      std::vector<std::thread> threads;
      threads.emplace_back(panda_state_thread, &pm, panda, getenv("STARTED") != nullptr);
      threads.emplace_back(can_send_thread, panda, getenv("FAKESEND") != nullptr);
      threads.emplace_back(can_recv_thread, panda);
      threads.emplace_back(hardware_control_thread, panda);
      threads.emplace_back(pigeon_thread, panda);
  
      for (auto &t : threads) t.join();
  
      delete panda;
      panda = nullptr;
 
</s> remove     threads.emplace_back(panda_state_thread, &pm, panda, getenv("STARTED") != nullptr);
 </s> add     threads.emplace_back(panda_state_thread, &pm, peripheral_panda, panda, getenv("STARTED") != nullptr);
    threads.emplace_back(peripheral_control_thread, peripheral_panda);
    threads.emplace_back(pigeon_thread, peripheral_panda);
 </s> remove #endif
 </s> add   } else {
    ps.setVoltage(pandaState.voltage);
    ps.setCurrent(pandaState.current);
  }

  uint16_t fan_speed_rpm = panda->get_fan_speed();
  ps.setUsbPowerMode(cereal::PeripheralState::UsbPowerMode(pandaState.usb_power_mode));
  ps.setFanSpeedRpm(fan_speed_rpm);

  pm->send("peripheralState", msg);
}

void panda_state_thread(PubMaster *pm, Panda * peripheral_panda, Panda *panda, bool spoofing_started) {
  Params params;
  bool ignition_last = false;

  LOGD("start panda state thread");

  // run at 2hz
  while (!do_exit && panda->connected) {
    send_peripheral_state(pm, peripheral_panda);
    ignition = send_panda_state(pm, panda, spoofing_started); </s> remove   PubMaster pm({"pandaState"});
 </s> add   PubMaster pm({"pandaState", "peripheralState"}); </s> remove #ifndef __x86_64__
    bool power_save_desired = !ignition;
    if (pandaState.power_save_enabled != power_save_desired) {
      panda->set_power_saving(power_save_desired);
 </s> add   // build msg
  MessageBuilder msg;
  auto evt = msg.initEvent();
  evt.setValid(panda->comms_healthy);

  auto ps = evt.initPandaState();
  ps.setUptime(pandaState.uptime);
  ps.setIgnitionLine(pandaState.ignition_line);
  ps.setIgnitionCan(pandaState.ignition_can);
  ps.setControlsAllowed(pandaState.controls_allowed);
  ps.setGasInterceptorDetected(pandaState.gas_interceptor_detected);
  ps.setCanRxErrs(pandaState.can_rx_errs);
  ps.setCanSendErrs(pandaState.can_send_errs);
  ps.setCanFwdErrs(pandaState.can_fwd_errs);
  ps.setGmlanSendErrs(pandaState.gmlan_send_errs);
  ps.setPandaType(panda->hw_type);
  ps.setSafetyModel(cereal::CarParams::SafetyModel(pandaState.safety_model));
  ps.setSafetyParam(pandaState.safety_param);
  ps.setFaultStatus(cereal::PandaState::FaultStatus(pandaState.fault_status));
  ps.setPowerSaveEnabled((bool)(pandaState.power_save_enabled));
  ps.setHeartbeatLost((bool)(pandaState.heartbeat_lost));
  ps.setHarnessStatus(cereal::PandaState::HarnessStatus(pandaState.car_harness_status));

  // Convert faults bitset to capnp list
  std::bitset<sizeof(pandaState.faults) * 8> fault_bits(pandaState.faults);
  auto faults = ps.initFaults(fault_bits.count());

  size_t i = 0;
  for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
      f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_TICK); f++) {
    if (fault_bits.test(f)) {
      faults.set(i, cereal::PandaState::FaultType(f));
      i++;
      std::vector<std::thread> threads;
      threads.emplace_back(panda_state_thread, &pm, panda, getenv("STARTED") != nullptr);
      threads.emplace_back(can_send_thread, panda, getenv("FAKESEND") != nullptr);
      threads.emplace_back(can_recv_thread, panda);


  
      for (auto &t : threads) t.join();
  
      delete panda;
      panda = nullptr;
keep keep keep keep replace replace keep keep keep keep keep
 Split pandaState into peripheralState and pandaState (#22385)

* publish peripheralState from boardd

* refactor consumers

* rename thread

* peripheralState has panda type too

* add to process replay

* fix device build

* properly remove hardware unsupported alert

* latest peripheralState

* remove pandaState from thermal_monitor

* put that back

* add back harness check

* fix cloudlog

* needs pandaState

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* dont conflate

* Update selfdrive/thermald/tests/test_power_monitoring.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* pigeon is peripheral

* cleanup

* less global

* comment

* move rtc to peripheral_control_thread

* better diff?

* whitespace

* get msg

* bump cereal

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> 
selfdrive/boardd/boardd.cc