      apply_angle = actuators.steerAngle
  
      if enabled:
        # # windup slower
        if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
          angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
 
</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)
    steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0

      apply_angle = actuators.steerAngle
  
    steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0

      if enabled:
        # # windup slower
        if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
          angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP, ANGLE_DELTA_V)
keep add keep keep keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/carcontroller.py