    PubMaster pm({"pandaStates", "peripheralState"});
    LOGW("attempting to connect");
  
    if (serials.size() == 0) {
      // connect to all
      serials = Panda::list();
  
      // exit if no pandas are connected
      if (serials.size() == 0) {
        LOGW("no pandas found, exiting");
 
</s> remove     // exit if no pandas are connected
 </s> add  </s> remove   PubMaster pm({"pandaStates", "peripheralState"});
  LOGW("attempting to connect");
 </s> add   LOGW("launching boardd"); </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     cnt++;
    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
 </s> add     sm.update(1000); </s> remove     if (!ignition && (cnt % 120 == 1)) {
 </s> add     if (!ignition && (sm.frame % 120 == 1)) {
    PubMaster pm({"pandaStates", "peripheralState"});
    LOGW("attempting to connect");
  
    if (serials.size() == 0) {

      serials = Panda::list();
  
      // exit if no pandas are connected
      if (serials.size() == 0) {
        LOGW("no pandas found, exiting");
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