diff --git a/camera_rgbled/clientcameraled b/camera_rgbled/clientcameraled
new file mode 100644
index 0000000000000000000000000000000000000000..8069be2c4c61daa5e2debc1d8f67a3be841712a8
--- /dev/null
+++ b/camera_rgbled/clientcameraled
@@ -0,0 +1,481 @@
+#include <stdio.h>
+#include <stdlib.h>
+#include <arpa/inet.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/socket.h>
+#include <pthread.h>
+
+#define BUFFER_MAX 1024
+
+char dist[20];
+int startflag = 0;
+
+#define IN 0
+#define OUT 1
+#define LOW 0
+#define HIGH 1
+#define VALUE_MAX 40
+#define DIRECTION_MAX 128
+
+#define RED 17
+#define GREEN 27
+#define BLUE 22
+
+void error_handling(char *message)
+{
+ fputs(message, stderr);
+ fputc('\n', stderr);
+ exit(1);
+}
+void camera()
+{
+ FILE *fp;
+ system("raspistill -t 1000 -o captures/cam.jpg");
+ sleep(3);
+
+ /* Python 스크립트 실행 */
+ fp = popen("python3 getdist.py", "r");
+ if (fp == NULL)
+ {
+ error_handling("Failed to run command");
+ }
+
+ /* 스크립트 출력을 읽어 dist로 전달 */
+ fgets(dist, sizeof(dist), fp);
+
+ /* 파일 포인터 닫기 */
+ pclose(fp);
+}
+
+static int GPIOExport(int pin)
+{
+#define GPIO_BUFFER 3
+ char buffer[GPIO_BUFFER];
+ 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, GPIO_BUFFER, "%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];
+ 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 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);
+}
+
+static int GPIOUnexport(int pin)
+{
+ char buffer[GPIO_BUFFER];
+ 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, GPIO_BUFFER, "%d", pin);
+ write(fd, buffer, bytes_written);
+ close(fd);
+ return (0);
+}
+
+// 소켓으로 전송
+void *thread_me_to_socket(void *arg)
+{
+ int sock = *(int *)arg;
+ int x, y;
+ char buffer[BUFFER_MAX];
+ char piece[1];
+
+ while (1)
+ {
+ if (startflag == 1)
+ {
+ // int n = read(sock, buffer, BUFFER_MAX);
+ printf("Start!\n");
+ camera();
+ printf("camera check!\n");
+ char *token = strtok(dist, "/"); // "/"를 구분자로 사용하여 문자열 분할
+ x = atoi(token);
+ token = strtok(NULL, "/"); // 다음 분할 위치로 이동
+ y = atoi(token);
+
+ if (x < 0)
+ { // 위
+ printf("up");
+ x = 0 - x;
+ strcpy(buffer, "U ");
+ sprintf(piece, "%d", x);
+ strcat(buffer, piece);
+ strcat(buffer, " ");
+ }
+ else
+ {
+ printf("down");
+ strcpy(buffer, "D ");
+ sprintf(piece, "%d", x);
+ strcat(buffer, piece);
+ strcat(buffer, " ");
+ }
+
+ if (y < 0)
+ { // 왼
+ printf("left");
+ y = 0 - y;
+ strcat(buffer, "L");
+ strcat(buffer, " ");
+ sprintf(piece, "%d", y);
+ strcat(buffer, piece);
+ strcat(buffer, " ");
+ }
+ else
+ {
+
+ printf("right");
+ strcat(buffer, "R");
+ strcat(buffer, " ");
+ sprintf(piece, "%d", y);
+ strcat(buffer, piece);
+ strcat(buffer, " ");
+ }
+ write(sock, buffer, sizeof(buffer));
+ printf("Send!\n");
+ startflag = 0;
+ break;
+ }
+ }
+
+ return NULL;
+}
+
+// 소켓 내용 수용
+void *thread_socket_to_me(void *arg)
+{
+ int sock = *(int *)arg;
+ char buffer[BUFFER_MAX];
+ while (1)
+ {
+ int n = read(sock, buffer, BUFFER_MAX);
+ write(STDOUT_FILENO, buffer, n);
+ if (n <= 0) // 연결 해제 시 종료
+ {
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 1) == -1)
+ {
+ // return 3;
+ }
+ usleep(2000*1000);
