From 5aaf078981eef518eab6c293ad04b61676d020ad Mon Sep 17 00:00:00 2001
From: wmostrenko <wmostrenko@gmail.com>
Date: Sat, 16 Nov 2024 20:43:37 +0000
Subject: [PATCH 1/5] all replacement except for network.cpp

---
 src/software/ai/hl/stp/play/play.cpp                      | 6 +++---
 src/software/embedded/services/power.cpp                  | 2 +-
 src/software/estop/threaded_estop_reader.cpp              | 6 +++---
 src/software/multithreading/threaded_observer.hpp         | 2 +-
 src/software/networking/udp/proto_udp_listener.hpp        | 2 +-
 src/software/networking/unix/proto_unix_listener.hpp      | 2 +-
 .../validation/non_terminating_function_validator.cpp     | 8 ++++----
 .../validation/terminating_function_validator.cpp         | 4 ++--
 8 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/software/ai/hl/stp/play/play.cpp b/src/software/ai/hl/stp/play/play.cpp
index dd317da133..161fea7190 100644
--- a/src/software/ai/hl/stp/play/play.cpp
+++ b/src/software/ai/hl/stp/play/play.cpp
@@ -15,7 +15,7 @@ Play::Play(TbotsProto::AiConfig ai_config, bool requires_goalie)
       goalie_tactic(std::make_shared<GoalieTactic>(ai_config)),
       halt_tactics(),
       requires_goalie(requires_goalie),
-      tactic_sequence(boost::bind(&Play::getNextTacticsWrapper, this, _1)),
+      tactic_sequence(std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1)),
       world_ptr_(std::nullopt),
       obstacle_factory(ai_config.robot_navigation_obstacle_config())
 {
@@ -42,7 +42,7 @@ PriorityTacticVector Play::getTactics(const WorldPtr &world_ptr)
     {
         // Make a new tactic_sequence
         tactic_sequence = TacticCoroutine::pull_type(
-            boost::bind(&Play::getNextTacticsWrapper, this, _1));
+            std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1));
         // Run the coroutine. This will call the bound getNextTactics function
         tactic_sequence();
     }
@@ -61,7 +61,7 @@ PriorityTacticVector Play::getTactics(const WorldPtr &world_ptr)
     {
         // Make a new tactic_sequence
         tactic_sequence = TacticCoroutine::pull_type(
-            boost::bind(&Play::getNextTacticsWrapper, this, _1));
+            std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1));
         // Run the coroutine. This will call the bound getNextTactics function
         tactic_sequence();
         if (tactic_sequence)
diff --git a/src/software/embedded/services/power.cpp b/src/software/embedded/services/power.cpp
index 5699bd8b9f..067b35a7ba 100644
--- a/src/software/embedded/services/power.cpp
+++ b/src/software/embedded/services/power.cpp
@@ -15,7 +15,7 @@ PowerService::PowerService()
         throw std::runtime_error("USB not plugged into the Jetson Nano");
     }
     this->uart = std::make_unique<BoostUartCommunication>(BAUD_RATE, DEVICE_SERIAL_PORT);
-    this->read_thread = std::thread(boost::bind(&PowerService::continuousRead, this));
+    this->read_thread = std::thread(std::bind(&PowerService::continuousRead, this));
 }
 
 PowerService::~PowerService()
diff --git a/src/software/estop/threaded_estop_reader.cpp b/src/software/estop/threaded_estop_reader.cpp
index 5b9f1d84ac..b0ed54b13c 100644
--- a/src/software/estop/threaded_estop_reader.cpp
+++ b/src/software/estop/threaded_estop_reader.cpp
@@ -12,13 +12,13 @@ ThreadedEstopReader::ThreadedEstopReader(std::unique_ptr<UartCommunication> uart
       timer(io_service, boost::posix_time::milliseconds(INTERVAL_BETWEEN_READS_MS)),
       uart_reader(std::move(uart_reader))
 {
-    estop_thread = std::thread(boost::bind(&ThreadedEstopReader::continousRead, this));
+    estop_thread = std::thread(std::bind(&ThreadedEstopReader::continousRead, this));
 }
 
 void ThreadedEstopReader::continousRead()
 {
     timer.async_wait(
-        boost::bind(&ThreadedEstopReader::tick, this, boost::asio::placeholders::error));
+        std::bind(&ThreadedEstopReader::tick, this, boost::asio::placeholders::error));
     io_service.run();
 }
 
