From f4719bc9f6e97e992998e83d4d6b701c3b4e79ec Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Tue, 6 Jun 2023 23:43:06 +0200
Subject: [PATCH 01/10] introduced state machine library header only lib

---
 modules/ObjectControl/inc/sml.hpp | 2765 +++++++++++++++++++++++++++++
 1 file changed, 2765 insertions(+)
 create mode 100644 modules/ObjectControl/inc/sml.hpp

diff --git a/modules/ObjectControl/inc/sml.hpp b/modules/ObjectControl/inc/sml.hpp
new file mode 100644
index 000000000..0d2006bae
--- /dev/null
+++ b/modules/ObjectControl/inc/sml.hpp
@@ -0,0 +1,2765 @@
+//
+// Copyright (c) 2016-2020 Kris Jusiak (kris at jusiak dot net)
+//
+// Distributed under the Boost Software License, Version 1.0.
+// (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
+//
+#ifndef BOOST_SML_HPP
+#define BOOST_SML_HPP
+#if (__cplusplus < 201305L && _MSC_VER < 1900)
+#error "[Boost::ext].SML requires C++14 support (Clang-3.4+, GCC-5.1+, MSVC-2015+)"
+#else
+#define BOOST_SML_VERSION 1'1'6
+#define BOOST_SML_NAMESPACE_BEGIN \
+  namespace boost {               \
+  inline namespace ext {          \
+  namespace sml {                 \
+  inline namespace v1_1_6 {
+#define BOOST_SML_NAMESPACE_END \
+  }                             \
+  }                             \
+  }                             \
+  }
+#if defined(__clang__)
+#define __BOOST_SML_UNUSED __attribute__((unused))
+#define __BOOST_SML_VT_INIT \
+  {}
+#if !defined(BOOST_SML_CFG_DISABLE_MIN_SIZE)
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...) __VA_ARGS__ _[0]
+#else
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...)
+#endif
+#define __BOOST_SML_ZERO_SIZE_ARRAY_CREATE(...)
+#define __BOOST_SML_TEMPLATE_KEYWORD template
+#pragma clang diagnostic push
+#pragma clang diagnostic ignored "-Wgnu-string-literal-operator-template"
+#pragma clang diagnostic ignored "-Wzero-length-array"
+#elif defined(__GNUC__)
+#if !defined(__has_builtin)
+#define __BOOST_SML_DEFINED_HAS_BUILTIN
+#define __has_builtin(...) 0
+#endif
+#define __BOOST_SML_UNUSED __attribute__((unused))
+#define __BOOST_SML_VT_INIT \
+  {}
+#if !defined(BOOST_SML_CFG_DISABLE_MIN_SIZE)
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...) __VA_ARGS__ _[0]{}
+#else
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...)
+#endif
+#define __BOOST_SML_ZERO_SIZE_ARRAY_CREATE(...) __VA_ARGS__ ? __VA_ARGS__ : 1
+#define __BOOST_SML_TEMPLATE_KEYWORD template
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#if defined(__GNUC__) && (__GNUC__ >= 10)
+#pragma GCC diagnostic ignored "-Wsubobject-linkage"
+#endif
+#elif defined(_MSC_VER) && !defined(__clang__)
+#define __BOOST_SML_DEFINED_HAS_BUILTIN
+#define __has_builtin(...) __has_builtin##__VA_ARGS__
+#define __has_builtin__make_integer_seq(...) 1
+#define __BOOST_SML_UNUSED
+#define __BOOST_SML_VT_INIT
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...)
+#define __BOOST_SML_ZERO_SIZE_ARRAY_CREATE(...) __VA_ARGS__ ? __VA_ARGS__ : 1
+#if defined(_MSC_VER) && !defined(__clang__) && _MSC_VER >= 1910  // MSVC 2017
+#define __BOOST_SML_TEMPLATE_KEYWORD template
+#else
+#define __BOOST_SML_TEMPLATE_KEYWORD
+#endif
+#pragma warning(disable : 4503)
+#pragma warning(disable : 4200)
+#endif
+BOOST_SML_NAMESPACE_BEGIN
+#define __BOOST_SML_REQUIRES(...) typename aux::enable_if<__VA_ARGS__, int>::type = 0
+namespace aux {
+using byte = unsigned char;
+struct none_type {};
+template <class...>
+struct type {};
+template <class T, T>
+struct non_type {};
+template <class, class>
+struct pair {};
+template <class...>
+struct type_list {
+  using type = type_list;
+};
+template <bool...>
+struct bool_list {
+  using type = bool_list;
+};
+template <class... Ts>
+struct inherit : Ts... {
+  using type = inherit;
+};
+template <class T>
+struct identity {
+  using type = T;
+};
+template <class T>
+T &&declval();
+template <class T, T V>
+struct integral_constant {
+  using type = integral_constant;
+  static constexpr T value = V;
+};
+using true_type = integral_constant<bool, true>;
+using false_type = integral_constant<bool, false>;
+template <class... Ts>
+using void_t = void;
+template <class...>
+struct always : true_type {};
+template <class...>
+struct never : false_type {};
+namespace detail {
+template <bool>
+struct conditional;
+template <>
+struct conditional<false> {
+  template <class, class T>
+  using fn = T;
+};
+template <>
+struct conditional<true> {
+  template <class T, class>
+  using fn = T;
+};
+}  // namespace detail
+template <bool B, class T, class F>
+struct conditional {
+  using type = typename detail::conditional<B>::template fn<T, F>;
+};
+template <bool B, class T, class F>
+using conditional_t = typename detail::conditional<B>::template fn<T, F>;
+template <bool B, class T = void>
+struct enable_if {};
+template <class T>
+struct enable_if<true, T> {
+  using type = T;
+};
+template <bool B, class T = void>
+using enable_if_t = typename enable_if<B, T>::type;
+template <class, class>
+struct is_same : false_type {};
+template <class T>
+struct is_same<T, T> : true_type {};
+template <class T, class U>
+#if defined(_MSC_VER) && !defined(__clang__)
+struct is_base_of : integral_constant<bool, __is_base_of(T, U)> {
+};
+#else
+using is_base_of = integral_constant<bool, __is_base_of(T, U)>;
+#endif
+template <class T, class... TArgs>
+decltype(T(declval<TArgs>()...), true_type{}) test_is_constructible(int);
+template <class, class...>
+false_type test_is_constructible(...);
+template <class T, class... TArgs>
+#if defined(_MSC_VER) && !defined(__clang__)
+struct is_constructible : decltype(test_is_constructible<T, TArgs...>(0)) {
+};
+#else
+using is_constructible = decltype(test_is_constructible<T, TArgs...>(0));
+#endif
+template <class T, class U>
+struct is_empty_base : T {
+  U _;
+};
+template <class T>
+struct is_empty : aux::integral_constant<bool, sizeof(is_empty_base<T, none_type>) == sizeof(none_type)> {};
+template <class>
+struct function_traits;
+template <class R, class... TArgs>
+struct function_traits<R (*)(TArgs...)> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class... TArgs>
+struct function_traits<R(TArgs...)> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class T, class... TArgs>
+struct function_traits<R (T::*)(TArgs...)> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class T, class... TArgs>
+struct function_traits<R (T::*)(TArgs...) const> {
+  using args = type_list<TArgs...>;
+};
+#if defined(__cpp_noexcept_function_type)
+template <class R, class... TArgs>
+struct function_traits<R (*)(TArgs...) noexcept> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class... TArgs>
+struct function_traits<R(TArgs...) noexcept> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class T, class... TArgs>
+struct function_traits<R (T::*)(TArgs...) noexcept> {
+  using args = type_list<TArgs...>;
+};
+template <class R, class T, class... TArgs>
+struct function_traits<R (T::*)(TArgs...) const noexcept> {
+  using args = type_list<TArgs...>;
+};
+#endif
+template <class T>
+using function_traits_t = typename function_traits<T>::args;
+template <class T>
+struct remove_const {
+  using type = T;
+};
+template <class T>
+struct remove_const<const T> {
+  using type = T;
+};
+template <class T>
+using remove_const_t = typename remove_const<T>::type;
+template <class T>
+struct remove_reference {
+  using type = T;
+};
+template <class T>
+struct remove_reference<T &> {
+  using type = T;
+};
+template <class T>
+struct remove_reference<T &&> {
+  using type = T;
+};
+template <class T>
+using remove_reference_t = typename remove_reference<T>::type;
+}  // namespace aux
+namespace aux {
+using swallow = int[];
+template <int...>
+struct index_sequence {
+  using type = index_sequence;
+};
+#if __has_builtin(__make_integer_seq)
+template <class T, T...>
+struct integer_sequence;
+template <int... Ns>
+struct integer_sequence<int, Ns...> {
+  using type = index_sequence<Ns...>;
+};
+template <int N>
+struct make_index_sequence_impl {
+  using type = typename __make_integer_seq<integer_sequence, int, N>::type;
+};
+#else
+template <class, class>
+struct concat;
+template <int... I1, int... I2>
+struct concat<index_sequence<I1...>, index_sequence<I2...>> : index_sequence<I1..., (sizeof...(I1) + I2)...> {};
+template <int N>
+struct make_index_sequence_impl
+    : concat<typename make_index_sequence_impl<N / 2>::type, typename make_index_sequence_impl<N - N / 2>::type>::type {};
+template <>
+struct make_index_sequence_impl<0> : index_sequence<> {};
+template <>
+struct make_index_sequence_impl<1> : index_sequence<0> {};
+#endif
+template <int N>
+using make_index_sequence = typename make_index_sequence_impl<N>::type;
+template <class...>
+struct join {
+  using type = type_list<>;
+};
+template <class T>
+struct join<T> {
+  using type = T;
+};
+template <class... Ts>
+struct join<type_list<Ts...>> : type_list<Ts...> {};
+template <class... T1s, class... T2s>
+struct join<type_list<T1s...>, type_list<T2s...>> : type_list<T1s..., T2s...> {};
+template <class... T1s, class... T2s, class... T3s>
+struct join<type_list<T1s...>, type_list<T2s...>, type_list<T3s...>> : type_list<T1s..., T2s..., T3s...> {};
+template <class... T1s, class... T2s, class... Ts>
+struct join<type_list<T1s...>, type_list<T2s...>, Ts...> : join<type_list<T1s..., T2s...>, Ts...> {};
+template <class... Ts, class... T1s, class... T2s, class... T3s, class... T4s, class... T5s, class... T6s, class... T7s,
+          class... T8s, class... T9s, class... T10s, class... T11s, class... T12s, class... T13s, class... T14s, class... T15s,
+          class... T16s, class... Us>
+struct join<type_list<Ts...>, type_list<T1s...>, type_list<T2s...>, type_list<T3s...>, type_list<T4s...>, type_list<T5s...>,
+            type_list<T6s...>, type_list<T7s...>, type_list<T8s...>, type_list<T9s...>, type_list<T10s...>, type_list<T11s...>,
+            type_list<T12s...>, type_list<T13s...>, type_list<T14s...>, type_list<T15s...>, type_list<T16s...>, Us...>
+    : join<type_list<Ts..., T1s..., T2s..., T3s..., T4s..., T5s..., T6s..., T7s..., T8s..., T9s..., T10s..., T11s..., T12s...,
+                     T13s..., T14s..., T15s..., T16s...>,
+           Us...> {};
+template <class... TArgs>
+using join_t = typename join<TArgs...>::type;
+template <class, class...>
+struct unique_impl;
+template <class T, class... Rs, class... Ts>
+struct unique_impl<type<Rs...>, T, Ts...> : conditional_t<is_base_of<type<T>, inherit<type<Rs>...>>::value,
+                                                          unique_impl<type<Rs...>, Ts...>, unique_impl<type<Rs..., T>, Ts...>> {
+};
+template <class... Rs>
+struct unique_impl<type<Rs...>> : type_list<Rs...> {};
+template <class... Ts>
+struct unique : unique_impl<type<>, Ts...> {};
+template <class T>
+struct unique<T> : type_list<T> {};
+template <class... Ts>
+using unique_t = typename unique<Ts...>::type;
+template <class...>
+struct is_unique;
+template <class T>
+struct is_unique<T> : true_type {};
+template <class T, class... Rs, class... Ts>
+struct is_unique<type<Rs...>, T, Ts...>
+    : conditional_t<is_base_of<type<T>, inherit<type<Rs>...>>::value, false_type, is_unique<type<Rs..., T>, Ts...>> {};
+template <class... Ts>
+using is_unique_t = is_unique<type<>, Ts...>;
+template <template <class...> class, class>
+struct apply;
+template <template <class...> class T, template <class...> class U, class... Ts>
+struct apply<T, U<Ts...>> {
+  using type = T<Ts...>;
+};
+template <template <class...> class T, class D>
+using apply_t = typename apply<T, D>::type;
+template <int, class T>
+struct tuple_type {
+  explicit tuple_type(const T &object) : value(object) {}
+  T value;
+};
+template <class, class...>
+struct tuple_impl;
+template <int... Ns, class... Ts>
+struct tuple_impl<index_sequence<Ns...>, Ts...> : tuple_type<Ns, Ts>... {
+  explicit tuple_impl(Ts... ts) : tuple_type<Ns, Ts>(ts)... {}
+};
+template <>
+struct tuple_impl<index_sequence<0>> {
+  __BOOST_SML_ZERO_SIZE_ARRAY(byte);
+};
+template <class... Ts>
+using tuple = tuple_impl<make_index_sequence<sizeof...(Ts)>, Ts...>;
+template <int N, class T>
+T &get_by_id(tuple_type<N, T> *object) {
+  return static_cast<tuple_type<N, T> &>(*object).value;
+}
+struct init {};
+struct pool_type_base {
+  __BOOST_SML_ZERO_SIZE_ARRAY(byte);
+};
+template <class T, class = void>
+struct pool_type_impl : pool_type_base {
+  constexpr explicit pool_type_impl(T object) : value{object} {}
+  template <class TObject>
+  constexpr pool_type_impl(init i, TObject object) : value{i, object} {}
+  T value{};
+};
+template <class T>
+struct pool_type_impl<T &, aux::enable_if_t<aux::is_constructible<T>::value && aux::is_constructible<T, T>::value>>
+    : pool_type_base {
+  constexpr explicit pool_type_impl(T &value) : value{value} {}
+  template <class TObject>
+  constexpr explicit pool_type_impl(TObject value) : value_{value}, value{value_} {}
+  template <class TObject>
+  constexpr pool_type_impl(const init &i, const TObject &object) : value(i, object) {}
+  T value_{};
+  T &value;
+};
+template <class T>
+struct pool_type : pool_type_impl<T> {
+  using pool_type_impl<T>::pool_type_impl;
+};
+template <class T>
+struct missing_ctor_parameter {
+  static constexpr auto value = false;
+  constexpr auto operator()() const { return T{}(); }
+  template <class U, __BOOST_SML_REQUIRES(!aux::is_base_of<pool_type_base, U>::value && aux::is_constructible<U>::value)>
+  constexpr operator U() {
+    return {};
+  }
+#if !(defined(_MSC_VER) && !defined(__clang__))
+  template <class TMissing, __BOOST_SML_REQUIRES(!aux::is_base_of<pool_type_base, TMissing>::value)>
+  constexpr operator TMissing &() const {
+    static_assert(missing_ctor_parameter<TMissing>::value,
+                  "State Machine is missing a constructor parameter! Check out the `missing_ctor_parameter` error to see the "
+                  "missing type.");
+  }
+#endif
+};
+template <class T>
+constexpr missing_ctor_parameter<T> try_get(...) {
+  return {};
+}
+template <class T>
+constexpr T try_get(const pool_type<T> *object) {
+  return object->value;
+}
+template <class T>
+constexpr const T &try_get(const pool_type<const T &> *object) {
+  return object->value;
+}
+template <class T>
+constexpr T &try_get(const pool_type<T &> *object) {
+  return object->value;
+}
+template <class T, class TPool>
+constexpr T &get(TPool &p) {
+  return static_cast<pool_type<T> &>(p).value;
+}
+template <class T, class TPool>
+constexpr const T &cget(const TPool &p) {
+  return static_cast<const pool_type<T> &>(p).value;
+}
+template <class... Ts>
+struct pool : pool_type<Ts>... {
+  using boost_di_inject__ = type_list<Ts...>;
+  constexpr pool() = default;
+  constexpr explicit pool(Ts... ts) : pool_type<Ts>(ts)... {}
+  template <class... TArgs>
+  constexpr pool(init, const pool<TArgs...> &p) : pool_type<Ts>(try_get<aux::remove_const_t<aux::remove_reference_t<Ts>>>(&p))... {}
+  template <class... TArgs>
+  constexpr pool(const pool<TArgs...> &p) : pool_type<Ts>(init{}, p)... {}
+};
+template <>
+struct pool<> {
+  using boost_di_inject__ = type_list<>;
+  constexpr pool() = default;
+  template <class... Ts>
+  constexpr explicit pool(Ts &&...) {}
+  __BOOST_SML_ZERO_SIZE_ARRAY(byte);
+};
+template <int, class>
+struct type_id_type {};
+template <class, class...>
+struct type_id_impl;
+template <int... Ns, class... Ts>
+struct type_id_impl<index_sequence<Ns...>, Ts...> : type_id_type<Ns, Ts>... {};
+template <class... Ts>
+struct type_id : type_id_impl<make_index_sequence<sizeof...(Ts)>, Ts...> {};
+template <class R, class T, int N>
+constexpr R get_id(type_id_type<N, T> *) {
+  return static_cast<R>(N);
+}
+template <template <class...> class, class T>
+struct is : false_type {};
+template <template <class...> class T, class... Ts>
+struct is<T, T<Ts...>> : true_type {};
+template <class>
+struct size;
+template <template <class...> class T, class... Ts>
+struct size<T<Ts...>> {
+  static constexpr auto value = sizeof...(Ts);
+};
+template <int... Ts>
+constexpr int max_element() {
+  int max = 0;
+  (void)swallow{0, (Ts > max ? max = Ts : max)...};
+  return max;
+}
+template <class TExpr, class = void>
+struct zero_wrapper : TExpr {
+  using type = TExpr;
+  constexpr explicit zero_wrapper(const TExpr &expr) : TExpr(expr) {}
+  constexpr const TExpr &get() const { return *this; }
+};
+template <class R, class TBase, class... TArgs, class T>
+struct zero_wrapper<R (TBase::*)(TArgs...), T> {
+  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...)) : ptr{ptr} {}
+  constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+
+ private:
+  R (TBase::*ptr)(TArgs...){};
+};
+template <class R, class TBase, class... TArgs, class T>
+struct zero_wrapper<R (TBase::*)(TArgs...) const, T> {
+  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) const) : ptr{ptr} {}
+  constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+
+ private:
+  R (TBase::*ptr)(TArgs...) const {};
+};
+template <class R, class... TArgs, class T>
+struct zero_wrapper<R (*)(TArgs...), T> {
+  explicit zero_wrapper(R (*ptr)(TArgs...)) : ptr{ptr} {}
+  constexpr auto operator()(TArgs... args) { return (*ptr)(args...); }
+
+ private:
+  R (*ptr)(TArgs...){};
+};
+#if defined(__cpp_noexcept_function_type)
+template <class R, class TBase, class... TArgs, class T>
+struct zero_wrapper<R (TBase::*)(TArgs...) noexcept, T> {
+  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) noexcept) : ptr{ptr} {}
+  constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+
+ private:
+  R (TBase::*ptr)(TArgs...) noexcept {};
+};
+template <class R, class TBase, class... TArgs, class T>
+struct zero_wrapper<R (TBase::*)(TArgs...) const noexcept, T> {
+  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) const noexcept) : ptr{ptr} {}
+  constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+
+ private:
+  R (TBase::*ptr)(TArgs...) const noexcept {};
+};
+template <class R, class... TArgs, class T>
+struct zero_wrapper<R (*)(TArgs...) noexcept, T> {
+  explicit zero_wrapper(R (*ptr)(TArgs...) noexcept) : ptr{ptr} {}
+  constexpr auto operator()(TArgs... args) { return (*ptr)(args...); }
+
+ private:
+  R (*ptr)(TArgs...) noexcept {};
+};
+#endif
+template <class, class>
+struct zero_wrapper_impl;
+template <class TExpr, class... TArgs>
+struct zero_wrapper_impl<TExpr, type_list<TArgs...>> {
+  constexpr auto operator()(TArgs... args) const { return reinterpret_cast<const TExpr &>(*this)(args...); }
+  __BOOST_SML_ZERO_SIZE_ARRAY(byte);
+};
+template <class TExpr>
+struct zero_wrapper<TExpr, void_t<decltype(+declval<TExpr>())>>
+    : zero_wrapper_impl<TExpr, function_traits_t<decltype(&TExpr::operator())>> {
+  using type = TExpr;
+  template <class... Ts>
+  constexpr zero_wrapper(Ts &&...) {}
+  const TExpr &get() const { return reinterpret_cast<const TExpr &>(*this); }
+};
+namespace detail {
+template <class, int N, int... Ns>
+auto get_type_name(const char *ptr, index_sequence<Ns...>) {
+  static const char str[] = {ptr[N + Ns]..., 0};
+  return str;
+}
+}  // namespace detail
+template <class T>
+const char *get_type_name() {
+#if defined(_MSC_VER) && !defined(__clang__)
+  return detail::get_type_name<T, 39>(__FUNCSIG__, make_index_sequence<sizeof(__FUNCSIG__) - 39 - 8>{});
+#elif defined(__clang__) && (__clang_major__ >= 12)
+  return detail::get_type_name<T, 50>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 50 - 2>{});
+#elif defined(__clang__)
+  return detail::get_type_name<T, 63>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 63 - 2>{});
+#elif defined(__GNUC__)
+  return detail::get_type_name<T, 68>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 68 - 2>{});
+#endif
+}
+#if defined(__cpp_nontype_template_parameter_class) || \
+    defined(__cpp_nontype_template_args) && __cpp_nontype_template_args >= 201911L
+template <auto N>
+struct fixed_string {
+  static constexpr auto size = N;
+  char data[N + 1]{};
+  constexpr fixed_string(char const *str) {
+    for (decltype(N) i = 0; i < N; ++i) {
+      data[i] = str[i];
+    }
+  }
+};
+template <auto N>
+fixed_string(char const (&)[N]) -> fixed_string<N - 1>;
+#endif
+template <class T, T...>
+struct string;
+template <char... Chrs>
+struct string<char, Chrs...> {
+  using type = string;
+  static auto c_str() {
+    static constexpr char str[] = {Chrs..., 0};
+    return str;
+  }
+};
+template <class T>
+struct string<T> {
+  using type = T;
+  constexpr static auto c_str() { return c_str_impl((T *)0); }
+  template <class U>
+  constexpr static decltype(U::c_str()) c_str_impl(U *) {
+    return U::c_str();
+  }
+  constexpr static auto c_str_impl(...) { return get_type_name<T>(); }
+};
+}  // namespace aux
+template <class T>
+constexpr auto wrap(T callback) {
+  return aux::zero_wrapper<T, T>{callback};
+}
+namespace back {
+namespace policies {
+struct defer_queue_policy__ {};
+template <template <class...> class T>
+struct defer_queue : aux::pair<back::policies::defer_queue_policy__, defer_queue<T>> {
+  template <class U>
+  using rebind = T<U>;
+  using flag = bool;
+};
+}  // namespace policies
+}  // namespace back
+namespace back {
+template <class... Ts>
+class queue_event {
+  using ids_t = aux::type_id<Ts...>;
+  static constexpr auto alignment = aux::max_element<alignof(Ts)...>();
+  static constexpr auto size = aux::max_element<sizeof(Ts)...>();
+  template <class T>
+  constexpr static void dtor_impl(aux::byte *data) {
+    (void)data;
+    reinterpret_cast<T *>(data)->~T();
+  }
+  template <class T>
+  constexpr static void move_impl(aux::byte (&data)[size], queue_event &&other) {
+    new (&data) T(static_cast<T &&>(*reinterpret_cast<T *>(other.data)));
+  }
+
+ public:
+  constexpr queue_event(queue_event &&other) : id(other.id), dtor(other.dtor), move(other.move) {
+    move(data, static_cast<queue_event &&>(other));
+  }
+  constexpr queue_event &operator=(queue_event &&other) {
+    dtor(data);
+    id = other.id;
+    dtor = other.dtor;
+    move = other.move;
+    move(data, static_cast<queue_event &&>(other));
+    return *this;
+  }
+  constexpr queue_event(const queue_event &) = delete;
+  constexpr queue_event &operator=(const queue_event &) = delete;
+  template <class T>
+  constexpr queue_event(T object) {
+    id = aux::get_id<int, T>((ids_t *)0);
+    dtor = &dtor_impl<T>;
+    move = &move_impl<T>;
+    new (&data) T(static_cast<T &&>(object));
+  }
+  ~queue_event() { dtor(data); }
+  alignas(alignment) aux::byte data[size];
+  int id = -1;
+
+ private:
+  void (*dtor)(aux::byte *);
+  void (*move)(aux::byte (&)[size], queue_event &&);
+};
+template <class TEvent>
+class queue_event_call {
+  using call_t = void (*)(void *, const TEvent &);
+
+ public:
+  constexpr queue_event_call() = default;
+  constexpr explicit queue_event_call(const call_t &call) : call{call} {}
+  call_t call{};
+};
+template <class... TEvents>
+struct queue_handler : queue_event_call<TEvents>... {
+  constexpr queue_handler() = default;
+  template <class TQueue, class = typename TQueue::container_type>
+  constexpr explicit queue_handler(TQueue &queue)
+      : queue_event_call<TEvents>(queue_handler::push_impl<TQueue, TEvents>)..., queue_{&queue} {}
+  template <class TEvent>
+  constexpr void operator()(const TEvent &event) {
+    static_cast<queue_event_call<TEvent> *>(this)->call(queue_, event);
+  }
+
+ private:
+  template <class TQueue, class TEvent>
+  constexpr static auto push_impl(void *queue, const TEvent &event) {
+    static_cast<TQueue *>(queue)->push(event);
+  }
+  void *queue_{};
+};
+template <class... TEvents>
+struct deque_handler : queue_event_call<TEvents>... {
+  constexpr deque_handler() = default;
+  template <class TDeque, class = typename TDeque::allocator_type>
+  constexpr explicit deque_handler(TDeque &deque)
+      : queue_event_call<TEvents>(deque_handler::push_impl<TDeque, TEvents>)..., deque_{&deque} {}
+  template <class TEvent>
+  constexpr void operator()(const TEvent &event) {
+    static_cast<queue_event_call<TEvent> *>(this)->call(deque_, event);
+  }
+
+ private:
+  template <class TDeque, class TEvent>
+  constexpr static auto push_impl(void *deque, const TEvent &event) {
+    static_cast<TDeque *>(deque)->push_back(event);
+  }
+  void *deque_{};
+};
+}  // namespace back
+namespace back {
+struct _ {};
+struct initial {};
+struct unexpected {};
+struct entry_exit {};
+struct terminate_state {
+  constexpr static auto c_str() { return "terminate"; }
+};
+struct internal_event {
+  constexpr static auto c_str() { return "internal_event"; }
+};
+struct anonymous : internal_event {
+  constexpr static auto c_str() { return "anonymous"; }
+};
+template <class T, class TEvent = T>
+struct on_entry : internal_event, entry_exit {
+  constexpr static auto c_str() { return "on_entry"; }
+  constexpr explicit on_entry(const TEvent &event = {}) : event_(event) {}
+  const TEvent &event_;
+};
+template <class T, class TEvent = T>
+struct on_exit : internal_event, entry_exit {
+  constexpr static auto c_str() { return "on_exit"; }
+  constexpr explicit on_exit(const TEvent &event = {}) : event_(event) {}
+  const TEvent &event_;
+};
+template <class T, class TException = T>
+struct exception : internal_event {
+  using type = TException;
+  constexpr explicit exception(const TException &exception = {}) : exception_(exception) {}
+  const TException &exception_;
+};
+template <class T, class TEvent = T>
+struct unexpected_event : internal_event, unexpected {
+  constexpr explicit unexpected_event(const TEvent &event = {}) : event_(event) {}
+  const TEvent &event_;
+};
+template <class TEvent>
+struct event_type {
+  using event_t = TEvent;
+  using generic_t = TEvent;
+  using mapped_t = void;
+};
+template <class TEvent>
+struct event_type<exception<TEvent>> {
+  using event_t = TEvent;
+  using generic_t = exception<TEvent>;
+  using mapped_t = void;
+};
+template <class TEvent, class T>
+struct event_type<unexpected_event<T, TEvent>> {
+  using event_t = TEvent;
+  using generic_t = unexpected_event<T>;
+  using mapped_t = void;
+};
+template <class TEvent, class T>
+struct event_type<on_entry<T, TEvent>> {
+  using event_t = TEvent;
+  using generic_t = on_entry<T>;
+  using mapped_t = on_entry<T, TEvent>;
+};
+template <class TEvent, class T>
+struct event_type<on_exit<T, TEvent>> {
+  using event_t = TEvent;
+  using generic_t = on_exit<T>;
+  using mapped_t = on_exit<T, TEvent>;
+};
+template <class TEvent>
+using get_event_t = typename event_type<TEvent>::event_t;
+template <class TEvent>
+using get_generic_t = typename event_type<TEvent>::generic_t;
+template <class TEvent>
+using get_mapped_t = typename event_type<TEvent>::mapped_t;
+template <class... TEvents>
+struct process : queue_handler<TEvents...> {
+  using queue_handler<TEvents...>::queue_handler;
+};
+template <class... TEvents>
+struct defer : deque_handler<TEvents...> {
+  using deque_handler<TEvents...>::deque_handler;
+};
+}  // namespace back
+namespace back {
+template <class>
+class sm;
+template <class>
+struct sm_impl;
+template <class, class...>
+struct sm_policy;
+template <class TEvent>
+using get_event = aux::conditional_t<aux::is_base_of<internal_event, TEvent>::value, aux::type_list<>, aux::type_list<TEvent>>;
+template <class, class, class TEvent>
+struct get_all_events_impl {
+  using type = get_event<TEvent>;
+};
+template <class TSrc, class TDst, class TEvent>
+struct get_all_events_impl<TSrc, TDst, unexpected_event<TEvent>> {
+  using type = aux::type_list<TEvent>;
+};
+template <class TSrc, class TDst, class TEvent>
+struct get_all_events_impl<sm<TSrc>, TDst, TEvent> {
+  using type = aux::join_t<get_event<TEvent>, typename sm<TSrc>::events>;
+};
+template <class TSrc, class TDst, class TEvent>
+struct get_all_events_impl<TSrc, sm<TDst>, TEvent> {
+  using type = aux::join_t<get_event<TEvent>, typename sm<TDst>::events>;
+};
+template <class TSrc, class TDst, class TEvent>
+struct get_all_events_impl<sm<TSrc>, sm<TDst>, TEvent> {
+  using type = aux::join_t<get_event<TEvent>, typename sm<TSrc>::events, typename sm<TDst>::events>;
+};
+template <class, class TEvent>
+struct get_sub_internal_events_impl {
+  using type = aux::conditional_t<aux::is_base_of<internal_event, TEvent>::value, aux::type_list<TEvent>, aux::type_list<>>;
+};
+template <class T, class TEvent>
+struct get_sub_internal_events_impl<sm<T>, TEvent> {
+  using type = aux::join_t<aux::type_list<TEvent>, typename sm_impl<T>::sub_internal_events_t>;
+};
+template <class... Ts>
+using get_all_events =
+    aux::join_t<typename get_all_events_impl<typename Ts::src_state, typename Ts::dst_state, typename Ts::event>::type...>;
+template <class... Ts>
+using get_sub_internal_events =
+    aux::join_t<typename get_sub_internal_events_impl<typename Ts::src_state, typename Ts::event>::type...,
+                typename get_sub_internal_events_impl<typename Ts::dst_state, typename Ts::event>::type...>;
