diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 00000000..ab1f4164
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,10 @@
+# Default ignored files
+/shelf/
+/workspace.xml
+# Ignored default folder with query files
+/queries/
+# Datasource local storage ignored files
+/dataSources/
+/dataSources.local.xml
+# Editor-based HTTP Client requests
+/httpRequests/
diff --git a/.idea/Brain.iml b/.idea/Brain.iml
new file mode 100644
index 00000000..6f533baa
--- /dev/null
+++ b/.idea/Brain.iml
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module type="PYTHON_MODULE" version="4">
+  <component name="NewModuleRootManager">
+    <content url="file://$MODULE_DIR$">
+      <sourceFolder url="file://$MODULE_DIR$/src" isTestSource="false" />
+    </content>
+    <orderEntry type="inheritedJdk" />
+    <orderEntry type="sourceFolder" forTests="false" />
+  </component>
+  <component name="PyDocumentationSettings">
+    <option name="format" value="GOOGLE" />
+    <option name="myDocStringFormat" value="Google" />
+  </component>
+  <component name="TemplatesService">
+    <option name="TEMPLATE_FOLDERS">
+      <list>
+        <option value="$MODULE_DIR$/calibration/templates" />
+      </list>
+    </option>
+  </component>
+</module>
\ No newline at end of file
diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml
new file mode 100644
index 00000000..105ce2da
--- /dev/null
+++ b/.idea/inspectionProfiles/profiles_settings.xml
@@ -0,0 +1,6 @@
+<component name="InspectionProjectProfileManager">
+  <settings>
+    <option name="USE_PROJECT_PROFILE" value="false" />
+    <version value="1.0" />
+  </settings>
+</component>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 00000000..177adf54
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/Brain.iml" filepath="$PROJECT_DIR$/.idea/Brain.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 00000000..35eb1ddf
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/Project status/profect status 1/december-report.pdf b/Project status/profect status 1/december-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 1/progress-video-december.txt b/Project status/profect status 1/progress-video-december.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 2/january-report.pdf b/Project status/profect status 2/january-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 2/progress-video-january.txt b/Project status/profect status 2/progress-video-january.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 3/february-report.pdf b/Project status/profect status 3/february-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 3/progress-video-february.txt b/Project status/profect status 3/progress-video-february.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 4/april-report.pdf b/Project status/profect status 4/april-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 4/progress-video-april.txt b/Project status/profect status 4/progress-video-april.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 5/may-report.pdf b/Project status/profect status 5/may-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/profect status 5/progress-video-may.txt b/Project status/profect status 5/progress-video-may.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/project status 1/BFMC2026_SafeForce_ Status Report 1.pdf b/Project status/project status 1/BFMC2026_SafeForce_ Status Report 1.pdf
new file mode 100644
index 00000000..2702625e
Binary files /dev/null and b/Project status/project status 1/BFMC2026_SafeForce_ Status Report 1.pdf differ
