  
    // can = 8006
    PubMaster pm({"can"});
  
    // run at 100hz
    const uint64_t dt = 10000000ULL;
    uint64_t next_frame_time = nanos_since_boot() + dt;
    std::vector<can_frame> raw_can_data;
  
    while (!do_exit && check_all_connected(pandas)) {
 
</s> remove   // can = 8006
 </s> add  </s> remove     send_peripheral_state(pm, peripheral_panda);
    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
 </s> add     send_peripheral_state(&pm, peripheral_panda);
    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started); </s> remove   unsigned int cnt = 0;
 </s> add  </s> remove void send_empty_peripheral_state(PubMaster *pm) {
  MessageBuilder msg;
  auto peripheralState  = msg.initEvent().initPeripheralState();
  peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
  pm->send("peripheralState", msg);
}

void send_empty_panda_state(PubMaster *pm) {
  MessageBuilder msg;
  auto pandaStates = msg.initEvent().initPandaStates(1);
  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
  pm->send("pandaStates", msg);
}

 </s> add  </s> remove     cnt++;
    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 </s> add     sm.update(1000);
  // run at 100Hz
  
    // can = 8006
    PubMaster pm({"can"});
  
  // run at 100Hz
    const uint64_t dt = 10000000ULL;
    uint64_t next_frame_time = nanos_since_boot() + dt;
    std::vector<can_frame> raw_can_data;
  
    while (!do_exit && check_all_connected(pandas)) {
keep keep keep keep replace keep keep keep keep keep
 boardd: misc cleanup (#28969)

* boardd cleanup

* no more front frame

* faster connect loop

* fix that on mac 
selfdrive/boardd/boardd.cc