@@ -87,7 +87,7 @@ void ThreadedEstopReader::tick(const boost::system::error_code& error)
         // Reschedule the timer for interval seconds in the future:
         timer.expires_from_now(next_interval);
         // Posts the timer event
-        timer.async_wait(boost::bind(&ThreadedEstopReader::tick, this,
+        timer.async_wait(std::bind(&ThreadedEstopReader::tick, this,
                                      boost::asio::placeholders::error));
     }
 }
diff --git a/src/software/multithreading/threaded_observer.hpp b/src/software/multithreading/threaded_observer.hpp
index 48b7610bdf..853603ca45 100644
--- a/src/software/multithreading/threaded_observer.hpp
+++ b/src/software/multithreading/threaded_observer.hpp
@@ -89,7 +89,7 @@ ThreadedObserver<T>::ThreadedObserver(size_t buffer_size, bool log_buffer_full)
       IN_DESTRUCTOR_CHECK_PERIOD(Duration::fromSeconds(0.1))
 {
     pull_from_buffer_thread = std::thread(
-        boost::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
+        std::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
 }
 
 template <typename T>
diff --git a/src/software/networking/udp/proto_udp_listener.hpp b/src/software/networking/udp/proto_udp_listener.hpp
index 7c3b9b11c5..73180ac907 100644
--- a/src/software/networking/udp/proto_udp_listener.hpp
+++ b/src/software/networking/udp/proto_udp_listener.hpp
@@ -156,7 +156,7 @@ void ProtoUdpListener<ReceiveProtoT>::startListen()
     // https://stackoverflow.com/questions/34680985/what-is-the-difference-between-asynchronous-programming-and-multithreading
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, MAX_BUFFER_LENGTH),
                                sender_endpoint_,
-                               boost::bind(&ProtoUdpListener::handleDataReception, this,
+                               std::bind(&ProtoUdpListener::handleDataReception, this,
                                            boost::asio::placeholders::error,
                                            boost::asio::placeholders::bytes_transferred));
 }
diff --git a/src/software/networking/unix/proto_unix_listener.hpp b/src/software/networking/unix/proto_unix_listener.hpp
index 951e498921..b3656a1c82 100644
--- a/src/software/networking/unix/proto_unix_listener.hpp
+++ b/src/software/networking/unix/proto_unix_listener.hpp
@@ -90,7 +90,7 @@ void ProtoUnixListener<ReceiveProtoT>::startListen()
     // https://stackoverflow.com/questions/34680985/what-is-the-difference-between-asynchronous-programming-and-multithreading
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, UNIX_BUFFER_SIZE),
                                listen_endpoint_,
-                               boost::bind(&ProtoUnixListener::handleDataReception, this,
+                               std::bind(&ProtoUnixListener::handleDataReception, this,
                                            boost::asio::placeholders::error,
                                            boost::asio::placeholders::bytes_transferred));
 }
diff --git a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
index 079ed7fe7c..e69bab8136 100644
--- a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
@@ -11,8 +11,8 @@ NonTerminatingFunctionValidator::NonTerminatingFunctionValidator(
        // otherwise the World inside the coroutine will not update properly when the
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
-          boost::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
-                      this, _1, world, validation_function)),
+          std::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
+                      this, std::placeholders::_1, world, validation_function)),
       world_(world),
       validation_function_(validation_function)
 {
@@ -24,8 +24,8 @@ std::optional<std::string> NonTerminatingFunctionValidator::executeAndCheckForFa
     if (!validation_sequence)
     {
         // Re-start the coroutine by re-creating it
-        validation_sequence = ValidationCoroutine::pull_type(boost::bind(
-            &NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper, this, _1,
+        validation_sequence = ValidationCoroutine::pull_type(std::bind(
+            &NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper, this, std::placeholders::_1,
             world_, validation_function_));
     }
 