diff --git a/Project status/project status 1/BFMC2026_SafeForce_Architecture.pdf b/Project status/project status 1/BFMC2026_SafeForce_Architecture.pdf
new file mode 100644
index 00000000..37be8d9d
Binary files /dev/null and b/Project status/project status 1/BFMC2026_SafeForce_Architecture.pdf differ
diff --git a/Project status/project status 1/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf b/Project status/project status 1/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf
new file mode 100644
index 00000000..dc45f40f
Binary files /dev/null and b/Project status/project status 1/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf differ
diff --git a/Project status/project status 1/BFMC2026_SafeForce_Video.txt b/Project status/project status 1/BFMC2026_SafeForce_Video.txt
new file mode 100644
index 00000000..f7ae386b
--- /dev/null
+++ b/Project status/project status 1/BFMC2026_SafeForce_Video.txt	
@@ -0,0 +1 @@
+Video link: https://youtu.be/RK6hvE3WlHs
\ No newline at end of file
diff --git a/Project status/project status 1/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf b/Project status/project status 1/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf
new file mode 100644
index 00000000..82b642e5
Binary files /dev/null and b/Project status/project status 1/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf differ
diff --git a/Project status/qualifications/march-report.pdf b/Project status/qualifications/march-report.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/Project status/qualifications/progress-video-march.txt b/Project status/qualifications/progress-video-march.txt
deleted file mode 100644
index e69de29b..00000000
diff --git a/main.py b/main.py
index 06f4a238..fcec9812 100644
--- a/main.py
+++ b/main.py
@@ -52,7 +52,6 @@
 from src.utils.bigPrintMessages import BigPrint
 from src.utils.outputWriters import QueueWriter, MultiWriter
 import logging
-import logging.handlers
 
 logging.basicConfig(level=logging.INFO)
 
@@ -68,6 +67,7 @@
 from src.utils.messages.allMessages import StateChange
 from src.statemachine.stateMachine import StateMachine
 from src.statemachine.systemMode import SystemMode
+from src.processing.processPerception import processPerception
 
 # ------ New component imports starts here ------#
 
@@ -145,6 +145,10 @@ def manage_process_life(process_class, process_instance, process_args, enabled,
 camera_ready = Event()
 processCamera = processCamera(queueList, logging, camera_ready, debugging = False)
 
+# Initializing perception processor
+perception_ready = Event()
+processPerception = processPerception(queueList, logging, perception_ready, debugging = False)
+
 # Initializing semaphores
 semaphore_ready = Event()
 processSemaphore = processSemaphores(queueList, logging, semaphore_ready, debugging = False)
@@ -158,8 +162,8 @@ def manage_process_life(process_class, process_instance, process_args, enabled,
 processSerialHandler = processSerialHandler(queueList, logging, serial_handler_ready, dashboard_ready, debugging = False)
 
 # Adding all processes to the list
-allProcesses.extend([processCamera, processSemaphore, processTrafficCom, processSerialHandler, processDashboard])
-allEvents.extend([camera_ready, semaphore_ready, traffic_com_ready, serial_handler_ready, dashboard_ready])
+allProcesses.extend([processCamera, processPerception, processSemaphore, processTrafficCom, processSerialHandler, processDashboard])
+allEvents.extend([camera_ready, perception_ready, semaphore_ready, traffic_com_ready, serial_handler_ready, dashboard_ready])
 
 # ------ New component initialize starts here ------#
 
diff --git a/monitoring/Architecture.pdf b/monitoring/Architecture.pdf
