diff --git a/README.md b/README.md
index 4ef9875..175f784 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,132 @@
-# tta-uds-streamer
+tta-uds-streamer
+📘 TTA UDS Streamer
 
+C 모듈이 전송하는 UDS 기반 프레임/디텍션 스트림을 처리하는 Python 모듈
+
+📌 개요
+
+이 프로젝트는 C 측에서 Unix Domain Socket(UDS) 을 통해 전송하는
+JPEG 프레임(FRA) + 디텍션(UDSD) 데이터를 Python에서 수신하여
+
+프레임 버퍼링
+
+디텍션 타임스탬프 매칭
+
+WebSocket 실시간 스트리밍
+
+까지 처리하는 파이프라인을 제공합니다.
+
+본 저장소는 Python 측 모듈만 포함하며,
+C 측 NPU → Postprocess → UDS 모듈(cam_ws_app 등) 과 연동하여 동작합니다.
+
+📁 디렉토리 구조
+tta-uds-streamer/
+│
+├── uds_postprocessing.py     # 전체 파이프라인 처리 모듈
+│
+├── feat_control/             # 기능 제어 모듈
+│       └── ctrl_cli.py       # 기능 ON/OFF 제어 CLI (UDS 제어)
+│
+├── ctrl_features.sh          # 기능 ON/OFF 제어 스크립트
+│
+├── requirements.txt          # 패키지 목록 (버전 제거됨)
+│
+└── README.md
+
+🔧 패키지 설치
+pip install -r requirements.txt
+
+🚀 전체 파이프라인 실행
+python uds_postprocessing.py
+
+
+C 프로그램이 /tmp/cam.sock UDS 소켓에
+아래 포맷 그대로 전송하면 Python이 자동으로 프레임 및 디텍션을 처리합니다.
+
+📡 데이터 포맷 요약
+FRA (Frame)
+필드	설명
+magic	"FRA\0"
+width / height	JPEG 이미지 크기
+stride	JPEG 바이트 길이
+pixfmt	WS_PIXFMT_JPEG
+ts_us	프레임 타임스탬프(μs)
+payload	JPEG binary
+UDSD (Detection)
+필드	설명
+magic	"UDSD"
+count	디텍션 수
+ENTRY	prob, x, y, w, h, cls, ...
+ts_us	디텍션 타임스탬프(μs)
+🧩 기능 요약
+
+최근 프레임 N장 버퍼링
+
+디텍션 타임스탬프와 가장 가까운 프레임 자동 매칭
+
+C 측 bytesort 기반 tracking ID 적용 가능
+
+WebSocket 실시간 스트리밍 지원
+
+C 모듈의 기능 플래그를 UDS를 통해 실시간 제어 가능
+
+🎮 Feature Control 사용법
+
+Python의 ctrl_cli.py와 Shell 스크립트 ctrl_features.sh를 사용하여
+C 스트리머의 기능(OBJDET, FIRE, FACE 등)을 ON/OFF할 수 있습니다.
+
+📁 관련 파일
+feat_control/
+└── ctrl_cli.py        # 기능 제어 메시지를 UDS로 전송하는 Python CLI
+ctrl_features.sh        # 여러 기능을 한 번에 ON/OFF하는 스크립트
+
+🔧 ctrl_features.sh 사용법
+기본 구조
+./ctrl_features.sh FEATURE [FEATURE ...]
