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
import os
import pathlib
import struct
from hexdump import hexdump
fxn = None
def disasm_raw(buf):
global fxn
if fxn is None:
shared = pathlib.Path(__file__).parent / "disasm.so"
if not shared.is_file():
os.system(f'cd {pathlib.Path(__file__).parent} && gcc -shared disasm-a3xx.c -o disasm.so')
fxn = ctypes.CDLL(shared.as_posix())['disasm']
fxn(buf, len(buf))
def disasm(buf):
def _read_lib(off): return struct.unpack("I", buf[off:off+4])[0]
image_offset = _read_lib(0xc0)
image_size = _read_lib(0x100)
disasm_raw(buf[image_offset:image_offset+image_size])