1. CI - Core Cloud IP
2. CP - Core Cloud Port number
3. Ping(CI, CP) - function which return connection result with CI, CP
4. Preprocess(Image Input) - Function which return preprocessed Image(numpy int.64 BGR Format)
5. rule - Rule Structure for connection 
6. to_destination(rule, Data) : Function which send data with defined rule
7. drivingInfo - driving Information Structure
8. Cart.drive(drivingInfo) : Drive Command with driving info parameter
9. Listening - Function which wait until signal of data receive

while(Ping CI, CP) : 
	Frame = Camera.get()
	Preprocessed_Frame = Preprocess(Frame)
	rule = iptc.Rule()
	rule.protocol = 'tcp'
	rule.dst = CI
	m = rult.create_match('tcp')
	m.port = CP
	to_destination(rule, Preprocessed_Frame)
	
	if(Listening(edge_port)):
		result = get_find(Shared_Memory_ID)
		drivingInfo.velocity = result.velocity
		drivingInfo.steer = result.steer
		Cart.drive(drivingInfo)