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version: sunnypilot v2026.003.000 (feature-branch)
date: 2026-08-15T18:45:12
master commit: 7a9099818f
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1.2 KiB
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_driveprocess. - ⚠️ Attach quickly, or
replay_drivewill start consuming messages.
Tip
Add a Python breakpoint at the start of
replay_drive.pyto 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_driveearly 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