diff --git a/config.json b/config.json
index 556a259..c526714 100644
--- a/config.json
+++ b/config.json
@@ -6,8 +6,8 @@
         ]
     },
     "ref_zero_point": {
-        "oilInFlowRate": 3995,
-        "waterInFlowRate": 3984
+        "oilInFlowRate": 4005,
+        "waterInFlowRate": 4000
     },
     "cdu_digital_list": {
         "valve1OpenStatus": [
@@ -101,6 +101,16 @@
             "y"
         ]
     },
+    "cdu_pdu_list": {
+        "pduCDU1": [
+            1,
+            "y"
+        ],
+        "pduCDU2": [
+            2,
+            "y"
+        ]
+    },
     "tank_device_list": {
         "tankLeftTopFrontTemp": [
             1,
@@ -150,5 +160,23 @@
             12,
             "y"
         ]
+    },
+    "tank_pdu_list": {
+        "pduTank1": [
+            1,
+            "n"
+        ],
+        "pduTank2": [
+            2,
+            "n"
+        ],
+        "pduTank3": [
+            3,
+            "n"
+        ],
+        "pduTank4": [
+            4,
+            "n"
+        ]
     }
 }
\ No newline at end of file
diff --git a/control.json b/control.json
index d8cea44..f4e5e8f 100644
--- a/control.json
+++ b/control.json
@@ -1,18 +1,18 @@
 {
-    "get_data_interval": 1,
-    "set_zero_temperature": "n",
+    "get_data_interval": 2,
+    "set_zero_flow": "n",
     "valve1": "Off",
     "valve2": "Off",
     "inverter": {
         "inverter1": "Off",
-        "inverter1Frq": 30,
+        "inverter1Frq": 50,
         "inverter1Acc": 5.0,
         "inverter1Dec": 10.0,
         "inverter2": "Off",
-        "inverter2Frq": 30,
+        "inverter2Frq": 40,
         "inverter2Acc": 5.0,
         "inverter2Dec": 10.0
     },
     "mode": "auto",
-    "cmd": "None"
+    "cmd": "none"
 }
\ No newline at end of file
diff --git a/framework.yaml b/framework.yaml
index 9421412..4420f3f 100644
--- a/framework.yaml
+++ b/framework.yaml
@@ -8,5 +8,5 @@ spec:
     package: requirements.txt # 설치할 Python 패키지 정보 파일입니다.(기본 값은 requirement.txt 입니다.)
     runtime: python3.9
 stackbase:
-  tagName: v2.0.3 # Stackbase(gitea)에 릴리즈 태그명 입니다.
+  tagName: v2.0.4 # Stackbase(gitea)에 릴리즈 태그명 입니다.
   repoName: aquarack-sensor-collector # Satackbase(gitea)에 저장될 저장소 이릅니다.	
diff --git a/main.py b/main.py
index c6f5519..c8a06b1 100644
--- a/main.py
+++ b/main.py
@@ -2,28 +2,43 @@ import sdtcloudpubsub
 import uuid
 from pymodbus.client import ModbusSerialClient as ModbusClient
 import os, json, sys, time
-import threading
+import threading, struct
+import serial
 
 sdtcloud = sdtcloudpubsub.sdtcloudpubsub()
 sdtcloud.setClient(f"device-app-{uuid.uuid1()}") # parameter is client ID(string)
 
+def get_inverter_errorcode(data):
+    error_code = ['Reserved', 'OVT', 'EXT-A', 'ETX(BX)', 'COL', 'GFT', 'OHT', 'ETH', 'OLT', 'Reserved', 'EXT-B', 'EEP', 'FAN', 'POT', 'IOLT', 'LVT']
+    result = [error_code[i] for i in range(16) if (data & (0x8000 >> i)) and error_code[i] != 'Reserved']
+    return ','.join(result)
+
 def get_modbus(evt, serial_obj):
-    global isThread, g_zero_point, pub_dict, a_col, d_col, t_col, p_col, S_col
+    # global isThread, g_zero_point, pub_dict, a_col, d_col, t_col, p_col, S_col, s_col, path
+    global isThread, g_zero_point, pub_dict, a_col, d_col, t_col, p_col, S_col, s_col
     
-    ctl_mode = 'None'
-    cmd_status = [0, 0, 0, 0]
-    cmd_sub_status = 'None'
+    cmd_status = 'none'
+    cmd_sub_status = 'none'
     inverter_status = [0] * 6
     valve_status = [False] * 8
+    pre_dict = {}
+    init_flag = 0
 
     while isThread:
         evt.wait()
         evt.clear()
 
-        # with open(os.path.join(file_path, 'control.json'), 'r') as f:
+        # with open(os.path.join(path, 'control.json'), 'r') as f:
         with open('./control.json', 'r') as f:
             control_data = json.load(f)
-            pre_dict = control_data.copy()
+        
+        try:
+            res = serial_obj.read_holding_registers(address=0, count=2, slave=20)
+            # print(f'humidity: {res.registers[0]/10}% / temperature: {res.registers[1]/10}°C')
+            for i, j in enumerate(s_col):
+                pub_dict[j] = res.registers[i] / 10
+        except Exception as e:
+            print(f'Humidity/Temperature Senseor Error: {e}')
 
