  
      ### STEER ###
      acc_active = bool(CS.out.cruiseState.enabled)
      cruise_throttle_msg = CS.cruise_throttle_msg
      apply_angle = actuators.steerAngle
  
      steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0
  
 
</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): </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)
    lkas_hud_msg = CS.lkas_hud_msg
    lkas_hud_info_msg = CS.lkas_hud_info_msg
  
      ### STEER ###
      acc_active = bool(CS.out.cruiseState.enabled)
      cruise_throttle_msg = CS.cruise_throttle_msg
    lkas_hud_msg = CS.lkas_hud_msg
    lkas_hud_info_msg = CS.lkas_hud_info_msg
      apply_angle = actuators.steerAngle
  
      steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0
  
keep keep keep add keep keep keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/carcontroller.py