+template <class... Ts>
+using get_events = aux::type_list<typename Ts::event...>;
+template <class T>
+struct get_exception : aux::type_list<> {};
+template <class T>
+struct get_exception<exception<T>> : aux::type_list<exception<T>> {};
+template <class... Ts>
+using get_exceptions = aux::join_t<typename get_exception<Ts>::type...>;
+template <class... Ts>
+using get_states = aux::join_t<aux::type_list<typename Ts::src_state, typename Ts::dst_state>...>;
+template <class... Ts>
+using get_initial_states =
+    aux::join_t<typename aux::conditional<Ts::initial, aux::type_list<typename Ts::src_state>, aux::type_list<>>::type...>;
+template <class... Ts>
+using get_history_states = aux::join_t<
+    typename aux::conditional<!Ts::history && Ts::initial, aux::type_list<typename Ts::src_state>, aux::type_list<>>::type...>;
+template <class>
+struct get_sub_sm : aux::type_list<> {};
+template <class T>
+struct get_sub_sm<sm<T>> : aux::join_t<aux::type_list<T>, typename sm<T>::state_machines> {};
+template <class... Ts>
+using get_sub_sms = aux::join_t<typename get_sub_sm<Ts>::type...>;
+template <class... Ts>
+using get_sm_t = aux::type_list<typename Ts::sm...>;
+template <class... Ts>
+using get_non_empty_t =
+    aux::join_t<typename aux::conditional<aux::is_empty<Ts>::value, aux::type_list<>, aux::type_list<Ts>>::type...>;
+template <class... Ts>
+using merge_deps = aux::join_t<typename Ts::deps...>;
+template <class>
+struct sub_sm;
+template <class T>
+struct sub_sm<sm_impl<sm_policy<T>>> {
+  template <class U, class... TPolicies>
+  constexpr static sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>> &get(
+      aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> *object) {
+    return static_cast<aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> &>(*object).value;
+  }
+  template <class... TPolicies>
+  constexpr static sm_impl<sm_policy<T, TPolicies...>> &get(aux::pool_type<sm_impl<sm_policy<T, TPolicies...>>> *object) {
+    return static_cast<aux::pool_type<sm_impl<sm_policy<T, TPolicies...>>> &>(*object).value;
+  }
+  template <class... TPolicies>
+  constexpr static const sm_impl<sm_policy<T, TPolicies...>> &cget(const aux::pool_type<sm_impl<sm_policy<T, TPolicies...>>> *object) {
+    return static_cast<const aux::pool_type<sm_impl<sm_policy<T, TPolicies...>>> &>(*object).value;
+  }
+};
+template <class T, class U>
+struct sub_sm<sm_impl<sm_policy<T, aux::identity<U>>>> {
+  template <class... TPolicies>
+  constexpr static sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>> &get(
+      aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> *object) {
+    return static_cast<aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> &>(*object).value;
+  }
+  template <class... TPolicies>
+  constexpr static const sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>> &cget(
+      const aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> *object) {
+    return static_cast<const aux::pool_type<sm_impl<sm_policy<T, aux::identity<U>, TPolicies...>>> &>(*object).value;
+  }
+};
+template <class T, class... TPolicies>
+struct rebind_impl {
+  using type = sm_policy<T, TPolicies...>;
+};
+template <class T, class... TDetails, class... TPolicies>
+struct rebind_impl<sm_policy<T, TDetails...>, TPolicies...> {
+  using type = sm_policy<T, TDetails..., TPolicies...>;
+};
+template <class T, class... TDetails, class... TPolicies>
+struct rebind_impl<sm<sm_policy<T, TDetails...>>, TPolicies...> {
+  using type = sm_policy<T, TDetails..., TPolicies...>;
+};
+template <class, class>
+struct convert_to_sm;
+template <class T, class... Ts>
+struct convert_to_sm<T, aux::type_list<Ts...>> {
+  using type = aux::type_list<sm_impl<T>, sm_impl<typename T::template rebind<Ts>>...>;
+};
+}  // namespace back
+namespace back {
+template <class>
+class sm;
+template <class>
+struct sm_impl;
+template <class...>
+struct transitions;
+template <class...>
+struct transitions_sub;
+template <class T, class... Ts>
+struct transitions<T, Ts...> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    if (aux::get<T>(sm.transitions_).execute(event, sm, deps, subs, current_state, typename SM::has_entry_exits{})) {
+      return true;
+    }
+    return transitions<Ts...>::execute(event, sm, deps, subs, current_state);
+  }
+};
+template <class T>
+struct transitions<T> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    return aux::get<T>(sm.transitions_).execute(event, sm, deps, subs, current_state, typename SM::has_entry_exits{});
+  }
+};
+template <>
+struct transitions<aux::true_type> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  static bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    sm.process_internal_event(unexpected_event<TEvent>{event}, deps, subs, current_state);
+    return false;
+  }
+};
+template <>
+struct transitions<aux::false_type> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const TEvent &, SM &, TDeps &, TSubs &, typename SM::state_t &) {
+    return false;
+  }
+};
+template <class TSM, class T, class... Ts>
+struct transitions_sub<sm<TSM>, T, Ts...> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    return execute_impl(event, sm, deps, subs, current_state);
+  }
+  template <class, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const anonymous &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    if (sub_sm<sm_impl<TSM>>::cget(&subs).is_terminated()) {
+      const auto handled = sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+      return handled ? handled : transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
+    }
+    return false;
+  }
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute_impl(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
+    const auto handled = sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    return handled ? handled : transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
+  }
+  template <class _, class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute_impl(const back::on_entry<_, TEvent> &event, SM &sm, TDeps &deps, TSubs &subs,
+                           typename SM::state_t &current_state) {
+    transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
+    sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    return true;
+  }
+  template <class _, class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute_impl(const back::on_exit<_, TEvent> &event, SM &sm, TDeps &deps, TSubs &subs,
+                           typename SM::state_t &current_state) {
+    sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
+    return true;
+  }
+};
+template <class TSM>
+struct transitions_sub<sm<TSM>> {
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const TEvent &event, SM &, TDeps &deps, TSubs &subs, typename SM::state_t &) {
+    return sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+  }
+  template <class, class SM, class TDeps, class TSubs>
+  constexpr static bool execute(const anonymous &, SM &, TDeps &, TSubs &, typename SM::state_t &) {
+    return false;
+  }
+};
+}  // namespace back
+namespace back {
+template <class>
+class sm;
+template <class>
+struct state;
+template <class>
+struct event;
+template <class...>
+struct transitions;
+template <class...>
+struct transitions_sub;
+template <class, class>
+struct state_mappings;
+template <class S, class... Ts>
+struct state_mappings<S, aux::type_list<Ts...>> {
+  using element_type = state<S>;
+  using types = aux::type_list<Ts...>;
+};
+template <class, class>
+struct event_mappings;
+template <class E, class... Ts>
+struct event_mappings<E, aux::inherit<Ts...>> {
+  using element_type = event<E>;
+  using types = aux::type_list<Ts...>;
+};
+template <class...>
+struct unique_mappings;
+template <class, class...>
+struct unique_mappings_impl;
+template <class... Ts>
+using unique_mappings_t = typename unique_mappings<Ts...>::type;
+template <class, class, class, class R>
+struct get_mapping : aux::type_list<R> {};
+template <class E, class T, class R>
+struct get_mapping<event<E>, event<E>, T, R>
+    : aux::type_list<event_mappings<E, aux::apply_t<unique_mappings_t, aux::join_t<typename R::types, typename T::types>>>> {};
+template <class S, class T, class R>
+struct get_mapping<state<S>, state<S>, T, R>
+    : aux::type_list<state_mappings<S, aux::join_t<typename R::types, typename T::types>>> {};
+template <class T, class... Ts>
+struct extend_mapping : aux::join_t<typename get_mapping<typename T::element_type, typename Ts::element_type, T, Ts>::type...> {
+};
+template <class T, class... Ts>
+using extend_mapping_t = aux::apply_t<aux::inherit, typename extend_mapping<T, Ts...>::type>;
+template <bool, class, class...>
+struct conditional_mapping;
+template <class T1, class T2, class... Rs, class... Ts>
+struct conditional_mapping<true, aux::type<T1, aux::inherit<Rs...>>, T2, Ts...> {
+  using type = unique_mappings_impl<aux::type<aux::inherit<T1>, extend_mapping_t<T2, Rs...>>, Ts...>;
+};
+template <class T1, class T2, class... Rs, class... Ts>
+struct conditional_mapping<false, aux::type<T1, aux::inherit<Rs...>>, T2, Ts...> {
+  using type =
+      unique_mappings_impl<aux::type<aux::inherit<T1, aux::type<typename T2::element_type>>, aux::inherit<T2, Rs...>>, Ts...>;
+};
+template <class T1, class T2, class... Rs, class... Ts>
+struct unique_mappings_impl<aux::type<T1, aux::inherit<Rs...>>, T2, Ts...>
+    : conditional_mapping<aux::is_base_of<aux::type<typename T2::element_type>, T1>::value, aux::type<T1, aux::inherit<Rs...>>,
+                          T2, Ts...>::type {};
+template <class T1, class Rs>
+struct unique_mappings_impl<aux::type<T1, Rs>> : aux::apply_t<aux::inherit, Rs> {};
+template <class... Ts>
+struct unique_mappings : unique_mappings_impl<aux::type<aux::none_type, aux::inherit<>>, Ts...> {};
+template <class T>
+struct unique_mappings<T> : aux::inherit<T> {};
+template <class, class...>
+struct mappings;
+template <class... Ts>
+struct mappings<aux::pool<Ts...>>
+    : unique_mappings_t<
+          event_mappings<typename Ts::event, aux::inherit<state_mappings<typename Ts::src_state, aux::type_list<Ts>>>>...> {};
+template <class T>
+using mappings_t = typename mappings<T>::type;
+template <class, class TUnexpected>
+transitions<TUnexpected> get_state_mapping_impl(...);
+template <class T, class, class... Ts>
+transitions<Ts...> get_state_mapping_impl(state_mappings<T, aux::type_list<Ts...>> *);
+template <class T, class TMappings, class TUnexpected>
+struct get_state_mapping {
+  using type = decltype(get_state_mapping_impl<T, TUnexpected>((TMappings *)0));
+};
+template <class S>
+transitions_sub<S> get_sub_state_mapping_impl(...);
+template <class T, class... Ts>
+transitions_sub<T, Ts...> get_sub_state_mapping_impl(state_mappings<T, aux::type_list<Ts...>> *);
+template <class T, class TMappings, class TUnexpected>
+struct get_state_mapping<sm<T>, TMappings, TUnexpected> {
+  using type = decltype(get_sub_state_mapping_impl<sm<T>>((TMappings *)0));
+};
+template <class T, class TMappings, class TUnexpected>
+using get_state_mapping_t = typename get_state_mapping<T, TMappings, TUnexpected>::type;
+template <class>
+transitions<aux::true_type> get_event_mapping_impl(...);
+template <class T, class TMappings>
+TMappings get_event_mapping_impl(event_mappings<T, TMappings> *);
+template <class T, class... T1Mappings, class... T2Mappings>
+unique_mappings_t<T1Mappings..., T2Mappings...> get_event_mapping_impl(event_mappings<T, aux::inherit<T1Mappings...>> *,
+                                                                       event_mappings<_, aux::inherit<T2Mappings...>> *);
+template <class T, class TMappings>
+struct get_event_mapping_impl_helper
+    : aux::conditional<aux::is_same<transitions<aux::true_type>, decltype(get_event_mapping_impl<_>((TMappings *)0))>::value,
+                       decltype(get_event_mapping_impl<T>((TMappings *)0)),
+                       decltype(get_event_mapping_impl<T>((TMappings *)0, (TMappings *)0))>::type {};
+template <class T, class TMappings>
+struct get_event_mapping_impl_helper<exception<T>, TMappings> : decltype(get_event_mapping_impl<exception<T>>((TMappings *)0)) {
+};
+template <class T1, class T2, class TMappings>
+struct get_event_mapping_impl_helper<unexpected_event<T1, T2>, TMappings>
+    : decltype(get_event_mapping_impl<unexpected_event<T1, T2>>((TMappings *)0)) {};
+template <class T1, class T2, class TMappings>
+struct get_event_mapping_impl_helper<on_entry<T1, T2>, TMappings>
+    : decltype(get_event_mapping_impl<on_entry<T1, T2>>((TMappings *)0)) {};
+template <class T1, class T2, class TMappings>
+struct get_event_mapping_impl_helper<on_exit<T1, T2>, TMappings>
+    : decltype(get_event_mapping_impl<on_exit<T1, T2>>((TMappings *)0)) {};
+template <class T, class TMappings>
+using get_event_mapping_t = get_event_mapping_impl_helper<T, TMappings>;
+}  // namespace back
+namespace back {
+namespace policies {
+struct dispatch_policy__ {};
+template <class T>
+struct dispatch : aux::pair<dispatch_policy__, T> {
+  using type = T;
+};
+struct jump_table {
+  template <int, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs>
+  constexpr static bool dispatch(sm_impl &, State &, const TEvent &, TDeps &, TSubs &, const aux::type_list<> &) {
+    return false;
+  }
+  template <int, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs, class... TStates>
+  static bool dispatch(sm_impl &self, State &current_state, const TEvent &event, TDeps &deps, TSubs &subs,
+                       const aux::type_list<TStates...> &) {
+    using dispatch_table_t = bool (*)(const TEvent &, sm_impl &, TDeps &, TSubs &, State &);
+    constexpr static dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TStates))] = {
+        &get_state_mapping_t<TStates, TMappings, typename sm_impl::has_unexpected_events>::template execute<TEvent, sm_impl,
+                                                                                                            TDeps, TSubs>...};
+    return dispatch_table[current_state](event, self, deps, subs, current_state);
+  }
+};
+struct branch_stm {
+  template <int, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs>
+  constexpr static bool dispatch(sm_impl &, State &, const TEvent &, TDeps &, TSubs &, const aux::type_list<> &) {
+    return false;
+  }
+  template <int N, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs, class TState,
+            class... TStates>
+  constexpr static bool dispatch(sm_impl &self, State &current_state, const TEvent &event, TDeps &deps, TSubs &subs,
+                       const aux::type_list<TState, TStates...> &) {
+    return current_state == N
+               ? get_state_mapping_t<TState, TMappings, typename sm_impl::has_unexpected_events>::template execute<
+                     TEvent, sm_impl, TDeps, TSubs>(event, self, deps, subs, current_state)
+               : dispatch<N + 1, TMappings>(self, current_state, event, deps, subs, aux::type_list<TStates...>{});
+  }
+};
+struct switch_stm {
+  template <int, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs>
+  constexpr static bool dispatch(sm_impl &, State &, const TEvent &, TDeps &, TSubs &, const aux::type_list<> &) {
+    return false;
+  }
+  template <int N, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs, class TState,
+            class... TStates>
+  constexpr static bool dispatch(sm_impl &self, State &current_state, const TEvent &event, TDeps &deps, TSubs &subs,
+                       const aux::type_list<TState, TStates...> &) {
+    switch (current_state) {
+      case N:
+        return get_state_mapping_t<TState, TMappings, typename sm_impl::has_unexpected_events>::template execute<
+            TEvent, sm_impl, TDeps, TSubs>(event, self, deps, subs, current_state);
+      default:
+        return dispatch<N + 1, TMappings>(self, current_state, event, deps, subs, aux::type_list<TStates...>{});
+    }
+  }
+};
+#if defined(__cpp_fold_expressions)
+struct fold_expr {
+  template <class TMappings, int... Ns, class sm_impl, class State, class TEvent, class TDeps, class TSubs, class... TStates>
+  constexpr static bool dispatch_impl(sm_impl &self, State &current_state, aux::index_sequence<Ns...>, const TEvent &event, TDeps &deps,
+                            TSubs &subs, const aux::type_list<TStates...> &) {
+    return ((current_state == Ns
+                 ? get_state_mapping_t<TStates, TMappings, typename sm_impl::has_unexpected_events>::template execute<
+                       TEvent, sm_impl, TDeps, TSubs>(event, self, deps, subs, current_state)
+                 : false) ||
+            ...);
+  }
+  template <int N, class TMappings, class sm_impl, class State, class TEvent, class TDeps, class TSubs, class... TStates>
+  constexpr static bool dispatch(sm_impl &self, State &current_state, const TEvent &event, TDeps &deps, TSubs &subs,
+                       const aux::type_list<TStates...> &states) {
+    return dispatch_impl<TMappings>(self, current_state, aux::make_index_sequence<sizeof...(TStates)>{}, event, deps, subs,
+                                    states);
+  }
+};
+#endif
+}  // namespace policies
+}  // namespace back
+namespace back {
+template <class>
+class sm;
+template <class, class...>
+struct sm_policy;
+struct no_policy;
+namespace policies {
+struct logger_policy__ {};
+template <class T>
+struct logger : aux::pair<logger_policy__, logger<T>> {
+  using type = T;
+};
+template <class>
+struct get_state_name;
+template <class T>
+struct get_state_name<aux::string<T>> {
+  using type = aux::string<T>;
+};
+template <class T, class... Ts>
+struct get_state_name<aux::string<sm<sm_policy<T, Ts...>>>> {
+  using type = typename get_state_name<aux::string<sm_policy<T, Ts...>>>::type;
+};
+template <class T>
+struct get_state_name<aux::string<sm_policy<T>>> {
+  using type = aux::string<T>;
+};
+template <class T, class TName>
+struct get_state_name<aux::string<sm_policy<T, TName>>> {
+  using type = aux::string<T(typename TName::type)>;
+};
+template <class T>
+using get_state_name_t = typename get_state_name<T>::type;
+template <class, class TDeps, class TEvent>
+constexpr void log_process_event(const aux::type<no_policy> &, TDeps &, const TEvent &) {}
+template <class SM, class TLogger, class TDeps, class TEvent>
+constexpr void log_process_event(const aux::type<TLogger> &, TDeps &deps, const TEvent &event) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_process_event<SM>(event);
+}
+template <class, class TDeps, class TSrcState, class TDstState>
+constexpr void log_state_change(const aux::type<no_policy> &, TDeps &, const TSrcState &, const TDstState &) {}
+template <class SM, class TLogger, class TDeps, class TSrcState, class TDstState>
+constexpr void log_state_change(const aux::type<TLogger> &, TDeps &deps, const TSrcState &, const TDstState &) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_state_change<SM>(get_state_name_t<TSrcState>{},
+                                                                                            get_state_name_t<TDstState>{});
+}
+template <class, class TDeps, class TAction, class TEvent>
+constexpr void log_action(const aux::type<no_policy> &, TDeps &, const TAction &, const TEvent &) {}
+template <class SM, class TLogger, class TDeps, class TAction, class TEvent>
+constexpr void log_action(const aux::type<TLogger> &, TDeps &deps, const TAction &action, const TEvent &event) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_action<SM>(action, event);
+}
+template <class SM, class TLogger, class TDeps, class TAction, class TEvent>
+constexpr void log_action(const aux::type<TLogger> &, TDeps &deps, const aux::zero_wrapper<TAction> &action, const TEvent &event) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_action<SM>(action.get(), event);
+}
+template <class, class TDeps, class TGuard, class TEvent>
+constexpr void log_guard(const aux::type<no_policy> &, TDeps &, const TGuard &, const TEvent &, bool) {}
+template <class SM, class TLogger, class TDeps, class TGuard, class TEvent>
+constexpr void log_guard(const aux::type<TLogger> &, TDeps &deps, const TGuard &guard, const TEvent &event, bool result) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_guard<SM>(guard, event, result);
+}
+template <class SM, class TLogger, class TDeps, class TGuard, class TEvent>
+constexpr void log_guard(const aux::type<TLogger> &, TDeps &deps, const aux::zero_wrapper<TGuard> &guard, const TEvent &event,
+               bool result) {
+  return static_cast<aux::pool_type<TLogger &> &>(deps).value.template log_guard<SM>(guard.get(), event, result);
+}
+}  // namespace policies
+}  // namespace back
+namespace back {
+namespace policies {
+struct process_queue_policy__ {};
+template <template <class...> class T>
+struct process_queue : aux::pair<back::policies::process_queue_policy__, process_queue<T>> {
+  template <class U>
+  using rebind = T<U>;
+};
+}  // namespace policies
+}  // namespace back
+namespace back {
+namespace policies {
+struct testing_policy__ {};
+struct testing : aux::pair<testing_policy__, testing> {};
+}  // namespace policies
+}  // namespace back
+namespace back {
+namespace policies {
+struct thread_safety_policy__ {
+  constexpr auto create_lock() { return *this; }
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+template <class TLock>
+struct thread_safe : aux::pair<thread_safety_policy__, thread_safe<TLock>> {
+  using type = thread_safe;
+  constexpr auto create_lock() {
+    struct lock_guard {
+      constexpr explicit lock_guard(TLock &lock) : lock_{lock} { lock_.lock(); }
+      ~lock_guard() { lock_.unlock(); }
+      TLock &lock_;
+    };
+    return lock_guard{lock};
+  }
+  TLock lock{};
+};
+}  // namespace policies
+}  // namespace back
+namespace back {
+struct no_policy : policies::thread_safety_policy__ {
+  using type = no_policy;
+  template <class>
+  using rebind = no_policy;
+  template <class...>
+  using defer = no_policy;
+  using const_iterator = no_policy;
+  using flag = no_policy;
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+template <class TDefault, class>
+TDefault get_policy(...);
+template <class, class T, class TPolicy>
+TPolicy get_policy(aux::pair<T, TPolicy> *);
+template <class SM, class... TPolicies>
+struct sm_policy {
+  static_assert(aux::is_same<aux::remove_reference_t<SM>, SM>::value, "SM type can't have qualifiers");
+  using sm = SM;
+  using thread_safety_policy =
+      decltype(get_policy<no_policy, policies::thread_safety_policy__>((aux::inherit<TPolicies...> *)0));
+  using defer_queue_policy = decltype(get_policy<no_policy, policies::defer_queue_policy__>((aux::inherit<TPolicies...> *)0));
+  using process_queue_policy =
+      decltype(get_policy<no_policy, policies::process_queue_policy__>((aux::inherit<TPolicies...> *)0));
+  using logger_policy = decltype(get_policy<no_policy, policies::logger_policy__>((aux::inherit<TPolicies...> *)0));
+  using testing_policy = decltype(get_policy<no_policy, policies::testing_policy__>((aux::inherit<TPolicies...> *)0));
+  using default_dispatch_policy = policies::jump_table;
+  using dispatch_policy =
+      decltype(get_policy<default_dispatch_policy, policies::dispatch_policy__>((aux::inherit<TPolicies...> *)0));
+  template <class T>
+  using rebind = typename rebind_impl<T, TPolicies...>::type;
+};
+}  // namespace back
+namespace concepts {
+struct callable_fallback {
+  void operator()();
+};
+template <class T>
+aux::false_type test_callable(aux::non_type<void (callable_fallback::*)(), &T::operator()> *);
+template <class>
+aux::true_type test_callable(...);
+template <class, class T>
+struct callable
+    : decltype(test_callable<aux::inherit<aux::conditional_t<__is_class(T), T, aux::none_type>, callable_fallback>>(0)) {};
+template <class T, class R, class TBase, class... TArgs>
+struct callable<T, R (TBase::*)(TArgs...)> : aux::true_type {};
+template <class T, class R, class TBase, class... TArgs>
+struct callable<T, R (TBase::*)(TArgs...) const> : aux::true_type {};
+#if defined(__cpp_noexcept_function_type)
+template <class T, class R, class TBase, class... TArgs>
+struct callable<T, R (TBase::*)(TArgs...) noexcept> : aux::true_type {};
+template <class T, class R, class TBase, class... TArgs>
+struct callable<T, R (TBase::*)(TArgs...) const noexcept> : aux::true_type {};
+#endif
+}  // namespace concepts
+namespace concepts {
+template <class T>
+decltype(aux::declval<T>().operator()()) composable_impl(int);
+template <class>
+void composable_impl(...);
+template <class T>
+struct composable : aux::is<aux::pool, decltype(composable_impl<T>(0))> {};
+}  // namespace concepts
+#if !defined(BOOST_SML_DISABLE_EXCEPTIONS)
+#if !(defined(__cpp_exceptions) || defined(__EXCEPTIONS) || defined(_CPPUNWIND))
+#define BOOST_SML_DISABLE_EXCEPTIONS true
+#else
+#define BOOST_SML_DISABLE_EXCEPTIONS false
+#endif
+#endif
+namespace back {
+template <class TSM>
+struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux::none_type, typename TSM::sm> {
+  using sm_t = typename TSM::sm;
+  using thread_safety_t = typename TSM::thread_safety_policy::type;
+  template <class T>
+  using defer_queue_t = typename TSM::defer_queue_policy::template rebind<T>;
+  using defer_flag_t = typename TSM::defer_queue_policy::flag;
+  template <class T>
+  using process_queue_t = typename TSM::process_queue_policy::template rebind<T>;
+  using logger_t = typename TSM::logger_policy::type;
+  using dispatch_t = typename TSM::dispatch_policy;
+  using transitions_t = decltype(aux::declval<sm_t>().operator()());
+  using states_t = aux::apply_t<aux::unique_t, aux::apply_t<get_states, transitions_t>>;
+  using states_ids_t = aux::apply_t<aux::type_id, states_t>;
+  using initial_states_t = aux::apply_t<aux::unique_t, aux::apply_t<get_initial_states, transitions_t>>;
+  using initial_states_ids_t = aux::apply_t<aux::type_id, initial_states_t>;
+  using history_states_t = aux::apply_t<get_history_states, transitions_t>;
+  using has_history_states =
+      aux::integral_constant<bool, aux::size<initial_states_t>::value != aux::size<history_states_t>::value>;
+  using sub_internal_events_t = aux::apply_t<aux::unique_t, aux::apply_t<get_sub_internal_events, transitions_t>>;
+  using events_t = aux::apply_t<aux::unique_t, aux::join_t<sub_internal_events_t, aux::apply_t<get_all_events, transitions_t>>>;
+  using events_ids_t = aux::apply_t<aux::inherit, events_t>;
+  using has_unexpected_events = typename aux::is_base_of<unexpected, aux::apply_t<aux::inherit, events_t>>::type;
+  using has_entry_exits = typename aux::is_base_of<entry_exit, aux::apply_t<aux::inherit, events_t>>::type;
+  using defer_t = defer_queue_t<aux::apply_t<queue_event, events_t>>;
+  using process_t = process_queue_t<aux::apply_t<queue_event, events_t>>;
+  using deps = aux::apply_t<merge_deps, transitions_t>;
+  using state_t = aux::conditional_t<(aux::size<states_t>::value > 0xFF), unsigned short, aux::byte>;
+  static constexpr auto regions = aux::size<initial_states_t>::value;
+  static_assert(regions > 0, "At least one initial state is required");
+#if !BOOST_SML_DISABLE_EXCEPTIONS
+  using exceptions = aux::apply_t<aux::unique_t, aux::apply_t<get_exceptions, events_t>>;
+  using has_exceptions = aux::integral_constant<bool, (aux::size<exceptions>::value > 0)>;
+#endif
+  struct mappings : mappings_t<transitions_t> {};
+  template <class TPool>
+  constexpr sm_impl(aux::init, const TPool &p) : sm_impl{p, aux::is_empty<sm_t>{}} {}
+  template <class TPool>
+  constexpr sm_impl(const TPool &p, aux::false_type) : sm_t{aux::try_get<sm_t>(&p)}, transitions_{(*this)()} {
+    initialize(typename sm_impl<TSM>::initial_states_t{});
+  }
+  template <class TPool>
+  constexpr sm_impl(const TPool &p, aux::true_type) : transitions_{aux::try_get<sm_t>(&p)()} {
+    initialize(typename sm_impl<TSM>::initial_states_t{});
+  }
+  template <class TEvent, class TDeps, class TSubs>
+  constexpr bool process_event(const TEvent &event, TDeps &deps, TSubs &subs) {
+    const auto lock = thread_safety_.create_lock();
+    (void)lock;
+    bool handled = process_internal_events(event, deps, subs);
+    do {
+      do {
+        while (process_internal_events(anonymous{}, deps, subs)) {
+        }
+      } while (process_defer_events(deps, subs, handled, aux::type<defer_queue_t<TEvent>>{}, events_t{}));
+    } while (process_queued_events(deps, subs, aux::type<process_queue_t<TEvent>>{}, events_t{}));
+    return handled;
+  }
+  constexpr void initialize(const aux::type_list<> &) {}
+  template <class TState>
+  constexpr void initialize(const aux::type_list<TState> &) {
+    current_state_[0] = aux::get_id<state_t, TState>((states_ids_t *)0);
+  }
+  template <class... TStates>
+  constexpr void initialize(const aux::type_list<TStates...> &) {
+    auto region = 0;
+#if defined(__cpp_fold_expressions)
