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…obstacle_factory_test
…into william/bazel9 # Conflicts: # src/toolchains/cc/BUILD
…into william/bazel9
…into avah/bazel9_pyqt6_fixes
GrayHoang
requested review from
Andrewyx,
sauravbanna and
williamckha
as code owners
September 6, 2026 01:43
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Description
There is a set of macros defined in
sml_fsm.hthat are supposed to make using Boost::SML a bit easier for members. While it does simplify the context, it obfuscates a lot of what's going on under the hood, and makes debugging and logging more difficult.This PR removes all of those macros and replaces them with what they actually represent, in the case of State and Event macros.
It also defines a series of template classes to wrap action and guard functions into functor classes while preserving their context, to make logging and debugging easier (see #3489 for the potential applications of this).
This is a direct improvement over the macro I defined in #3489.
Testing Done
Compiles, thunderscope runs.
Resolved Issues
Length Justification and Key Files to Review
Most of the changes are just replacing the macro with an object initialization.
Please look at
software/util/sml_fsm/sml_fsm.h.Review Checklist
It is the reviewers responsibility to also make sure every item here has been covered
.hfile) should have a javadoc style comment at the start of them. For examples, see the functions defined inthunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.TODO(or similar) statements should either be completed or associated with a github issue