         # CWT-TM-320s
         try:
@@ -42,8 +57,8 @@ def get_modbus(evt, serial_obj):
             # print(f'cdu_analog:{cdu_analog.registers}')
             # print(f'cdu_digital:{cdu_digital.bits}')
         
-            if control_data['set_zero_temperature'] == 'y':
-                # with open(os.path.join(file_path, 'config.json'), 'r') as f:
+            if control_data['set_zero_flow'] == 'y':
+                # with open(os.path.join(path, 'config.json'), 'r') as f:
                 with open('./config.json', 'r') as f:
                     config_data = json.load(f)
         
@@ -51,7 +66,7 @@ def get_modbus(evt, serial_obj):
                     if j == 'oilInFlowRate' or j == 'waterInFlowRate':
                         config_data['ref_zero_point'][j] = cdu_analog.registers[i]
                 
-                control_data['set_zero_temperature'] = 'n'
+                control_data['set_zero_flow'] = 'n'
                 
                 # with open(os.path.join(path, 'config.json'), 'w') as f:
                 with open('./config.json', 'w') as f:
@@ -83,13 +98,26 @@ def get_modbus(evt, serial_obj):
         try:
             # M100
             res = client1.read_holding_registers(address=9, count=6, slave=10)
-            inverter_status[0] = res.registers[0]
-            inverter_status[1] = res.registers[5]
-            inverter_status[2] = res.registers[4]
+            inverter_status[0] = res.registers[0] / 100 # frequncy
+            inverter_status[1] = get_inverter_errorcode(res.registers[5]) # errorcode
+            run_status = res.registers[4] # running status
+            if run_status & 0x01:
+                inverter_status[2] = 'stop'
+            elif run_status & 0x02:
+                inverter_status[2] = 'running'
+            elif run_status & 0x08:
+                inverter_status[2] = 'error'
+            
             res = client1.read_holding_registers(address=9, count=6, slave=11)
-            inverter_status[3] = res.registers[0]
-            inverter_status[4] = res.registers[5]
-            inverter_status[5] = res.registers[4]
+            inverter_status[3] = res.registers[0] / 100 # frequncy
+            inverter_status[4] = get_inverter_errorcode(res.registers[5]) # errorcode
+            run_status = res.registers[4] # running status
+            if run_status & 0x01:
+                inverter_status[5] = 'stop'
+            elif run_status & 0x02:
+                inverter_status[5] = 'running'
+            elif run_status & 0x08:
+                inverter_status[5] = 'error'
 
             for i, j in enumerate(p_col):
                 pub_dict[j] = inverter_status[i]
@@ -98,231 +126,258 @@ def get_modbus(evt, serial_obj):
 
         try:
             if control_data['mode'] == 'auto':
-                if control_data['cmd'] == 'init': # 방어코드 필요
-                    if cmd_sub_status == 'None':
+                if control_data['cmd'] == 'init':
+                    if cmd_sub_status != 'workingInit':
                         valve_status[0], valve_status[1] = True, True
                         res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
 
                         client1.write_registers(address=5, values=[193], slave=10)
                         client1.write_registers(address=5, values=[193], slave=11)
 
