  
      ret.espDisabled = bool(cp.vl["_ESP"]["ESP_DISABLED"])
  
      self.cruise_throttle_msg = copy.copy(cp.vl["CruiseThrottle"])
  
      return ret
  
    @staticmethod
    def get_can_parser(CP):
      # this function generates lists for signal, messages and initial values
 
</s> remove                                c.cruiseControl.cancel,)
 </s> add                                c.cruiseControl.cancel, c.hudControl.visualAlert, 
                               c.hudControl.leftLaneVisible,c.hudControl.rightLaneVisible,
                               c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart) </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):
    self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
    self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
  
      ret.espDisabled = bool(cp.vl["_ESP"]["ESP_DISABLED"])
  
      self.cruise_throttle_msg = copy.copy(cp.vl["CruiseThrottle"])
    self.lkas_hud_msg = copy.copy(cp_adas.vl["PROPILOT_HUD"])
    self.lkas_hud_info_msg = copy.copy(cp_adas.vl["PROPILOT_HUD_INFO_MSG"])
  
      return ret
  
    @staticmethod
    def get_can_parser(CP):
      # this function generates lists for signal, messages and initial values
keep keep keep add keep keep keep keep keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/carstate.py