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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import ctypes, ctypes.util, sys
cf = ctypes.CDLL(ctypes.util.find_library("CoreFoundation"))
iokit = ctypes.CDLL(ctypes.util.find_library("IOKit"))
libsys = ctypes.CDLL(ctypes.util.find_library("System"))
kern_return_t = ctypes.c_int
mach_port_t = ctypes.c_uint
io_object_t = mach_port_t
io_service_t = io_object_t
io_connect_t = mach_port_t
CFMutableDictionaryRef = ctypes.c_void_p
CFStringRef = ctypes.c_void_p
kIOMasterPortDefault = mach_port_t(0)
libsys.mach_task_self_.restype = mach_port_t
iokit.IOServiceNameMatching.argtypes = [ctypes.c_char_p]
iokit.IOServiceNameMatching.restype = CFMutableDictionaryRef
iokit.IOServiceGetMatchingService.argtypes = [mach_port_t, CFMutableDictionaryRef]
iokit.IOServiceGetMatchingService.restype = io_service_t
iokit.IOObjectRelease.argtypes = [io_object_t]
iokit.IOObjectRelease.restype = kern_return_t
iokit.IOServiceOpen.argtypes = [io_service_t, mach_port_t, ctypes.c_uint32, ctypes.POINTER(io_connect_t)]
iokit.IOServiceOpen.restype = kern_return_t
iokit.IOConnectCallMethod.argtypes = [io_connect_t, ctypes.c_uint32, ctypes.POINTER(ctypes.c_uint64), ctypes.c_uint32, ctypes.c_void_p,
ctypes.c_size_t, ctypes.POINTER(ctypes.c_uint64), ctypes.POINTER(ctypes.c_uint32), ctypes.c_void_p, ctypes.POINTER(ctypes.c_size_t)]
iokit.IOConnectCallMethod.restype = kern_return_t
def open_userclient_by_name(name: str, uc_type: int = 0) -> io_connect_t:
mdict = iokit.IOServiceNameMatching(name.encode("utf-8"))
if not mdict: raise RuntimeError("IOServiceNameMatching returned NULL")
# Grab the first matching service
service = iokit.IOServiceGetMatchingService(kIOMasterPortDefault, mdict)
if not service: raise RuntimeError(f'service "{name}" not found')
# print("lol", service)
# print(libsys.mach_task_self_)
# cast libsys.mach_task_self_ to uint and print
# print("lol", ctypes.cast(libsys.mach_task_self_, ctypes.POINTER(ctypes.c_uint)).contents.value)
try:
# Open user client (type -> passed to NewUserClient_Impl)
conn = io_connect_t(0)
# print("lol", libsys.mach_task_self_)
kr = iokit.IOServiceOpen(service, ctypes.cast(libsys.mach_task_self_, ctypes.POINTER(ctypes.c_uint)).contents.value,
ctypes.c_uint32(uc_type), ctypes.byref(conn))
if kr != 0: raise OSError(kr, f"IOServiceOpen failed (0x{kr:08x})")
return conn
finally: iokit.IOObjectRelease(service)
def external_method(conn: io_connect_t, selector: int = 0) -> int:
# no scalars in/out, no struct in/out — just ping selector 0
in_scalars = ctypes.POINTER(ctypes.c_uint64)() # NULL
out_scalars = (ctypes.c_uint64 * 1)() # space if driver returns something
out_scalars_cnt = ctypes.c_uint32(0) # driver can set this
return iokit.IOConnectCallMethod(conn, ctypes.c_uint32(selector), in_scalars, ctypes.c_uint32(0), None, ctypes.c_size_t(0),
out_scalars, ctypes.byref(out_scalars_cnt), None, ctypes.byref(ctypes.c_size_t(0)))
def close_userclient(conn: io_connect_t) -> None:
# IOServiceClose is a macro; exported symbol is IOServiceClose in IOKit
iokit.IOServiceClose.argtypes = [io_connect_t]
iokit.IOServiceClose.restype = kern_return_t
iokit.IOServiceClose(conn)
if __name__ == "__main__":
try:
conn = open_userclient_by_name("tinygpu", uc_type=0)
kr = external_method(conn, selector=0)
print(f"ExternalMethod(0) -> 0x{kr:08x}")
except Exception as e:
print(e)
sys.exit(1)
finally:
if 'conn' in locals() and conn.value: close_userclient(conn)