7fa972be6a
version: sunnypilot v2025.003.000 (dev) date: 2026-02-09T02:04:38 master commit: 254f55ac15a40343d7255f2f098de3442e0c4a6f
1.2 KiB
1.2 KiB
Debugging Panda Safety with Replay Drive + LLDB
1. Start the debugger in VS Code
- Select Replay drive + Safety LLDB.
- Enter the route or segment when prompted.
2. Attach LLDB
- When prompted, pick the running
replay_driveprocess. - ⚠️ Attach quickly, or
replay_drivewill start consuming messages.
Tip
Add a Python breakpoint at the start of
replay_drive.pyto pause execution and give yourself time to attach LLDB.
3. Set breakpoints in VS Code
Breakpoints can be set directly in modes/xxx.h (or any C file).
No extra LLDB commands are required — just place breakpoints in the editor.
4. Resume execution
Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
Note
- Use short routes for quicker iteration.
- Pause
replay_driveearly to avoid wasting log messages.
Video
View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578