], NULL, thread_situation, NULL);//��Ƽ������� ��Ȳ�� ����
+ if (thr_id < 0) {
+ perror("thread create error : ");
+ exit(0);
+ }
+ thr_id = pthread_create(&tid[2], NULL, thread_ultrasonic, NULL);//��Ƽ������� ������ ����
+ if (thr_id < 0) {
+ perror("thread create error : ");
+ exit(0);
+ }
+ thr_id = pthread_create(&tid[3], NULL, do_clnt, (void *)&serv_sock);//Ŭ���̾�Ʈ�� ���
+ if (thr_id < 0) {
+ perror("thread create error : ");
+ exit(0);
+ }
+ pthread_join(tid[0], (void **)&status);
+ pthread_join(tid[1], (void **)&status);
+ pthread_join(tid[2], (void **)&status);
+ pthread_join(tid[3], (void **)&status);//�����尡 �����Ͽ� ������ ������ ���
+ printf("[*] session closed\n");
+ close(serv_sock);//��������
+ return (0);
+}
\ No newline at end of file