+                        cmd_status = 'init'
                         cmd_sub_status = 'workingInit'
-                        pub_dict['cmd'] = 'init'
+                        pub_dict['cmd'] = 'workingInit'
                     elif cmd_sub_status == 'workingInit':
                         if (pub_dict['valve1OpenStatus'] == True
                             and pub_dict['valve2OpenStatus'] == True
-                            and (pub_dict['pump1StatusRunning'] & 0x01)
-                            and (pub_dict['pump2StatusRunning'] & 0x01)):
-                            cmd_sub_status = 'None'
-                            pub_dict['cmd'] = 'None'
-                            control_data['cmd'] = 'None'
-
-                elif control_data['cmd'] == 'act1':
-                    if cmd_sub_status == 'None':
-                        if (pub_dict['pump1StatusRunning'] & 0x02
-                            and pub_dict['pump2StatusRunning'] & 0x01
-                            and pub_dict['valve1OpenStatus'] == True
-                            and pub_dict['valve2CloseStatus'] == True):
-                                cmd_stataus = 'None'
-                                control_data['cmd'] = 'None'
-                        else:
-                            cmd_stataus = 'act1'
-                            pub_dict['cmd'] = 'act1'
-                            cmd_sub_status = 'stopPump1'
-
-                    elif cmd_sub_status == 'stopPump1':
-                        if not (pub_dict['pump1StatusRunning'] & 0x01):
-                            client1.write_registers(address=5, values=[193], slave=10)
-                            cmd_sub_status = 'stoppingPump1'
-                        else:
-                            cmd_sub_status = 'stopPump2'
-
-                    elif cmd_sub_status == 'stoppingPump1':
-                        if pub_dict['pump1StatusRunning'] & 0x01:
-                            cmd_sub_status = 'stopPump2'
-
-                    elif cmd_sub_status == 'stopPump2':
-                        if not (pub_dict['pump2StatusRunning'] & 0x01):
-                            client1.write_registers(address=5, values=[193], slave=11)
-                            cmd_sub_status = 'stoppingPump2'
-                        else:
-                            cmd_sub_status = 'closeValve2'
-                    
-                    elif cmd_sub_status == 'stoppingPump2':
-                        if pub_dict['pump2StatusRunning'] & 0x01:
-                            cmd_sub_status = 'closeValve2'
-                    
-                    elif cmd_sub_status == 'closeValve2':
-                        if pub_dict['valve2OpenStatus'] == True:
-                            valve_status[1] = False
-                            res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
-                            cmd_sub_status = 'closingValve2'
-                        elif pub_dict['valve2CloseStatus'] == True:
-                            cmd_sub_status = 'openValve1'
-                    
-                    elif cmd_sub_status == 'closingValve2':
-                        if pub_dict['valve2CloseStatus'] == True:
-                            cmd_sub_status = 'openValve1'
-
-                    elif cmd_sub_status == 'openValve1':
-                        if pub_dict['valve1CloseStatus'] == True:
-                            valve_status[0] = True
-                            res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
-                            cmd_sub_status = 'openningValve1'
-                        elif pub_dict['valve1OpenStatus'] == True:
-                            cmd_sub_status = 'startPump1'
-
-                    elif cmd_sub_status == 'openningValve1':
-                        if pub_dict['valve1OpenStatus'] == True:
-                            cmd_sub_status = 'startPump1'
-                        
-                    elif cmd_sub_status == 'startPump1':
-                        frq = int(control_data['inverter']['inverter1Frq'] * 100)
-                        acc = int(control_data['inverter']['inverter1Acc'] * 10)
-                        dec = int(control_data['inverter']['inverter1Dec'] * 10)
-                        client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
-                        cmd_sub_status = 'startingPump1'
-
-                    elif cmd_sub_status == 'startingPump1':
-                        if pub_dict['pump1StatusRunning'] & 0x40:
-                            cmd_sub_status = 'None'
-                            control_data['cmd'] = 'None'
-                            
-                elif control_data['cmd'] == 'act2':
-                    if cmd_sub_status == 'None':
-                        if (pub_dict['pump1StatusRunning'] & 0x01
-                            and pub_dict['pump2StatusRunning'] & 0x02
-                            and pub_dict['valve1CloseStatus'] == True
-                            and pub_dict['valve2OpenStatus'] == True):
-                                cmd_stataus = 'None'
-                                control_data['cmd'] = 'None'
-                        else:
-                            cmd_stataus = 'act2'
-                            pub_dict['cmd'] = 'act2'
-                            cmd_sub_status = 'stopPump1'
-
-                    elif cmd_sub_status == 'stopPump1':
-                        if not (pub_dict['pump1StatusRunning'] & 0x01):
-                            client1.write_registers(address=5, values=[193], slave=10)
-                            cmd_sub_status = 'stoppingPump1'
-                        else:
-                            cmd_sub_status = 'stopPump2'
-
-                    elif cmd_sub_status == 'stoppingPump1':
-                        if pub_dict['pump1StatusRunning'] & 0x01:
-                            cmd_sub_status = 'stopPump2'
-
-                    elif cmd_sub_status == 'stopPump2':
-                        if not (pub_dict['pump2StatusRunning'] & 0x01):
-                            client1.write_registers(address=5, values=[193], slave=11)
-                            cmd_sub_status = 'stoppingPump2'
-                        else:
-                            cmd_sub_status = 'closeValve1'
-                    
-                    elif cmd_sub_status == 'stoppingPump2':
-                        if pub_dict['pump2StatusRunning'] & 0x01:
-                            cmd_sub_status = 'closeValve1'
-                    
-                    elif cmd_sub_status == 'closeValve1':
-                        if pub_dict['valve1OpenStatus'] == True:
-                            valve_status[0] = False
-                            res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
-                            cmd_sub_status = 'closingValve1'
-                        elif pub_dict['valve1CloseStatus'] == True:
-                            cmd_sub_status = 'openValve2'
-                    
-                    elif cmd_sub_status == 'closingValve1':
-                        if pub_dict['valve1CloseStatus'] == True:
-                            cmd_sub_status = 'openValve2'
-
-                    elif cmd_sub_status == 'openValve2':
-                        if pub_dict['valve2CloseStatus'] == True:
-                            valve_status[1] = True
-                            res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
-                            cmd_sub_status = 'openningValve2'
-                        elif pub_dict['valve2OpenStatus'] == True:
-                            cmd_sub_status = 'startPump2'
-
-                    elif cmd_sub_status == 'openningValve2':
-                        if pub_dict['valve2OpenStatus'] == True:
-                            cmd_sub_status = 'startPump2'
-                        
-                    elif cmd_sub_status == 'startPump2':
-                        frq = int(control_data['inverter']['inverter2Frq'] * 100)
-                        acc = int(control_data['inverter']['inverter2Acc'] * 10)
-                        dec = int(control_data['inverter']['inverter2Dec'] * 10)
-                        client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=11)
-                        cmd_sub_status = 'startingPump2'
-
-                    elif cmd_sub_status == 'startingPump2':
-                        if pub_dict['pump2StatusRunning'] & 0x40:
-                            cmd_sub_status = 'None'
-                            control_data['cmd'] = 'None'
+                            and (pub_dict['pump1StatusRunning'] == 'stop')
+                            and (pub_dict['pump2StatusRunning'] == 'stop')):
+                            cmd_status = 'none'
+                            cmd_sub_status = 'doneInit'
+                            pub_dict['cmd'] = 'doneInit'
+                            control_data['cmd'] = 'none'
+                            init_flag = 1
 
