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
from subprocess import check_output
from hexdump import hexdump
def get_pid(name):
try:
output = check_output(["pgrep", name])
return int(output)
except:
return None
from ctypes.util import find_library
libc = ctypes.CDLL(find_library('c'))
amfid_pid = get_pid("amfid")
task = ctypes.c_uint32()
mytask = libc.mach_task_self()
ret = libc.task_for_pid(mytask, ctypes.c_int(amfid_pid), ctypes.pointer(task))
print(amfid_pid, ret, task, mytask)
#myport = libc.mach_task_self()
class vm_region_submap_short_info_data_64(ctypes.Structure):
_pack_ = 1
_fields_ = [
("protection", ctypes.c_uint32),
("max_protection", ctypes.c_uint32),
("inheritance", ctypes.c_uint32),
("offset", ctypes.c_ulonglong),
("user_tag", ctypes.c_uint32),
("ref_count", ctypes.c_uint32),
("shadow_depth", ctypes.c_uint16),
("external_pager", ctypes.c_byte),
("share_mode", ctypes.c_byte),
("is_submap", ctypes.c_uint32),
("behavior", ctypes.c_uint32),
("object_id", ctypes.c_uint32),
("user_wired_count", ctypes.c_uint32),
]
submap_info_size = ctypes.sizeof(vm_region_submap_short_info_data_64) // 4
address = ctypes.c_ulong(0)
mapsize = ctypes.c_ulong(0)
count = ctypes.c_uint32(submap_info_size)
sub_info = vm_region_submap_short_info_data_64()
depth = 0
c_depth = ctypes.c_uint32(depth)
for i in range(1):
ret = libc.mach_vm_region_recurse(task,
ctypes.pointer(address), ctypes.pointer(mapsize),
ctypes.pointer(c_depth), ctypes.pointer(sub_info),
ctypes.pointer(count))
print("aslr", hex(ret), hex(address.value), mapsize, count, sub_info.protection)
#address.value += mapsize.value
#exit(0)
patch_address = address.value + 0x8e38
patch = b"\x00\x00\x80\xd2"
pdata = ctypes.c_void_p(0)
data_cnt = ctypes.c_uint32(0)
ret = libc.mach_vm_read(task, ctypes.c_ulong(patch_address), 4, ctypes.pointer(pdata), ctypes.pointer(data_cnt))
buf = ctypes.string_at(pdata.value, data_cnt.value)
hexdump(buf)
#ret = libc.mach_vm_wire(mytask, task, patch_address, 4, 3)
#print(ret)
#exit(0)
"""
ret = libc.mach_vm_read(task, address, mapsize, ctypes.pointer(pdata), ctypes.pointer(data_cnt))
buf = ctypes.string_at(pdata.value, data_cnt.value)
hexdump(buf)
ret = libc.mach_vm_deallocate(task, address, mapsize)
print("mach_vm_deallocate", ret)
ret = libc.mach_vm_allocate(task, ctypes.pointer(address), mapsize, 0)
print("mach_vm_allocate", ret)
"""
ret = libc.mach_vm_protect(task, ctypes.c_ulong(patch_address), 4, True, 3)
print("protect", ret)
longptr = ctypes.POINTER(ctypes.c_ulong)
#shellcodePtr = ctypes.cast(buf, longptr)
#ret = libc.mach_vm_write(task, address, shellcodePtr, len(buf))
#print("write", ret)
shellcodePtr = ctypes.cast(patch, longptr)
ret = libc.mach_vm_write(task, ctypes.c_ulong(patch_address), shellcodePtr, len(buf))
print("write", ret)
#libc.mach_vm_write.argtypes = [ctypes.c_uint32, ctypes.c_ulong, longptr, ctypes.c_uint32]
#libc.mach_vm_write.restype = ctypes.c_uint32
#ret = libc.mach_vm_write(task, ctypes.c_ulong(patch_address), shellcodePtr, len(patch))
ret = libc.mach_vm_protect(task, ctypes.c_ulong(patch_address), 4, False, 5)
print("protect", ret)