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Summary
This PR fixes/implements the following bugs/features
- Bug 1
- Bug 2
- Feature 1
- Feature 2
- Breaking changes
Explain the motivation for making this change. What existing problem does the pull request solve?
Validation
- Ensure CI build is passed.
- Demonstrate the code is solid. [e.g. Provide a sketch]
Code formatting
- Ensure AStyle check is passed thanks CI
Closing issues
Fixes #xxx