mirror of
https://github.com/firestar5683/StarPilot.git
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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.
74 lines
3.2 KiB
Python
74 lines
3.2 KiB
Python
import ctypes, ctypes.util, functools, sys
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from typing import TYPE_CHECKING, Any
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if TYPE_CHECKING: id_ = ctypes.c_void_p
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else:
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class id_(ctypes.c_void_p):
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_is_finalizing = sys.is_finalizing # FIXME: why is this needed
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retain: bool = False
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# This prevents ctypes from converting response to plain int, and dict.fromkeys() can use it to dedup
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def __hash__(self): return hash(self.value)
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def __eq__(self, other): return self.value == other.value
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def __del__(self):
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if self.retain and not self._is_finalizing(): self.release()
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def release(self): msg("release")(self)
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def retained(self):
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setattr(self, 'retain', True)
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return self
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def returns_retained(f): return functools.wraps(f)(lambda *args, **kwargs: f(*args, **kwargs).retained())
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lib = ctypes.CDLL(ctypes.util.find_library('objc'))
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lib.sel_registerName.restype = id_
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getsel = functools.cache(lib.sel_registerName)
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lib.objc_getClass.restype = id_
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dispatch_data_create = ctypes.CDLL("/usr/lib/libSystem.dylib").dispatch_data_create
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dispatch_data_create.restype = id_
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dispatch_data_create = returns_retained(dispatch_data_create)
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def msg(sel:str, restype=id_, argtypes=[], retain=False, clsmeth=False):
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# Using attribute access returns a new reference so setting restype is safe
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(sender:=lib["objc_msgSend"]).restype, sender.argtypes = restype, [id_, id_]+list(argtypes) if argtypes else []
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def f(ptr, *args): return sender(ptr._objc_class_ if clsmeth else ptr, getsel(sel.encode()), *args)
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return returns_retained(f) if retain else f
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if TYPE_CHECKING:
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import _ctypes
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class MetaSpec(_ctypes._PyCSimpleType):
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_objc_class_: id_
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def __getattr__(cls, nm:str) -> Any: ...
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def __setattr__(cls, nm:str, v:Any): ...
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else:
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class MetaSpec(type(id_)):
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def __new__(mcs, name, bases, dct):
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cls = super().__new__(mcs, name, bases, {'_objc_class_': lib.objc_getClass(name.encode()), '_children_': set(), **dct})
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cls._methods_, cls._classmethods_ = dct.get('_methods_', []), dct.get('_classmethods_', [])
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return cls
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def __setattr__(cls, k, v):
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super().__setattr__(k, v)
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if k in ("_methods_", "_classmethods_"):
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for m in v: cls._addmeth(m, clsmeth=(k=="_classmethods_"))
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for c in cls._children_: c._inherit(cls)
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if k == "_bases_":
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for b in v:
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b._children_.add(cls)
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cls._inherit(b)
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def _inherit(cls, b):
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for _b in getattr(b, "_bases_", []): cls._inherit(_b)
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for m in getattr(b, "_methods_", []): cls._addmeth(m)
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for m in getattr(b, "_classmethods_", []): cls._addmeth(m, True)
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for c in cls._children_: c._inherit(cls)
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def _addmeth(cls, m, clsmeth=False):
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nm = m[0].strip(':').replace(':', '_')
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if clsmeth: setattr(cls, nm, classmethod(msg(m[0], cls if m[1] == 'instancetype' else m[1],
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[cls if a == 'instancetype' else a for a in m[2]], *m[3:], clsmeth=True))) # type: ignore[misc]
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else: setattr(cls, nm, msg(m[0], cls if m[1] == 'instancetype' else m[1], [cls if a == 'instancetype' else a for a in m[2]], *m[3:]))
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class Spec(id_, metaclass=MetaSpec):
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if TYPE_CHECKING:
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def __getattr__(self, nm:str) -> Any: ...
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