deleted file mode 100644
index e69de29b..00000000
diff --git a/monitoring/BFMC2026_SafeForce_Architecture.pdf b/monitoring/BFMC2026_SafeForce_Architecture.pdf
new file mode 100644
index 00000000..37be8d9d
Binary files /dev/null and b/monitoring/BFMC2026_SafeForce_Architecture.pdf differ
diff --git a/monitoring/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf b/monitoring/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf
new file mode 100644
index 00000000..dc45f40f
Binary files /dev/null and b/monitoring/BFMC2026_SafeForce_ProjectPlan - Calendar view.pdf differ
diff --git a/monitoring/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf b/monitoring/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf
new file mode 100644
index 00000000..82b642e5
Binary files /dev/null and b/monitoring/BFMC_2026_SafeForce_ProjectPlan - Task view.pdf differ
diff --git a/monitoring/project-plan.md b/monitoring/project-plan.md
deleted file mode 100644
index 38c2c85b..00000000
--- a/monitoring/project-plan.md
+++ /dev/null
@@ -1 +0,0 @@
-Your plan goes here. >_<
\ No newline at end of file
diff --git a/services/angular-autostart/install.sh b/services/angular-autostart/install.sh
old mode 100644
new mode 100755
diff --git a/services/angular-autostart/uninstall.sh b/services/angular-autostart/uninstall.sh
old mode 100644
new mode 100755
diff --git a/services/brain-autostart/install.sh b/services/brain-autostart/install.sh
old mode 100644
new mode 100755
diff --git a/services/brain-autostart/uninstall.sh b/services/brain-autostart/uninstall.sh
old mode 100644
new mode 100755
diff --git a/services/rpi-wifi-fallback/add-wifi.sh b/services/rpi-wifi-fallback/add-wifi.sh
old mode 100644
new mode 100755
diff --git a/services/rpi-wifi-fallback/install.sh b/services/rpi-wifi-fallback/install.sh
old mode 100644
new mode 100755
diff --git a/services/rpi-wifi-fallback/uninstall.sh b/services/rpi-wifi-fallback/uninstall.sh
old mode 100644
new mode 100755
diff --git a/setup.sh b/setup.sh
old mode 100644
new mode 100755
diff --git a/src/dashboard/components/calibration.py b/src/dashboard/components/calibration.py
index 0877290b..dab32eb0 100644
--- a/src/dashboard/components/calibration.py
+++ b/src/dashboard/components/calibration.py
@@ -909,7 +909,8 @@ def create_source_zip(self):
         try:
             zip_buffer = BytesIO()
             
-            source_path = os.path.join(os.path.dirname(__file__), '..', '..', '..', 'source')
+            # source_path = os.path.join(os.path.dirname(__file__), '..', '..', '..', 'source')
+            source_path = os. path.join(os.path. dirname(__file__), '..', '..', '..', 'calibration', 'source')
             source_path = os.path.abspath(source_path)
             
             with zipfile.ZipFile(zip_buffer, 'w', zipfile.ZIP_DEFLATED) as zip_file:
diff --git a/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/.tsbuildinfo b/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/.tsbuildinfo
index 6e60b630..c114b8bd 100644
--- a/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/.tsbuildinfo
+++ b/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/.tsbuildinfo
@@ -1 +1 @@
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index 638b8cde..dcfcec40 100644
--- a/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/vite/deps/_metadata.json
+++ b/src/dashboard/frontend/.angular/cache/18.2.9/dashboard/vite/deps/_metadata.json
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       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "nanoid": "^3.3.7",
         "picocolors": "^1.0.1",
@@ -13171,7 +13973,6 @@
