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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