sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
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.
You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
15819 Commits
98 Branches
84 Tags
7.2 GiB
 
 
 
 
 
 
Tag: Branch: Tree: a4ee6a9d5c
Branches Tags
${ item.name }
Create tag ${ searchTerm }
Create branch ${ searchTerm }
from 'a4ee6a9d5c'
${ noResults }
openpilot_comma/docs/DEBUGGING_SAFETY.md

1.0 KiB
Raw Blame History Escape

Debugging Panda Safety with Replay Drive + LLDB

Debugging Workflow

  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.

  1. 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.

  2. Resume execution Once attached, you can step through both Python 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