       "resolved": "https://registry.npmjs.org/rxjs/-/rxjs-7.8.1.tgz",
       "integrity": "sha512-AA3TVj+0A2iuIoQkWEK/tqFjBq2j+6PO6Y0zJcvzLAFhEFIO3HL0vls9hWLncZbAAbK0mar7oZ4V079I/qPMxg==",
       "license": "Apache-2.0",
-      "peer": true,
       "dependencies": {
         "tslib": "^2.1.0"
       }
@@ -13204,13 +14005,18 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/safevalues": {
+      "version": "0.3.4",
+      "resolved": "https://registry.npmjs.org/safevalues/-/safevalues-0.3.4.tgz",
+      "integrity": "sha512-LRneZZRXNgjzwG4bDQdOTSbze3fHm1EAKN/8bePxnlEZiBmkYEDggaHbuvHI9/hoqHbGfsEA7tWS9GhYHZBBsw==",
+      "license": "Apache-2.0"
+    },
     "node_modules/sass": {
       "version": "1.77.6",
       "resolved": "https://registry.npmjs.org/sass/-/sass-1.77.6.tgz",
       "integrity": "sha512-ByXE1oLD79GVq9Ht1PeHWCPMPB8XHpBuz1r85oByKHjZY6qV6rWnQovQzXJXuQ/XyE1Oj3iPk3lo28uzaRA2/Q==",
       "devOptional": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "chokidar": ">=3.0.0 <4.0.0",
         "immutable": "^4.0.0",
@@ -14234,7 +15040,6 @@
       "integrity": "sha512-PQ4DAriWzKj+qgehQ7LK5bQqCFNMmlhjR2PFFLuqGCpuCAauxemVBWwWOxo3UIwWQx8+Pr61Df++r76wDmkQBg==",
       "devOptional": true,
       "license": "BSD-2-Clause",
-      "peer": true,
       "dependencies": {
         "@jridgewell/source-map": "^0.3.3",
         "acorn": "^8.8.2",
@@ -14289,7 +15094,6 @@
       "integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "fast-deep-equal": "^3.1.1",
         "fast-json-stable-stringify": "^2.0.0",
@@ -14434,8 +15238,7 @@
       "version": "2.8.0",
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.0.tgz",
       "integrity": "sha512-jWVzBLplnCmoaTr13V9dYbiQ99wvZRd0vNWaDRg+aVYRcjDF3nDksxFDE/+fkXnKhpnUUkmx5pK/v8mCtLVqZA==",
-      "license": "0BSD",
-      "peer": true
+      "license": "0BSD"
     },
     "node_modules/tuf-js": {
       "version": "2.2.1",
@@ -14492,7 +15295,6 @@
       "integrity": "sha512-vcI4UpRgg81oIRUFwR0WSIHKt11nJ7SAVlYNIu+QpqeyXP+gpQJy/Z4+F0aGxSE4MqwjyXvW/TzgkLAx2AGHwQ==",
       "dev": true,
       "license": "Apache-2.0",
-      "peer": true,
       "bin": {
         "tsc": "bin/tsc",
         "tsserver": "bin/tsserver"
@@ -15295,7 +16097,6 @@
       "integrity": "sha512-KcsGn50VT+06JH/iunZJedYGUJS5FGjow8wb9c0v5n1Om8O1g4L6LjtfxwlXIATopoQu+vOXXa7gYisWxCoPyg==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@types/estree": "^1.0.5",
         "@webassemblyjs/ast": "^1.12.1",
@@ -15373,7 +16174,6 @@
       "integrity": "sha512-dljXhUgx3HqKP2d8J/fUMvhxGhzjeNVarDLcbO/EWMSgRizDkxHQDZQaLFL5VJY9tRBj2Gz+rvCEYYvhbqPHNA==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "@types/bonjour": "^3.5.13",
         "@types/connect-history-api-fallback": "^1.5.4",
@@ -15569,7 +16369,6 @@
       "integrity": "sha512-j3fVLgvTo527anyYyJOGTYJbG+vnnQYvE0m5mmkc1TK+nxAppkCLMIL0aZ4dblVCNoGShhm+kzE4ZUykBoMg4g==",
       "dev": true,
       "license": "MIT",
-      "peer": true,
       "dependencies": {
         "fast-deep-equal": "^3.1.1",
         "fast-json-stable-stringify": "^2.0.0",
@@ -15983,8 +16782,7 @@
       "version": "0.14.10",
       "resolved": "https://registry.npmjs.org/zone.js/-/zone.js-0.14.10.tgz",
       "integrity": "sha512-YGAhaO7J5ywOXW6InXNlLmfU194F8lVgu7bRntUF3TiG8Y3nBK0x1UJJuHUP/e8IyihkjCYqhCScpSwnlaSRkQ==",
-      "license": "MIT",
-      "peer": true
+      "license": "MIT"
     }
   }
 }
diff --git a/src/dashboard/frontend/package.json b/src/dashboard/frontend/package.json
index 3668bed6..597d5d64 100644
--- a/src/dashboard/frontend/package.json
+++ b/src/dashboard/frontend/package.json
@@ -11,15 +11,15 @@
   "private": true,