                 elif control_data['cmd'] == 'emer': # 어느 조건에서든 입력되면 바로 수행
-                    if cmd_sub_status == 'None':
+                    if cmd_sub_status != 'workingEmer':
                         valve_status[0], valve_status[1] = False, False
                         res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
 
                         client1.write_registers(address=5, values=[208], slave=10)
                         client1.write_registers(address=5, values=[208], slave=11)
-
+                        cmd_status = 'emer'
                         cmd_sub_status = 'workingEmer'
                         pub_dict['cmd'] = 'emer'
+                        init_flag = 0
                     elif cmd_sub_status == 'workingEmer':
                         if (pub_dict['valve1CloseStatus'] == True
                             and pub_dict['valve2CloseStatus'] == True
-                            and (pub_dict['pump1StatusRunning'] & 0x01)
-                            and (pub_dict['pump2StatusRunning'] & 0x01)):
-                            cmd_sub_status = 'None'
-                            pub_dict['cmd'] = 'None'
-                            control_data['cmd'] = 'None'
+                            and (pub_dict['pump1StatusRunning'] == 'stop')
+                            and (pub_dict['pump2StatusRunning'] == 'stop')):
+                            cmd_sub_status = 'none'
+                            control_data['cmd'] = 'none'
+
+                elif control_data['cmd'] == 'stop' or cmd_status == 'stop':
+                    if init_flag == 0:
+                        continue
+                    if cmd_status == 'none' or cmd_status == 'stop' or cmd_status == 'act1' or cmd_status == 'act2':
+                        client1.write_registers(address=5, values=[193], slave=10)
+                        client1.write_registers(address=5, values=[193], slave=11)
+                        if not ((pub_dict['pump1StatusRunning'] == 'stop')
+                            and (pub_dict['pump2StatusRunning'] == 'stop')):
+                            cmd_status = 'stop'
+                            cmd_sub_status = 'stopping'
+                            pub_dict['cmd'] = 'stopping'
+                        elif ((pub_dict['pump1StatusRunning'] == 'stop')
+                            and (pub_dict['pump2StatusRunning'] == 'stop')):
+                            cmd_status = 'none'
+                            cmd_sub_status = 'stop'
+                            pub_dict['cmd'] = 'stop'
+                            control_data['cmd'] = 'none'
+
+                elif control_data['cmd'] == 'act1':
+                    if init_flag == 0:
+                        continue
+                    if cmd_status == 'none' or cmd_status == 'act1':
+                        if cmd_sub_status == 'doneInit' or cmd_sub_status == 'stop':
+                            cmd_status = 'act1'
+                            cmd_sub_status = 'closeValve2'
+                            pub_dict['cmd'] = 'startAct1'
+
+                        elif cmd_sub_status == 'workingPump2':
+                            cmd_status = 'act1'
+                            cmd_sub_status = 'stopPump2'
+                            pub_dict['cmd'] = 'startAct1'
+
+                        elif cmd_sub_status == 'stopPump2':
+                            if not (pub_dict['pump2StatusRunning'] == 'stop'):
+                                client1.write_registers(address=5, values=[193], slave=11)
+                                cmd_sub_status = 'stoppingPump2'
+                            else:
+                                cmd_sub_status = 'closeValve2'
+                        
+                        elif cmd_sub_status == 'stoppingPump2':
+                            if pub_dict['pump2StatusRunning'] == 'stop':
+                                cmd_sub_status = 'closeValve2'
+                        
+                        elif cmd_sub_status == 'closeValve2':
+                            if pub_dict['valve2OpenStatus'] == True:
+                                valve_status[1] = False
+                                res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                                cmd_sub_status = 'closingValve2'
+                            elif pub_dict['valve2CloseStatus'] == True:
+                                cmd_sub_status = 'openValve1'
+                        
+                        elif cmd_sub_status == 'closingValve2':
+                            if pub_dict['valve2CloseStatus'] == True:
+                                cmd_sub_status = 'openValve1'
+
+                        elif cmd_sub_status == 'openValve1':
+                            if pub_dict['valve1CloseStatus'] == True:
+                                valve_status[0] = True
+                                res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                                cmd_sub_status = 'openningValve1'
+                            elif pub_dict['valve1OpenStatus'] == True:
+                                cmd_sub_status = 'startPump1'
+
+                        elif cmd_sub_status == 'openningValve1':
+                            if pub_dict['valve1OpenStatus'] == True:
+                                cmd_sub_status = 'startPump1'
+                            
+                        elif cmd_sub_status == 'startPump1':
