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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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openpilot_comma/docs/DEBUGGING_SAFETY.md

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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