mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-11-08 05:23:41 +08:00
firestar5683
22a8575199
Keep official openpilot ancestry and dependency licenses. Store resources directly in Git, remove LFS setup requirements, and leave the downloadable big model outside the source tree.
80 lines
2.2 KiB
C
80 lines
2.2 KiB
C
__attribute__((constructor))
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void preload_init() {
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Py_Initialize();
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PyRun_SimpleString("print('hello from c'); import extra.dsp.hook");
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}
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#define _GNU_SOURCE // Must be defined before any includes for RTLD_NEXT
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#include <stdio.h>
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#include <dlfcn.h>
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#include <Python.h> // Include Python header
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//#include <sys/ioctl.h>
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// Define the original ioctl function pointer
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static int (*real_ioctl)(int fd, unsigned long request, void *arg) = NULL;
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// Our custom ioctl hook
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int ioctl(int fd, unsigned long request, void *arg) {
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// Initialize the real ioctl function pointer on first call
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if (!real_ioctl) {
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real_ioctl = dlsym(RTLD_NEXT, "ioctl");
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if (!real_ioctl) {
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fprintf(stderr, "Error: Could not find real ioctl\n");
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return -1;
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}
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}
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// Log the call
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//printf("Hooked ioctl: tid=%d fd=%d, request=0x%lx, arg=%p\n", gettid(), fd, request, arg);
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// Call a Python function from extra.dsp.hook
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PyObject *pName, *pModule, *pFunc, *pArgs, *pValue;
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PyGILState_STATE gstate;
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// Ensure the GIL is held (required for Python calls in multi-threaded apps)
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//gstate = PyGILState_Ensure();
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// Import the module
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pName = PyUnicode_FromString("extra.dsp.hook");
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pModule = PyImport_Import(pName);
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Py_DECREF(pName);
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// Call the original ioctl
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int ret = real_ioctl(fd, request, arg);
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if (pModule != NULL) {
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// Get the function (assume it’s called "handle_ioctl")
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pFunc = PyObject_GetAttrString(pModule, "handle_ioctl");
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if (pFunc && PyCallable_Check(pFunc)) {
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// Create arguments tuple (fd, request, arg, ret)
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pArgs = PyTuple_Pack(4,
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PyLong_FromLong(fd),
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PyLong_FromUnsignedLong(request),
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PyLong_FromVoidPtr(arg),
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PyLong_FromLong(ret));
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pValue = PyObject_CallObject(pFunc, pArgs);
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Py_DECREF(pArgs);
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if (pValue != NULL) {
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Py_DECREF(pValue);
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} else {
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PyErr_Print(); // Print Python error if call fails
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}
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Py_DECREF(pFunc);
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} else {
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if (PyErr_Occurred()) PyErr_Print();
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fprintf(stderr, "Cannot find function 'handle_ioctl'\n");
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}
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Py_DECREF(pModule);
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} else {
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PyErr_Print();
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fprintf(stderr, "Failed to load 'extra.dsp.hook'\n");
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}
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// Release the GIL
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//PyGILState_Release(gstate);
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return ret;
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}
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