+                            frq = int(control_data['inverter']['inverter1Frq'] * 100)
+                            acc = int(control_data['inverter']['inverter1Acc'] * 10)
+                            dec = int(control_data['inverter']['inverter1Dec'] * 10)
+                            client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
+                            cmd_sub_status = 'startingPump1'
+
+                        elif cmd_sub_status == 'startingPump1':
+                            if pub_dict['pump1StatusRunning'] == 'running':
+                                cmd_status = 'none'
+                                cmd_sub_status = 'workingPump1'
+                                pub_dict['cmd'] = 'workingAct1'
+                                control_data['cmd'] = 'none'
+                    else:
+                        client1.write_registers(address=5, values=[193], slave=10)
+                        client1.write_registers(address=5, values=[193], slave=11)
+                        pub_dict['cmd'] = 'errorAct1'
+                        cmd_status = 'errorAct1'
+                        cmd_sub_status = 'errorPump1'
+                        init_flag = 0
+                                
+                elif control_data['cmd'] == 'act2':
+                    if init_flag == 0:
+                        continue
+                    if cmd_status == 'none' or cmd_status == 'act2':
+                        if cmd_sub_status == 'doneInit' or cmd_sub_status == 'stop':
+                            cmd_status = 'act2'
+                            cmd_sub_status = 'closeValve1'
+                            pub_dict['cmd'] = 'startAct2'
+                            
+                        elif cmd_sub_status == 'workingPump1':
+                            cmd_status = 'act2'
+                            cmd_sub_status = 'stopPump1'
+                            pub_dict['cmd'] = 'startAct2'
+                            
+                        elif cmd_sub_status == 'stopPump1':
+                            if not (pub_dict['pump1StatusRunning'] == 'stop'):
+                                client1.write_registers(address=5, values=[193], slave=10)
+                                cmd_sub_status = 'stoppingPump1'
+                            else:
+                                cmd_sub_status = 'closeValve1'
+
+                        elif cmd_sub_status == 'stoppingPump1':
+                            if pub_dict['pump1StatusRunning'] == 'stop':
+                                cmd_sub_status = 'closeValve1'
+
+                        elif cmd_sub_status == 'closeValve1':
+                            if pub_dict['valve1OpenStatus'] == True:
+                                valve_status[0] = False
+                                res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                                cmd_sub_status = 'closingValve1'
+                            elif pub_dict['valve1CloseStatus'] == True:
+                                cmd_sub_status = 'openValve2'
+                        
+                        elif cmd_sub_status == 'closingValve1':
+                            if pub_dict['valve1CloseStatus'] == True:
+                                cmd_sub_status = 'openValve2'
+
+                        elif cmd_sub_status == 'openValve2':
+                            if pub_dict['valve2CloseStatus'] == True:
+                                valve_status[1] = True
+                                res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                                cmd_sub_status = 'openningValve2'
+                            elif pub_dict['valve2OpenStatus'] == True:
+                                cmd_sub_status = 'startPump2'
+
+                        elif cmd_sub_status == 'openningValve2':
+                            if pub_dict['valve2OpenStatus'] == True:
+                                cmd_sub_status = 'startPump2'
+                            
+                        elif cmd_sub_status == 'startPump2':
+                            frq = int(control_data['inverter']['inverter2Frq'] * 100)
+                            acc = int(control_data['inverter']['inverter2Acc'] * 10)
+                            dec = int(control_data['inverter']['inverter2Dec'] * 10)
+                            client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=11)
+                            cmd_sub_status = 'startingPump2'
+
+                        elif cmd_sub_status == 'startingPump2':
+                            if pub_dict['pump2StatusRunning'] == 'running':
+                                cmd_status = 'none'
+                                cmd_sub_status = 'workingPump2'
+                                pub_dict['cmd'] = 'workingAct2'
+                                control_data['cmd'] = 'none'
+                    else:
+                        client1.write_registers(address=5, values=[193], slave=10)
+                        client1.write_registers(address=5, values=[193], slave=11)
+                        pub_dict['cmd'] = 'errorAct2'
+                        cmd_status = 'errorAct2'
+                        cmd_sub_status = 'errorPump2'
+                        init_flag = 0
+                
+                else:
+                    if isinstance(pub_dict['cmd'], (int, float)):
+                        pub_dict['cmd'] = 'none'
 
