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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# Debugging Panda Safety with Replay Drive + LLDB
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## 1. Start the debugger in VS Code
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* Select **Replay drive + Safety LLDB**.
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* Enter the route or segment when prompted.
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[<img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604">](https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604)
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## 2. Attach LLDB
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* When prompted, pick the running **`replay_drive` process**.
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* ⚠️ Attach quickly, or `replay_drive` will start consuming messages.
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> [!TIP]
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> Add a Python breakpoint at the start of `replay_drive.py` to pause execution and give yourself time to attach LLDB.
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## 3. Set breakpoints in VS Code
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Breakpoints can be set directly in `modes/xxx.h` (or any C file).
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No extra LLDB commands are required — just place breakpoints in the editor.
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## 4. Resume execution
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Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.
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> [!NOTE]
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> * Use short routes for quicker iteration.
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> * Pause `replay_drive` early to avoid wasting log messages.
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## Video
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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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