Scroll down to “Customization” to see Andreas Huber Doenni’s take on how to customize an asynchronous state machine by making a custom fifo worker, and maybe a custom scheduler, (..and allocator for performance?)

https://www.boost.org/doc/libs/1_68_0/libs/statechart/doc/rationale.html#AsynchronousStateMachines

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Discussion about post_event vs fifo_scheduler

http://boost.2283326.n4.nabble.com/statechart-asynchronous-machine-s-post-event-question-td2570062.html

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Discussion about process_event vs post_event

http://boost.2283326.n4.nabble.com/statechart-process-event-vs-post-event-confusion-td4693209.html

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Boost SC Transition Actions (Entry, Exit & Transition)

https://www.boost.org/doc/libs/1_68_0/libs/statechart/doc/tutorial.html#TransitionActions
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Boost SC RealTime Capabilities

https://www.boost.org/doc/libs/1_68_0/libs/statechart/doc/faq.html#HardRealtime