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DevTekVE 03e9777c3f Improve debugging for safety (#36055 )

* feat: add debugging configurations for replay drive and LLDB attachment

* Add readme with video demo

* clean

* docs: update debugging safety documentation with demo link

* no need for mp4 then added on PR

* Update SConstruct

* bump opendbc

* updating readme

* updating readme

* updating readme

* is this better / worth it?

* final cleanups

* hacky. but does it work?

* Yep that worked!

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Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

2025-09-06 12:05:15 -07:00

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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_drive process.
⚠️ Attach quickly, or replay_drive will start consuming messages.

Tip

Add a Python breakpoint at the start of replay_drive.py to 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_drive early 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

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