diff --git a/src/software/simulated_tests/validation/terminating_function_validator.cpp b/src/software/simulated_tests/validation/terminating_function_validator.cpp
index ca8ca098c4..b79e4f7ce7 100644
--- a/src/software/simulated_tests/validation/terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/terminating_function_validator.cpp
@@ -10,8 +10,8 @@ TerminatingFunctionValidator::TerminatingFunctionValidator(
        // otherwise the World inside the coroutine will not update properly when the
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
-          boost::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper,
-                      this, _1, world, validation_function)),
+          std::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper,
+                      this, std::placeholders::_1, world, validation_function)),
       current_error_message("")
 {
 }

From 3e483e8d22c4b10aa527004f027532e12be5a76a Mon Sep 17 00:00:00 2001
From: wmostrenko <wmostrenko@gmail.com>
Date: Sat, 16 Nov 2024 20:46:12 +0000
Subject: [PATCH 2/5] all replacement except for network.cpp

---
 src/software/embedded/services/network/network.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/software/embedded/services/network/network.cpp b/src/software/embedded/services/network/network.cpp
index 2dfe4ae8bb..276e66494d 100644
--- a/src/software/embedded/services/network/network.cpp
+++ b/src/software/embedded/services/network/network.cpp
@@ -11,11 +11,11 @@ NetworkService::NetworkService(const std::string& ip_address,
     udp_listener_primitive_set =
         std::make_unique<ThreadedProtoUdpListener<TbotsProto::PrimitiveSet>>(
             ip_address, primitive_listener_port,
-            boost::bind(&NetworkService::primitiveSetCallback, this, _1), multicast);
+            [&](TbotsProto::PrimitiveSet primitive_set) { primitiveSetCallback(primitive_set); }, multicast);
 
     radio_listener_primitive_set =
         std::make_unique<ThreadedProtoRadioListener<TbotsProto::PrimitiveSet>>(
-            boost::bind(&NetworkService::primitiveSetCallback, this, _1));
+            [&](TbotsProto::PrimitiveSet primitive_set) { primitiveSetCallback(primitive_set); });
 }
 
 TbotsProto::PrimitiveSet NetworkService::poll(TbotsProto::RobotStatus& robot_status)

From e7e40c83200e17aac3816190d1678835868b4fd4 Mon Sep 17 00:00:00 2001
From: "pre-commit-ci-lite[bot]"
 <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>
Date: Sat, 23 Nov 2024 20:51:34 +0000
Subject: [PATCH 3/5] [pre-commit.ci lite] apply automatic fixes

---
 src/software/ai/hl/stp/play/play.cpp                     | 3 ++-
 src/software/embedded/services/network/network.cpp       | 9 +++++++--
 src/software/estop/threaded_estop_reader.cpp             | 2 +-
 src/software/multithreading/threaded_observer.hpp        | 4 ++--
 src/software/networking/udp/proto_udp_listener.hpp       | 4 ++--
 src/software/networking/unix/proto_unix_listener.hpp     | 4 ++--
 .../validation/non_terminating_function_validator.cpp    | 8 ++++----
 .../validation/terminating_function_validator.cpp        | 4 ++--
 8 files changed, 22 insertions(+), 16 deletions(-)

