text: 
  import cv2
  import numpy as np
  import socket
  import serial
  from model import NeuralNetwork
  from rc_driver_helper import RCControl
  
  
  class RCDriverNNOnly(object):
  
      def __init__(self, host, port, serial_port, model_path):
  
          self.server_socket = socket.socket()
          self.server_socket.bind((host, port))
          self.server_socket.listen(0)
  
          # accept a single connection
          self.connection = self.server_socket.accept()[0].makefile('rb')
  
          # load trained neural network
          self.nn = NeuralNetwork()
          self.nn.load_model(model_path)
  
          self.rc_car = RCControl(serial_port)
  
      def drive(self):
          stream_bytes = b' '
          try:
              # stream video frames one by one
              while True:
                  stream_bytes += self.connection.read(1024)
                  first = stream_bytes.find(b'\xff\xd8')
                  last = stream_bytes.find(b'\xff\xd9')
  
                  if first != -1 and last != -1:
                      jpg = stream_bytes[first:last + 2]
                      stream_bytes = stream_bytes[last + 2:]
                      gray = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_GRAYSCALE)
                      image = cv2.imdecode(np.frombuffer(jpg, dtype=np.uint8), cv2.IMREAD_COLOR)
  
                      # lower half of the image
                      height, width = gray.shape
                      roi = gray[int(height/2):height, :]
  
                      cv2.imshow('image', image)
                      # cv2.imshow('mlp_image', roi)
  
                      # reshape image
                      image_array = roi.reshape(1, int(height/2) * width).astype(np.float32)
  
                      # neural network makes prediction
                      prediction = self.nn.predict(image_array)
                      self.rc_car.steer(prediction)
  
                      if cv2.waitKey(1) & 0xFF == ord('q'):
                          print("car stopped")
                          self.rc_car.stop()
                          break
          finally:
              cv2.destroyAllWindows()
              self.connection.close()
              self.server_socket.close()
  
  
  if __name__ == '__main__':
      # host, port
      h, p = "0.0.0.0", 8000
  
      # serial port
      sp = "COM28"
  
      # model path
      path = "saved_model/nn_model.xml"
  
      rc = RCDriverNNOnly(h, p, sp, path)
      rc.drive()
  