+
+예시
+객체 탐지만 활성화
+./ctrl_features.sh OBJDET
+
+객체 탐지 + 화재 탐지
+./ctrl_features.sh OBJDET FIRE
+
+잘못된 사용(인자 없음)
+./ctrl_features.sh
+# Usage 출력
+
+🔍 ctrl_features.sh 동작 방식
+1) 모든 기능 OFF
+$CLI "ALL_OFF"
+
+2) 전달받은 기능 목록을 순서대로 ON
+for f in "$@"; do
+  $CLI "ON $f"
+done
+
+
+예시:
+
+./ctrl_features.sh OBJDET FIRE
+
+
+전송되는 실제 명령:
+
+ALL_OFF
+ON OBJDET
+ON FIRE
+
+🧩 ctrl_cli.py 동작 요약
+
+ctrl_cli.py는 내부적으로:
+
+UDS 제어 소켓(/tmp/ctrl_feat.sock) 연결
+
+명령 문자열 전송
+
+OK / FAIL 응답 수신
+
+하는 단순한 CLI로 구성되어 있습니다.
+
+C 측에서는 이를 기반으로
+ctrl_flags.h 에 정의된 기능 플래그를 실시간 변경합니다.
\ No newline at end of file
diff --git a/feat_control/ctrl_cli.py b/feat_control/ctrl_cli.py
new file mode 100644
index 0000000..142a5b1
--- /dev/null
+++ b/feat_control/ctrl_cli.py
@@ -0,0 +1,23 @@
+import sys
+import socket
+
+SOCK = "/tmp/ctrl_feat.sock"
+
+
+def send(cmd: str):
+    with socket.socket(socket.AF_UNIX, socket.SOCK_STREAM) as s:
+        s.connect(SOCK)
+        s.sendall((cmd.rstrip() + "\n").encode())
+        while True:
+            data = s.recv(4096)
+            if not data:
+                break
+            sys.stdout.write(data.decode(errors="ignore"))
+
+
+if __name__ == "__main__":
+    cmd = " ".join(sys.argv[1:]) if len(sys.argv) > 1 else "STATUS"
+    try:
+        send(cmd)
+    except Exception as e:
+        print(f"ERR: {e}")
diff --git a/feat_control/feat_on.sh b/feat_control/feat_on.sh
new file mode 100644
index 0000000..b4877dd
--- /dev/null
+++ b/feat_control/feat_on.sh
@@ -0,0 +1,17 @@
+BASE_DIR="$(cd "$(dirname "$0")" && pwd)"
+CLI="python3 $BASE_DIR/ctrl_cli.py"
+
+if [ $# -lt 1 ]; then
+  echo "Usage: $0 FEATURE [FEATURE ...]" >&2
+  echo "  예) $0 OBJDET"
+  echo "  예) $0 OBJDET FIRE"
+  exit 1
+fi
+
+# 1) 먼저 전부 끄기
+$CLI "ALL_OFF"
+
+# 2) 넘겨준 FEATURE 들을 순서대로 ON
+for f in "$@"; do
+  $CLI "ON $f"
+done
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..dc3eb83
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,2 @@
+numpy
+websockets
diff --git a/uds_postprocessing.py b/uds_postprocessing.py
new file mode 100644
index 0000000..eca70e3
--- /dev/null
+++ b/uds_postprocessing.py
@@ -0,0 +1,396 @@
+import socket, struct, sys, json, asyncio, threading
+import websockets
+import time
+from threading import Lock
+from collections import deque
+
+
+encode_queue = deque()
+encode_lock = Lock()
+
+MAX_ENC_QUEUE = 4
+
+frames_buffer = {}
+
+SOCK_PATH = sys.argv[1] if len(sys.argv) > 1 else "/tmp/cam.sock"
+
+# ----- UDS 포맷 -----
+FRAME_MAGIC = b"FRA\x00"
+FRAME_HDR_FMT = "<4s6I2Q"   # magic, ver, ch, w, h, stride, pixfmt, bytes, ts_us
+FRAME_HDR_SIZE = struct.calcsize(FRAME_HDR_FMT)
+
+DET_MAGIC = b"UDSD"
+DET_HDR_FMT = "<4sIIIQI"    # magic, ver, ch, seq, ts_us, count
+DET_HDR_SIZE = struct.calcsize(DET_HDR_FMT)
+
+ENTRY_FMT = "<fffffHHH"      # prob, x, y, w, h, cls, tid, resv
+ENTRY_SIZE = struct.calcsize(ENTRY_FMT)
+
+WS_PIXFMT_RGB24 = 1
+WS_PIXFMT_JPEG  = 3
+
+UDS_TAG_DET = 1
+UDS_TAG_FIRE = 2
+UDS_TAG_FACE = 3
+UDS_TAG_LPR = 4
+
+FEAT_OBJDET   = 0
+FEAT_ABNORM   = 1
+FEAT_CROWD    = 2
+FEAT_FIRE     = 3
+FEAT_LPR      = 4
+FEAT_FACEATTR     = 5
+FEAT_VIPTRACK = 6
+
+CROWD_LOCAL_CLS = 3
+
+# H = 640
+# W = 384