diff --git a/src/software/ai/hl/stp/play/play.cpp b/src/software/ai/hl/stp/play/play.cpp
index 161fea7190..a6d17673f2 100644
--- a/src/software/ai/hl/stp/play/play.cpp
+++ b/src/software/ai/hl/stp/play/play.cpp
@@ -15,7 +15,8 @@ Play::Play(TbotsProto::AiConfig ai_config, bool requires_goalie)
       goalie_tactic(std::make_shared<GoalieTactic>(ai_config)),
       halt_tactics(),
       requires_goalie(requires_goalie),
-      tactic_sequence(std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1)),
+      tactic_sequence(
+          std::bind(&Play::getNextTacticsWrapper, this, std::placeholders::_1)),
       world_ptr_(std::nullopt),
       obstacle_factory(ai_config.robot_navigation_obstacle_config())
 {
diff --git a/src/software/embedded/services/network/network.cpp b/src/software/embedded/services/network/network.cpp
index 276e66494d..60c6036159 100644
--- a/src/software/embedded/services/network/network.cpp
+++ b/src/software/embedded/services/network/network.cpp
@@ -11,11 +11,16 @@ NetworkService::NetworkService(const std::string& ip_address,
     udp_listener_primitive_set =
         std::make_unique<ThreadedProtoUdpListener<TbotsProto::PrimitiveSet>>(
             ip_address, primitive_listener_port,
-            [&](TbotsProto::PrimitiveSet primitive_set) { primitiveSetCallback(primitive_set); }, multicast);
+            [&](TbotsProto::PrimitiveSet primitive_set) {
+                primitiveSetCallback(primitive_set);
+            },
+            multicast);
 
     radio_listener_primitive_set =
         std::make_unique<ThreadedProtoRadioListener<TbotsProto::PrimitiveSet>>(
-            [&](TbotsProto::PrimitiveSet primitive_set) { primitiveSetCallback(primitive_set); });
+            [&](TbotsProto::PrimitiveSet primitive_set) {
+                primitiveSetCallback(primitive_set);
+            });
 }
 
 TbotsProto::PrimitiveSet NetworkService::poll(TbotsProto::RobotStatus& robot_status)
diff --git a/src/software/estop/threaded_estop_reader.cpp b/src/software/estop/threaded_estop_reader.cpp
index b0ed54b13c..fa8c5ef195 100644
--- a/src/software/estop/threaded_estop_reader.cpp
+++ b/src/software/estop/threaded_estop_reader.cpp
@@ -88,7 +88,7 @@ void ThreadedEstopReader::tick(const boost::system::error_code& error)
         timer.expires_from_now(next_interval);
         // Posts the timer event
         timer.async_wait(std::bind(&ThreadedEstopReader::tick, this,
-                                     boost::asio::placeholders::error));
+                                   boost::asio::placeholders::error));
     }
 }
 
diff --git a/src/software/multithreading/threaded_observer.hpp b/src/software/multithreading/threaded_observer.hpp
index 853603ca45..edb789b2ca 100644
--- a/src/software/multithreading/threaded_observer.hpp
+++ b/src/software/multithreading/threaded_observer.hpp
@@ -88,8 +88,8 @@ ThreadedObserver<T>::ThreadedObserver(size_t buffer_size, bool log_buffer_full)
       in_destructor(false),
       IN_DESTRUCTOR_CHECK_PERIOD(Duration::fromSeconds(0.1))
 {
-    pull_from_buffer_thread = std::thread(
-        std::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
+    pull_from_buffer_thread =
+        std::thread(std::bind(&ThreadedObserver::continuouslyPullValuesFromBuffer, this));
 }
 
 template <typename T>
diff --git a/src/software/networking/udp/proto_udp_listener.hpp b/src/software/networking/udp/proto_udp_listener.hpp
index 73180ac907..0d68e98be9 100644
--- a/src/software/networking/udp/proto_udp_listener.hpp
+++ b/src/software/networking/udp/proto_udp_listener.hpp
@@ -157,8 +157,8 @@ void ProtoUdpListener<ReceiveProtoT>::startListen()
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, MAX_BUFFER_LENGTH),
                                sender_endpoint_,
                                std::bind(&ProtoUdpListener::handleDataReception, this,
-                                           boost::asio::placeholders::error,
-                                           boost::asio::placeholders::bytes_transferred));
+                                         boost::asio::placeholders::error,
+                                         boost::asio::placeholders::bytes_transferred));
 }
 
