From 313ede3d1ed9b646ff5e94a83aaafe91ba5b6029 Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 13 May 2025 14:48:40 -0700
Subject: [PATCH] Update NDOG live (#35205)

* no alt exp

* live

* fix

* update res
---
 opendbc_repo                                    | 2 +-
 selfdrive/car/card.py                           | 8 --------
 selfdrive/selfdrived/selfdrived.py              | 4 ++--
 selfdrive/test/process_replay/process_replay.py | 7 -------
 selfdrive/test/process_replay/ref_commit        | 2 +-
 5 files changed, 4 insertions(+), 19 deletions(-)

diff --git a/opendbc_repo b/opendbc_repo
index 95ee4edd17..a633eeb65c 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477
+Subproject commit a633eeb65c0807746cd9cf5cb1bb1dc227779f3f
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 378543164c..502daaa015 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -17,7 +17,6 @@ from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
@@ -108,16 +107,9 @@ class Car:
       self.CI, self.CP = CI, CI.CP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = structs.CarParams.SafetyConfig()
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index c888551777..98c03acf1e 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -55,7 +54,6 @@ class SelfdriveD:
       self.CP = CP
 
     self.car_events = CarSpecificEvents(self.CP)
-    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@@ -85,6 +83,7 @@ class SelfdriveD:
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
 
     car_recognized = self.CP.brand != 'mock'
 
@@ -486,6 +485,7 @@ class SelfdriveD:
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
+      self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
       time.sleep(0.1)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 3183db0c3a..8de2e60055 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -17,7 +17,6 @@ from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.car_helpers import get_car, interfaces
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
@@ -365,9 +364,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
 
     CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
 
-    if not params.get_bool("DisengageOnAccelerator"):
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
   params.put("CarParams", CP.to_bytes())
 
 
@@ -769,9 +765,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     params_dict["IsRhdDetected"] = is_rhd
 
   if CP is not None:
-    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
-      params_dict["DisengageOnAccelerator"] = False
-
     if fingerprint is None:
       if CP.fingerprintSource == "fw":
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index f5cd05b16e..ab602d4726 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b31b7c5c29e6d30ccee2fa5105af778810fcd02e
\ No newline at end of file
+61bfff810e45b7a1577cfbb572a7b3c233f8551b
\ No newline at end of file