        auto event = sm["driverCameraState"];
        int cur_integ_lines = event.getDriverCameraState().getIntegLines();
  
        cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
        last_front_frame_t = event.getLogMonoTime();
  
        if (cur_integ_lines <= CUTOFF_IL) {
          ir_pwr = 100.0 * MIN_IR_POWER;
        } else if (cur_integ_lines > SATURATE_IL) {
          ir_pwr = 100.0 * MAX_IR_POWER;
 
</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     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   unsigned int cnt = 0;
 </s> add  </s> remove   uint64_t last_front_frame_t = 0;
 </s> add   uint64_t last_driver_camera_t = 0; </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);
      last_driver_camera_t = event.getLogMonoTime();
        auto event = sm["driverCameraState"];
        int cur_integ_lines = event.getDriverCameraState().getIntegLines();
  
        cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
      last_driver_camera_t = event.getLogMonoTime();
  
        if (cur_integ_lines <= CUTOFF_IL) {
          ir_pwr = 100.0 * MIN_IR_POWER;
        } else if (cur_integ_lines > SATURATE_IL) {
          ir_pwr = 100.0 * MAX_IR_POWER;
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