  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
  LKAS_MAX_TORQUE = 100             # A value of 100 is easy to overpower
  
  
  class CarController():
    def __init__(self, dbc_name, CP, VM):
      self.car_fingerprint = CP.carFingerprint
  
      self.lkas_max_torque = 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)
VisualAlert = car.CarControl.HUDControl.VisualAlert
  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
  LKAS_MAX_TORQUE = 100             # A value of 100 is easy to overpower
  
VisualAlert = car.CarControl.HUDControl.VisualAlert
  
  class CarController():
    def __init__(self, dbc_name, CP, VM):
      self.car_fingerprint = CP.carFingerprint
  
      self.lkas_max_torque = 0
keep keep add keep keep keep keep keep keep
 Added LKAS HUD line detection/steer status/hand on wheel warning (#1225) 
selfdrive/car/nissan/carcontroller.py