openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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__attribute__((constructor))
void preload_init() {
Py_Initialize();
PyRun_SimpleString("print('hello from c'); import extra.dsp.hook");
}
#define _GNU_SOURCE // Must be defined before any includes for RTLD_NEXT
#include <stdio.h>
#include <dlfcn.h>
#include <Python.h> // Include Python header
//#include <sys/ioctl.h>
// Define the original ioctl function pointer
static int (*real_ioctl)(int fd, unsigned long request, void *arg) = NULL;
// Our custom ioctl hook
int ioctl(int fd, unsigned long request, void *arg) {
// Initialize the real ioctl function pointer on first call
if (!real_ioctl) {
real_ioctl = dlsym(RTLD_NEXT, "ioctl");
if (!real_ioctl) {
fprintf(stderr, "Error: Could not find real ioctl\n");
return -1;
}
}
// Log the call
//printf("Hooked ioctl: tid=%d fd=%d, request=0x%lx, arg=%p\n", gettid(), fd, request, arg);
// Call a Python function from extra.dsp.hook
PyObject *pName, *pModule, *pFunc, *pArgs, *pValue;
PyGILState_STATE gstate;
// Ensure the GIL is held (required for Python calls in multi-threaded apps)
//gstate = PyGILState_Ensure();
// Import the module
pName = PyUnicode_FromString("extra.dsp.hook");
pModule = PyImport_Import(pName);
Py_DECREF(pName);
// Call the original ioctl
int ret = real_ioctl(fd, request, arg);
if (pModule != NULL) {
// Get the function (assume it’s called "handle_ioctl")
pFunc = PyObject_GetAttrString(pModule, "handle_ioctl");
if (pFunc && PyCallable_Check(pFunc)) {
// Create arguments tuple (fd, request, arg, ret)
pArgs = PyTuple_Pack(4,
PyLong_FromLong(fd),
PyLong_FromUnsignedLong(request),
PyLong_FromVoidPtr(arg),
PyLong_FromLong(ret));
pValue = PyObject_CallObject(pFunc, pArgs);
Py_DECREF(pArgs);
if (pValue != NULL) {
Py_DECREF(pValue);
} else {
PyErr_Print(); // Print Python error if call fails
}
Py_DECREF(pFunc);
} else {
if (PyErr_Occurred()) PyErr_Print();
fprintf(stderr, "Cannot find function 'handle_ioctl'\n");
}
Py_DECREF(pModule);
} else {
PyErr_Print();
fprintf(stderr, "Failed to load 'extra.dsp.hook'\n");
}
// Release the GIL
//PyGILState_Release(gstate);
return ret;
}