             elif control_data['mode'] == 'manual':
-                if control_data['inverter']['inverter1'] == 'On' and cmd_status[0] == 0:
-                    frq = int(control_data['inverter']['inverter1Frq'] * 100)
-                    acc = int(control_data['inverter']['inverter1Acc'] * 10)
-                    dec = int(control_data['inverter']['inverter1Dec'] * 10)
-                    client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
-                    cmd_status[0] = 1
-                elif control_data['inverter']['inverter1'] == 'Off' and cmd_status[0] == 1:
-                    client1.write_registers(address=5, values=[193], slave=10)
-                    cmd_status[0] = 0
-                
-                if control_data['inverter']['inverter2'] == 'On' and cmd_status[1] == 0:
-                    frq = int(control_data['inverter']['inverter1Frq'] * 100)
-                    acc = int(control_data['inverter']['inverter1Acc'] * 10)
-                    dec = int(control_data['inverter']['inverter1Dec'] * 10)
-                    client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
-                    cmd_status[1] = 1
-                elif control_data['inverter']['inverter2'] == 'Off' and cmd_status[1] == 1:
-                    client1.write_registers(address=5, values=[193], slave=10)
-                    cmd_status[1] = 0
+                if control_data != pre_dict:
+                    pub_dict['cmd'] = 'manual'
+                    if control_data['inverter']['inverter1'] == 'On' and cmd_status[0] == 0:
+                        frq = int(control_data['inverter']['inverter1Frq'] * 100)
+                        acc = int(control_data['inverter']['inverter1Acc'] * 10)
+                        dec = int(control_data['inverter']['inverter1Dec'] * 10)
+                        client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
+                        cmd_status[0] = 1
+                    elif control_data['inverter']['inverter1'] == 'Off' and cmd_status[0] == 1:
+                        client1.write_registers(address=5, values=[193], slave=10)
+                        cmd_status[0] = 0
+                    
+                    if control_data['inverter']['inverter2'] == 'On' and cmd_status[1] == 0:
+                        frq = int(control_data['inverter']['inverter1Frq'] * 100)
+                        acc = int(control_data['inverter']['inverter1Acc'] * 10)
+                        dec = int(control_data['inverter']['inverter1Dec'] * 10)
+                        client1.write_registers(address=4, values=[frq, 194, acc, dec], slave=10)
+                        cmd_status[1] = 1
+                    elif control_data['inverter']['inverter2'] == 'Off' and cmd_status[1] == 1:
+                        client1.write_registers(address=5, values=[193], slave=10)
+                        cmd_status[1] = 0
 
-                if control_data['valve1'] == 'On' and cmd_status[2] == 0:
-                    valve_status[0] = True
-                    cmd_status[2] = 1
-                elif control_data['valve1'] == 'Off' and cmd_status[2] == 1:
-                    valve_status[0] = False
-                    cmd_status[2] = 0
+                    if control_data['valve1'] == 'On' and cmd_status[2] == 0:
+                        valve_status[0] = True
+                        cmd_status[2] = 1
+                    elif control_data['valve1'] == 'Off' and cmd_status[2] == 1:
+                        valve_status[0] = False
+                        cmd_status[2] = 0
 
-                if control_data['valve2'] == 'On' and cmd_status[3] == 0:
-                    valve_status[1] = True
-                    cmd_status[3] = 1
-                elif control_data['valve2'] == 'Off' and cmd_status[3] == 1:
-                    valve_status[1] = False
-                    cmd_status[3] = 0
+                    if control_data['valve2'] == 'On' and cmd_status[3] == 0:
+                        valve_status[1] = True
+                        cmd_status[3] = 1
+                    elif control_data['valve2'] == 'Off' and cmd_status[3] == 1:
+                        valve_status[1] = False
+                        cmd_status[3] = 0
 
-                res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                    res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
+                else:
+                    pre_dict = control_data.copy()
 
-            elif control_data['mode'] == 'None':
+            elif control_data['mode'] == 'none':
                 valve_status[0], valve_status[1] = False, False
                 res = serial_obj.write_coils(address=0, values=valve_status, slave=5)
                 client1.write_registers(address=5, values=[193], slave=10)
                 client1.write_registers(address=5, values=[193], slave=11)
             
             else:
-                pub_dict['cmd'] = 'None'
+                pub_dict['cmd'] = 'none'
 
         except Exception as e:
             print(f'Device Setting Error: {e}')
@@ -331,6 +386,7 @@ def get_modbus(evt, serial_obj):
             # with open(os.path.join(path, 'control.json'), 'w') as f:
             with open('./control.json', 'w') as f:
                 json.dump(control_data, f, indent=4)
+            pre_dict = control_data.copy()
 
 def get_sensor(evt, serial_obj):
     global isThread, pub_dict, s_col
@@ -345,79 +401,129 @@ def get_sensor(evt, serial_obj):
         except Exception as e:
             print(f'Error: {e}')
 
