      return self.CS.out
  
    def apply(self, c):
      can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                                 c.cruiseControl.cancel,)
      self.frame += 1
      return can_sends
 
</s> remove   def update(self, enabled, CS, frame, actuators, cruise_cancel):
 </s> add   def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
             left_line, right_line, left_lane_depart, right_lane_depart):
                               c.cruiseControl.cancel, c.hudControl.visualAlert, 
                               c.hudControl.leftLaneVisible,c.hudControl.rightLaneVisible,
                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
      return self.CS.out
  
    def apply(self, c):
      can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
                               c.cruiseControl.cancel, c.hudControl.visualAlert, 
                               c.hudControl.leftLaneVisible,c.hudControl.rightLaneVisible,
                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
      self.frame += 1
      return can_sends
keep keep keep keep replace keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/interface.py