+
+W = 1080
+H = 720
+
+
+uds_cnt_lock = Lock()
+uds_frames_total = 0
+uds_dets_total = 0
+uds_frames_sec = 0
+uds_dets_sec = 0
+
+# ws debug stats
+ws_frames_total = 0
+ws_frames_sec   = 0
+ws_frames_lock  = Lock()
+
+
+ws_clients = set()
+last_frame_ts = {}
+
+loop_main = None  
+
+ws_bytes_total = 0
+ws_bytes_lock = Lock()
+frame_queue = deque(maxlen=5)
+
+
+def ws_add_bytes(n: int):
+    global ws_bytes_total
+    with ws_bytes_lock:
+        ws_bytes_total += n
+
+
+def read_exact(sock, n: int) -> bytes:
+    buf = bytearray(n)
+    mv = memoryview(buf)
+    got = 0
+    while got < n:
+        r = sock.recv_into(mv[got:], n - got)
+        if r == 0:
+            raise ConnectionError("peer closed")
+        got += r
+    return buf
+
+
+def uds_dec_tag(c: int) -> int:
+    return (c >> 12) & 0xF  # 상위 4비트
+
+
+def uds_dec_local(c: int) -> int:
+    return c & 0x0FFF       # 하위 12비트
+
+
+async def ws_handler(ws):
+    ws_clients.add(ws)
+    print(f"[WS] client connected ({len(ws_clients)})")
+    try:
+        async for _ in ws:
+            # 클라이언트 → 서버 메시지는 현재 사용 안 함
+            pass
+    finally:
+        ws_clients.discard(ws)
+        print(f"[WS] client disconnected ({len(ws_clients)})")
+
+
+async def ws_broadcast_text(text: str):
+    if not ws_clients:
+        return
+
+    targets = list(ws_clients)
+    coros = [ws.send(text) for ws in targets]
+    results = await asyncio.gather(*coros, return_exceptions=True)
+
+    ok_count = 0
+    for ws, r in zip(targets, results):
+        if isinstance(r, Exception):
+            ws_clients.discard(ws)
+        else:
+            ok_count += 1
+
+    if ok_count > 0:
+        ws_add_bytes(len(text.encode("utf-8")) * ok_count)
+
+
+async def ws_broadcast_binary(data: bytes):
+    if not ws_clients:
+        return
+
+    targets = list(ws_clients)
+    coros = [ws.send(data) for ws in targets]
+    results = await asyncio.gather(*coros, return_exceptions=True)
+
+    ok_count = 0
+    for ws, r in zip(targets, results):
+        if isinstance(r, Exception):
+            ws_clients.discard(ws)
+        else:
+            ok_count += 1
+
+    if ok_count > 0:
+        ws_add_bytes(len(data) * ok_count)
+
+
+def ws_broadcast_frame(ch, ts_us, w, h, rgb_bytes, stride):
+    if loop_main is None or not ws_clients:
+        return
+    with encode_lock:
+        if len(encode_queue) >= MAX_ENC_QUEUE:
+            while len(encode_queue) >= MAX_ENC_QUEUE:
+                encode_queue.popleft()
+        encode_queue.append((ch, ts_us, w, h, bytes(rgb_bytes), int(stride)))
+
+
+def ws_broadcast_det(ch, seq, ts_us, items, crowd_count=None):
+    """UDS 스레드에서 호출: 디텍션 메타 텍스트 JSON 전송 예약"""
+    if loop_main is None or not ws_clients:
+        return
+
+    meta = {
+        "type": "det",
+        "ch": int(ch),
+        "seq": int(seq),
+        "ts_us": int(ts_us),
+        "items": items,
+    }
+    if crowd_count is not None:
+        meta["crowd_count"] = int(crowd_count)
+
+    text = json.dumps(meta)
+    asyncio.run_coroutine_threadsafe(ws_broadcast_text(text), loop_main)
+
+
+def decode_reserved(resv):
+    md8 = resv & 0xFF   # low = feature