   "dependencies": {
     "@angular/animations": "^18.2.3",
-    "@angular/cdk": "^21.0.1",
-    "@angular/common": "^21.0.1",
+    "@angular/cdk": "^17.3.10",
+    "@angular/common": "^18.2.3",
     "@angular/compiler": "^18.2.3",
     "@angular/core": "^18.2.3",
-    "@angular/forms": "^21.0.1",
-    "@angular/material": "^21.0.1",
-    "@angular/platform-browser": "^21.0.1",
-    "@angular/platform-browser-dynamic": "^21.0.1",
-    "@angular/router": "^21.0.1",
+    "@angular/forms": "^18.2.3",
+    "@angular/material": "^17.3.10",
+    "@angular/platform-browser": "^18.2.3",
+    "@angular/platform-browser-dynamic": "^18.2.3",
+    "@angular/router": "^18.2.3",
     "crypto-js": "^4.2.0",
     "ngx-socket-io": "^4.7.0",
     "rollup": "^4.22.4",
diff --git a/src/dashboard/frontend/src/app/webSocket/web-socket.service.ts b/src/dashboard/frontend/src/app/webSocket/web-socket.service.ts
index 0818942a..fefd3d31 100644
--- a/src/dashboard/frontend/src/app/webSocket/web-socket.service.ts
+++ b/src/dashboard/frontend/src/app/webSocket/web-socket.service.ts
@@ -71,7 +71,7 @@ export class WebSocketService {
 
   constructor() {
     this.webSocket = new Socket({
-      url: "http://192.168.0.110:5005",
+      url: "http://192.168.1.24:5005",
       options: {},
     });
 
diff --git a/src/processing/processPerception.py b/src/processing/processPerception.py
new file mode 100644
index 00000000..c6454323
--- /dev/null
+++ b/src/processing/processPerception.py
@@ -0,0 +1,183 @@
+from src.templates.workerprocess import WorkerProcess
+from src.templates.threadwithstop import ThreadWithStop
+from src.utils.messages.messageHandlerSubscriber import messageHandlerSubscriber
+from src.utils.messages.messageHandlerSender import messageHandlerSender
+from src.utils.messages.allMessages import (
+    serialCamera,
+    SpeedMotor,
+    SteerMotor,
+    WarningSignal,
+    LaneKeeping,
+    Brake
+)
+
+import base64
+import numpy as np
+import cv2
+import time
+from queue import Queue, Full, Empty
+
+
+class FrameReader(ThreadWithStop):
+    """Reads frames from `serialCamera` messages and pushes decoded frames into a local queue."""
+
+    def __init__(self, queuesList, frame_queue, logger=None, pause=0.01):
+        super(FrameReader, self).__init__(pause=pause)
+        self.sub = messageHandlerSubscriber(queuesList, serialCamera, "lastOnly", True)
+        self.q = frame_queue
+        self.logger = logger
+
+    def thread_work(self):
+        msg = self.sub.receive()
+        if msg is None:
+            return
+        try:
+            # expect base64-encoded jpeg string
+            data = base64.b64decode(msg)
+            arr = np.frombuffer(data, dtype=np.uint8)
+            frame = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+            try:
+                self.q.put_nowait(frame)
+            except Full:
+                # drop frame if workers are busy
+                pass
+        except Exception as e:
+            if self.logger:
+                self.logger.debug("FrameReader decode error: %s", e)
+
+
+class BasePerceptionWorker(ThreadWithStop):
+    """Base class for perception workers; consume frames from shared queue."""
+
+    def __init__(self, frame_queue, queuesList, logger=None, pause=0.01):
+        super(BasePerceptionWorker, self).__init__(pause=pause)
+        self.q = frame_queue
+        self.queuesList = queuesList
+        self.logger = logger
+
+    def thread_work(self):
+        # override in subclass
+        pass
+
+
+class ObstacleWorker(BasePerceptionWorker):
+    """Detect obstacles using simple edge-density on center crop."""
