Fsm debug window

[GrayHoang]

Description

This is built off of PR #3481
I use Boost::SML logging capabilities to expose the guard calls and state transitions that our AI undergoes as it is moving through each state machine

I have some commented out code and stuff still, this is not done and I just want some feedback on existing design choices.

Testing Done

Thunderscope runs with similar performance as before, messages seem to line up with robot id

Resolved Issues

I have no idea if this resolves any issues :/ but it will probably make debugging easier
#3532

Length Justification and Key Files to Review

Look at sml_fsm.h especially I think

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• Remove all commented out code
• Remove extra print statements: for example, those just used for testing
• Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[itsarune]

looks unintentional

[GrayHoang]

Very much so :(
I will remove later

[itsarune]

Left a few comments

[GrayHoang]

Ok so update, I'm working on a much more clear UI that is faster. I've got the basis of it down, but it needs some polish and some clarity.

The future plans are:
Curved transition lines with arrows (QGraphicsPathItem, QPainterPath::cubicTo)
Draw Tactic FSM diagrams as well (should not be that bad????)
Show only current FSM tree (This might be harder)