 template <class ReceiveProtoT>
diff --git a/src/software/networking/unix/proto_unix_listener.hpp b/src/software/networking/unix/proto_unix_listener.hpp
index b3656a1c82..4fac44887f 100644
--- a/src/software/networking/unix/proto_unix_listener.hpp
+++ b/src/software/networking/unix/proto_unix_listener.hpp
@@ -91,8 +91,8 @@ void ProtoUnixListener<ReceiveProtoT>::startListen()
     socket_.async_receive_from(boost::asio::buffer(raw_received_data_, UNIX_BUFFER_SIZE),
                                listen_endpoint_,
                                std::bind(&ProtoUnixListener::handleDataReception, this,
-                                           boost::asio::placeholders::error,
-                                           boost::asio::placeholders::bytes_transferred));
+                                         boost::asio::placeholders::error,
+                                         boost::asio::placeholders::bytes_transferred));
 }
 
 template <class ReceiveProtoT>
diff --git a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
index e69bab8136..c20209a634 100644
--- a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
@@ -12,7 +12,7 @@ NonTerminatingFunctionValidator::NonTerminatingFunctionValidator(
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
           std::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
-                      this, std::placeholders::_1, world, validation_function)),
+                    this, std::placeholders::_1, world, validation_function)),
       world_(world),
       validation_function_(validation_function)
 {
@@ -24,9 +24,9 @@ std::optional<std::string> NonTerminatingFunctionValidator::executeAndCheckForFa
     if (!validation_sequence)
     {
         // Re-start the coroutine by re-creating it
-        validation_sequence = ValidationCoroutine::pull_type(std::bind(
-            &NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper, this, std::placeholders::_1,
-            world_, validation_function_));
+        validation_sequence = ValidationCoroutine::pull_type(
+            std::bind(&NonTerminatingFunctionValidator::executeAndCheckForFailuresWrapper,
+                      this, std::placeholders::_1, world_, validation_function_));
     }
 
     // Run the coroutine. This will call the bound executeAndCheckForFailuresWrapper
diff --git a/src/software/simulated_tests/validation/terminating_function_validator.cpp b/src/software/simulated_tests/validation/terminating_function_validator.cpp
index b79e4f7ce7..cfb8bc16b4 100644
--- a/src/software/simulated_tests/validation/terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/terminating_function_validator.cpp
@@ -10,8 +10,8 @@ TerminatingFunctionValidator::TerminatingFunctionValidator(
        // otherwise the World inside the coroutine will not update properly when the
        // pointer is updated, and the wrong validation_function may be run.
       validation_sequence(
-          std::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper,
-                      this, std::placeholders::_1, world, validation_function)),
+          std::bind(&TerminatingFunctionValidator::executeAndCheckForSuccessWrapper, this,
+                    std::placeholders::_1, world, validation_function)),
       current_error_message("")
 {
 }

From db64ae41174ab8d6c5aa0c221165edb18bc317c0 Mon Sep 17 00:00:00 2001
From: wmostrenko <61259307+wmostrenko@users.noreply.github.com>
Date: Fri, 24 Jan 2025 22:23:14 -0800
Subject: [PATCH 4/5] Update coroutine_test_examples.cpp

Replaced instances of boost::bind with std::bind
---
 docs/coroutine_test_examples.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/docs/coroutine_test_examples.cpp b/docs/coroutine_test_examples.cpp
index 78654c9b82..f7d22b05c5 100644
--- a/docs/coroutine_test_examples.cpp
+++ b/docs/coroutine_test_examples.cpp
@@ -1,4 +1,3 @@
-#include <boost/bind.hpp>
 #include <boost/coroutine2/all.hpp>
 #include <functional>
 #include <iostream>
@@ -12,7 +11,7 @@ class FunctionMemberObject
     explicit FunctionMemberObject(TestFunction func, std::shared_ptr<int> data)
         : func(func),
           coroutine_sequence(
-              boost::bind(&FunctionMemberObject::executeWrapper, this, _1, data))
+              std::bind(&FunctionMemberObject::executeWrapper, this, std::placeholders::_1, data))
     {
     }
 
