      handle = std::make_unique<PandaSpiHandle>(serial);
      LOGW("connected to %s over SPI", serial.c_str());
  #endif
    }
  
    hw_type = get_hw_type();
    has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
 
</s> remove     LOGW("connected to board");
    Panda *peripheral_panda = pandas[0];
 </s> add     LOGW("connected to all pandas");
 </s> remove     if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
 </s> add     if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) { </s> remove       if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
 </s> add       if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) { </s> remove     // Disable ir_pwr on front frame timeout
    uint64_t cur_t = nanos_since_boot();
    if (cur_t - last_front_frame_t > 1e9) {
 </s> add     // Disable IR on input timeout
    if (nanos_since_boot() - last_driver_camera_t > 1e9) { </s> remove       last_front_frame_t = event.getLogMonoTime();
 </s> add       last_driver_camera_t = event.getLogMonoTime();
#else
    throw e;
      handle = std::make_unique<PandaSpiHandle>(serial);
      LOGW("connected to %s over SPI", serial.c_str());
#else
    throw e;
  #endif
    }
  
    hw_type = get_hw_type();
    has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
keep add keep keep keep keep keep
 boardd: misc cleanup (#28969)

* boardd cleanup

* no more front frame

* faster connect loop

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