+    ((current_state_[region++] = aux::get_id<state_t, TStates>((states_ids_t *)0)), ...);
+#else
+    (void)aux::swallow{0, (current_state_[region++] = aux::get_id<state_t, TStates>((states_ids_t *)0), 0)...};
+#endif
+  }
+  template <class TDeps, class TSubs>
+  constexpr void start(TDeps &deps, TSubs &subs) {
+    process_event(on_entry<_, initial>{}, deps, subs);
+  }
+  template <class TEvent, class TDeps, class TSubs, class... Ts,
+            __BOOST_SML_REQUIRES(!aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_same<get_event_t<TEvent>, initial>::value)>
+  constexpr bool process_internal_events(const TEvent &, TDeps &, TSubs &, Ts &&...) {
+    return false;
+  }
+  template <class TEvent, class TDeps, class TSubs, class... Ts,
+            __BOOST_SML_REQUIRES(!aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value &&
+                                 aux::is_same<get_event_t<TEvent>, initial>::value)>
+  constexpr bool process_internal_events(const TEvent &event, TDeps &deps, TSubs &subs) {
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, states_t{},
+                                                                                    aux::make_index_sequence<regions>{});
+#else
+    return process_event_except_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, has_exceptions{});
+#endif
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_events(const TEvent &event, TDeps &deps, TSubs &subs) {
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, states_t{},
+                                                                                    aux::make_index_sequence<regions>{});
+#else
+    return process_event_except_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, has_exceptions{});
+#endif
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_events(const TEvent &event, TDeps &deps, TSubs &subs) {
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<get_mapped_t<TEvent>, mappings>>(event, deps, subs, states_t{},
+                                                                                   aux::make_index_sequence<regions>{});
+#else
+    return process_event_except_impl<get_event_mapping_t<get_mapped_t<TEvent>, mappings>>(event, deps, subs, has_exceptions{});
+#endif
+  }
+  template <class TEvent, class TDeps, class TSubs, class... Ts,
+            __BOOST_SML_REQUIRES(!aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_event(const TEvent &, TDeps &, TSubs &, Ts &&...) {
+    return false;
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(!aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_generic_event(const TEvent &, TDeps &, TSubs &, state_t &) {
+    return false;
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_generic_event(const TEvent &event, TDeps &deps, TSubs &subs, state_t &current_state) {
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, states_t{},
+                                                                                    current_state);
+#else
+    return process_event_except_impl<get_event_mapping_t<get_generic_t<TEvent>, mappings>>(event, deps, subs, current_state,
+                                                                                          has_exceptions{});
+#endif
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(aux::is_base_of<get_generic_t<TEvent>, events_ids_t>::value &&
+                                 !aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_event(const TEvent &event, TDeps &deps, TSubs &subs, state_t &current_state) {
+    return process_internal_generic_event(event, deps, subs, current_state);
+  }
+  template <class TEvent, class TDeps, class TSubs,
+            __BOOST_SML_REQUIRES(aux::is_base_of<get_mapped_t<TEvent>, events_ids_t>::value)>
+  constexpr bool process_internal_event(const TEvent &event, TDeps &deps, TSubs &subs, state_t &current_state) {
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<get_mapped_t<TEvent>, mappings>>(event, deps, subs, states_t{}, current_state)
+#else
+    return process_event_except_impl<get_event_mapping_t<get_mapped_t<TEvent>, mappings>>(event, deps, subs, current_state,
+                                                                                         has_exceptions{})
+#endif
+           || process_internal_generic_event(event, deps, subs, current_state);
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs, class... TStates>
+  constexpr bool process_event_impl(const TEvent &event, TDeps &deps, TSubs &subs, const aux::type_list<TStates...> &states,
+                          aux::index_sequence<0>) {
+    return dispatch_t::template dispatch<0, TMappings>(*this, current_state_[0], event, deps, subs, states);
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs, class... TStates, int... Ns>
+  constexpr bool process_event_impl(const TEvent &event, TDeps &deps, TSubs &subs, const aux::type_list<TStates...> &states,
+                          aux::index_sequence<Ns...>) {
+    auto handled = false;
+#if defined(__cpp_fold_expressions)
+    ((handled |= dispatch_t::template dispatch<0, TMappings>(*this, current_state_[Ns], event, deps, subs, states)), ...);
+#else
+    (void)aux::swallow{
+        0,
+        (handled |= dispatch_t::template dispatch<0, TMappings>(*this, current_state_[Ns], event, deps, subs, states), 0)...};
+#endif
+    return handled;
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs, class... TStates>
+  constexpr bool process_event_impl(const TEvent &event, TDeps &deps, TSubs &subs, const aux::type_list<TStates...> &states,
+                          state_t &current_state) {
+    return dispatch_t::template dispatch<0, TMappings>(*this, current_state, event, deps, subs, states);
+  }
+#if !BOOST_SML_DISABLE_EXCEPTIONS
+  template <class TMappings, class TEvent, class TDeps, class TSubs>
+  constexpr bool process_event_except_impl(const TEvent &event, TDeps &deps, TSubs &subs, aux::false_type) {
+    return process_event_impl<TMappings>(event, deps, subs, states_t{}, aux::make_index_sequence<regions>{});
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs>
+  constexpr bool process_event_except_impl(const TEvent &event, TDeps &deps, TSubs &subs, state_t &current_state, aux::false_type) {
+    return process_event_impl<TMappings>(event, deps, subs, states_t{}, current_state);
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs>
+  bool process_event_except_impl(const TEvent &event, TDeps &deps, TSubs &subs, state_t &current_state,
+                                aux::true_type) noexcept {
+    try {
+      return process_event_impl<TMappings>(event, deps, subs, states_t{}, current_state);
+    } catch (...) {
+      return process_exception(deps, subs, exceptions{});
+    }
+  }
+  template <class TMappings, class TEvent, class TDeps, class TSubs>
+  bool process_event_except_impl(const TEvent &event, TDeps &deps, TSubs &subs, aux::true_type) {
+    try {
+      return process_event_impl<TMappings>(event, deps, subs, states_t{}, aux::make_index_sequence<regions>{});
+    } catch (...) {
+      return process_exception(deps, subs, exceptions{});
+    }
+  }
+  template <class TDeps, class TSubs>
+  constexpr bool process_exception(TDeps &deps, TSubs &subs, const aux::type_list<> &) {
+    return process_internal_events(exception<_>{}, deps, subs);
+  }
+  template <class TDeps, class TSubs, class E, class... Es>
+  bool process_exception(TDeps &deps, TSubs &subs, const aux::type_list<E, Es...> &) {
+    try {
+      throw;
+    } catch (const typename E::type &e) {
+      return process_internal_events(E{e}, deps, subs);
+    } catch (...) {
+      return process_exception(deps, subs, aux::type_list<Es...>{});
+    }
+  }
+#endif
+  template <class TDeps, class TSubs, class... TEvents>
+  constexpr bool process_defer_events(TDeps &, TSubs &, const bool, const aux::type<no_policy> &, const aux::type_list<TEvents...> &) {
+    return false;
+  }
+  template <class TDeps, class TSubs, class TEvent>
+  constexpr bool process_event_no_defer(TDeps &deps, TSubs &subs, const void *data) {
+    const auto &event = *static_cast<const TEvent *>(data);
+    bool handled = process_internal_events(event, deps, subs);
+    if (handled && defer_again_) {
+      ++defer_it_;
+      return false;
+    } else {
+      defer_.erase(defer_it_);
+      defer_it_ = defer_.begin();
+      defer_end_ = defer_.end();
+    }
+    return handled;
+  }
+  template <class TDeps, class TSubs, class TDeferQueue, class... TEvents>
+  bool process_defer_events(TDeps &deps, TSubs &subs, const bool handled, const aux::type<TDeferQueue> &,
+                            const aux::type_list<TEvents...> &) {
+    bool processed_events = false;
+    if (handled) {
+      using dispatch_table_t = bool (sm_impl::*)(TDeps &, TSubs &, const void *);
+      const static dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TEvents))] = {
+          &sm_impl::process_event_no_defer<TDeps, TSubs, TEvents>...};
+      defer_processing_ = true;
+      defer_again_ = false;
+      defer_it_ = defer_.begin();
+      defer_end_ = defer_.end();
+      while (defer_it_ != defer_end_) {
+        processed_events |= (this->*dispatch_table[defer_it_->id])(deps, subs, defer_it_->data);
+        defer_again_ = false;
+      }
+      defer_processing_ = false;
+    }
+    return processed_events;
+  }
+  template <class TDeps, class TSubs, class... TEvents>
+  constexpr bool process_queued_events(TDeps &, TSubs &, const aux::type<no_policy> &, const aux::type_list<TEvents...> &) {
+    return false;
+  }
+  template <class TDeps, class TSubs, class TEvent>
+  constexpr bool process_event_no_queue(TDeps &deps, TSubs &subs, const void *data) {
+    const auto &event = *static_cast<const TEvent *>(data);
+    policies::log_process_event<sm_t>(aux::type<logger_t>{}, deps, event);
+#if BOOST_SML_DISABLE_EXCEPTIONS
+    return process_event_impl<get_event_mapping_t<TEvent, mappings>>(event, deps, subs, states_t{},
+                                                                     aux::make_index_sequence<regions>{});
+#else
+    return process_event_except_impl<get_event_mapping_t<TEvent, mappings>>(event, deps, subs, has_exceptions{});
+#endif
+  }
+  template <class TDeps, class TSubs, class TDeferQueue, class... TEvents>
+  bool process_queued_events(TDeps &deps, TSubs &subs, const aux::type<TDeferQueue> &, const aux::type_list<TEvents...> &) {
+    using dispatch_table_t = bool (sm_impl::*)(TDeps &, TSubs &, const void *);
+    const static dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TEvents))] = {
+        &sm_impl::process_event_no_queue<TDeps, TSubs, TEvents>...};
+    bool wasnt_empty = !process_.empty();
+    while (!process_.empty()) {
+      (this->*dispatch_table[process_.front().id])(deps, subs, process_.front().data);
+      process_.pop();
+    }
+    return wasnt_empty;
+  }
+  template <class TVisitor, class... TStates>
+  constexpr void visit_current_states(const TVisitor &visitor, const aux::type_list<TStates...> &, aux::index_sequence<0>) const {
+    using dispatch_table_t = void (*)(const TVisitor &);
+    const dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TStates))] = {
+        &sm_impl::visit_state<TVisitor, TStates>...};
+    dispatch_table[current_state_[0]](visitor);
+  }
+  template <class TVisitor, class... TStates, int... Ns>
+  constexpr void visit_current_states(const TVisitor &visitor, const aux::type_list<TStates...> &, aux::index_sequence<Ns...>) const {
+    using dispatch_table_t = void (*)(const TVisitor &);
+    const dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TStates))] = {
+        &sm_impl::visit_state<TVisitor, TStates>...};
+#if defined(__cpp_fold_expressions)
+    (dispatch_table[current_state_[Ns]](visitor), ...);
+#else
+    (void)aux::swallow{0, (dispatch_table[current_state_[Ns]](visitor), 0)...};
+#endif
+  }
+  template <class TVisitor, class TState>
+  constexpr static void visit_state(const TVisitor &visitor) {
+    visitor(aux::string<TState>{});
+  }
+  constexpr bool is_terminated() const { return is_terminated_impl(aux::make_index_sequence<regions>{}); }
+  constexpr bool is_terminated_impl(aux::index_sequence<0>) const {
+    return current_state_[0] == aux::get_id<state_t, terminate_state>((states_ids_t *)0);
+  }
+  template <int... Ns>
+  constexpr bool is_terminated_impl(aux::index_sequence<Ns...>) const {
+#if defined(__cpp_fold_expressions)
+    return ((current_state_[Ns] == aux::get_id<state_t, terminate_state>((states_ids_t *)0)) && ...);
+#else
+    auto result = true;
+    (void)aux::swallow{0, (result &= current_state_[Ns] == aux::get_id<state_t, terminate_state>((states_ids_t *)0))...};
+    return result;
+#endif
+  }
+  transitions_t transitions_{};
+  state_t current_state_[regions]{};
+  thread_safety_t thread_safety_{};
+  defer_t defer_{};
+  process_t process_{};
+  defer_flag_t defer_processing_ = defer_flag_t{};
+  defer_flag_t defer_again_ = defer_flag_t{};
+  typename defer_t::const_iterator defer_it_{};
+  typename defer_t::const_iterator defer_end_{};
+};
+template <class TSM>
+class sm {
+  using sm_t = typename TSM::sm;
+  using logger_t = typename TSM::logger_policy::type;
+  using logger_dep_t =
+      aux::conditional_t<aux::is_same<no_policy, logger_t>::value, aux::type_list<>, aux::type_list<logger_t &>>;
+  using transitions_t = decltype(aux::declval<sm_t>().operator()());
+  static_assert(concepts::composable<sm_t>::value, "Composable constraint is not satisfied!");
+
+ public:
+  using states = aux::apply_t<aux::unique_t, aux::apply_t<get_states, transitions_t>>;
+  using state_machines = aux::apply_t<get_sub_sms, states>;
+  using events = aux::apply_t<aux::unique_t, aux::apply_t<get_all_events, transitions_t>>;
+  using transitions = aux::apply_t<aux::type_list, transitions_t>;
+
+ private:
+  using sm_all_t = aux::apply_t<get_non_empty_t, aux::join_t<aux::type_list<sm_t>, aux::apply_t<get_sm_t, state_machines>>>;
+  using sub_sms_t =
+      aux::apply_t<aux::pool,
+                   typename convert_to_sm<TSM, aux::apply_t<aux::unique_t, aux::apply_t<get_sub_sms, states>>>::type>;
+  using deps = aux::apply_t<merge_deps, transitions_t>;
+  using deps_t =
+      aux::apply_t<aux::pool,
+                   aux::apply_t<aux::unique_t, aux::join_t<deps, sm_all_t, logger_dep_t, aux::apply_t<merge_deps, sub_sms_t>>>>;
+  struct events_ids : aux::apply_t<aux::inherit, events> {};
+
+ public:
+  constexpr sm() : deps_{aux::init{}, aux::pool<>{}}, sub_sms_{aux::pool<>{}} { aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_); }
+  template <class TDeps, __BOOST_SML_REQUIRES(!aux::is_same<aux::remove_reference_t<TDeps>, sm>::value)>
+  constexpr explicit sm(TDeps &&deps) : deps_{aux::init{}, aux::pool<TDeps>{deps}}, sub_sms_{aux::pool<TDeps>{deps}} {
+    aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_);
+  }
+  template <class... TDeps, __BOOST_SML_REQUIRES((sizeof...(TDeps) > 1) && aux::is_unique_t<TDeps...>::value)>
+  constexpr explicit sm(TDeps &&... deps) : deps_{aux::init{}, aux::pool<TDeps...>{deps...}}, sub_sms_{aux::pool<TDeps...>{deps...}} {
+    aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_);
+  }
+  constexpr sm(aux::init, deps_t &deps) : deps_{deps}, sub_sms_{deps} { aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_); }
+  constexpr sm(const sm &) = default;
+  constexpr sm(sm &&) = default;
+  constexpr sm &operator=(const sm &) = default;
+  constexpr sm &operator=(sm &&) = default;
+  template <class TEvent, __BOOST_SML_REQUIRES(aux::is_base_of<TEvent, events_ids>::value)>
+  constexpr bool process_event(const TEvent &event) {
+    return aux::get<sm_impl<TSM>>(sub_sms_).process_event(event, deps_, sub_sms_);
+  }
+  template <class TEvent, __BOOST_SML_REQUIRES(!aux::is_base_of<TEvent, events_ids>::value)>
+  constexpr bool process_event(const TEvent &event) {
+    return aux::get<sm_impl<TSM>>(sub_sms_).process_event(unexpected_event<_, TEvent>{event}, deps_, sub_sms_);
+  }
+  template <class T = aux::identity<sm_t>, class TVisitor, __BOOST_SML_REQUIRES(concepts::callable<void, TVisitor>::value)>
+  constexpr void visit_current_states(const TVisitor &visitor) const {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using states_t = typename sm_impl_t::states_t;
+    constexpr auto regions = sm_impl_t::regions;
+    aux::cget<sm_impl_t>(sub_sms_).visit_current_states(visitor, states_t{}, aux::make_index_sequence<regions>{});
+  }
+  template <class T = aux::identity<sm_t>, class TState>
+  constexpr bool is(const TState &) const {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using state_t = typename sm_impl_t::state_t;
+    using states_ids_t = typename sm_impl_t::states_ids_t;
+    auto result = false;
+    visit_current_states<T>([&](auto state) {
+      (void)state;
+      result |= (aux::get_id<state_t, typename TState::type>((states_ids_t *)0) ==
+                 aux::get_id<state_t, typename decltype(state)::type>((states_ids_t *)0));
+    });
+    return result;
+  }
+  template <class T = aux::identity<sm_t>, template <class...> class TState>
+  constexpr bool is(const TState<terminate_state> &) const {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using state_t = typename sm_impl_t::state_t;
+    using states_ids_t = typename sm_impl_t::states_ids_t;
+    auto result = false;
+    visit_current_states<T>([&](auto state) {
+      (void)state;
+      result |= (aux::get_id<state_t, terminate_state>((states_ids_t *)0) ==
+                 aux::get_id<state_t, typename decltype(state)::type>((states_ids_t *)0));
+    });
+    return result;
+  }
+  template <class T = aux::identity<sm_t>, class... TStates,
+            __BOOST_SML_REQUIRES(sizeof...(TStates) == sm_impl<typename TSM::template rebind<typename T::type>>::regions)>
+  constexpr bool is(const TStates &...) const {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using states_ids_t = typename sm_impl_t::states_ids_t;
+    using state_t = typename sm_impl_t::state_t;
+    auto result = true;
+    auto i = 0;
+    state_t state_ids[] = {aux::get_id<state_t, typename TStates::type>((states_ids_t *)0)...};
+    visit_current_states<T>([&](auto state) {
+      (void)state;
+      result &= (aux::get_id<state_t, typename decltype(state)::type>((states_ids_t *)0) == state_ids[i++]);
+    });
+    return result;
+  }
+  template <class T = aux::identity<sm_t>, class... TStates,
+            __BOOST_SML_REQUIRES(!aux::is_same<no_policy, typename TSM::testing_policy>::value && aux::always<T>::value)>
+  constexpr void set_current_states(const TStates &...) {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using states_ids_t = typename sm_impl_t::states_ids_t;
+    using state_t = typename sm_impl_t::state_t;
+    auto &sm = aux::get<sm_impl_t>(sub_sms_);
+    auto region = 0;
+#if defined(__cpp_fold_expressions)
+    ((sm.current_state_[region++] = aux::get_id<state_t, typename TStates::type>((states_ids_t *)0)), ...);
+#else
+    (void)aux::swallow{0,
+                       (sm.current_state_[region++] = aux::get_id<state_t, typename TStates::type>((states_ids_t *)0), 0)...};
+#endif
+  }
+  template <class T>
+  constexpr operator T &() {
+    return aux::get<sm_impl<typename TSM::template rebind<T>>>(sub_sms_);
+  }
+  template <class T>
+  constexpr operator const T &() {
+    return aux::cget<sm_impl<typename TSM::template rebind<T>>>(sub_sms_);
+  }
+
+ private:
+  deps_t deps_;
+  sub_sms_t sub_sms_;
+};
+}  // namespace back
+namespace front {
+struct operator_base {};
+struct action_base {};
+template <class TRootSM, class... TSubSMs>
+TRootSM get_root_sm_impl(aux::pool<TRootSM, TSubSMs...> *);
+template <class TSubs>
+using get_root_sm_t = decltype(get_root_sm_impl((TSubs *)0));
+template <class, class>
+aux::type_list<action_base> args1__(...);
+template <class T, class E>
+auto args1__(int) -> aux::function_traits_t<decltype(&T::operator())>;
+template <class T, class E>
+auto args__(int) -> aux::function_traits_t<decltype(&T::__BOOST_SML_TEMPLATE_KEYWORD operator()<back::get_event_t<E>>)>;
+template <class T, class E>
+auto args__(...) -> decltype(args1__<T, E>(0));
+template <class T, class E>
+using args_t = decltype(args__<T, E>(0));
+template <class T, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<T> &, const TEvent &, TSM &, TDeps &deps) {
+  return aux::get<T>(deps);
+}
+template <class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<TEvent> &, const TEvent &event, TSM &, TDeps &) {
+  return event;
+}
+template <class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const TEvent &event, TSM &, TDeps &) {
+  return event;
+}
+template <class T, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::unexpected_event<T, TEvent> &event, TSM &, TDeps &) {
+  return event.event_;
+}
+template <class T, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_entry<T, TEvent> &event, TSM &, TDeps &) {
+  return event.event_;
+}
+template <class T, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_exit<T, TEvent> &event, TSM &, TDeps &) {
+  return event.event_;
+}
+template <class T, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::exception<T, TEvent> &event, TSM &, TDeps &) {
+  return event.exception_;
+}
+template <class... TEvents, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<back::defer<TEvents...>> &, const TEvent, TSM &sm, TDeps &) {
+  return back::defer<TEvents...>{sm.defer_};
+}
+template <class... TEvents, class TEvent, class TSM, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<back::process<TEvents...>> &, const TEvent, TSM &sm, TDeps &) {
+  return back::process<TEvents...>{sm.process_};
+}
+template <class, class, class>
+struct call;
+template <class TEvent>
+struct call<TEvent, aux::type_list<>, back::no_policy> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &, TSM &, TDeps &, TSubs &) {
+    return object();
+  }
+};
+template <class TEvent, class TLogger>
+struct call<TEvent, aux::type_list<>, TLogger> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &deps, TSubs &) {
+    using result_type = decltype(object());
+    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, deps);
+  }
+  template <class TSM, class T, class TDeps>
+  constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, TDeps &deps) {
+    const auto result = object();
+    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    return result;
+  }
+  template <class TSM, class T, class TDeps>
+  constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, TDeps &deps) {
+    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    object();
+  }
+};
+template <class TEvent>
+struct call<TEvent, aux::type_list<TEvent>, back::no_policy> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &, TSubs &) {
+    return object(event);
+  }
+};
+template <class TEvent, class TLogger>
+struct call<TEvent, aux::type_list<TEvent>, TLogger> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &deps, TSubs &) {
+    using result_type = decltype(object(event));
+    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, deps);
+  }
+  template <class TSM, class T, class TDeps>
+  constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, TDeps &deps) {
+    const auto result = object(event);
+    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    return result;
+  }
+  template <class TSM, class T, class TDeps>
+  constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, TDeps &deps) {
+    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    object(event);
+  }
+};
+template <class TEvent>
+struct call<TEvent, aux::type_list<action_base>, back::no_policy> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    return object(event, sm, deps, subs);
+  }
+};
+template <class TEvent, class TLogger>
+struct call<TEvent, aux::type_list<action_base>, TLogger> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    return object(event, sm, deps, subs);
+  }
+};
+template <class TEvent, class... Ts>
+struct call<TEvent, aux::type_list<Ts...>, back::no_policy> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &) {
+    return object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
+  }
+};
+template <class TEvent, class... Ts, class TLogger>
+struct call<TEvent, aux::type_list<Ts...>, TLogger> {
+  template <class T, class TSM, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &) {
+    using result_type = decltype(object(get_arg(aux::type<Ts>{}, event, sm, deps)...));
+    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, sm, deps);
+  }
+  template <class TSM, class T, class SM, class TDeps>
+  constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, SM &sm, TDeps &deps) {
+    const auto result = object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
+    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    return result;
+  }
+  template <class TSM, class T, class SM, class TDeps>
+  constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, SM &sm, TDeps &deps) {
+    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
+  }
+};
+template <class... Ts>
+class seq_ : operator_base {
+ public:
+  constexpr explicit seq_(Ts... ts) : a(ts...) {}
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr void operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
+  }
+
+ private:
+  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr void for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+#if defined(__cpp_fold_expressions)
+    (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs), ...);
+#else
+    (void)aux::swallow{
+        0, (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs),
+            0)...};
+#endif
+  }
+  aux::tuple<Ts...> a;
+};
+template <class... Ts>
+class and_ : operator_base {
+ public:
+  constexpr explicit and_(Ts... ts) : g(ts...) {}
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    return for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
+  }
+
+ private:
+  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+#if defined(__cpp_fold_expressions)
+    return (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) &&
+            ...);
+#else
+    auto result = true;
+    (void)aux::swallow{0, (result = result && call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(
+                                                  aux::get_by_id<Ns>(&g), event, sm, deps, subs),
+                           0)...};
+    return result;
+#endif
+  }
+  aux::tuple<Ts...> g;
+};
+template <class... Ts>
+class or_ : operator_base {
+ public:
+  constexpr explicit or_(Ts... ts) : g(ts...) {}
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    return for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
+  }
+
+ private:
+  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+#if defined(__cpp_fold_expressions)
+    return (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) ||
+            ...);
+#else
+    auto result = false;
+    (void)aux::swallow{0, (result = result || call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(
+                                                  aux::get_by_id<Ns>(&g), event, sm, deps, subs),
+                           0)...};
+    return result;
+#endif
+  }
+  aux::tuple<Ts...> g;
+};
+template <class T>
+class not_ : operator_base {
+ public:
+  constexpr explicit not_(T t) : g(t) {}
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+    return !call<TEvent, args_t<T, TEvent>, typename TSM::logger_t>::execute(g, event, sm, deps, subs);
+  }
+
+ private:
+  T g;
+};
+}  // namespace front
+template <class T, __BOOST_SML_REQUIRES(concepts::callable<bool, T>::value)>
+constexpr auto operator!(const T &t) {
+  return front::not_<aux::zero_wrapper<T>>(aux::zero_wrapper<T>{t});
+}
+template <class T1, class T2, __BOOST_SML_REQUIRES(concepts::callable<bool, T1>::value &&concepts::callable<bool, T2>::value)>
+constexpr auto operator&&(const T1 &t1, const T2 &t2) {
+  return front::and_<aux::zero_wrapper<T1>, aux::zero_wrapper<T2>>(aux::zero_wrapper<T1>{t1}, aux::zero_wrapper<T2>{t2});
+}
+template <class T1, class T2, __BOOST_SML_REQUIRES(concepts::callable<bool, T1>::value &&concepts::callable<bool, T2>::value)>
+constexpr auto operator||(const T1 &t1, const T2 &t2) {
+  return front::or_<aux::zero_wrapper<T1>, aux::zero_wrapper<T2>>(aux::zero_wrapper<T1>{t1}, aux::zero_wrapper<T2>{t2});
+}
+template <class T1, class T2, __BOOST_SML_REQUIRES(concepts::callable<void, T1>::value &&concepts::callable<void, T2>::value)>
+constexpr auto operator,(const T1 &t1, const T2 &t2) {
+  return front::seq_<aux::zero_wrapper<T1>, aux::zero_wrapper<T2>>(aux::zero_wrapper<T1>{t1}, aux::zero_wrapper<T2>{t2});
+}
+namespace front {
+namespace actions {
+struct defer : action_base {
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr void operator()(const TEvent &event, TSM &sm, TDeps &, TSubs &) {
+    if (sm.defer_processing_) {
+      sm.defer_again_ = true;
+    } else {
