    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");
        return;
      }
    }
 
</s> remove     // connect to all
 </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     if (!ignition && (cnt % 120 == 1)) {
 </s> add     if (!ignition && (sm.frame % 120 == 1)) { </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) {
    if (serials.size() == 0) {
      // connect to all
      serials = Panda::list();
  

      if (serials.size() == 0) {
        LOGW("no pandas found, exiting");
        return;
      }
    }
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