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ printf("Server Disconnection!\n");
+ exit(0);
+ }
+ if (strcmp(buffer, "Start") == 0)
+ {
+ printf("Start!\n");
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 1) == -1)
+ {
+ // return 3;
+ }
+ startflag = 1;
+ }
+ else if (strcmp(buffer, "Stop") == 0)
+ { // led 파란색
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ printf("Stop!\n");
+ if (GPIOWrite(BLUE, 1) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ }
+ else if (strcmp(buffer, "Error") == 0)
+ { // led 빨간색
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ printf("Error!\n");
+ if (GPIOWrite(RED, 1) == -1)
+ {
+ // return 3;
+ }
+ }
+ else if (strcmp(buffer, "LID") == 0)
+ { // led 빨파빨파
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ int i = 0;
+ printf("Danger!\n");
+ while (i < 7)
+ {
+ if (GPIOWrite(RED, 1) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 1) == -1)
+ {
+ // return 3;
+ }
+ usleep(500 * 1000);
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ usleep(500 * 1000);
+ i++;
+ i++;
+ }
+ }
+ else if (strcmp(buffer, "wait") == 0)
+ { // led 노란색(깜빡깜빡)
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ int i = 0;
+ printf("Wait!\n");
+ while (i < 5)
+ {
+ if (GPIOWrite(RED, 1) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 1) == -1)
+ {
+ // return 3;
+ }
+ usleep(500 * 1000);
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ usleep(500 * 1000);
+ i++;
+ }
+ }
+ else if (strcmp(buffer, "End") == 0)
+ { // led 초록색
+ if (GPIOWrite(RED, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ if (GPIOWrite(BLUE, 0) == -1)
+ {
+ // return 3;
+ }
+ int i = 0;
+ printf("End!\n");
+ while (i < 5)
+ {
+ if (GPIOWrite(GREEN, 1) == -1)
+ {
+ // return 3;
+ }
+ usleep(1000 * 1000);
+ i++;
+ }
+ if (GPIOWrite(GREEN, 0) == -1)
+ {
+ // return 3;
+ }
+ }
+ }
+
+ return NULL;
+}
+
+int main(int argc, char *argv[])
+{
+
+ char path[1035];
+ int sock;
+ struct sockaddr_in serv_addr;
+ pthread_t thread1, thread2;
+ char buffer[BUFFER_MAX];
+
+ if (argc != 3)
+ {
+ printf("Usage : %s <IP> <port>\n", argv[0]);
+ exit(1);
+ }
+
+ // 소켓 생성
+ sock = socket(PF_INET, SOCK_STREAM, 0);
+ if (sock < 0)
+ {
+ perror("Error creating socket");
+ exit(1);
+ }
+
+ memset(&serv_addr, 0, sizeof(serv_addr));
+ serv_addr.sin_family = AF_INET;
+ serv_addr.sin_addr.s_addr = inet_addr(argv[1]);
+ serv_addr.sin_port = htons(atoi(argv[2]));
+
+ // 서버에 연결
+ if (connect(sock, (struct sockaddr *)&serv_addr, sizeof(serv_addr)) == -1)
+ {
+ error_handling("connect() error");
+ }
+
+ // 연결 성공 시 문구 출력
+ printf("Connection established\n");
+ write(sock, "Camera", sizeof("Camera"));
+
+ if (GPIOExport(RED) == -1)
+ {
+ return 1;
+ }
+ if (GPIOExport(GREEN) == -1)
+ {
+ return 1;
+ }
+ if (GPIOExport(BLUE) == -1)
+ {
+ return 1;
+ }
+
+ if (GPIODirection(RED, OUT) == -1)
+ {
+ return 2;
+ }
+ if (GPIODirection(GREEN, OUT) == -1)
+ {
+ return 2;
+ }
+ if (GPIODirection(BLUE, OUT) == -1)
+ {
+ return 2;
+ }
+
+ pthread_create(&thread1, NULL, thread_me_to_socket, &sock);
+ pthread_create(&thread2, NULL, thread_socket_to_me, &sock);
+
+ pthread_join(thread1, NULL);
+ pthread_join(thread2, NULL);
+
+ close(sock);
+ return 0;
+}