+
+    def __init__(self, frame_queue, queuesList, logger=None, pause=0.01):
+        super(ObstacleWorker, self).__init__(frame_queue, queuesList, logger, pause)
+        self.speed_sender = messageHandlerSender(queuesList, SpeedMotor)
+        self.warn_sender = messageHandlerSender(queuesList, WarningSignal)
+        self.brake_sender = messageHandlerSender(self.queuesList, Brake)   # optional
+        self._last_stop_time = 0
+
+    def thread_work(self):
+        try:
+            frame = self.q.get(timeout=0.5)
+        except Empty:
+            return
+
+        try:
+            h, w = frame.shape[:2]
+            cx1 = int(w * 0.3)
+            cy1 = int(h * 0.3)
+            cx2 = int(w * 0.7)
+            cy2 = int(h * 0.7)
+            crop = frame[cy1:cy2, cx1:cx2]
+            gray = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
+            edges = cv2.Canny(gray, 50, 150)
+            edge_density = float(edges.mean() / 255.0)
+            if self.logger:
+                self.logger.info("Perception obstacle edge_density=%.4f", edge_density)
+
+            # threshold and simple rate-limit
+            if edge_density > 0.06:
+                now = time.time()
+                if now - self._last_stop_time > 1.0:
+                    self._last_stop_time = now
+                    try:
+                        self.speed_sender.send("0")
+                        self.brake_sender.send("0")
+                    except Exception:
+                        pass
+                    try:
+                        self.warn_sender.send(f"obstacle:{edge_density:.4f}")
+                    except Exception:
+                        pass
+        except Exception as e:
+            if self.logger:
+                self.logger.debug("ObstacleWorker error: %s", e)
+
+
+class LaneWorker(BasePerceptionWorker):
+    """Simple lane detection placeholder; computes steering angle and sends it."""
+
+    def __init__(self, frame_queue, queuesList, logger=None, pause=0.02):
+        super(LaneWorker, self).__init__(frame_queue, queuesList, logger, pause)
+        self.steer_sender = messageHandlerSender(queuesList, SteerMotor)
+        self.lane_sender = messageHandlerSender(queuesList, LaneKeeping)
+
+    def thread_work(self):
+        try:
+            frame = self.q.get(timeout=0.5)
+        except Empty:
+            return
+
+        try:
+            # Placeholder lane algorithm: compute center of bright region as lane center
+            gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+            _, thr = cv2.threshold(gray, 200, 255, cv2.THRESH_BINARY)
+            moments = cv2.moments(thr)
+            h, w = frame.shape[:2]
+            if moments["m00"] != 0:
+                cx = int(moments["m10"] / moments["m00"])
+                offset = (cx - w // 2)
+                # simple proportional steering (tune in real system)
+                steering_angle = -offset * 0.1
+                # send steer and lane offset
+                try:
+                    self.steer_sender.send(str(int(steering_angle)))
+                except Exception:
+                    pass
+                try:
+                    self.lane_sender.send(int(offset))
+                except Exception:
+                    pass
+            else:
+                # no lane detected
+                pass
+        except Exception as e:
+            if self.logger:
+                self.logger.debug("LaneWorker error: %s", e)
+
+
+class processPerception(WorkerProcess):
+    """Perception process that starts a frame reader and multiple worker threads.
+
+    Add new worker types by creating a ThreadWithStop subclass and appending
+    it in `_init_threads`.
