initial working version for nissan-leaf ic verion

selfdrive/car/nissan/carcontroller.py

@@ -76,8 +76,8 @@ def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    #if self.CP.carFingerprint == CAR.LEAF and frame % 2 == 0:
-    #    can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+    if self.CP.carFingerprint == CAR.LEAF and frame % 2 == 0:
+        can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(
         self.packer, self.car_fingerprint, apply_angle, frame, enabled, self.lkas_max_torque))

selfdrive/car/nissan/carstate.py

@@ -50,7 +50,8 @@ def update(self, cp, cp_adas, cp_cam):
       ret.seatbeltUnlatched = cp.vl["HUD"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp_cam.vl["PRO_PILOT"]["CRUISE_ON"])
     elif self.CP.carFingerprint == CAR.LEAF:
-      ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
+      # TODO: what does this actually do?
+      # ret.seatbeltUnlatched = cp.vl["SEATBELT"]["SEATBELT_DRIVER_LATCHED"] == 0
       ret.cruiseState.available = bool(cp.vl["CRUISE_THROTTLE"]["CRUISE_AVAILABLE"])
 
     speed = cp_adas.vl["PROPILOT_HUD"]["SET_SPEED"]