launch.json

{
  "version": "0.2.0",
  "inputs": [
    {
      "id": "python_process",
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
        "selfdrive/controls/controlsd.py",
        "system/timed/timed.py",
        "tools/sim/run_bridge.py"
      ]
    },
    {
      "id": "cpp_process",
      "type": "pickString",
      "description": "Select the process to debug",
      "options": [
        "selfdrive/ui/ui"
      ]
    },
    {
      "id": "args",
      "description": "Arguments to pass to the process",
      "type": "promptString"
    }
  ],
  "configurations": [
    {
      "name": "Python: openpilot Process",
      "type": "debugpy",
      "request": "launch",
      "program": "${input:python_process}",
      "console": "integratedTerminal",
      "justMyCode": true,
      "args": "${input:args}"
    },
    {
      "name": "C++: openpilot Process",
      "type": "cppdbg",
      "request": "launch",
      "program": "${workspaceFolder}/${input:cpp_process}",
      "cwd": "${workspaceFolder}",
    }
  ]
}