@@ -46,7 +45,7 @@ class DataMemberObject
     explicit DataMemberObject(TestFunction func, std::shared_ptr<int> data)
         : data(data),
           coroutine_sequence(
-              boost::bind(&DataMemberObject::executeWrapper, this, _1, func))
+              std::bind(&DataMemberObject::executeWrapper, this, std::placeholders::_1, func))
     {
     }
 
@@ -78,7 +77,7 @@ class NoMemberObject
 {
    public:
     explicit NoMemberObject(TestFunction validation_function, std::shared_ptr<int> data)
-        : coroutine_sequence(boost::bind(&NoMemberObject::executeWrapper, this, _1, data,
+        : coroutine_sequence(std::bind(&NoMemberObject::executeWrapper, this, std::placeholders::_1, data,
                                          validation_function))
     {
     }

From ce29a38563b5b994a58a9d56c6376a235afe4fac Mon Sep 17 00:00:00 2001
From: wmostrenko <wmostrenko@gmail.com>
Date: Tue, 18 Feb 2025 03:14:44 +0000
Subject: [PATCH 5/5] Removed instances of #include <boost/bind> and @boostbind
 annotations in BUILD files

---
 src/software/ai/BUILD                                           | 1 -
 src/software/ai/hl/stp/play/play.h                              | 1 -
 src/software/ai/threaded_ai.cpp                                 | 2 --
 src/software/embedded/services/power.cpp                        | 1 -
 src/software/estop/threaded_estop_reader.cpp                    | 2 --
 src/software/multithreading/BUILD                               | 1 -
 src/software/multithreading/threaded_observer.hpp               | 1 -
 src/software/networking/udp/proto_udp_listener.hpp              | 1 -
 src/software/networking/udp/threaded_proto_udp_sender.hpp       | 1 -
 src/software/networking/udp/threaded_udp_sender.h               | 1 -
 src/software/networking/udp/udp_sender.h                        | 1 -
 src/software/networking/unix/proto_unix_listener.hpp            | 1 -
 src/software/networking/unix/threaded_proto_unix_sender.hpp     | 1 -
 src/software/networking/unix/threaded_unix_sender.cpp           | 1 -
 src/software/networking/unix/threaded_unix_sender.h             | 1 -
 src/software/networking/unix/unix_sender.h                      | 1 -
 .../validation/non_terminating_function_validator.cpp           | 2 --
 .../validation/terminating_function_validator.cpp               | 2 --
 18 files changed, 22 deletions(-)

diff --git a/src/software/ai/BUILD b/src/software/ai/BUILD
index 2723a4e095..ee67ed5183 100644
--- a/src/software/ai/BUILD
+++ b/src/software/ai/BUILD
@@ -38,7 +38,6 @@ cc_library(
         "//software/multithreading:subject",
         "//software/multithreading:threaded_observer",
         "//software/world",
-        "@boost//:bind",
     ],
 )
 
diff --git a/src/software/ai/hl/stp/play/play.h b/src/software/ai/hl/stp/play/play.h
index cad46f0206..5eee4f25ba 100644
--- a/src/software/ai/hl/stp/play/play.h
+++ b/src/software/ai/hl/stp/play/play.h
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <boost/bind.hpp>
 #include <boost/coroutine2/all.hpp>
 #include <vector>
 
diff --git a/src/software/ai/threaded_ai.cpp b/src/software/ai/threaded_ai.cpp
index 2a844ab960..985850c8a8 100644
--- a/src/software/ai/threaded_ai.cpp
+++ b/src/software/ai/threaded_ai.cpp
@@ -1,7 +1,5 @@
 #include "software/ai/threaded_ai.h"
 
-#include <boost/bind.hpp>
-
 #include "proto/message_translation/tbots_protobuf.h"
 #include "proto/parameters.pb.h"
 #include "software/ai/hl/stp/play/assigned_tactics_play.h"
diff --git a/src/software/embedded/services/power.cpp b/src/software/embedded/services/power.cpp
index 067b35a7ba..817c1fb7cc 100644
--- a/src/software/embedded/services/power.cpp
+++ b/src/software/embedded/services/power.cpp
@@ -1,6 +1,5 @@
 #include "software/embedded/services/power.h"
 