+def get_pdu(evt, serial_obj):
+    global isThread, pub_dict, cp_col, tp_col
+    
+    pdu_dict = {
+        'pduCDU1': '1E',
+        'pduCDU2': '1F',
+        'pduTank1': '28',
+        'pduTank2': '29',
+        'pduTank3': '2A',
+        'pduTank4': '2B'
+    }
+    
+    pdu_list = cp_col + tp_col
+    pdu_list = [col for col in pdu_list if col != 0]
+    # print(pdu_list)
+    
+    while isThread:
+        evt.wait()
+        evt.clear()
+        for pdu in pdu_list:
+            rcv_data = []
+            sum = 0
+            cnt = 0
+            command_hex = f'FEFF{pdu_dict[pdu]}01010000'
+            # print(command_hex)
+            command_bytes = bytes.fromhex(command_hex)
+            
+            for x in command_bytes[2:]:
+                sum += x
+            sum = sum & 0xff
+            sum = struct.pack('>B', sum)
+            snd_bytes = command_bytes + b'\x00' + sum + b'\xfd'
+            # print(f'snd_bytes: {snd_bytes}')
+            serial_obj.write(snd_bytes)
+
+            while True:
+                res = serial_obj.read(1)
+                # print(res)
+                if res != b'':
+                    rcv_data.append(res)
+                else:
+                    cnt += 1
+                
+                if cnt == 10:
+                    break
+                
+                if len(rcv_data) >= 2:
+                    if not(rcv_data[0] == b'\xfc' and rcv_data[1] == b'\xff'):
+                        rcv_data = []
+                        break
+                    elif rcv_data[:-1] == b'\xfd':
+                        break
+            
+            if len(rcv_data):
+                sum = 0
+                # print(f'rcv_data: {rcv_data}')
+                for x in rcv_data[2:-3]:
+                    sum += int.from_bytes(x, byteorder='big')
+                sum = sum & 0xff
+                sum = struct.pack('>B', sum)
+                # print(f'sum: {sum}')
+                if rcv_data[-2] == sum:
+                    byte_val = rcv_data[10:12]
+                    int_val = int.from_bytes(byte_val[0] + byte_val[1], byteorder='big')
+                    int_val /= 100
+                    pub_dict[pdu] = int_val
+            else:
+                continue
+
+def runAction(evt):
+    global isThread, pub_dict
+    cnt = 0
+    while isThread:
+        evt.wait()
+        evt.clear()
+        if cnt:
+            # print(pub_dict)
+            sdtcloud.pubMessage(pub_dict)
+        else:
+            cnt += 1
+
 def timer_s0(evt):
     global isThread
 
     while isThread:
         evt.set()
-        time.sleep(1)
+        time.sleep(0.5)
 
 def timer_s1(evt):
     global isThread
 
     while isThread:
         evt.set()
-        time.sleep(5)
+        time.sleep(0.5)
 
-def runAction():
-    global ctl_data, pub_dict
-    sum_data = {key: 0.0 for key in pub_dict.keys()}
-    
-    cnt, cnt_limit = 0, 0    
-    interval = int(ctl_data['get_data_interval'])
+def timer_s2(evt, interval):
+    global isThread
 
-    if interval <= 5:
-        cnt_limit = 1
-    elif interval <= 1800:
-        cnt_limit = 10
-    else:
-        cnt_limit = 100
-        
-    act = 0
-
-    while True:
-        start = int(time.time() * 1000)
-                
-        for key, value in pub_dict.items():
-            try:
-                sum_data[key] += value
-            except:
-                sum_data[key] = value
-        
-        end = int(time.time() * 1000)
-        diff = end - start
-        sleep_time = int(interval / cnt_limit) - (diff * 0.001)
-        cnt += 1
-        if cnt == cnt_limit:
-            snd_data = {key: value / cnt_limit for key, value in sum_data.items()}
-            # print(snd_data)
-            sdtcloud.pubMessage(snd_data)
-            cnt = 0
-            sum_data = {key: 0.0 for key in pub_dict.keys()}
-            
-        time.sleep(sleep_time)
+    while isThread:
+        evt.set()
+        time.sleep(interval)
 
 if __name__ == "__main__":
-    os.system(f'chmod 777 /dev/ttyS0')
-    os.system(f'chmod 777 /dev/ttyS1')
+    pw = 'Sdt2513!@'
+    os.system(f'echo {pw} | sudo -S chmod 777 /dev/ttyS0')
+    os.system(f'echo {pw} | sudo -S chmod 777 /dev/ttyS1')
     port_name_1 = '/dev/ttyS0'
-    client1 = ModbusClient(port=port_name_1, baudrate=19200, parity='N', stopbits=1, bytesize=8, timeout=0.25)
+    client1 = ModbusClient(port=port_name_1, baudrate=9600, parity='N', stopbits=1, bytesize=8, timeout=0.25)
     port_name_2 = '/dev/ttyS1'
-    client2 = ModbusClient(port=port_name_2, baudrate=9600, parity='N', stopbits=1, bytesize=8, timeout=0.25)
+    client2 = serial.Serial(port=port_name_2, baudrate=19200, parity='N', stopbits=1, bytesize=8, timeout=0.1)
 
     try:
         client1.connect()
-        client2.connect()
     except:
         sys.exit(0)
-    
-    g_zero_point = [0] * 2
 