+      sm.defer_.push_back(event);
+    }
+  }
+};
+}  // namespace actions
+}  // namespace front
+using testing = back::policies::testing;
+template <class T>
+using logger = back::policies::logger<T>;
+template <class T>
+using thread_safe = back::policies::thread_safe<T>;
+template <class T>
+using dispatch = back::policies::dispatch<T>;
+template <template <class...> class T>
+using defer_queue = back::policies::defer_queue<T>;
+template <template <class...> class T>
+using process_queue = back::policies::process_queue<T>;
+#if defined(_MSC_VER) && !defined(__clang__)
+template <class T, class... TPolicies, class T__ = aux::remove_reference_t<decltype(aux::declval<T>())>>
+using sm = back::sm<back::sm_policy<T__, TPolicies...>>;
+#else
+template <class T, class... TPolicies>
+using sm = back::sm<back::sm_policy<T, TPolicies...>>;
+#endif
+#if defined(__cpp_deduction_guides)
+namespace front {
+template <class T, class... TPolicies>
+struct sm : back::sm<back::sm_policy<T, TPolicies...>> {
+  constexpr sm(T t) : back::sm<back::sm_policy<T, TPolicies...>>::sm{t} {}
+  using back::sm<back::sm_policy<T, TPolicies...>>::sm;
+};
+}  // namespace front
+#endif
+namespace concepts {
+aux::false_type transitional_impl(...);
+template <class T>
+auto transitional_impl(T &&t) -> aux::always<typename T::dst_state, typename T::src_state, typename T::event, typename T::deps,
+                                             decltype(T::initial), decltype(T::history)>;
+template <class T>
+struct transitional : decltype(transitional_impl(aux::declval<T>())) {};
+}  // namespace concepts
+namespace front {
+namespace actions {
+struct process {
+  template <class TEvent>
+  class process_impl : public action_base {
+   public:
+    constexpr explicit process_impl(const TEvent &event) : event(event) {}
+    template <class T, class TSM, class TDeps, class TSubs>
+    constexpr void operator()(const T &, TSM &, TDeps &, TSubs &subs) {
+      aux::get<get_root_sm_t<TSubs>>(subs).process_.push(event);
+    }
+
+   private:
+    TEvent event{};
+  };
+  template <class TEvent>
+  constexpr auto operator()(const TEvent &event) {
+    return process_impl<TEvent>{event};
+  }
+};
+}  // namespace actions
+}  // namespace front
+namespace front {
+template <class, class>
+struct transition_eg;
+template <class, class>
+struct transition_ea;
+template <class TEvent>
+struct event {
+  template <class T, __BOOST_SML_REQUIRES(concepts::callable<bool, T>::value)>
+  constexpr auto operator[](const T &t) const {
+    return transition_eg<event, aux::zero_wrapper<T>>{*this, aux::zero_wrapper<T>{t}};
+  }
+  template <class T, __BOOST_SML_REQUIRES(concepts::callable<void, T>::value)>
+  constexpr auto operator/(const T &t) const {
+    return transition_ea<event, aux::zero_wrapper<T>>{*this, aux::zero_wrapper<T>{t}};
+  }
+  constexpr auto operator()() const { return TEvent{}; }
+};
+}  // namespace front
+namespace front {
+struct initial_state {};
+struct history_state {};
+template <class...>
+struct transition;
+template <class, class>
+struct transition_sa;
+template <class, class>
+struct transition_sg;
+template <class, class>
+struct transition_eg;
+template <class>
+struct state;
+template <class TState>
+struct state_impl {
+  template <class T>
+  constexpr auto operator<=(const T &t) const {
+    return transition<TState, T>{static_cast<const TState &>(*this), t};
+  }
+  template <class T>
+  constexpr auto operator+(const T &t) const {
+    return transition<TState, T>{static_cast<const TState &>(*this), t};
+  }
+  template <class T, __BOOST_SML_REQUIRES(concepts::callable<bool, T>::value)>
+  constexpr auto operator[](const T &t) const {
+    return transition_sg<TState, aux::zero_wrapper<T>>{static_cast<const TState &>(*this), aux::zero_wrapper<T>{t}};
+  }
+  template <class T, __BOOST_SML_REQUIRES(concepts::callable<void, T>::value)>
+  constexpr auto operator/(const T &t) const {
+    return transition_sa<TState, aux::zero_wrapper<T>>{static_cast<const TState &>(*this), aux::zero_wrapper<T>{t}};
+  }
+};
+template <class TState>
+struct state : state_impl<state<TState>> {
+  using type = TState;
+  static constexpr auto initial = false;
+  static constexpr auto history = false;
+  constexpr auto operator*() const { return state<TState(initial_state)>{}; }
+  constexpr auto operator()(const initial_state &) const { return state<TState(initial_state)>{}; }
+  constexpr auto operator()(const history_state &) const { return state<TState(history_state)>{}; }
+  template <class... Ts>
+  constexpr auto operator()(const state<Ts> &...) const {
+    return state<TState(Ts...)>{};
+  }
+  template <class T>
+  constexpr auto operator=(const T &t) const {
+    return transition<T, state>{t, *this};
+  }
+  template <class T>
+  constexpr auto sm() const {
+    return state<back::sm<back::sm_policy<T, aux::identity<TState>>>>{};
+  }
+};
+template <class TState>
+struct state<TState(initial_state)> : state_impl<state<TState(initial_state)>> {
+  using type = TState;
+  static constexpr auto initial = true;
+  static constexpr auto history = false;
+  template <class T>
+  constexpr auto operator=(const T &t) const {
+    return transition<T, state>{t, *this};
+  }
+};
+template <class TState>
+struct state<TState(history_state)> : state_impl<state<TState(history_state)>> {
+  using type = TState;
+  static constexpr auto initial = true;
+  static constexpr auto history = true;
+  template <class T>
+  constexpr auto operator=(const T &t) const {
+    return transition<T, state>{t, *this};
+  }
+};
+#if defined(_MSC_VER) && !defined(__clang__)
+template <class T, class T__ = aux::remove_reference_t<decltype(aux::declval<T>())>, class = void>
+struct state_sm {
+  using type = state<T>;
+};
+template <class T, class T__>
+struct state_sm<T, T__, aux::enable_if_t<concepts::composable<T__>::value>> {
+  using type = state<back::sm<back::sm_policy<T__>>>;
+};
+#else
+template <class T, class = void>
+struct state_sm {
+  using type = state<T>;
+};
+template <class T>
+struct state_sm<T, aux::enable_if_t<concepts::composable<T>::value>> {
+  using type = state<back::sm<back::sm_policy<T>>>;
+};
+#endif
+}  // namespace front
+namespace front {
+struct internal {};
+template <class, class>
+struct ignore;
+template <class E, class... Ts>
+struct ignore<E, aux::type_list<Ts...>> {
+  template <class T>
+  struct non_events {
+    using type =
+        aux::conditional_t<aux::is_same<back::get_event_t<E>, aux::remove_const_t<aux::remove_reference_t<T>>>::value ||
+                               aux::is_same<T, action_base>::value,
+                           aux::type_list<>, aux::type_list<T>>;
+  };
+  using type = aux::join_t<typename non_events<Ts>::type...>;
+};
+template <class T, class E, class = void>
+struct get_deps {
+  using type = typename ignore<E, args_t<T, E>>::type;
+};
+template <class T, class E>
+using get_deps_t = typename get_deps<T, E>::type;
+template <template <class...> class T, class... Ts, class E>
+struct get_deps<T<Ts...>, E, aux::enable_if_t<aux::is_base_of<operator_base, T<Ts...>>::value>> {
+  using type = aux::join_t<get_deps_t<Ts, E>...>;
+};
+struct always {
+  using type = always;
+  constexpr bool operator()() const { return true; }
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+struct none {
+  using type = none;
+  constexpr void operator()() {}
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+template <class...>
+struct transition;
+template <class E, class G>
+struct transition<front::event<E>, G> {
+  template <class T>
+  constexpr auto operator/(const T &t) const {
+    return transition<front::event<E>, G, aux::zero_wrapper<T>>{e, g, aux::zero_wrapper<T>{t}};
+  }
+  front::event<E> e;
+  G g;
+};
+template <class E, class G, class A>
+struct transition<front::event<E>, G, A> {
+  front::event<E> e;
+  G g;
+  A a;
+};
+template <class S2, class G, class A>
+struct transition<state<S2>, G, A> : transition<state<internal>, state<S2>, front::event<back::anonymous>, G, A> {
+  using transition<state<internal>, state<S2>, front::event<back::anonymous>, G, A>::g;
+  using transition<state<internal>, state<S2>, front::event<back::anonymous>, G, A>::a;
+  constexpr transition(const G &g, const A &a) : transition<state<internal>, state<S2>, front::event<back::anonymous>, G, A>{g, a} {}
+  template <class T>
+  constexpr auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<back::anonymous>, G, A>{g, a};
+  }
+  const auto &operator()() const { return *this; }
+  template <class TEvent, class TSM, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) -> void {
+    typename TSM::state_t s{};
+    this->execute(event, sm, deps, subs, s);
+  }
+};
+template <class S1, class S2>
+struct transition<state<S1>, state<S2>> : transition<state<S1>, state<S2>, front::event<back::anonymous>, always, none> {
+  constexpr transition(const state<S1> &, const state<S2> &)
+      : transition<state<S1>, state<S2>, front::event<back::anonymous>, always, none>{always{}, none{}} {}
+};
+template <class S2, class G>
+struct transition_sg<state<S2>, G> : transition<state<internal>, state<S2>, front::event<back::anonymous>, G, none> {
+  using transition<state<internal>, state<S2>, front::event<back::anonymous>, G, none>::g;
+  transition_sg(const state<S2> &, const G &g)
+      : transition<state<internal>, state<S2>, front::event<back::anonymous>, G, none>{g, none{}} {}
+  template <class T>
+  constexpr auto operator/(const T &t) const {
+    return transition<state<S2>, G, aux::zero_wrapper<T>>{g, aux::zero_wrapper<T>{t}};
+  }
+  template <class T>
+  constexpr auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<back::anonymous>, G, none>{g, none{}};
+  }
+};
+template <class S2, class A>
+struct transition_sa<state<S2>, A> : transition<state<internal>, state<S2>, front::event<back::anonymous>, always, A> {
+  using transition<state<internal>, state<S2>, front::event<back::anonymous>, always, A>::a;
+  transition_sa(const state<S2> &, const A &a)
+      : transition<state<internal>, state<S2>, front::event<back::anonymous>, always, A>{always{}, a} {}
+  template <class T>
+  constexpr auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<back::anonymous>, always, A>{always{}, a};
+  }
+};
+template <class S2, class E>
+struct transition<state<S2>, front::event<E>> {
+  template <class T>
+  constexpr auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<E>, always, none>{always{}, none{}};
+  }
+  const state<S2> &s2;
+  front::event<E> e;
+};
+template <class E, class G>
+struct transition_eg<front::event<E>, G> {
+  template <class T>
+  constexpr auto operator/(const T &t) const {
+    return transition<front::event<E>, G, aux::zero_wrapper<T>>{e, g, aux::zero_wrapper<T>{t}};
+  }
+  front::event<E> e;
+  G g;
+};
+template <class E, class A>
+struct transition_ea<front::event<E>, A> {
+  front::event<E> e;
+  A a;
+};
+template <class S1, class S2, class G, class A>
+struct transition<state<S1>, transition<state<S2>, G, A>>
+    : transition<state<S1>, state<S2>, front::event<back::anonymous>, G, A> {
+  constexpr transition(const state<S1> &, const transition<state<S2>, G, A> &t)
+      : transition<state<S1>, state<S2>, front::event<back::anonymous>, G, A>{t.g, t.a} {}
+};
+template <class S1, class E, class G, class A>
+struct transition<state<S1>, transition<front::event<E>, G, A>>
+    : transition<state<internal>, state<S1>, front::event<E>, G, A> {
+  using transition<state<internal>, state<S1>, front::event<E>, G, A>::g;
+  using transition<state<internal>, state<S1>, front::event<E>, G, A>::a;
+  constexpr transition(const state<S1> &, const transition<front::event<E>, G, A> &t)
+      : transition<state<internal>, state<S1>, front::event<E>, G, A>{t.g, t.a} {}
+  template <class T>
+  constexpr auto operator=(const T &) const {
+    return transition<T, state<S1>, front::event<E>, G, A>{g, a};
+  }
+};
+template <class S1, class S2, class E>
+struct transition<state<S1>, transition<state<S2>, front::event<E>>>
+    : transition<state<S1>, state<S2>, front::event<E>, always, none> {
+  constexpr transition(const state<S1> &, const transition<state<S2>, front::event<E>> &)
+      : transition<state<S1>, state<S2>, front::event<E>, always, none>{always{}, none{}} {}
+};
+template <class S1, class S2, class G>
+struct transition<state<S1>, transition_sg<state<S2>, G>>
+    : transition<state<S1>, state<S2>, front::event<back::anonymous>, G, none> {
+  constexpr transition(const state<S1> &, const transition_sg<state<S2>, G> &t)
+      : transition<state<S1>, state<S2>, front::event<back::anonymous>, G, none>{t.g, none{}} {}
+};
+template <class S1, class S2, class A>
+struct transition<state<S1>, transition_sa<state<S2>, A>>
+    : transition<state<S1>, state<S2>, front::event<back::anonymous>, always, A> {
+  constexpr transition(const state<S1> &, const transition_sa<state<S2>, A> &t)
+      : transition<state<S1>, state<S2>, front::event<back::anonymous>, always, A>{always{}, t.a} {}
+};
+template <class S2, class E, class G>
+struct transition<state<S2>, transition_eg<front::event<E>, G>>
+    : transition<state<internal>, state<S2>, front::event<E>, G, none> {
+  using transition<state<internal>, state<S2>, front::event<E>, G, none>::g;
+  constexpr transition(const state<S2> &, const transition_eg<front::event<E>, G> &t)
+      : transition<state<internal>, state<S2>, front::event<E>, G, none>{t.g, none{}} {}
+  template <class T>
+  auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<E>, G, none>{g, none{}};
+  }
+};
+template <class S1, class S2, class E, class G>
+struct transition<state<S1>, transition<state<S2>, transition_eg<front::event<E>, G>>>
+    : transition<state<S1>, state<S2>, front::event<E>, G, none> {
+  constexpr transition(const state<S1> &, const transition<state<S2>, transition_eg<front::event<E>, G>> &t)
+      : transition<state<S1>, state<S2>, front::event<E>, G, none>{t.g, none{}} {}
+};
+template <class S2, class E, class A>
+struct transition<state<S2>, transition_ea<front::event<E>, A>>
+    : transition<state<internal>, state<S2>, front::event<E>, always, A> {
+  using transition<state<internal>, state<S2>, front::event<E>, always, A>::a;
+  constexpr transition(const state<S2> &, const transition_ea<front::event<E>, A> &t)
+      : transition<state<internal>, state<S2>, front::event<E>, always, A>{always{}, t.a} {}
+  template <class T>
+  auto operator=(const T &) const {
+    return transition<T, state<S2>, front::event<E>, always, A>{always{}, a};
+  }
+};
+template <class S1, class S2, class E, class A>
+struct transition<state<S1>, transition<state<S2>, transition_ea<front::event<E>, A>>>
+    : transition<state<S1>, state<S2>, front::event<E>, always, A> {
+  constexpr transition(const state<S1> &, const transition<state<S2>, transition_ea<front::event<E>, A>> &t)
+      : transition<state<S1>, state<S2>, front::event<E>, always, A>{always{}, t.a} {}
+};
+template <class S1, class S2, class E, class G, class A>
+struct transition<state<S1>, transition<state<S2>, transition<front::event<E>, G, A>>>
+    : transition<state<S1>, state<S2>, front::event<E>, G, A> {
+  constexpr transition(const state<S1> &, const transition<state<S2>, transition<front::event<E>, G, A>> &t)
+      : transition<state<S1>, state<S2>, front::event<E>, G, A>{t.g, t.a} {}
+};
+template <class T, class TSubs, class... Ts, class... THs>
+constexpr void update_composite_states(TSubs &subs, aux::true_type, const aux::type_list<THs...> &) {
+  using state_t = typename T::state_t;
+  auto &sm = back::sub_sm<T>::get(&subs);
+  (void)sm;
+#if defined(__cpp_fold_expressions)
+  ((sm.current_state_[aux::get_id<state_t, THs>((typename T::initial_states_ids_t *)0)] =
+        aux::get_id<state_t, THs>((typename T::states_ids_t *)0)),
+   ...);
+#else
+  (void)aux::swallow{0, (sm.current_state_[aux::get_id<state_t, THs>((typename T::initial_states_ids_t *)0)] =
+                             aux::get_id<state_t, THs>((typename T::states_ids_t *)0),
+                         0)...};
+#endif
+}
+template <class T, class TSubs, class... Ts>
+constexpr void update_composite_states(TSubs &subs, aux::false_type, Ts &&...) {
+  back::sub_sm<T>::get(&subs).initialize(typename T::initial_states_t{});
+}
+template <class SM, class TDeps, class TSubs, class TSrcState, class TDstState>
+constexpr void update_current_state(SM &, TDeps &deps, TSubs &, typename SM::state_t &current_state,
+                          const typename SM::state_t &new_state, const TSrcState &, const TDstState &) {
+  back::policies::log_state_change<typename SM::sm_t>(aux::type<typename SM::logger_t>{}, deps,
+                                                      aux::string<typename TSrcState::type>{},
+                                                      aux::string<typename TDstState::type>{});
+  current_state = new_state;
+}
+template <class SM, class TDeps, class TSubs, class TSrcState, class T>
+constexpr void update_current_state(SM &, TDeps &deps, TSubs &subs, typename SM::state_t &current_state,
+                          const typename SM::state_t &new_state, const TSrcState &, const state<back::sm<T>> &) {
+  back::policies::log_state_change<typename SM::sm_t>(aux::type<typename SM::logger_t>{}, deps,
+                                                      aux::string<typename TSrcState::type>{}, aux::string<T>{});
+  current_state = new_state;
+  update_composite_states<back::sm_impl<T>>(subs, typename back::sm_impl<T>::has_history_states{},
+                                            typename back::sm_impl<T>::history_states_t{});
+}
+template <class S1, class S2, class E, class G, class A>
+struct transition<state<S1>, state<S2>, front::event<E>, G, A> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = typename state<S1>::type;
+  using event = E;
+  using guard = G;
+  using action = A;
+  using deps = aux::apply_t<aux::unique_t, aux::join_t<get_deps_t<G, E>, get_deps_t<A, E>>>;
+  constexpr transition(const G &g, const A &a) : g(g), a(a) {}
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::true_type) {
+    if (call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs)) {
+      sm.process_internal_event(back::on_exit<back::_, TEvent>{event}, deps, subs, current_state);
+      update_current_state(sm, deps, subs, current_state,
+                           aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                           state<dst_state>{});
+      call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+      sm.process_internal_event(back::on_entry<back::_, TEvent>{event}, deps, subs, current_state);
+      return true;
+    }
+    return false;
+  }
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::false_type) {
+    if (call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs)) {
+      update_current_state(sm, deps, subs, current_state,
+                           aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                           state<dst_state>{});
+      call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+      return true;
+    }
+    return false;
+  }
+  G g;
+  A a;
+};
+template <class S2, class E, class G, class A>
+struct transition<state<internal>, state<S2>, front::event<E>, G, A> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = internal;
+  using event = E;
+  using guard = G;
+  using action = A;
+  using deps = aux::apply_t<aux::unique_t, aux::join_t<get_deps_t<G, E>, get_deps_t<A, E>>>;
+  constexpr transition(const G &g, const A &a) : g(g), a(a) {}
+  template <class TEvent, class SM, class TDeps, class TSubs, class... Ts>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &, Ts &&...) {
+    if (call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs)) {
+      call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+      return true;
+    }
+    return false;
+  }
+  G g;
+  A a;
+};
+template <class S1, class S2, class E, class A>
+struct transition<state<S1>, state<S2>, front::event<E>, always, A> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = typename state<S1>::type;
+  using event = E;
+  using guard = always;
+  using action = A;
+  using deps = aux::apply_t<aux::unique_t, get_deps_t<A, E>>;
+  constexpr transition(const always &, const A &a) : a(a) {}
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::true_type) {
+    sm.process_internal_event(back::on_exit<back::_, TEvent>{event}, deps, subs, current_state);
+    update_current_state(sm, deps, subs, current_state,
+                         aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                         state<dst_state>{});
+    call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+    sm.process_internal_event(back::on_entry<back::_, TEvent>{event}, deps, subs, current_state);
+    return true;
+  }
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::false_type) {
+    update_current_state(sm, deps, subs, current_state,
+                         aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                         state<dst_state>{});
+    call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+    return true;
+  }
+  A a;
+};
+template <class S2, class E, class A>
+struct transition<state<internal>, state<S2>, front::event<E>, always, A> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = internal;
+  using event = E;
+  using guard = always;
+  using action = A;
+  using deps = aux::apply_t<aux::unique_t, get_deps_t<A, E>>;
+  constexpr transition(const always &, const A &a) : a(a) {}
+  template <class TEvent, class SM, class TDeps, class TSubs, class... Ts>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &, Ts &&...) {
+    call<TEvent, args_t<A, TEvent>, typename SM::logger_t>::execute(a, event, sm, deps, subs);
+    return true;
+  }
+  A a;
+};
+template <class S1, class S2, class E, class G>
+struct transition<state<S1>, state<S2>, front::event<E>, G, none> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = typename state<S1>::type;
+  using event = E;
+  using guard = G;
+  using action = none;
+  using deps = aux::apply_t<aux::unique_t, get_deps_t<G, E>>;
+  constexpr transition(const G &g, const none &) : g(g) {}
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::true_type) {
+    if (call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs)) {
+      sm.process_internal_event(back::on_exit<back::_, TEvent>{event}, deps, subs, current_state);
+      update_current_state(sm, deps, subs, current_state,
+                           aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                           state<dst_state>{});
+      sm.process_internal_event(back::on_entry<back::_, TEvent>{event}, deps, subs, current_state);
+      return true;
+    }
+    return false;
+  }
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::false_type) {
+    if (call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs)) {
+      update_current_state(sm, deps, subs, current_state,
+                           aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                           state<dst_state>{});
+      return true;
+    }
+    return false;
+  }
+  G g;
+};
+template <class S2, class E, class G>
+struct transition<state<internal>, state<S2>, front::event<E>, G, none> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = internal;
+  using event = E;
+  using guard = G;
+  using action = none;
+  using deps = aux::apply_t<aux::unique_t, get_deps_t<G, E>>;
+  constexpr transition(const G &g, const none &) : g(g) {}
+  template <class TEvent, class SM, class TDeps, class TSubs, class... Ts>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &, Ts &&...) {
+    return call<TEvent, args_t<G, TEvent>, typename SM::logger_t>::execute(g, event, sm, deps, subs);
+  }
+  G g;
+};
+template <class S1, class S2, class E>
+struct transition<state<S1>, state<S2>, front::event<E>, always, none> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = typename state<S1>::type;
+  using event = E;
+  using guard = always;
+  using action = none;
+  using deps = aux::type_list<>;
+  constexpr transition(const always &, const none &) {}
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::true_type) {
+    sm.process_internal_event(back::on_exit<back::_, TEvent>{event}, deps, subs, current_state);
+    update_current_state(sm, deps, subs, current_state,
+                         aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                         state<dst_state>{});
+    sm.process_internal_event(back::on_entry<back::_, TEvent>{event}, deps, subs, current_state);
+    return true;
+  }
+  template <class TEvent, class SM, class TDeps, class TSubs>
+  constexpr bool execute(const TEvent &, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state, aux::false_type) {
+    update_current_state(sm, deps, subs, current_state,
+                         aux::get_id<typename SM::state_t, dst_state>((typename SM::states_ids_t *)0), state<src_state>{},
+                         state<dst_state>{});
+    return true;
+  }
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+template <class S2, class E>
+struct transition<state<internal>, state<S2>, front::event<E>, always, none> {
+  static constexpr auto initial = state<S2>::initial;
+  static constexpr auto history = state<S2>::history;
+  using src_state = typename state<S2>::type;
+  using dst_state = internal;
+  using event = E;
+  using guard = always;
+  using action = none;
+  using deps = aux::type_list<>;
+  constexpr transition(const always &, const none &) {}
+  template <class TEvent, class SM, class TDeps, class TSubs, class... Ts>
+  constexpr bool execute(const TEvent &, SM &, TDeps &, TSubs &, typename SM::state_t &, Ts &&...) {
+    return true;
+  }
+  __BOOST_SML_ZERO_SIZE_ARRAY(aux::byte);
+};
+}  // namespace front
+using _ = back::_;
+#if !(defined(_MSC_VER) && !defined(__clang__))
+template <class TEvent>
+constexpr front::event<TEvent> event{};
+#else
+template <class TEvent>
+front::event<TEvent> event __BOOST_SML_VT_INIT;
+#endif
+template <class TEvent>
+__BOOST_SML_UNUSED front::event<back::on_entry<_, TEvent>> on_entry __BOOST_SML_VT_INIT;
+template <class TEvent>
+__BOOST_SML_UNUSED front::event<back::on_exit<_, TEvent>> on_exit __BOOST_SML_VT_INIT;
+template <class TEvent>
+front::event<back::unexpected_event<TEvent>> unexpected_event __BOOST_SML_VT_INIT;
+template <class T>
+front::event<back::exception<T>> exception __BOOST_SML_VT_INIT;
+using anonymous = back::anonymous;
+using initial = back::initial;
+#if !(defined(_MSC_VER) && !defined(__clang__))
+template <class T>
+constexpr typename front::state_sm<T>::type state{};
+#else
+template <class T>
+typename front::state_sm<T>::type state __BOOST_SML_VT_INIT;
+#endif
+inline namespace literals {
+#if defined(__cpp_nontype_template_parameter_class) || \
+    defined(__cpp_nontype_template_args) && __cpp_nontype_template_args >= 201911L
+template <aux::fixed_string Str>
+constexpr auto operator""_s() {
+  return []<auto... Ns>(aux::index_sequence<Ns...>) { return front::state<aux::string<char, Str.data[Ns]...>>{}; }
+  (aux::make_index_sequence<Str.size>{});
+}
+template <aux::fixed_string Str>
+constexpr auto operator""_e() {
+  return []<auto... Ns>(aux::index_sequence<Ns...>) { return event<aux::string<char, Str.data[Ns]...>>; }
+  (aux::make_index_sequence<Str.size>{});
+}
+#elif !(defined(_MSC_VER) && !defined(__clang__))
+template <class T, T... Chrs>
+constexpr auto operator""_s() {
+  return front::state<aux::string<T, Chrs...>>{};
+}
+template <class T, T... Chrs>
+constexpr auto operator""_e() {
+  return event<aux::string<T, Chrs...>>;
+}
+#endif
+}  // namespace literals
+__BOOST_SML_UNUSED static front::state<back::terminate_state> X;
+__BOOST_SML_UNUSED static front::history_state H;
+__BOOST_SML_UNUSED static front::actions::defer defer;
+__BOOST_SML_UNUSED static front::actions::process process;
+__BOOST_SML_UNUSED static front::state<class SML_EVAL> eval;
+template <class... Ts, __BOOST_SML_REQUIRES(aux::is_same<aux::bool_list<aux::always<Ts>::value...>,
+                                                         aux::bool_list<concepts::transitional<Ts>::value...>>::value)>
+constexpr auto make_transition_table(Ts... ts) {
+  return aux::pool<Ts...>{ts...};
+}
+BOOST_SML_NAMESPACE_END
+#undef __BOOST_SML_UNUSED
+#undef __BOOST_SML_VT_INIT
+#undef __BOOST_SML_ZERO_SIZE_ARRAY
+#undef __BOOST_SML_ZERO_SIZE_ARRAY_CREATE
+#undef __BOOST_SML_TEMPLATE_KEYWORD
+#if defined(__clang__)
+#pragma clang diagnostic pop
+#elif defined(__GNUC__)
+#if defined(__BOOST_SML_DEFINED_HAS_BUILTIN)
+#undef __has_builtin
+#endif
+#pragma GCC diagnostic pop
+#elif defined(_MSC_VER) && !defined(__clang__) && defined(__BOOST_SML_DEFINED_HAS_BUILTIN)
+#undef __has_builtin
+#undef __has_builtin__make_integer_seq
+#endif
+#endif
+#endif
\ No newline at end of file

