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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

By default, libsafety.so is built with optimizations and stripped symbols, which makes C-level debugging impractical. This workflow fixes that by:

  1. Building libsafety with debug symbols and no optimizations.
  2. Running replay_drive.py with a user-provided route.
  3. Attaching LLDB automatically from VS Code.

Building with Debug Symbols

Rebuild libsafety with the --unoptimized flag:

scons -u -j$(nproc) --unoptimized

This enables the debug flags:

  • -g (include symbols)
  • -O0 (disable optimizations)
  • -fno-omit-frame-pointer (keep stack traces usable)

Debugging Workflow

  1. Build with debug symbols

    scons -u -j$(nproc) --unoptimized

  2. Start the debugger in VS Code

    • Select Replay drive + Safety LLDB.
    • Enter the route or segment when prompted.

  3. 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.

  4. Set breakpoints in VS Code Breakpoints can be set directly in libsafety.c (or any C file). No extra LLDB commands are required — just place breakpoints in the editor.

  5. Resume execution Once attached, you can step through both Python and C safety code as CAN logs are replayed.

Notes

  • Always rebuild with --unoptimized before debugging.
  • Use short routes for quicker iteration.
  • Pause replay_drive early to avoid wasting log messages.

Video

demo safety debug.mp4