-    # path = '/home/ecn-2u/Aquarack/21u'
+    # path = '/home/sdtadmin/aquarack-sensor-collector'
     # with open(os.path.join(path, 'config.json'), 'r') as config:
     with open('./config.json', 'r') as config:
         cfg_data = json.load(config)
 
+    g_zero_point = [cfg_data['ref_zero_point']['oilInFlowRate'], cfg_data['ref_zero_point']['waterInFlowRate']]
+
     # with open(os.path.join(path, 'control.json'), 'r') as control:
     with open('./control.json', 'r') as control:
         ctl_data = json.load(control)
@@ -428,38 +534,58 @@ if __name__ == "__main__":
     len_s_col = len(cfg_data['cdu_sensor_list'])
     len_p_col = len(cfg_data['cdu_device_list'])
     len_S_col = len(cfg_data['status'])
+    len_cp_col = len(cfg_data['cdu_pdu_list'])
+    len_tp_col = len(cfg_data['tank_pdu_list'])
     a_col = [0] * len_a_col 
     t_col = [0] * len_t_col
     d_col = [0] * len_d_col
     s_col = [0] * len_s_col
     p_col = [0] * len_p_col
     S_col = [0] * len_S_col
+    cp_col = [0] * len_cp_col
+    tp_col = [0] * len_tp_col
 
     for key, value in cfg_data['cdu_analog_list'].items():
         if value[1] == 'y':
             a_col[value[0] - 1] = key
+    a_col = [col for col in a_col if col != 0]
 
     for key, value in cfg_data['tank_device_list'].items():
         if value[1] == 'y':
             t_col[value[0] - 1] = key
+    t_col = [col for col in t_col if col != 0]
 
     for key, value in cfg_data['cdu_digital_list'].items():
         if value[1] == 'y':
             d_col[value[0] - 1] = key
-    
+    d_col = [col for col in d_col if col != 0]
+
     for key, value in cfg_data['cdu_sensor_list'].items():
         if value[1] == 'y':
             s_col[value[0] - 1] = key
-    
+    s_col = [col for col in s_col if col != 0]
+
     for key, value in cfg_data['cdu_device_list'].items():
         if value[1] == 'y':
             p_col[value[0] - 1] = key
-    
+    p_col = [col for col in p_col if col != 0]
+
     for key, value in cfg_data['status'].items():
         if value[1] == 'y':
             S_col[value[0] - 1] = key
+    S_col = [col for col in S_col if col != 0]
 
-    pub_dict = {key: 0.0 for key in (a_col+t_col+d_col+s_col+p_col+S_col)}
+    for key, value in cfg_data['cdu_pdu_list'].items():
+        if value[1] == 'y':
+            cp_col[value[0] - 1] = key
+    cp_col = [col for col in cp_col if col != 0]
+
+    for key, value in cfg_data['tank_pdu_list'].items():
+        if value[1] == 'y':
+            tp_col[value[0] - 1] = key
+    tp_col = [col for col in tp_col if col != 0]
+
+    pub_dict = {key: 0.0 for key in (a_col+t_col+d_col+s_col+p_col+S_col+cp_col+tp_col)}
 
     # print(f'a_col: {a_col}')
     # print(f't_col: {t_col}')
@@ -472,19 +598,29 @@ if __name__ == "__main__":
     
     timer_evt_s0 = threading.Event()
     timer_evt_s1 = threading.Event()
+    timer_evt_s2 = threading.Event()
     timer_evt_s0.set()
     timer_evt_s1.set()
+    timer_evt_s2.set()
+
+
+    thr_evt_s0 = threading.Thread(target=timer_s0, args=(timer_evt_s0,))
+    thr_evt_s1 = threading.Thread(target=timer_s1, args=(timer_evt_s1,))
+    thr_evt_s2 = threading.Thread(target=timer_s2, args=(timer_evt_s2, ctl_data['get_data_interval'],))
+    thr_evt_s0.start()
+    thr_evt_s1.start()
+    thr_evt_s2.start()
 
     thr_modbus_rtu = threading.Thread(target=get_modbus, args=(timer_evt_s0, client1, ))
     thr_modbus_rtu.start()
 
-    thr_get_sensor = threading.Thread(target=get_sensor, args=(timer_evt_s1, client2,))
-    thr_get_sensor.start()
+    # thr_get_sensor = threading.Thread(target=get_sensor, args=(timer_evt_s1, client2,))
+    # thr_get_sensor.start()
+
+    thr_get_pdu = threading.Thread(target=get_pdu, args=(timer_evt_s1, client2, ))
+    thr_get_pdu.start()
+
+    thr_run = threading.Thread(target=runAction, args=(timer_evt_s2, ))
+    thr_run.start()
 
-    thr_evt_s0 = threading.Thread(target=timer_s0, args=(timer_evt_s0,))
-    thr_evt_s1 = threading.Thread(target=timer_s1, args=(timer_evt_s1,))
-    thr_evt_s0.start()
-    thr_evt_s1.start()
 
-    thr_run = threading.Thread(target=runAction, args=())
-    thr_run.start()
\ No newline at end of file