From a93a34875a986f33618dea72c7f8c79708d65ddd Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Tue, 6 Jun 2023 23:43:33 +0200
Subject: [PATCH 02/10] forward implementation of state machine to be used as
 wrapper with class

---
 modules/ObjectControl/inc/sm_impl.hpp | 24 ++++++++++++++++++++++++
 1 file changed, 24 insertions(+)
 create mode 100644 modules/ObjectControl/inc/sm_impl.hpp

diff --git a/modules/ObjectControl/inc/sm_impl.hpp b/modules/ObjectControl/inc/sm_impl.hpp
new file mode 100644
index 000000000..f44d7d599
--- /dev/null
+++ b/modules/ObjectControl/inc/sm_impl.hpp
@@ -0,0 +1,24 @@
+#include "sml.hpp"
+#include "objectcontrol.hpp"
+
+#pragma once
+
+// State transitions
+class SmImpl {
+public:
+    // Events
+    struct initializeRequest {};
+    struct ev_stop {};
+
+    // Actions
+    constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
+    constexpr static auto ac_stop  = [](ObjectControl* handler) { handler->loadScenario(); };
+
+    auto operator()() const noexcept {
+        using namespace boost::sml;
+        return make_transition_table(
+                 *state<AbstractKinematics::Idle>       + event<initializeRequest>    / clearScenarioAction    =    state<AbstractKinematics::Initialized>
+                , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_s
+        );
+    }
+};
\ No newline at end of file

From 884efc7bf19c9cc0f2bd88c79a6620e0cfeb90cf Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Tue, 6 Jun 2023 23:44:15 +0200
Subject: [PATCH 03/10] progress on obc adaptations to use sml

---
 modules/ObjectControl/inc/objectcontrol.hpp |  7 +++++++
 modules/ObjectControl/src/objectcontrol.cpp | 10 ++++++++++
 2 files changed, 17 insertions(+)

diff --git a/modules/ObjectControl/inc/objectcontrol.hpp b/modules/ObjectControl/inc/objectcontrol.hpp
index f3a796f64..eef510de3 100644
--- a/modules/ObjectControl/inc/objectcontrol.hpp
+++ b/modules/ObjectControl/inc/objectcontrol.hpp
@@ -71,6 +71,8 @@ namespace AbsoluteKinematics {
 	class RemoteControlled;
 }
 
+class SmImpl;
+
 /*!
  * \brief The ObjectControl class is intended as an overarching device
  *			used to control a scenario. No behaviour is implemented in it
@@ -79,6 +81,9 @@ namespace AbsoluteKinematics {
  */
 class ObjectControl : public Module
 {
+	// Forward declare state machine
+	class Sm;
+	friend class SmImpl;
 	friend class ObjectControlState;
 	friend class AbstractKinematics::Idle;
 	friend class AbstractKinematics::Initialized;
@@ -321,5 +326,7 @@ class ObjectControl : public Module
 	void injectObjectData(const MonitorMessage& monr);
 	//! \brief TODO
 	OsiHandler::LocalObjectGroundTruth_t buildOSILocalGroundTruth(const MonitorMessage&) const;
+
+    std::unique_ptr<Sm> sm;
 };
 
diff --git a/modules/ObjectControl/src/objectcontrol.cpp b/modules/ObjectControl/src/objectcontrol.cpp
index 2fe949b1f..dbc9b143a 100644
--- a/modules/ObjectControl/src/objectcontrol.cpp
+++ b/modules/ObjectControl/src/objectcontrol.cpp
@@ -14,6 +14,7 @@
 #include <dirent.h>
 #include <exception>
 
+#include "sm_impl.hpp"
 #include "state.hpp"
 #include "util.h"
 #include "journal.hpp"
@@ -26,9 +27,17 @@ using std::placeholders::_2;
 using namespace ROSChannels;
 using namespace std::chrono_literals;
 using namespace ATOS;
+namespace sml = boost::sml;
+
+class ObjectControl::Sm : public sml::sm<SmImpl,sml::thread_safe<std::mutex>> {
+	public: 
+		explicit Sm(ObjectControl* handler)
+        	: sml::sm<SmImpl,sml::thread_safe<std::mutex>>(static_cast<ObjectControl*>(handler)) {}
+};
 
 ObjectControl::ObjectControl()
 	: Module(ObjectControl::moduleName),
+	sm(std::make_unique<Sm>(this)),
 	scnInitSub(*this, std::bind(&ObjectControl::onInitMessage, this, _1)),
 	scnStartSub(*this, std::bind(&ObjectControl::onStartMessage, this, _1)),
 	objectStartSub(*this, std::bind(&ObjectControl::onStartObjectMessage, this, _1)),
@@ -66,6 +75,7 @@ ObjectControl::~ObjectControl() {
 }
 
 int ObjectControl::initialize() {
+	//sml::sm<ObjectControl, sml::thread_safe<std::mutex>> sm; // Create a state machine
 	int retval = 0;
 
 	// Create test journal

From 179434a663cdb92b6b879433de58168cbdf918e0 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Sun, 11 Jun 2023 11:26:12 +0200
Subject: [PATCH 04/10] WIP

---
 modules/ObjectControl/inc/sm_impl.hpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/modules/ObjectControl/inc/sm_impl.hpp b/modules/ObjectControl/inc/sm_impl.hpp
index f44d7d599..44b6629c0 100644
--- a/modules/ObjectControl/inc/sm_impl.hpp
+++ b/modules/ObjectControl/inc/sm_impl.hpp
@@ -10,6 +10,9 @@ class SmImpl {
     struct initializeRequest {};
     struct ev_stop {};
 
