Starting the daemon with with just a bare "openocd" I saw:

        Can't find openocd.cfg

That's not an error; don't treat it as if it were.  There may
be an error later -- like, "no interface set up" -- but let
messages only report real errors, not fake ones.

---
I committed this, but suspect there's a better fix to be had.

--- a/src/helper/configuration.c
+++ b/src/helper/configuration.c
@@ -115,8 +115,10 @@ int parse_config_file(struct command_context *cmd_ctx)
        int retval;
        char **cfg;
 
-       if (!config_file_names)
-               add_config_command ("script openocd.cfg");
+       if (!config_file_names) {
+               command_run_line(cmd_ctx, "script openocd.cfg");
+               return ERROR_OK;
+       }
 
        cfg = config_file_names;
 
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