    util::set_thread_name("boardd_panda_state");
  
    Params params;
    SubMaster sm({"controlsState"});
  
    Panda *peripheral_panda = pandas[0];
    bool is_onroad = false;
    bool is_onroad_last = false;
    std::future<bool> safety_future;
 
</s> remove void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
 </s> add void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) { </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     LOGW("connected to board");
    Panda *peripheral_panda = pandas[0];
 </s> add     LOGW("connected to all pandas");
 </s> remove     threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
    threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);
 </s> add     threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr); </s> remove   #ifndef __x86_64__
 </s> add 
  PubMaster pm({"pandaStates", "peripheralState"});
    util::set_thread_name("boardd_panda_state");
  
    Params params;
    SubMaster sm({"controlsState"});
  PubMaster pm({"pandaStates", "peripheralState"});
  
    Panda *peripheral_panda = pandas[0];
    bool is_onroad = false;
    bool is_onroad_last = false;
    std::future<bool> safety_future;
keep keep 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/boardd.cc