+    // Guards
+    constexpr static auto guard = [](ObjectControl* handler) { return true; };
+
     // Actions
     constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
     constexpr static auto ac_stop  = [](ObjectControl* handler) { handler->loadScenario(); };
@@ -17,7 +20,7 @@ class SmImpl {
     auto operator()() const noexcept {
         using namespace boost::sml;
         return make_transition_table(
-                 *state<AbstractKinematics::Idle>       + event<initializeRequest>    / clearScenarioAction    =    state<AbstractKinematics::Initialized>
+                 *state<AbstractKinematics::Idle> + event<initializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Initialized>
                 , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_s
         );
     }

From df22181b13e237990fb15f346033572fdc4be5a5 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Wed, 18 Sep 2024 18:35:40 +0200
Subject: [PATCH 05/10] upgrade to latest sml.hpp version

---
 atos/modules/ObjectControl/inc/sml.hpp | 453 ++++++++++++++++---------
 1 file changed, 294 insertions(+), 159 deletions(-)

diff --git a/atos/modules/ObjectControl/inc/sml.hpp b/atos/modules/ObjectControl/inc/sml.hpp
index 0d2006bae..33f474e93 100644
--- a/atos/modules/ObjectControl/inc/sml.hpp
+++ b/atos/modules/ObjectControl/inc/sml.hpp
@@ -1,5 +1,5 @@
 //
-// Copyright (c) 2016-2020 Kris Jusiak (kris at jusiak dot net)
+// Copyright (c) 2016-2024 Kris Jusiak (kris at jusiak dot net)
 //
 // Distributed under the Boost Software License, Version 1.0.
 // (See accompanying file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
@@ -9,12 +9,15 @@
 #if (__cplusplus < 201305L && _MSC_VER < 1900)
 #error "[Boost::ext].SML requires C++14 support (Clang-3.4+, GCC-5.1+, MSVC-2015+)"
 #else
-#define BOOST_SML_VERSION 1'1'6
+#if defined(__ICCARM__) && __IAR_SYSTEMS_ICC__ < 8
+#error "[Boost::ext].SML requires C++14 support (IAR C/C++ ARM 8.1+)"
+#endif
+#define BOOST_SML_VERSION 1'1'11
 #define BOOST_SML_NAMESPACE_BEGIN \
   namespace boost {               \
   inline namespace ext {          \
   namespace sml {                 \
-  inline namespace v1_1_6 {
+  inline namespace v1_1_11 {
 #define BOOST_SML_NAMESPACE_END \
   }                             \
   }                             \
@@ -69,6 +72,18 @@
 #endif
 #pragma warning(disable : 4503)
 #pragma warning(disable : 4200)
+#elif defined(__ICCARM__)
+#if !defined(__has_builtin)
+#define __BOOST_SML_DEFINED_HAS_BUILTIN
+#define __has_builtin(...) 0
+#endif
+/* Needs IAR language extensions */
+#define __BOOST_SML_UNUSED __attribute__((unused))
+#define __BOOST_SML_VT_INIT \
+  {}
+#define __BOOST_SML_ZERO_SIZE_ARRAY(...)
+#define __BOOST_SML_ZERO_SIZE_ARRAY_CREATE(...) __VA_ARGS__ ? __VA_ARGS__ : 1
+#define __BOOST_SML_TEMPLATE_KEYWORD template
 #endif
 BOOST_SML_NAMESPACE_BEGIN
 #define __BOOST_SML_REQUIRES(...) typename aux::enable_if<__VA_ARGS__, int>::type = 0
@@ -230,6 +245,16 @@ struct remove_reference<T &&> {
 };
 template <class T>
 using remove_reference_t = typename remove_reference<T>::type;
+template <class T>
+struct remove_pointer {
+  using type = T;
+};
+template <class T>
+struct remove_pointer<T *> {
+  using type = T;
+};
+template <class T>
+using remove_pointer_t = typename remove_pointer<T>::type;
 }  // namespace aux
 namespace aux {
 using swallow = int[];
@@ -323,14 +348,14 @@ template <template <class...> class T, class D>
 using apply_t = typename apply<T, D>::type;
 template <int, class T>
 struct tuple_type {
-  explicit tuple_type(const T &object) : value(object) {}
+  constexpr explicit tuple_type(const T &object) : value(object) {}
   T value;
 };
 template <class, class...>
 struct tuple_impl;
 template <int... Ns, class... Ts>
 struct tuple_impl<index_sequence<Ns...>, Ts...> : tuple_type<Ns, Ts>... {
-  explicit tuple_impl(Ts... ts) : tuple_type<Ns, Ts>(ts)... {}
+  constexpr explicit tuple_impl(Ts... ts) : tuple_type<Ns, Ts>(ts)... {}
 };
 template <>
 struct tuple_impl<index_sequence<0>> {
@@ -339,7 +364,7 @@ struct tuple_impl<index_sequence<0>> {
 template <class... Ts>
 using tuple = tuple_impl<make_index_sequence<sizeof...(Ts)>, Ts...>;
 template <int N, class T>
-T &get_by_id(tuple_type<N, T> *object) {
+constexpr T &get_by_id(tuple_type<N, T> *object) {
   return static_cast<tuple_type<N, T> &>(*object).value;
 }
 struct init {};
@@ -353,8 +378,9 @@ struct pool_type_impl : pool_type_base {
   constexpr pool_type_impl(init i, TObject object) : value{i, object} {}
   T value{};
 };
+#if defined(BOOST_SML_CREATE_DEFAULT_CONSTRUCTIBLE_DEPS)
 template <class T>
-struct pool_type_impl<T &, aux::enable_if_t<aux::is_constructible<T>::value && aux::is_constructible<T, T>::value>>
+struct pool_type_impl<T &, aux::enable_if_t<aux::is_constructible<T>::value && aux::is_constructible<T, const T &>::value>>
     : pool_type_base {
   constexpr explicit pool_type_impl(T &value) : value{value} {}
   template <class TObject>
@@ -364,6 +390,7 @@ struct pool_type_impl<T &, aux::enable_if_t<aux::is_constructible<T>::value && a
   T value_{};
   T &value;
 };
+#endif
 template <class T>
 struct pool_type : pool_type_impl<T> {
   using pool_type_impl<T>::pool_type_impl;
@@ -401,6 +428,18 @@ template <class T>
 constexpr T &try_get(const pool_type<T &> *object) {
   return object->value;
 }
+template <class T>
+constexpr const T *try_get(const pool_type<const T *> *object) {
+  return object->value;
+}
+template <class T>
+constexpr T *try_get(const pool_type<T *> *object) {
+  return object->value;
+}
+template <class T, class TPool>
+constexpr bool would_instantiate_missing_ctor_parameter() {
+  return is_same<missing_ctor_parameter<T>, decltype(try_get<T>(aux::declval<TPool>()))>::value;
+}
 template <class T, class TPool>
 constexpr T &get(TPool &p) {
   return static_cast<pool_type<T> &>(p).value;
@@ -409,20 +448,29 @@ template <class T, class TPool>
 constexpr const T &cget(const TPool &p) {
   return static_cast<const pool_type<T> &>(p).value;
 }
+template <class T, class TPool>
+T *get(TPool *p) {
+  return static_cast<pool_type<T> &>(p).value;
+}
+template <class T, class TPool>
+const T *cget(const TPool *p) {
+  return static_cast<const pool_type<T> &>(p).value;
+}
 template <class... Ts>
 struct pool : pool_type<Ts>... {
   using boost_di_inject__ = type_list<Ts...>;
   constexpr pool() = default;
   constexpr explicit pool(Ts... ts) : pool_type<Ts>(ts)... {}
   template <class... TArgs>
-  constexpr pool(init, const pool<TArgs...> &p) : pool_type<Ts>(try_get<aux::remove_const_t<aux::remove_reference_t<Ts>>>(&p))... {}
+  constexpr pool(init, const pool<TArgs...> &p)
+      : pool_type<Ts>(try_get<aux::remove_const_t<aux::remove_reference_t<aux::remove_pointer_t<Ts>>>>(&p))... {}
   template <class... TArgs>
   constexpr pool(const pool<TArgs...> &p) : pool_type<Ts>(init{}, p)... {}
 };
 template <>
 struct pool<> {
   using boost_di_inject__ = type_list<>;
-  constexpr pool() = default;
+  pool() = default;
   template <class... Ts>
   constexpr explicit pool(Ts &&...) {}
   __BOOST_SML_ZERO_SIZE_ARRAY(byte);
@@ -463,52 +511,64 @@ struct zero_wrapper : TExpr {
 };
 template <class R, class TBase, class... TArgs, class T>
 struct zero_wrapper<R (TBase::*)(TArgs...), T> {
-  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...)) : ptr{ptr} {}
+  using type = R (TBase::*)(TArgs...);
+  constexpr explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (TBase::*ptr)(TArgs...){};
+  type ptr{};
 };
 template <class R, class TBase, class... TArgs, class T>
 struct zero_wrapper<R (TBase::*)(TArgs...) const, T> {
-  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) const) : ptr{ptr} {}
+  using type = R (TBase::*)(TArgs...) const;
+  constexpr explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (TBase::*ptr)(TArgs...) const {};
+  type ptr{};
 };
 template <class R, class... TArgs, class T>
 struct zero_wrapper<R (*)(TArgs...), T> {
-  explicit zero_wrapper(R (*ptr)(TArgs...)) : ptr{ptr} {}
+  using type = R (*)(TArgs...);
+  explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TArgs... args) { return (*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (*ptr)(TArgs...){};
+  type ptr{};
 };
 #if defined(__cpp_noexcept_function_type)
 template <class R, class TBase, class... TArgs, class T>
 struct zero_wrapper<R (TBase::*)(TArgs...) noexcept, T> {
-  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) noexcept) : ptr{ptr} {}
+  using type = R (TBase::*)(TArgs...) noexcept;
+  constexpr explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (TBase::*ptr)(TArgs...) noexcept {};
+  type ptr {};
 };
 template <class R, class TBase, class... TArgs, class T>
 struct zero_wrapper<R (TBase::*)(TArgs...) const noexcept, T> {
-  constexpr explicit zero_wrapper(R (TBase::*ptr)(TArgs...) const noexcept) : ptr{ptr} {}
+  using type = R (TBase::*)(TArgs...) const noexcept;
+  constexpr explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TBase &self, TArgs... args) { return (self.*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (TBase::*ptr)(TArgs...) const noexcept {};
+  type ptr {};
 };
 template <class R, class... TArgs, class T>
 struct zero_wrapper<R (*)(TArgs...) noexcept, T> {
-  explicit zero_wrapper(R (*ptr)(TArgs...) noexcept) : ptr{ptr} {}
+  using type = R (*)(TArgs...) noexcept;
+  explicit zero_wrapper(type ptr) : ptr{ptr} {}
   constexpr auto operator()(TArgs... args) { return (*ptr)(args...); }
+  constexpr type get() const { return ptr; }
 
  private:
-  R (*ptr)(TArgs...) noexcept {};
+  type ptr {};
 };
 #endif
 template <class, class>
@@ -536,13 +596,15 @@ auto get_type_name(const char *ptr, index_sequence<Ns...>) {
 template <class T>
 const char *get_type_name() {
 #if defined(_MSC_VER) && !defined(__clang__)
-  return detail::get_type_name<T, 39>(__FUNCSIG__, make_index_sequence<sizeof(__FUNCSIG__) - 39 - 8>{});
+  return detail::get_type_name<T, 65>(__FUNCSIG__, make_index_sequence<sizeof(__FUNCSIG__) - 65 - 8>{});
 #elif defined(__clang__) && (__clang_major__ >= 12)
   return detail::get_type_name<T, 50>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 50 - 2>{});
 #elif defined(__clang__)
   return detail::get_type_name<T, 63>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 63 - 2>{});
 #elif defined(__GNUC__)
-  return detail::get_type_name<T, 68>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 68 - 2>{});
+  return detail::get_type_name<T, 69>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 69 - 2>{});
+#elif defined(__ICCARM__)
+  return detail::get_type_name<T, 72>(__PRETTY_FUNCTION__, make_index_sequence<sizeof(__PRETTY_FUNCTION__) - 72 -2>{});
 #endif
 }
 #if defined(__cpp_nontype_template_parameter_class) || \
@@ -613,11 +675,14 @@ class queue_event {
   }
 
  public:
+  constexpr queue_event() : dtor(nullptr) {}
   constexpr queue_event(queue_event &&other) : id(other.id), dtor(other.dtor), move(other.move) {
     move(data, static_cast<queue_event &&>(other));
   }
   constexpr queue_event &operator=(queue_event &&other) {
-    dtor(data);
+    if (dtor != nullptr) {
+      dtor(data);
+    }
     id = other.id;
     dtor = other.dtor;
     move = other.move;
@@ -633,7 +698,11 @@ class queue_event {
     move = &move_impl<T>;
     new (&data) T(static_cast<T &&>(object));
   }
-  ~queue_event() { dtor(data); }
+  ~queue_event() {
+    if (dtor) {
+      dtor(data);
+    }
+  }
   alignas(alignment) aux::byte data[size];
   int id = -1;
 
@@ -933,45 +1002,45 @@ struct transitions<aux::false_type> {
     return false;
   }
 };
-template <class TSM, class T, class... Ts>
-struct transitions_sub<sm<TSM>, T, Ts...> {
+template <class Tsm, class T, class... Ts>
+struct transitions_sub<sm<Tsm>, T, Ts...> {
   template <class TEvent, class SM, class TDeps, class TSubs>
   constexpr static bool execute(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
     return execute_impl(event, sm, deps, subs, current_state);
   }
   template <class, class SM, class TDeps, class TSubs>
   constexpr static bool execute(const anonymous &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
-    if (sub_sm<sm_impl<TSM>>::cget(&subs).is_terminated()) {
-      const auto handled = sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    if (sub_sm<sm_impl<Tsm>>::cget(&subs).is_terminated()) {
+      const auto handled = sub_sm<sm_impl<Tsm>>::get(&subs).process_event(event, deps, subs);
       return handled ? handled : transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
     }
     return false;
   }
   template <class TEvent, class SM, class TDeps, class TSubs>
   constexpr static bool execute_impl(const TEvent &event, SM &sm, TDeps &deps, TSubs &subs, typename SM::state_t &current_state) {
-    const auto handled = sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    const auto handled = sub_sm<sm_impl<Tsm>>::get(&subs).process_event(event, deps, subs);
     return handled ? handled : transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
   }
   template <class _, class TEvent, class SM, class TDeps, class TSubs>
   constexpr static bool execute_impl(const back::on_entry<_, TEvent> &event, SM &sm, TDeps &deps, TSubs &subs,
                            typename SM::state_t &current_state) {
     transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
-    sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    sub_sm<sm_impl<Tsm>>::get(&subs).process_event(event, deps, subs);
     return true;
   }
   template <class _, class TEvent, class SM, class TDeps, class TSubs>
   constexpr static bool execute_impl(const back::on_exit<_, TEvent> &event, SM &sm, TDeps &deps, TSubs &subs,
                            typename SM::state_t &current_state) {
-    sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    sub_sm<sm_impl<Tsm>>::get(&subs).process_event(event, deps, subs);
     transitions<T, Ts...>::execute(event, sm, deps, subs, current_state);
     return true;
   }
 };
-template <class TSM>
-struct transitions_sub<sm<TSM>> {
+template <class Tsm>
+struct transitions_sub<sm<Tsm>> {
   template <class TEvent, class SM, class TDeps, class TSubs>
   constexpr static bool execute(const TEvent &event, SM &, TDeps &deps, TSubs &subs, typename SM::state_t &) {
-    return sub_sm<sm_impl<TSM>>::get(&subs).process_event(event, deps, subs);
+    return sub_sm<sm_impl<Tsm>>::get(&subs).process_event(event, deps, subs);
   }
   template <class, class SM, class TDeps, class TSubs>
   constexpr static bool execute(const anonymous &, SM &, TDeps &, TSubs &, typename SM::state_t &) {
@@ -1058,7 +1127,9 @@ template <class T, class, class... Ts>
 transitions<Ts...> get_state_mapping_impl(state_mappings<T, aux::type_list<Ts...>> *);
 template <class T, class TMappings, class TUnexpected>
 struct get_state_mapping {
-  using type = decltype(get_state_mapping_impl<T, TUnexpected>((TMappings *)0));
+  using type = aux::conditional_t<aux::is_same<decltype(get_state_mapping_impl<T, TUnexpected>((TMappings *)0)), transitions<TUnexpected>>::value,
+      decltype(get_state_mapping_impl<_, TUnexpected>((TMappings *)0)),
+      decltype(get_state_mapping_impl<T, TUnexpected>((TMappings *)0))>;
 };
 template <class S>
 transitions_sub<S> get_sub_state_mapping_impl(...);
@@ -1251,6 +1322,25 @@ struct process_queue : aux::pair<back::policies::process_queue_policy__, process
 };
 }  // namespace policies
 }  // namespace back
+namespace back {
+namespace policies {
+struct dont_instantiate_statemachine_class_policy__ {};
+struct dont_instantiate_statemachine_class
+    : aux::pair<dont_instantiate_statemachine_class_policy__, dont_instantiate_statemachine_class> {};
+}  // namespace policies
+}  // namespace back
+
+namespace aux {
+template <class Tsm>
+struct should_not_instantiate_statemachine_class
+    : integral_constant<bool, is_same<typename Tsm::dont_instantiate_statemachine_class_policy,
+                                                back::policies::dont_instantiate_statemachine_class>::value> {};
+
+template <class Tsm>
+struct should_not_subclass_statemachine_class
+    : integral_constant<bool, is_empty<typename Tsm::sm>::value || should_not_instantiate_statemachine_class<Tsm>::value> {};
+} // namespace aux
+
 namespace back {
 namespace policies {
 struct testing_policy__ {};
@@ -1304,7 +1394,8 @@ struct sm_policy {
       decltype(get_policy<no_policy, policies::process_queue_policy__>((aux::inherit<TPolicies...> *)0));
   using logger_policy = decltype(get_policy<no_policy, policies::logger_policy__>((aux::inherit<TPolicies...> *)0));
   using testing_policy = decltype(get_policy<no_policy, policies::testing_policy__>((aux::inherit<TPolicies...> *)0));
-  using default_dispatch_policy = policies::jump_table;
+  using dont_instantiate_statemachine_class_policy = decltype(get_policy<no_policy, policies::dont_instantiate_statemachine_class_policy__>((aux::inherit<TPolicies...> *)0));
+  using default_dispatch_policy = policies::switch_stm;
   using dispatch_policy =
       decltype(get_policy<default_dispatch_policy, policies::dispatch_policy__>((aux::inherit<TPolicies...> *)0));
   template <class T>
@@ -1349,17 +1440,17 @@ struct composable : aux::is<aux::pool, decltype(composable_impl<T>(0))> {};
 #endif
 #endif
 namespace back {
-template <class TSM>
-struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux::none_type, typename TSM::sm> {
-  using sm_t = typename TSM::sm;
-  using thread_safety_t = typename TSM::thread_safety_policy::type;
+template <class Tsm>
+struct sm_impl : aux::conditional_t<aux::should_not_subclass_statemachine_class<Tsm>::value, aux::none_type, typename Tsm::sm> {
+  using sm_t = typename Tsm::sm;
+  using thread_safety_t = typename Tsm::thread_safety_policy::type;
   template <class T>
-  using defer_queue_t = typename TSM::defer_queue_policy::template rebind<T>;
-  using defer_flag_t = typename TSM::defer_queue_policy::flag;
+  using defer_queue_t = typename Tsm::defer_queue_policy::template rebind<T>;
+  using defer_flag_t = typename Tsm::defer_queue_policy::flag;
   template <class T>
-  using process_queue_t = typename TSM::process_queue_policy::template rebind<T>;
-  using logger_t = typename TSM::logger_policy::type;
-  using dispatch_t = typename TSM::dispatch_policy;
+  using process_queue_t = typename Tsm::process_queue_policy::template rebind<T>;
+  using logger_t = typename Tsm::logger_policy::type;
+  using dispatch_t = typename Tsm::dispatch_policy;
   using transitions_t = decltype(aux::declval<sm_t>().operator()());
   using states_t = aux::apply_t<aux::unique_t, aux::apply_t<get_states, transitions_t>>;
   using states_ids_t = aux::apply_t<aux::type_id, states_t>;
@@ -1373,6 +1464,7 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
   using events_ids_t = aux::apply_t<aux::inherit, events_t>;
   using has_unexpected_events = typename aux::is_base_of<unexpected, aux::apply_t<aux::inherit, events_t>>::type;
   using has_entry_exits = typename aux::is_base_of<entry_exit, aux::apply_t<aux::inherit, events_t>>::type;
+  using should_not_instantiate_statemachine_class_t = aux::should_not_instantiate_statemachine_class<Tsm>;
   using defer_t = defer_queue_t<aux::apply_t<queue_event, events_t>>;
   using process_t = process_queue_t<aux::apply_t<queue_event, events_t>>;
   using deps = aux::apply_t<merge_deps, transitions_t>;
@@ -1385,27 +1477,48 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
 #endif
   struct mappings : mappings_t<transitions_t> {};
   template <class TPool>
-  constexpr sm_impl(aux::init, const TPool &p) : sm_impl{p, aux::is_empty<sm_t>{}} {}
+  constexpr sm_impl(aux::init, const TPool &p) : sm_impl{p, aux::should_not_subclass_statemachine_class<Tsm>{}} {}
   template <class TPool>
   constexpr sm_impl(const TPool &p, aux::false_type) : sm_t{aux::try_get<sm_t>(&p)}, transitions_{(*this)()} {
-    initialize(typename sm_impl<TSM>::initial_states_t{});
+    initialize(typename sm_impl<Tsm>::initial_states_t{});
+  }
+
+  template <class T, class TPool>
+  constexpr decltype(auto) try_get_without_instantiating(const TPool &p) const {
+    static_assert(!(should_not_instantiate_statemachine_class_t::value &&
+              aux::would_instantiate_missing_ctor_parameter<sm_t, decltype(&p)>()),
+            "When policy sml::dont_instantiate_statemachine_class is used, you have to provide a reference to an "
+            "instance of the transition table type (boost::sml::sm< your_transition_table_type >) "
+            "as well as a reference to instances of all sub-statemachine types as constructor parameters like this: \n"
+            "boost::sml::sm< your_transition_table_type , sml::dont_instantiate_statemachine_class >{\n"
+            "    your_transition_table_instance\n"
+            "}"
+  );
+
+    return aux::try_get<T>(&p)();
   }
+
   template <class TPool>
-  constexpr sm_impl(const TPool &p, aux::true_type) : transitions_{aux::try_get<sm_t>(&p)()} {
-    initialize(typename sm_impl<TSM>::initial_states_t{});
+  constexpr sm_impl(const TPool &p, aux::true_type) : transitions_{ try_get_without_instantiating<sm_t>(p) } {
+    initialize(typename sm_impl<Tsm>::initial_states_t{});
   }
   template <class TEvent, class TDeps, class TSubs>
   constexpr bool process_event(const TEvent &event, TDeps &deps, TSubs &subs) {
     const auto lock = thread_safety_.create_lock();
     (void)lock;
+    bool changed = false;
+    state_t old = current_state_[0];
     bool handled = process_internal_events(event, deps, subs);
+    bool queued_handled = true;
     do {
       do {
         while (process_internal_events(anonymous{}, deps, subs)) {
         }
-      } while (process_defer_events(deps, subs, handled, aux::type<defer_queue_t<TEvent>>{}, events_t{}));
-    } while (process_queued_events(deps, subs, aux::type<process_queue_t<TEvent>>{}, events_t{}));
-    return handled;
+        changed = (old != current_state_[0]);
+        old = current_state_[0];
+      } while (process_defer_events(deps, subs, changed, aux::type<defer_queue_t<TEvent>>{}, events_t{}));
+    } while (process_queued_events(deps, subs, queued_handled, aux::type<process_queue_t<TEvent>>{}, events_t{}));
+    return handled && queued_handled;
   }
   constexpr void initialize(const aux::type_list<> &) {}
   template <class TState>
@@ -1583,10 +1696,8 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
     bool handled = process_internal_events(event, deps, subs);
     if (handled && defer_again_) {
       ++defer_it_;
-      return false;
     } else {
-      defer_.erase(defer_it_);
-      defer_it_ = defer_.begin();
+      defer_it_ = defer_.erase(defer_it_);
       defer_end_ = defer_.end();
     }
     return handled;
@@ -1603,16 +1714,21 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
       defer_again_ = false;
       defer_it_ = defer_.begin();
       defer_end_ = defer_.end();
+      state_t old = current_state_[0];
       while (defer_it_ != defer_end_) {
         processed_events |= (this->*dispatch_table[defer_it_->id])(deps, subs, defer_it_->data);
         defer_again_ = false;
+        if (old != current_state_[0]) {
+          defer_it_ = defer_.begin();
+          old = current_state_[0];
+        }
       }
       defer_processing_ = false;
     }
     return processed_events;
   }
   template <class TDeps, class TSubs, class... TEvents>
-  constexpr bool process_queued_events(TDeps &, TSubs &, const aux::type<no_policy> &, const aux::type_list<TEvents...> &) {
+  constexpr bool process_queued_events(TDeps &, TSubs &,  bool &, const aux::type<no_policy> &, const aux::type_list<TEvents...> &) {
     return false;
   }
   template <class TDeps, class TSubs, class TEvent>
@@ -1627,13 +1743,13 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
 #endif
   }
   template <class TDeps, class TSubs, class TDeferQueue, class... TEvents>
-  bool process_queued_events(TDeps &deps, TSubs &subs, const aux::type<TDeferQueue> &, const aux::type_list<TEvents...> &) {
+  bool process_queued_events(TDeps &deps, TSubs &subs, bool &queued_handled, const aux::type<TDeferQueue> &, const aux::type_list<TEvents...> &) {
     using dispatch_table_t = bool (sm_impl::*)(TDeps &, TSubs &, const void *);
     const static dispatch_table_t dispatch_table[__BOOST_SML_ZERO_SIZE_ARRAY_CREATE(sizeof...(TEvents))] = {
         &sm_impl::process_event_no_queue<TDeps, TSubs, TEvents>...};
     bool wasnt_empty = !process_.empty();
     while (!process_.empty()) {
-      (this->*dispatch_table[process_.front().id])(deps, subs, process_.front().data);
+      queued_handled &= (this->*dispatch_table[process_.front().id])(deps, subs, process_.front().data);
       process_.pop();
     }
     return wasnt_empty;
@@ -1684,10 +1800,10 @@ struct sm_impl : aux::conditional_t<aux::is_empty<typename TSM::sm>::value, aux:
   typename defer_t::const_iterator defer_it_{};
   typename defer_t::const_iterator defer_end_{};
 };
-template <class TSM>
+template <class Tsm>
 class sm {
-  using sm_t = typename TSM::sm;
-  using logger_t = typename TSM::logger_policy::type;
+  using sm_t = typename Tsm::sm;
+  using logger_t = typename Tsm::logger_policy::type;
   using logger_dep_t =
       aux::conditional_t<aux::is_same<no_policy, logger_t>::value, aux::type_list<>, aux::type_list<logger_t &>>;
   using transitions_t = decltype(aux::declval<sm_t>().operator()());
@@ -1700,10 +1816,16 @@ class sm {
   using transitions = aux::apply_t<aux::type_list, transitions_t>;
 