+    fm8 = (resv >> 8) & 0xFF   # high = model
+    return fm8, md8
+
+
+def handle_frame(hdr, sock):
+    magic, ver, ch, w, h, stride, pixfmt, bytes_len, ts_us = hdr
+
+    if bytes_len <= 0 or bytes_len > 20 * 1024 * 1024:
+        raise ConnectionError("invalid bytes_len")
+
+    buf = read_exact(sock, bytes_len)
+
+    global uds_frames_total, uds_frames_sec
+    with uds_cnt_lock:
+        uds_frames_total += 1
+        uds_frames_sec += 1
+
+    if pixfmt != WS_PIXFMT_JPEG:
+        return
+
+    frames_buffer[ts_us] = bytes(buf)
+
+    if len(frames_buffer) > 6:
+        old_keys = sorted(frames_buffer.keys())[:-3]
+        for k in old_keys:
+            frames_buffer.pop(k, None)
+
+
+def handle_det(hdr, sock):
+    magic, ver, ch, seq, ts_us, count = hdr
+
+    need_bytes = count * ENTRY_SIZE
+    entries_raw = read_exact(sock, need_bytes) if count > 0 else b""
+
+    items = []
+    off = 0
+
+    for _ in range(count):
+        prob, x, y, w, h, cls, tid, resv = struct.unpack_from(
+            ENTRY_FMT, entries_raw, off)
+        off += ENTRY_SIZE
+
+        x1, y1, x2, y2 = x, y, x+w, y+h
+
+        tag = uds_dec_tag(cls)
+        local_cls = uds_dec_local(cls)
+
+        items.append({
+            "x1": float(x1),
+            "y1": float(y1),
+            "x2": float(x2),
+            "y2": float(y2),
+            "score": float(prob),
+            "cls": int(local_cls),
+            "tag": int(tag),
+            "tid": int(tid)
+        })
+
+    if not frames_buffer:
+        return
+
+    candidate_ts = min(frames_buffer.keys(), key=lambda t: abs(t - ts_us))
+
+    if abs(candidate_ts - ts_us) > 200000:
+        return
+
+    jpeg_bytes = frames_buffer.pop(candidate_ts, None)
+    if jpeg_bytes is None:
+        return
+
+    meta = {
+        "type": "frame",
+        "ch": int(ch),
+        "ts_us": int(candidate_ts),
+        "w": int(W),
+        "h": int(H),
+        "items": items,
+    }
+
+    def push():
+        if len(frame_queue) >= 5:
+            frame_queue.popleft()
+        frame_queue.append((meta, jpeg_bytes))
+
+    loop_main.call_soon_threadsafe(push)
+
+
+def uds_stats_printer_loop():
+    global uds_frames_sec, uds_dets_sec, uds_frames_total, uds_dets_total
+    while True:
+        time.sleep(1)
+        with uds_cnt_lock:
+            f_sec = uds_frames_sec
+            d_sec = uds_dets_sec
+            uds_frames_sec = 0
+            uds_dets_sec = 0
+            f_tot = uds_frames_total
+            d_tot = uds_dets_total
+        print(f"[UDS][RATE] {f_sec} fps, {d_sec} dps  | total frames={f_tot}, dets={d_tot}")
+
+
+def uds_loop():
+    while True:
+        try:
+            sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+            sock.setsockopt(socket.SOL_SOCKET, socket.SO_RCVBUF, 4*1024*1024)
+            sock.connect(SOCK_PATH)
+            print(f"[UDS] connected to {SOCK_PATH}")
+
+            try:
+                while True:
+                    magic = read_exact(sock, 4)
+
+                    if magic == FRAME_MAGIC:
+                        rest = read_exact(sock, FRAME_HDR_SIZE - 4)
