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<h1 id="debugging-panda-safety-with-replay-drive-lldb">Debugging Panda Safety with Replay Drive + LLDB</h1>
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<h2 id="1-start-the-debugger-in-vs-code">1. Start the debugger in VS Code</h2>
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<ul>
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<li>Select <strong>Replay drive + Safety LLDB</strong>.</li>
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<li>Enter the route or segment when prompted.
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<a href="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604"><img src="https://github.com/user-attachments/assets/b0cc320a-083e-46a7-a9f8-ca775bbe5604"></a></li>
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</ul>
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<h2 id="2-attach-lldb">2. Attach LLDB</h2>
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<ul>
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<li>When prompted, pick the running <strong><code>replay_drive</code> process</strong>.</li>
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<li>⚠️ Attach quickly, or <code>replay_drive</code> will start consuming messages.</li>
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</ul>
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<blockquote>
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<p>[!TIP]
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Add a Python breakpoint at the start of <code>replay_drive.py</code> to pause execution and give yourself time to attach LLDB.</p>
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</blockquote>
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<h2 id="3-set-breakpoints-in-vs-code">3. Set breakpoints in VS Code</h2>
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<p>Breakpoints can be set directly in <code>modes/xxx.h</code> (or any C file).
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No extra LLDB commands are required — just place breakpoints in the editor.</p>
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<h2 id="4-resume-execution">4. Resume execution</h2>
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<p>Once attached, you can step through both Python (on the replay) and C safety code as CAN logs are replayed.</p>
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<blockquote>
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<p>[!NOTE]
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* Use short routes for quicker iteration.
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* Pause <code>replay_drive</code> early to avoid wasting log messages.</p>
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</blockquote>
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<h2 id="video">Video</h2>
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<p>View a demo of this workflow on the PR that added it: https://github.com/commaai/openpilot/pull/36055#issue-3352911578</p>
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