  private:
-  using sm_all_t = aux::apply_t<get_non_empty_t, aux::join_t<aux::type_list<sm_t>, aux::apply_t<get_sm_t, state_machines>>>;
+  using sm_all_t = aux::apply_t<get_non_empty_t, aux::join_t<
+      aux::conditional_t<
+            aux::is_same<no_policy, typename Tsm::dont_instantiate_statemachine_class_policy>::value,
+            aux::type_list<sm_t>,
+            aux::none_type>,
+      aux::apply_t<get_sm_t, state_machines>>>;
+
   using sub_sms_t =
       aux::apply_t<aux::pool,
-                   typename convert_to_sm<TSM, aux::apply_t<aux::unique_t, aux::apply_t<get_sub_sms, states>>>::type>;
+                   typename convert_to_sm<Tsm, aux::apply_t<aux::unique_t, aux::apply_t<get_sub_sms, states>>>::type>;
   using deps = aux::apply_t<merge_deps, transitions_t>;
   using deps_t =
       aux::apply_t<aux::pool,
@@ -1711,40 +1833,50 @@ class sm {
   struct events_ids : aux::apply_t<aux::inherit, events> {};
 
  public:
-  constexpr sm() : deps_{aux::init{}, aux::pool<>{}}, sub_sms_{aux::pool<>{}} { aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_); }
+  constexpr sm() : deps_{aux::init{}, aux::pool<>{}}, sub_sms_{aux::pool<>{}} { aux::get<sm_impl<Tsm>>(sub_sms_).start(deps_, sub_sms_); }
   template <class TDeps, __BOOST_SML_REQUIRES(!aux::is_same<aux::remove_reference_t<TDeps>, sm>::value)>
   constexpr explicit sm(TDeps &&deps) : deps_{aux::init{}, aux::pool<TDeps>{deps}}, sub_sms_{aux::pool<TDeps>{deps}} {
-    aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_);
+    aux::get<sm_impl<Tsm>>(sub_sms_).start(deps_, sub_sms_);
   }
   template <class... TDeps, __BOOST_SML_REQUIRES((sizeof...(TDeps) > 1) && aux::is_unique_t<TDeps...>::value)>
   constexpr explicit sm(TDeps &&... deps) : deps_{aux::init{}, aux::pool<TDeps...>{deps...}}, sub_sms_{aux::pool<TDeps...>{deps...}} {
-    aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_);
+    aux::get<sm_impl<Tsm>>(sub_sms_).start(deps_, sub_sms_);
   }
-  constexpr sm(aux::init, deps_t &deps) : deps_{deps}, sub_sms_{deps} { aux::get<sm_impl<TSM>>(sub_sms_).start(deps_, sub_sms_); }
+  constexpr sm(aux::init, deps_t &deps) : deps_{deps}, sub_sms_{deps} { aux::get<sm_impl<Tsm>>(sub_sms_).start(deps_, sub_sms_); }
   constexpr sm(const sm &) = default;
   constexpr sm(sm &&) = default;
   constexpr sm &operator=(const sm &) = default;
   constexpr sm &operator=(sm &&) = default;
   template <class TEvent, __BOOST_SML_REQUIRES(aux::is_base_of<TEvent, events_ids>::value)>
   constexpr bool process_event(const TEvent &event) {
-    return aux::get<sm_impl<TSM>>(sub_sms_).process_event(event, deps_, sub_sms_);
+    return aux::get<sm_impl<Tsm>>(sub_sms_).process_event(event, deps_, sub_sms_);
   }
   template <class TEvent, __BOOST_SML_REQUIRES(!aux::is_base_of<TEvent, events_ids>::value)>
   constexpr bool process_event(const TEvent &event) {
-    return aux::get<sm_impl<TSM>>(sub_sms_).process_event(unexpected_event<_, TEvent>{event}, deps_, sub_sms_);
+    return aux::get<sm_impl<Tsm>>(sub_sms_).process_event(unexpected_event<_, TEvent>{event}, deps_, sub_sms_);
   }
   template <class T = aux::identity<sm_t>, class TVisitor, __BOOST_SML_REQUIRES(concepts::callable<void, TVisitor>::value)>
   constexpr void visit_current_states(const TVisitor &visitor) const {
     using type = typename T::type;
-    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
     using states_t = typename sm_impl_t::states_t;
     constexpr auto regions = sm_impl_t::regions;
     aux::cget<sm_impl_t>(sub_sms_).visit_current_states(visitor, states_t{}, aux::make_index_sequence<regions>{});
   }
-  template <class T = aux::identity<sm_t>, class TState>
+  template <class T = aux::identity<sm_t>, class TState,
+            __BOOST_SML_REQUIRES(sm_impl<typename Tsm::template rebind<typename T::type>>::regions == 1)>
   constexpr bool is(const TState &) const {
     using type = typename T::type;
-    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
+    using state_t = typename sm_impl_t::state_t;
+    using states_ids_t = typename sm_impl_t::states_ids_t;
+    return aux::get_id<state_t, typename TState::type>((states_ids_t *)0) == aux::cget<sm_impl_t>(sub_sms_).current_state_[0];
+  }
+  template <class T = aux::identity<sm_t>, class TState,
+            __BOOST_SML_REQUIRES(sm_impl<typename Tsm::template rebind<typename T::type>>::regions != 1)>
+  constexpr bool is(const TState &) const {
+    using type = typename T::type;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
     using state_t = typename sm_impl_t::state_t;
     using states_ids_t = typename sm_impl_t::states_ids_t;
     auto result = false;
@@ -1758,7 +1890,7 @@ class sm {
   template <class T = aux::identity<sm_t>, template <class...> class TState>
   constexpr bool is(const TState<terminate_state> &) const {
     using type = typename T::type;
-    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
     using state_t = typename sm_impl_t::state_t;
     using states_ids_t = typename sm_impl_t::states_ids_t;
     auto result = false;
@@ -1770,10 +1902,10 @@ class sm {
     return result;
   }
   template <class T = aux::identity<sm_t>, class... TStates,
-            __BOOST_SML_REQUIRES(sizeof...(TStates) == sm_impl<typename TSM::template rebind<typename T::type>>::regions)>
+            __BOOST_SML_REQUIRES(sizeof...(TStates) == sm_impl<typename Tsm::template rebind<typename T::type>>::regions)>
   constexpr bool is(const TStates &...) const {
     using type = typename T::type;
-    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
     using states_ids_t = typename sm_impl_t::states_ids_t;
     using state_t = typename sm_impl_t::state_t;
     auto result = true;
@@ -1786,10 +1918,10 @@ class sm {
     return result;
   }
   template <class T = aux::identity<sm_t>, class... TStates,
-            __BOOST_SML_REQUIRES(!aux::is_same<no_policy, typename TSM::testing_policy>::value && aux::always<T>::value)>
+            __BOOST_SML_REQUIRES(!aux::is_same<no_policy, typename Tsm::testing_policy>::value && aux::always<T>::value)>
   constexpr void set_current_states(const TStates &...) {
     using type = typename T::type;
-    using sm_impl_t = sm_impl<typename TSM::template rebind<type>>;
+    using sm_impl_t = sm_impl<typename Tsm::template rebind<type>>;
     using states_ids_t = typename sm_impl_t::states_ids_t;
     using state_t = typename sm_impl_t::state_t;
     auto &sm = aux::get<sm_impl_t>(sub_sms_);
@@ -1803,11 +1935,11 @@ class sm {
   }
   template <class T>
   constexpr operator T &() {
-    return aux::get<sm_impl<typename TSM::template rebind<T>>>(sub_sms_);
+    return aux::get<sm_impl<typename Tsm::template rebind<T>>>(sub_sms_);
   }
   template <class T>
   constexpr operator const T &() {
-    return aux::cget<sm_impl<typename TSM::template rebind<T>>>(sub_sms_);
+    return aux::cget<sm_impl<typename Tsm::template rebind<T>>>(sub_sms_);
   }
 
  private:
@@ -1832,133 +1964,133 @@ template <class T, class E>
 auto args__(...) -> decltype(args1__<T, E>(0));
 template <class T, class E>
 using args_t = decltype(args__<T, E>(0));
-template <class T, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<T> &, const TEvent &, TSM &, TDeps &deps) {
+template <class T, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<T> &, const TEvent &, Tsm &, TDeps &deps) {
   return aux::get<T>(deps);
 }
-template <class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<TEvent> &, const TEvent &event, TSM &, TDeps &) {
+template <class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<TEvent> &, const TEvent &event, Tsm &, TDeps &) {
   return event;
 }
-template <class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const TEvent &event, TSM &, TDeps &) {
+template <class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const TEvent &event, Tsm &, TDeps &) {
   return event;
 }
-template <class T, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::unexpected_event<T, TEvent> &event, TSM &, TDeps &) {
+template <class T, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::unexpected_event<T, TEvent> &event, Tsm &, TDeps &) {
   return event.event_;
 }
-template <class T, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_entry<T, TEvent> &event, TSM &, TDeps &) {
+template <class T, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_entry<T, TEvent> &event, Tsm &, TDeps &) {
   return event.event_;
 }
-template <class T, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_exit<T, TEvent> &event, TSM &, TDeps &) {
+template <class T, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::on_exit<T, TEvent> &event, Tsm &, TDeps &) {
   return event.event_;
 }
-template <class T, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::exception<T, TEvent> &event, TSM &, TDeps &) {
+template <class T, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<const TEvent &> &, const back::exception<T, TEvent> &event, Tsm &, TDeps &) {
   return event.exception_;
 }
-template <class... TEvents, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<back::defer<TEvents...>> &, const TEvent, TSM &sm, TDeps &) {
+template <class... TEvents, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<back::defer<TEvents...>> &, const TEvent, Tsm &sm, TDeps &) {
   return back::defer<TEvents...>{sm.defer_};
 }
-template <class... TEvents, class TEvent, class TSM, class TDeps>
-constexpr decltype(auto) get_arg(const aux::type<back::process<TEvents...>> &, const TEvent, TSM &sm, TDeps &) {
+template <class... TEvents, class TEvent, class Tsm, class TDeps>
+constexpr decltype(auto) get_arg(const aux::type<back::process<TEvents...>> &, const TEvent, Tsm &sm, TDeps &) {
   return back::process<TEvents...>{sm.process_};
 }
 template <class, class, class>
 struct call;
 template <class TEvent>
 struct call<TEvent, aux::type_list<>, back::no_policy> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &, TSM &, TDeps &, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &, Tsm &, TDeps &, TSubs &) {
     return object();
   }
 };
 template <class TEvent, class TLogger>
 struct call<TEvent, aux::type_list<>, TLogger> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &deps, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &, TDeps &deps, TSubs &) {
     using result_type = decltype(object());
-    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, deps);
+    return execute_impl<typename Tsm::sm_t>(aux::type<result_type>{}, object, event, deps);
   }
-  template <class TSM, class T, class TDeps>
+  template <class Tsm, class T, class TDeps>
   constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, TDeps &deps) {
     const auto result = object();
-    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    back::policies::log_guard<Tsm>(aux::type<TLogger>{}, deps, object, event, result);
     return result;
   }
-  template <class TSM, class T, class TDeps>
+  template <class Tsm, class T, class TDeps>
   constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, TDeps &deps) {
-    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    back::policies::log_action<Tsm>(aux::type<TLogger>{}, deps, object, event);
     object();
   }
 };
 template <class TEvent>
 struct call<TEvent, aux::type_list<TEvent>, back::no_policy> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &, TDeps &, TSubs &) {
     return object(event);
   }
 };
 template <class TEvent, class TLogger>
 struct call<TEvent, aux::type_list<TEvent>, TLogger> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &, TDeps &deps, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &, TDeps &deps, TSubs &) {
     using result_type = decltype(object(event));
-    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, deps);
+    return execute_impl<typename Tsm::sm_t>(aux::type<result_type>{}, object, event, deps);
   }
-  template <class TSM, class T, class TDeps>
+  template <class Tsm, class T, class TDeps>
   constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, TDeps &deps) {
     const auto result = object(event);
-    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    back::policies::log_guard<Tsm>(aux::type<TLogger>{}, deps, object, event, result);
     return result;
   }
-  template <class TSM, class T, class TDeps>
+  template <class Tsm, class T, class TDeps>
   constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, TDeps &deps) {
-    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    back::policies::log_action<Tsm>(aux::type<TLogger>{}, deps, object, event);
     object(event);
   }
 };
 template <class TEvent>
 struct call<TEvent, aux::type_list<action_base>, back::no_policy> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  static auto execute(T object, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
     return object(event, sm, deps, subs);
   }
 };
 template <class TEvent, class TLogger>
 struct call<TEvent, aux::type_list<action_base>, TLogger> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
     return object(event, sm, deps, subs);
   }
 };
 template <class TEvent, class... Ts>
 struct call<TEvent, aux::type_list<Ts...>, back::no_policy> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &) {
     return object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
   }
 };
 template <class TEvent, class... Ts, class TLogger>
 struct call<TEvent, aux::type_list<Ts...>, TLogger> {
-  template <class T, class TSM, class TDeps, class TSubs>
-  constexpr static auto execute(T object, const TEvent &event, TSM &sm, TDeps &deps, TSubs &) {
+  template <class T, class Tsm, class TDeps, class TSubs>
+  constexpr static auto execute(T object, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &) {
     using result_type = decltype(object(get_arg(aux::type<Ts>{}, event, sm, deps)...));
-    return execute_impl<typename TSM::sm_t>(aux::type<result_type>{}, object, event, sm, deps);
+    return execute_impl<typename Tsm::sm_t>(aux::type<result_type>{}, object, event, sm, deps);
   }
-  template <class TSM, class T, class SM, class TDeps>
+  template <class Tsm, class T, class SM, class TDeps>
   constexpr static auto execute_impl(const aux::type<bool> &, T object, const TEvent &event, SM &sm, TDeps &deps) {
     const auto result = object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
-    back::policies::log_guard<TSM>(aux::type<TLogger>{}, deps, object, event, result);
+    back::policies::log_guard<Tsm>(aux::type<TLogger>{}, deps, object, event, result);
     return result;
   }
-  template <class TSM, class T, class SM, class TDeps>
+  template <class Tsm, class T, class SM, class TDeps>
   constexpr static auto execute_impl(const aux::type<void> &, T object, const TEvent &event, SM &sm, TDeps &deps) {
-    back::policies::log_action<TSM>(aux::type<TLogger>{}, deps, object, event);
+    back::policies::log_action<Tsm>(aux::type<TLogger>{}, deps, object, event);
     object(get_arg(aux::type<Ts>{}, event, sm, deps)...);
   }
 };
@@ -1966,19 +2098,19 @@ template <class... Ts>
 class seq_ : operator_base {
  public:
   constexpr explicit seq_(Ts... ts) : a(ts...) {}
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr void operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr void operator()(const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
     for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
   }
 
  private:
-  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr void for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <int... Ns, class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr void for_all(const aux::index_sequence<Ns...> &, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
 #if defined(__cpp_fold_expressions)
-    (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs), ...);
+    (call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs), ...);
 #else
     (void)aux::swallow{
-        0, (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs),
+        0, (call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(aux::get_by_id<Ns>(&a), event, sm, deps, subs),
             0)...};
 #endif
   }
@@ -1988,20 +2120,20 @@ template <class... Ts>
 class and_ : operator_base {
  public:
   constexpr explicit and_(Ts... ts) : g(ts...) {}
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
     return for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
   }
 
  private:
-  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <int... Ns, class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
 #if defined(__cpp_fold_expressions)
-    return (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) &&
+    return (call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) &&
             ...);
 #else
     auto result = true;
-    (void)aux::swallow{0, (result = result && call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(
+    (void)aux::swallow{0, (result = result && call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(
                                                   aux::get_by_id<Ns>(&g), event, sm, deps, subs),
                            0)...};
     return result;
@@ -2013,20 +2145,20 @@ template <class... Ts>
 class or_ : operator_base {
  public:
   constexpr explicit or_(Ts... ts) : g(ts...) {}
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
     return for_all(aux::make_index_sequence<sizeof...(Ts)>{}, event, sm, deps, subs);
   }
 
  private:
-  template <int... Ns, class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
+  template <int... Ns, class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto for_all(const aux::index_sequence<Ns...> &, const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
 #if defined(__cpp_fold_expressions)
-    return (call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) ||
+    return (call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(aux::get_by_id<Ns>(&g), event, sm, deps, subs) ||
             ...);
 #else
     auto result = false;
-    (void)aux::swallow{0, (result = result || call<TEvent, args_t<Ts, TEvent>, typename TSM::logger_t>::execute(
+    (void)aux::swallow{0, (result = result || call<TEvent, args_t<Ts, TEvent>, typename Tsm::logger_t>::execute(
                                                   aux::get_by_id<Ns>(&g), event, sm, deps, subs),
                            0)...};
     return result;
@@ -2038,9 +2170,9 @@ template <class T>
 class not_ : operator_base {
  public:
   constexpr explicit not_(T t) : g(t) {}
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) {
-    return !call<TEvent, args_t<T, TEvent>, typename TSM::logger_t>::execute(g, event, sm, deps, subs);
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) {
+    return !call<TEvent, args_t<T, TEvent>, typename Tsm::logger_t>::execute(g, event, sm, deps, subs);
   }
 
  private:
@@ -2066,8 +2198,8 @@ constexpr auto operator,(const T1 &t1, const T2 &t2) {
 namespace front {
 namespace actions {
 struct defer : action_base {
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr void operator()(const TEvent &event, TSM &sm, TDeps &, TSubs &) {
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr void operator()(const TEvent &event, Tsm &sm, TDeps &, TSubs &) {
     if (sm.defer_processing_) {
       sm.defer_again_ = true;
     } else {
@@ -2088,6 +2220,7 @@ template <template <class...> class T>
 using defer_queue = back::policies::defer_queue<T>;
 template <template <class...> class T>
 using process_queue = back::policies::process_queue<T>;
+using dont_instantiate_statemachine_class = back::policies::dont_instantiate_statemachine_class;
 #if defined(_MSC_VER) && !defined(__clang__)
 template <class T, class... TPolicies, class T__ = aux::remove_reference_t<decltype(aux::declval<T>())>>
 using sm = back::sm<back::sm_policy<T__, TPolicies...>>;
@@ -2119,8 +2252,8 @@ struct process {
   class process_impl : public action_base {
    public:
     constexpr explicit process_impl(const TEvent &event) : event(event) {}
-    template <class T, class TSM, class TDeps, class TSubs>
-    constexpr void operator()(const T &, TSM &, TDeps &, TSubs &subs) {
+    template <class T, class Tsm, class TDeps, class TSubs>
+    constexpr void operator()(const T &, Tsm &, TDeps &, TSubs &subs) {
       aux::get<get_root_sm_t<TSubs>>(subs).process_.push(event);
     }
 
@@ -2307,9 +2440,9 @@ struct transition<state<S2>, G, A> : transition<state<internal>, state<S2>, fron
     return transition<T, state<S2>, front::event<back::anonymous>, G, A>{g, a};
   }
   const auto &operator()() const { return *this; }
-  template <class TEvent, class TSM, class TDeps, class TSubs>
-  constexpr auto operator()(const TEvent &event, TSM &sm, TDeps &deps, TSubs &subs) -> void {
-    typename TSM::state_t s{};
+  template <class TEvent, class Tsm, class TDeps, class TSubs>
+  constexpr auto operator()(const TEvent &event, Tsm &sm, TDeps &deps, TSubs &subs) -> void {
+    typename Tsm::state_t s{};
     this->execute(event, sm, deps, subs, s);
   }
 };
@@ -2408,7 +2541,7 @@ struct transition<state<S2>, transition_eg<front::event<E>, G>>
   constexpr transition(const state<S2> &, const transition_eg<front::event<E>, G> &t)
       : transition<state<internal>, state<S2>, front::event<E>, G, none>{t.g, none{}} {}
   template <class T>
-  auto operator=(const T &) const {
+  constexpr auto operator=(const T &) const {
     return transition<T, state<S2>, front::event<E>, G, none>{g, none{}};
   }
 };
@@ -2425,7 +2558,7 @@ struct transition<state<S2>, transition_ea<front::event<E>, A>>
   constexpr transition(const state<S2> &, const transition_ea<front::event<E>, A> &t)
       : transition<state<internal>, state<S2>, front::event<E>, always, A>{always{}, t.a} {}
   template <class T>
-  auto operator=(const T &) const {
+  constexpr auto operator=(const T &) const {
     return transition<T, state<S2>, front::event<E>, always, A>{always{}, a};
   }
 };
@@ -2710,6 +2843,7 @@ constexpr typename front::state_sm<T>::type state{};
 template <class T>
 typename front::state_sm<T>::type state __BOOST_SML_VT_INIT;
 #endif
+#if !(defined(__ICCARM__))
 inline namespace literals {
 #if defined(__cpp_nontype_template_parameter_class) || \
     defined(__cpp_nontype_template_args) && __cpp_nontype_template_args >= 201911L
@@ -2734,6 +2868,7 @@ constexpr auto operator""_e() {
 }
 #endif
 }  // namespace literals
+#endif
 __BOOST_SML_UNUSED static front::state<back::terminate_state> X;
 __BOOST_SML_UNUSED static front::history_state H;
 __BOOST_SML_UNUSED static front::actions::defer defer;