+    """
+
+    def __init__(self, queueList, logging, ready_event=None, debugging=False):
+        self.queuesList = queueList
+        self.logging = logging
+        self.debugging = debugging
+        self._frame_queue = Queue(maxsize=4)
+        super(processPerception, self).__init__(self.queuesList, ready_event)
+
+    def _init_threads(self):
+        # Frame reader
+        self.threads.append(FrameReader(self.queuesList, self._frame_queue, self.logging))
+
+        # Worker threads (easy to extend)
+        self.threads.append(ObstacleWorker(self._frame_queue, self.queuesList, self.logging))
+        self.threads.append(LaneWorker(self._frame_queue, self.queuesList, self.logging))
+
+        # Add more workers here as needed
+
+    def state_change_handler(self):
+        # no process-wide state handling for now
+        pass
+
+    def process_work(self):
+        # nothing here; workers run independently
+        pass
diff --git a/src/processing/processRealtime.py b/src/processing/processRealtime.py
new file mode 100644
index 00000000..bbbb665e
--- /dev/null
+++ b/src/processing/processRealtime.py
@@ -0,0 +1,86 @@
+from src.templates.workerprocess import WorkerProcess
+from src.utils.messages.messageHandlerSubscriber import messageHandlerSubscriber
+from src.utils.messages.messageHandlerSender import messageHandlerSender
+from src.utils.messages.allMessages import mainCamera, Signal, SpeedMotor, WarningSignal
+from src.templates.threadwithstop import ThreadWithStop
+import base64, numpy as np, cv2, time
+
+class threadRealtime(ThreadWithStop):
+    def __init__(self, queueList, logger, debugger):
+        super().__init__(pause=0.01)
+        self.sub = messageHandlerSubscriber(queueList, mainCamera, "lastOnly", True)
+        self.event_sender = messageHandlerSender(queueList, Signal)
+        self.speed_sender = messageHandlerSender(queueList, SpeedMotor)
+        self.warn_sender = messageHandlerSender(queueList, WarningSignal)
+        self.logger = logger
+        self.debugger = debugger
+
+    def thread_work(self):
+        msg = self.sub.receive()
+        if msg is None:
+            return
+        try:
+            data = base64.b64decode(msg)
+            arr = np.frombuffer(data, dtype=np.uint8)
+            frame = cv2.imdecode(arr, cv2.IMREAD_COLOR)
+            # --- real-time processing here ---
+
+            mean_brightness = float(frame.mean())
+            try:
+                self.logger.info("Realtime brightness: %.2f", mean_brightness)
+            except Exception:
+                print("Realtime brightness: ", mean_brightness)
+
+            # send simple signal if very bright
+            if mean_brightness > 200:
+                try:
+                    self.event_sender.send(f"bright:{mean_brightness:.2f}")
+                except Exception:
+                    pass
+
+            # Simple obstacle detection using center-crop edge density
+            self.detect_obstacle(frame)
+
+            # --- end of processing ---
+        except Exception as e:
+            if self.debugger:
+                self.logger.error("Realtime decode error: %s", e)
+
+    def detect_obstacle(self, frame):
+        try:
+            h, w = frame.shape[:2]
+            cx1 = int(w * 0.3)
+            cy1 = int(h * 0.3)
+            cx2 = int(w * 0.7)
+            cy2 = int(h * 0.7)
+            crop = frame[cy1:cy2, cx1:cx2]
+            gray = cv2.cvtColor(crop, cv2.COLOR_BGR2GRAY)
+            edges = cv2.Canny(gray, 50, 150)
+            edge_density = edges.mean() / 255.0
+            self.logger.debug("Realtime edge_density: %.4f", edge_density)
+
+            if edge_density > 0.06:
+                now = time.time()
+                if not hasattr(self, "_last_stop_time") or (now - self._last_stop_time) > 1.0:
+                    self._last_stop_time = now
+                    try:
+                        self.speed_sender.send("0")
+                    except Exception:
+                        pass
+                    try:
+                        self.warn_sender.send(f"obstacle:{edge_density:.4f}")
+                    except Exception:
+                        pass
+        except Exception as e:
+            if self.debugger:
+                self.logger.error("Obstacle detection error: %s", e)
+
+class processRealtime(WorkerProcess):
+    def __init__(self, queueList, logging, ready_event=None, debugging=False):
+        self.queuesList = queueList
+        self.logging = logging
+        self.debugging = debugging
+        super(processRealtime, self).__init__(self.queuesList, ready_event)
+
+    def _init_threads(self):
+        self.threads.append(threadRealtime(self.queuesList, self.logging, self.debugging))
\ No newline at end of file