    while (!do_exit && check_all_connected(pandas)) {
      uint64_t start_time = nanos_since_boot();
  
      // send out peripheralState
      send_peripheral_state(pm, peripheral_panda);
      auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
  
      if (!ignition_opt) {
        continue;
      }
  
 
</s> remove   // run at 100hz
 </s> add   // run at 100Hz </s> remove       // send empty pandaState & peripheralState and try again
      send_empty_panda_state(&pm);
      send_empty_peripheral_state(&pm);
      util::sleep_for(500);
 </s> add       util::sleep_for(100); </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); </s> remove   unsigned int cnt = 0;
 </s> add 
    send_peripheral_state(&pm, peripheral_panda);
    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
    while (!do_exit && check_all_connected(pandas)) {
      uint64_t start_time = nanos_since_boot();
  
      // send out peripheralState
    send_peripheral_state(&pm, peripheral_panda);
    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
    send_peripheral_state(&pm, peripheral_panda);
    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
  
      if (!ignition_opt) {
        continue;
      }
  
keep keep keep keep replace 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