From 8d36a387bed8d614a5ef2dd81e3f760da38d38d8 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Thu, 19 Sep 2024 08:49:21 +0200
Subject: [PATCH 06/10] working example

---
 atos/modules/ObjectControl/inc/sm_impl.hpp    | 29 +++++++++++++++++--
 .../ObjectControl/src/objectcontrol.cpp       |  4 +++
 modules/ObjectControl/inc/sm_impl.hpp         |  4 +--
 3 files changed, 33 insertions(+), 4 deletions(-)

diff --git a/atos/modules/ObjectControl/inc/sm_impl.hpp b/atos/modules/ObjectControl/inc/sm_impl.hpp
index 44b6629c0..86f8b87d0 100644
--- a/atos/modules/ObjectControl/inc/sm_impl.hpp
+++ b/atos/modules/ObjectControl/inc/sm_impl.hpp
@@ -15,13 +15,38 @@ class SmImpl {
 
     // Actions
     constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
+
+    constexpr static auto initializeRequest = [](ObjectControl* handler) { handler->initializeRequest(); };
+
+    void initializeRequest(
+		ObjectControl& handler) {
+	RCLCPP_INFO(handler.get_logger(), "Handling initialization request");
+	JournalRecordData(JOURNAL_RECORD_EVENT, "INIT received");
+	bool successful = handler.loadScenario(); // Reload objects on each initialize request. 
+	if (!successful) {
+		RCLCPP_ERROR(handler.get_logger(), "Failed to load scenario");
+		JournalRecordData(JOURNAL_RECORD_EVENT, "INIT failed");
+		return;
+	}
+	try {
+		auto anchorID = handler.getAnchorObjectID();
+		handler.transformScenarioRelativeTo(anchorID);
+		handler.controlMode = ObjectControl::RELATIVE_KINEMATICS;
+		setState(handler, new RelativeKinematics::Initialized);
+		RCLCPP_INFO(handler.get_logger(), "Relative control mode enabled");
+	} catch (std::invalid_argument&) {
+		handler.controlMode = ObjectControl::ABSOLUTE_KINEMATICS;
+		setState(handler, new AbsoluteKinematics::Initialized);
+		RCLCPP_INFO(handler.get_logger(), "Absolute control mode enabled");
+	}
+}
     constexpr static auto ac_stop  = [](ObjectControl* handler) { handler->loadScenario(); };
 
     auto operator()() const noexcept {
         using namespace boost::sml;
         return make_transition_table(
-                 *state<AbstractKinematics::Idle> + event<initializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Initialized>
-                , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_s
+                 *state<AbstractKinematics::Idle> + event<initializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Ready>
+                 , state<AbstractKinematics::Read>
         );
     }
 };
\ No newline at end of file
diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp
index 76a5fa91c..4f4adb8e8 100644
--- a/atos/modules/ObjectControl/src/objectcontrol.cpp
+++ b/atos/modules/ObjectControl/src/objectcontrol.cpp
@@ -73,6 +73,10 @@ ObjectControl::ObjectControl(std::shared_ptr<rclcpp::executors::MultiThreadedExe
 	returnTrajectoryClient = create_client<atos_interfaces::srv::GetObjectReturnTrajectory>(ServiceNames::getObjectReturnTrajectory);
 	stateService = create_service<atos_interfaces::srv::GetObjectControlState>(ServiceNames::getObjectControlState,
 		std::bind(&ObjectControl::onRequestState, this, _1, _2));
+	//RCLCPP_ERROR(get_logger(), "State is initialized: %s", sm->is("Initialized"));
+	sm->process_event(SmImpl::initializeRequest());
+	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Idle>));
+	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Initialized>));
 
 	// Set the initial state
 	this->state = static_cast<ObjectControlState*>(new AbstractKinematics::Idle);
diff --git a/modules/ObjectControl/inc/sm_impl.hpp b/modules/ObjectControl/inc/sm_impl.hpp
index 56d03c115..5bae8c201 100644
--- a/modules/ObjectControl/inc/sm_impl.hpp
+++ b/modules/ObjectControl/inc/sm_impl.hpp
@@ -20,8 +20,8 @@ class SmImpl {
     auto operator()() const noexcept {
         using namespace boost::sml;
         return make_transition_table(
-                 *state<AbstractKinematics::Idle> + event<initializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Initialized>
-                , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_ss
+                 *"idle"_s + event<initializeRequest> [ guard ] / clearScenarioAction = "initialized"_s
+                , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_s
         );
     }
 };
\ No newline at end of file

From fef8e4c732db229ea6d47469ba13688fbdfabb02 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Thu, 19 Sep 2024 09:12:07 +0200
Subject: [PATCH 07/10] compilation working

---
 atos/modules/ObjectControl/inc/sm_impl.hpp    | 32 ++-----------------
 .../ObjectControl/src/objectcontrol.cpp       |  2 +-
 2 files changed, 3 insertions(+), 31 deletions(-)

diff --git a/atos/modules/ObjectControl/inc/sm_impl.hpp b/atos/modules/ObjectControl/inc/sm_impl.hpp
index 86f8b87d0..15f2dbe61 100644
--- a/atos/modules/ObjectControl/inc/sm_impl.hpp
+++ b/atos/modules/ObjectControl/inc/sm_impl.hpp
@@ -7,8 +7,7 @@
 class SmImpl {
 public:
     // Events
-    struct initializeRequest {};
-    struct ev_stop {};
+    struct InitializeRequest {};
 
     // Guards
     constexpr static auto guard = [](ObjectControl* handler) { return true; };
@@ -16,37 +15,10 @@ class SmImpl {
     // Actions
     constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
 
-    constexpr static auto initializeRequest = [](ObjectControl* handler) { handler->initializeRequest(); };
-
-    void initializeRequest(
-		ObjectControl& handler) {
-	RCLCPP_INFO(handler.get_logger(), "Handling initialization request");
-	JournalRecordData(JOURNAL_RECORD_EVENT, "INIT received");
-	bool successful = handler.loadScenario(); // Reload objects on each initialize request. 
-	if (!successful) {
-		RCLCPP_ERROR(handler.get_logger(), "Failed to load scenario");
-		JournalRecordData(JOURNAL_RECORD_EVENT, "INIT failed");
-		return;
-	}
-	try {
-		auto anchorID = handler.getAnchorObjectID();
-		handler.transformScenarioRelativeTo(anchorID);
-		handler.controlMode = ObjectControl::RELATIVE_KINEMATICS;
-		setState(handler, new RelativeKinematics::Initialized);
-		RCLCPP_INFO(handler.get_logger(), "Relative control mode enabled");
-	} catch (std::invalid_argument&) {
-		handler.controlMode = ObjectControl::ABSOLUTE_KINEMATICS;
-		setState(handler, new AbsoluteKinematics::Initialized);
-		RCLCPP_INFO(handler.get_logger(), "Absolute control mode enabled");
-	}
-}
-    constexpr static auto ac_stop  = [](ObjectControl* handler) { handler->loadScenario(); };
-
     auto operator()() const noexcept {
         using namespace boost::sml;
         return make_transition_table(
-                 *state<AbstractKinematics::Idle> + event<initializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Ready>
-                 , state<AbstractKinematics::Read>
+                 *state<AbstractKinematics::Idle> + event<InitializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Initialized>
         );
     }
 };
\ No newline at end of file
diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp
index 4f4adb8e8..ba0409f15 100644
--- a/atos/modules/ObjectControl/src/objectcontrol.cpp
+++ b/atos/modules/ObjectControl/src/objectcontrol.cpp
@@ -74,7 +74,7 @@ ObjectControl::ObjectControl(std::shared_ptr<rclcpp::executors::MultiThreadedExe
 	stateService = create_service<atos_interfaces::srv::GetObjectControlState>(ServiceNames::getObjectControlState,
 		std::bind(&ObjectControl::onRequestState, this, _1, _2));
 	//RCLCPP_ERROR(get_logger(), "State is initialized: %s", sm->is("Initialized"));
-	sm->process_event(SmImpl::initializeRequest());
+	sm->process_event(SmImpl::InitializeRequest());
 	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Idle>));
 	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Initialized>));
 

From a9413298afe0c1b84e2cd4ed9da820ab24dad1f0 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Sun, 22 Sep 2024 23:11:49 +0200
Subject: [PATCH 08/10] WIP progress towards converting atos state machine into
 boost::sml

---
 atos/modules/ObjectControl/inc/sm_impl.hpp | 186 ++++++++++++++++++++-
 1 file changed, 183 insertions(+), 3 deletions(-)

diff --git a/atos/modules/ObjectControl/inc/sm_impl.hpp b/atos/modules/ObjectControl/inc/sm_impl.hpp
index 15f2dbe61..0cb251da7 100644
--- a/atos/modules/ObjectControl/inc/sm_impl.hpp
+++ b/atos/modules/ObjectControl/inc/sm_impl.hpp
@@ -1,24 +1,204 @@
 #include "sml.hpp"
 #include "objectcontrol.hpp"
+#include <chrono>
 
 #pragma once
 
 // State transitions
 class SmImpl {
 public:
+    // States
+    constexpr static auto idle = boost::sml::state<class Idle>;
+    constexpr static auto initialized = boost::sml::state<class Initialized>;
+    constexpr static auto connecting = boost::sml::state<class Connecting>; // Is this really a state? could be a transition, if we wait for all objects to connect
+    constexpr static auto armed = boost::sml::state<class Armed>;
+    constexpr static auto disarming = boost::sml::state<class Disarming>; // Same with this one
+    constexpr static auto aborting = boost::sml::state<class Aborting>; // Same with this one
+    constexpr static auto ready = boost::sml::state<class Ready>;
+    constexpr static auto testlive = boost::sml::state<class TestLive>;
+
     // Events
     struct InitializeRequest {};
+    struct ConnectRequest {};
+    struct DisconnectRequest {};
+    struct ArmRequest {};
+    struct DisarmRequest {};
+    struct StartRequest {};
+    struct AbortRequest {};
+    struct StartObjectRequest {
+        uint32_t id; 
+        std::chrono::system_clock::time_point startTime;
+    };
+    struct ConnectedToObject {};
+    struct ConnectedToLiveObject {};
+    struct DisconnectedFromObject {};
+    struct ObjectDisarmed {};
+    struct AllObjectsConnected {};
+    struct AllObjectsDisarmed {};
+    struct ObjectAborting {};
 
     // Guards
-    constexpr static auto guard = [](ObjectControl* handler) { return true; };
+    struct scenarioLoaded {
+        auto operator()(ObjectControl* handler) {
+            return handler->loadScenario();
+        }
+    } scenarioLoaded;
+
+    struct allObjectsConnected{
+        auto operator()(ObjectControl* handler) {
+            handler->areAllObjectsIn(OBJECT_STATE_DISARMED);
+        };
+    } allObjectsConnected;
+
+    struct anyObjectInArmedState{
+        auto operator()(ObjectControl* handler) {
+            handler->isAnyObjectIn(OBJECT_STATE_ARMED);
+        };
+    } anyObjectInArmedState;
+
+    struct allObjectsInArmedState{
+        auto operator()(ObjectControl* handler) {
+            handler->areAllObjectsIn(OBJECT_STATE_ARMED);
+        };
+    } allObjectsInArmedState;
+
+    struct anyObjectInRunningState{
+        auto operator()(ObjectControl* handler) {
+            handler->isAnyObjectIn(OBJECT_STATE_RUNNING);
+        };
+    } anyObjectInRunningState;
+
+    struct allObjectsDisarmedOrDisconnected{
+        auto operator()(ObjectControl* handler) {
+            static auto disarmedOrDisconnected = [](const std::shared_ptr<TestObject> obj) {
+                return obj->getState() == OBJECT_STATE_DISARMED || !obj->isConnected();
+            };
+            handler->areAllObjects(disarmedOrDisconnected);
+        };
+    } allObjectsDisarmedOrDisconnected;
+
+    struct allObjectsDisarmed{
+        auto operator()(ObjectControl* handler) {
+            handler->areAllObjectsIn(OBJECT_STATE_DISARMED);
+        };
+    } allObjectsDisarmed;
 
     // Actions
-    constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
+    struct setKinematicsMode {
+        auto operator()(ObjectControl* handler) { 	
+            //JournalRecordData(JournalRecordType::JOURNAL_RECORD_EVENT, "INIT successful");
+            try {
+                auto anchorID = handler->getAnchorObjectID();
+                handler->transformScenarioRelativeTo(anchorID);
+                handler->controlMode = ObjectControl::RELATIVE_KINEMATICS;
+                RCLCPP_INFO(handler->get_logger(), "Relative control mode enabled");
+            } catch (std::invalid_argument&) {
+                handler->controlMode = ObjectControl::ABSOLUTE_KINEMATICS;
+                RCLCPP_INFO(handler->get_logger(), "Absolute control mode enabled");
+            }
+        }
+    } setKinematicsMode;
+
+    struct connectToTestObjects{
+        auto operator()(ObjectControl* handler) {
+            //RCLCPP_INFO(handler->get_logger(), "Handling connect request");
+            //JournalRecordData(JOURNAL_RECORD_EVENT, "CONNECT received");
+            handler->beginConnectionAttempt();
+        };
+    } connectToTestObjects;
+
+    struct clearScenario{
+        auto operator()(ObjectControl* handler) {
+            handler->clearScenario();
+        };
+    } clearScenario;
+
+    struct disconnectFromTestObjects{
+        auto operator()(ObjectControl* handler) {
+            //JournalRecordData(JOURNAL_RECORD_EVENT, "DISCONNECT received");
+            handler->abortConnectionAttempt();
+            handler->disconnectObjects();
+        };
+    } disconnectFromTestObjects;
+
+    struct armObjects{
+        auto operator()(ObjectControl* handler) {
+            //JournalRecordData(JOURNAL_RECORD_EVENT, "ARM received");
+            handler->armObjects();
+        };
+    } armObjects;
+
+    struct startListeners{
+        auto operator()(ObjectControl* handler) {
+            handler->startListeners();
+            handler->notifyObjectsConnected();
+        };
+    } startListeners;
+
+    struct disarmObjects{
+        auto operator()(ObjectControl* handler) {
+            //JournalRecordData(JOURNAL_RECORD_EVENT, "DISARM received");
+            handler->disarmObjects();
+        };
+    } disarmObjects;
+
+    struct startObjectRequest{
+        auto operator()(ObjectControl* handler, StartObjectRequest const& request) {
+            handler->startObject(request.id, request.startTime);
+        };
+    } startObjectRequest;
 
     auto operator()() const noexcept {
         using namespace boost::sml;
         return make_transition_table(
-                 *state<AbstractKinematics::Idle> + event<InitializeRequest> [ guard ] / clearScenarioAction = state<AbstractKinematics::Initialized>
+                // Idle states
+                *idle + event<InitializeRequest> [scenarioLoaded] / setKinematicsMode = initialized,
+                *idle + event<InitializeRequest> [!scenarioLoaded] = idle,
+                
+                // Initialized can go back to idle or connecting
+                initialized + event<ConnectRequest> = connecting,
+                initialized + event<DisconnectRequest> / clearScenario = idle,
+
+                // Try to connect
+                connecting + event<DisconnectRequest> / disconnectFromTestObjects = idle,
+                connecting + event<ConnectedToObject> [anyObjectInArmedState] = disarming,
+                connecting + event<ConnectedToObject> [anyObjectInRunningState] = aborting,
+                connecting + event<ConnectedToObject> [!allObjectsConnected] = connecting,
+                connecting + event<ConnectedToObject> [allObjectsConnected] / armObjects = armed,
+                connecting + event<AllObjectsConnected> / startListeners = ready,
+
+                // Try to disarm
+                disarming + event<DisconnectRequest> / disconnectFromTestObjects = idle,
+                disarming + event<ObjectDisarmed> [allObjectsDisarmedOrDisconnected] = ready,
+                disarming + event<ObjectDisarmed> [!allObjectsDisarmedOrDisconnected] = disarming,
+                disarming + event<AllObjectsDisarmed> = ready,
+
+                // Armed state (some transitions missing here..?)
+                armed + event<StartRequest> [allObjectsInArmedState] = testlive,
+                armed + event<DisarmRequest> = disarming,
+                armed + event<ObjectDisarmed> = ready,
+                armed + event<DisconnectedFromObject> = disarming,
+
+                // TestLive state
+                testlive + event<AbortRequest> = aborting,
+                testlive + event<StartObjectRequest> / startObjectRequest = testlive,
+
+                // Abort when object requests it, when the operator request it, or when something goes wrong
+                connecting + event<ObjectAborting> = aborting,
+                connecting + event<ConnectedToLiveObject> = aborting,
+                connecting + event<AbortRequest> = aborting,
+                disarming + event<ObjectAborting> = aborting,
+                disarming + event<ConnectedToLiveObject> = aborting,
+                disarming + event<AbortRequest> = aborting,
+                armed + event<AbortRequest> = aborting,
+                armed + event<ObjectAborting> = aborting,
+                armed + event<ConnectedToLiveObject> = aborting,
+
+                // on_entry functions for states
+                idle + on_entry<_> / clearScenario,
+                connecting + on_entry<_> / connectToTestObjects,
+                armed + on_entry<_> / armObjects,
+                disarming + on_entry<_> / disarmObjects
         );
     }
 };
\ No newline at end of file

From e078d53cb0ecd082a881758968378dbd86524805 Mon Sep 17 00:00:00 2001
From: Victor Jarlow <victor.jarlow@astazero.com>
Date: Sun, 22 Sep 2024 23:16:49 +0200
Subject: [PATCH 09/10] added some debug stuff, can be used to print plantUML
 diagram of state machine

---
 .../ObjectControl/inc/sml_printing.hpp        | 68 +++++++++++++++++++
 .../ObjectControl/src/objectcontrol.cpp       | 15 +++-
 2 files changed, 80 insertions(+), 3 deletions(-)
 create mode 100644 atos/modules/ObjectControl/inc/sml_printing.hpp

diff --git a/atos/modules/ObjectControl/inc/sml_printing.hpp b/atos/modules/ObjectControl/inc/sml_printing.hpp
new file mode 100644
index 000000000..e0e50e401
--- /dev/null
+++ b/atos/modules/ObjectControl/inc/sml_printing.hpp
@@ -0,0 +1,68 @@
+#include <iostream>
+#include <functional>
+
+// Code for dumping statemachine to text
+template <class T>
+static void dump_transition(std::ostream& out) noexcept {
+auto src_state = std::string{boost::sml::aux::string<typename T::src_state>{}.c_str()};
+auto dst_state = std::string{boost::sml::aux::string<typename T::dst_state>{}.c_str()};
+if (dst_state == "X") {
+    dst_state = "[*]";
+}
+
+if (T::initial) {
+    out << "[*] --> " << src_state << "\n";
+}
+
+const auto has_event = !boost::sml::aux::is_same<typename T::event, boost::sml::anonymous>::value;
+const auto has_guard = !boost::sml::aux::is_same<typename T::guard, boost::sml::front::always>::value;
+const auto has_action = !boost::sml::aux::is_same<typename T::action, boost::sml::front::none>::value;
+
+const auto is_entry = boost::sml::aux::is_same<typename T::event, boost::sml::back::on_entry<boost::sml::_, boost::sml::_>>::value;
+const auto is_exit = boost::sml::aux::is_same<typename T::event, boost::sml::back::on_exit<boost::sml::_, boost::sml::_>>::value;
+
+// entry / exit entry
+if (is_entry || is_exit) {
+    out << src_state;
+} else {  // state to state transition
+    out << src_state << " --> " << dst_state;
+}
+
+if (has_event || has_guard || has_action) {
+    out << " :";
+}
+
+if (has_event) {
+    // handle 'on_entry' and 'on_exit' per plant-uml syntax
+    auto event = std::string(boost::sml::aux::get_type_name<typename T::event>());
+    if (is_entry) {
+    event = "entry";
+    } else if (is_exit) {
+    event = "exit";
+    }
+    out << " " << event;
+}
+
+if (has_guard) {
+    out << " [" << boost::sml::aux::get_type_name<typename T::guard>() << "]";
+}
+
+if (has_action) {
+    out << " / " << boost::sml::aux::get_type_name<typename T::action>();
+}
+
+out << "\n";
+}
+
+template <template <class...> class T, class... Ts>
+static void dump_transitions(const T<Ts...>&, std::ostream& out) noexcept {
+int _[]{0, (dump_transition<Ts>(out), 0)...};
+(void)_;
+}
+
+template <class SM>
+static void dump(const SM&, std::ostream& out) noexcept {
+out << "@startuml\n\n";
+dump_transitions(typename SM::transitions{}, out);
+out << "\n@enduml\n";
+}
\ No newline at end of file
diff --git a/atos/modules/ObjectControl/src/objectcontrol.cpp b/atos/modules/ObjectControl/src/objectcontrol.cpp
index ba0409f15..af923bf5d 100644
--- a/atos/modules/ObjectControl/src/objectcontrol.cpp
+++ b/atos/modules/ObjectControl/src/objectcontrol.cpp
@@ -18,6 +18,7 @@
 #include "state.hpp"
 #include "util.h"
 #include "journal.hpp"
+#include "sml_printing.hpp"
 
 #include "objectcontrol.hpp"
 
@@ -73,10 +74,18 @@ ObjectControl::ObjectControl(std::shared_ptr<rclcpp::executors::MultiThreadedExe
 	returnTrajectoryClient = create_client<atos_interfaces::srv::GetObjectReturnTrajectory>(ServiceNames::getObjectReturnTrajectory);
 	stateService = create_service<atos_interfaces::srv::GetObjectControlState>(ServiceNames::getObjectControlState,
 		std::bind(&ObjectControl::onRequestState, this, _1, _2));
-	//RCLCPP_ERROR(get_logger(), "State is initialized: %s", sm->is("Initialized"));
+	// Below is some testing stuff
 	sm->process_event(SmImpl::InitializeRequest());
-	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Idle>));
-	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<AbstractKinematics::Initialized>));
+	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<Idle>));
+	RCLCPP_ERROR(get_logger(), "State is initialized: %u", sm->is(sml::state<Initialized>));
+	std::ostringstream ss;
+	std::ofstream myfile;
+	myfile.open ("/home/victor/hello_plantuml.txt");
+	dump(*sm, ss);
+	myfile << ss.str();
+	myfile.close();
+	RCLCPP_INFO(get_logger(), "Dumped state machine to file");
+	// End of testing stuff!
 
 	// Set the initial state
 	this->state = static_cast<ObjectControlState*>(new AbstractKinematics::Idle);

From 50f0c3720f96ade6ee4791cc4505414f9e7926a0 Mon Sep 17 00:00:00 2001
From: victorjarlow <97448034+victorjarlow@users.noreply.github.com>
Date: Sun, 22 Sep 2024 23:18:43 +0200
Subject: [PATCH 10/10] Delete modules/ObjectControl/inc/sm_impl.hpp

---
 modules/ObjectControl/inc/sm_impl.hpp | 27 ---------------------------
 1 file changed, 27 deletions(-)
 delete mode 100644 modules/ObjectControl/inc/sm_impl.hpp

diff --git a/modules/ObjectControl/inc/sm_impl.hpp b/modules/ObjectControl/inc/sm_impl.hpp
deleted file mode 100644
index 5bae8c201..000000000
--- a/modules/ObjectControl/inc/sm_impl.hpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "sml.hpp"
-#include "objectcontrol.hpp"
-
-#pragma once
-
-// State transitions
-class SmImpl {
-public:
-    // Events
-    struct initializeRequest {};
-    struct ev_stop {};
-
-    // Guards
-    constexpr static auto guard = [](ObjectControl* handler) { return true; };
-
-    // Actions
-    constexpr static auto clearScenarioAction = [](ObjectControl* handler) { handler->clearScenario(); };
-    constexpr static auto ac_stop  = [](ObjectControl* handler) { handler->loadScenario(); };
-
-    auto operator()() const noexcept {
-        using namespace boost::sml;
-        return make_transition_table(
-                 *"idle"_s + event<initializeRequest> [ guard ] / clearScenarioAction = "initialized"_s
-                , "Driving"_s    + event<ev_stop>     / ac_stop     =    "Idle"_s
-        );
-    }
-};
\ No newline at end of file