+                        hdr = struct.unpack(FRAME_HDR_FMT, magic + rest)
+                        try:
+                            handle_frame(hdr, sock)
+                        except ConnectionError as e:
+                            print(f"[UDS][ERR] handle_frame ConnectionError: {e}")
+                            raise
+                        except Exception as e:
+                            print(f"[UDS][ERR] handle_frame EXC: {e}")
+                            break
+
+                    elif magic == DET_MAGIC:
+                        rest = read_exact(sock, DET_HDR_SIZE - 4)
+                        hdr = struct.unpack(DET_HDR_FMT, magic + rest)
+
+                        try:
+                            handle_det(hdr, sock)
+                        except ConnectionError as e:
+                            print(f"[UDS][ERR] handle_det ConnectionError: {e}")
+                            raise
+                        except Exception as e:
+                            print(f"[UDS][ERR] handle_det EXC: {e}")
+                            break
+
+                    else:
+                        print(f"[UDS][WARN] unknown magic={magic!r} hex={magic.hex()}")
+                        break
+
+            finally:
+                sock.close()
+                print("[UDS] disconnected")
+
+        except FileNotFoundError:
+            print(f"[UDS][ERR] {SOCK_PATH} not found, retry...")
+        except ConnectionError as e:
+            print(f"[UDS][ERR] connection closed, retry... ({e})")
+        except Exception as e:
+            print(f"[UDS][ERR] uds_loop outer EXC: {e}, retry...")
+
+        time.sleep(1)
+
+
+async def ws_frame_sender():
+    global ws_frames_total, ws_frames_sec
+
+    while True:
+        try:
+            if not frame_queue or not ws_clients:
+                await asyncio.sleep(0.005)
+                continue
+
+            try:
+                meta, jpeg_bytes = frame_queue.pop()
+            except ValueError:
+                await asyncio.sleep(0.002)
+                continue
+
+            text = json.dumps(meta)
+            await ws_broadcast_text(text)
+            await ws_broadcast_binary(jpeg_bytes)
+
+            with ws_frames_lock:
+                ws_frames_total += 1
+                ws_frames_sec   += 1
+
+        except Exception as e:
+            print(f"[WS][FRAME_SENDER][ERR] {e}")
+            await asyncio.sleep(0.05)
+
+    await asyncio.sleep(0.001) 
+
+async def main_async():
+    
+    global loop_main
+    loop_main = asyncio.get_running_loop()
+
+    server = await websockets.serve(
+        ws_handler,
+        "0.0.0.0",
+        8765,
+        max_queue=None,
+        write_limit=2**20,
+        ping_interval=30,
+        ping_timeout=30,
+        compression=None
+    )
+    print("[WS] listening on 0.0.0.0:8765")
+
+    asyncio.create_task(ws_frame_sender())
+
+    t_uds = threading.Thread(target=uds_loop, daemon=True)
+    t_uds.start()
+
+    t2 = threading.Thread(target=uds_stats_printer_loop, daemon=True)
+    t2.start()
+
+    await server.wait_closed()
+
+if __name__ == "__main__":
+    asyncio.run(main_async())
\ No newline at end of file