What's the easiest way to interactively debug a Falcon server's worker process from the terminal?

At the moment I'm using debug gem, so adding debugger calls in the source code and using $ bundle exec rdbg -c "falcon serve -n 1". This works but I end up with a hanging falcon process when trying to exit.

The Puma default behaviour (Puma starting in single mode...) is that the calling terminal receives debugging console I/O when debugger or binding.pry is called, which is very convenient (no need to find and attach to process, or wrap in an $ rdbg call). I'm curious what others are doing. Great project. Thank you.