-#include <boost/bind/bind.hpp>
 #include <boost/filesystem.hpp>
 #include <cstdint>
 
diff --git a/src/software/estop/threaded_estop_reader.cpp b/src/software/estop/threaded_estop_reader.cpp
index b0ed54b13c..516bb67a2d 100644
--- a/src/software/estop/threaded_estop_reader.cpp
+++ b/src/software/estop/threaded_estop_reader.cpp
@@ -1,7 +1,5 @@
-
 #include "threaded_estop_reader.h"
 
-#include <boost/bind/bind.hpp>
 #include <thread>
 #include <utility>
 
diff --git a/src/software/multithreading/BUILD b/src/software/multithreading/BUILD
index c051206e6c..8310a2adff 100644
--- a/src/software/multithreading/BUILD
+++ b/src/software/multithreading/BUILD
@@ -54,7 +54,6 @@ cc_library(
         ":observer",
         ":thread_safe_buffer",
         "//software/time:duration",
-        "@boost//:bind",
     ],
 )
 
diff --git a/src/software/multithreading/threaded_observer.hpp b/src/software/multithreading/threaded_observer.hpp
index 853603ca45..2df421c82b 100644
--- a/src/software/multithreading/threaded_observer.hpp
+++ b/src/software/multithreading/threaded_observer.hpp
@@ -1,6 +1,5 @@
 #pragma once
 
-#include <boost/bind.hpp>
 #include <thread>
 
 #include "software/multithreading/observer.hpp"
diff --git a/src/software/networking/udp/proto_udp_listener.hpp b/src/software/networking/udp/proto_udp_listener.hpp
index 73180ac907..7fdb526c09 100644
--- a/src/software/networking/udp/proto_udp_listener.hpp
+++ b/src/software/networking/udp/proto_udp_listener.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <condition_variable>
 #include <mutex>
 #include <string>
diff --git a/src/software/networking/udp/threaded_proto_udp_sender.hpp b/src/software/networking/udp/threaded_proto_udp_sender.hpp
index 477cdeabcd..b1b96d4f99 100644
--- a/src/software/networking/udp/threaded_proto_udp_sender.hpp
+++ b/src/software/networking/udp/threaded_proto_udp_sender.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/udp/threaded_udp_sender.h"
diff --git a/src/software/networking/udp/threaded_udp_sender.h b/src/software/networking/udp/threaded_udp_sender.h
index 31c95981ec..5c726e9dee 100644
--- a/src/software/networking/udp/threaded_udp_sender.h
+++ b/src/software/networking/udp/threaded_udp_sender.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/udp/udp_sender.h"
diff --git a/src/software/networking/udp/udp_sender.h b/src/software/networking/udp/udp_sender.h
index 791765f651..448b9e2f4c 100644
--- a/src/software/networking/udp/udp_sender.h
+++ b/src/software/networking/udp/udp_sender.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 class UdpSender
diff --git a/src/software/networking/unix/proto_unix_listener.hpp b/src/software/networking/unix/proto_unix_listener.hpp
index b3656a1c82..5a5c3649ba 100644
--- a/src/software/networking/unix/proto_unix_listener.hpp
+++ b/src/software/networking/unix/proto_unix_listener.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/constants.h"
diff --git a/src/software/networking/unix/threaded_proto_unix_sender.hpp b/src/software/networking/unix/threaded_proto_unix_sender.hpp
index 1700e033aa..029a625cdb 100644
--- a/src/software/networking/unix/threaded_proto_unix_sender.hpp
+++ b/src/software/networking/unix/threaded_proto_unix_sender.hpp
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/unix/threaded_unix_sender.h"
diff --git a/src/software/networking/unix/threaded_unix_sender.cpp b/src/software/networking/unix/threaded_unix_sender.cpp
index d1d602ecf2..8451bdf388 100644
--- a/src/software/networking/unix/threaded_unix_sender.cpp
+++ b/src/software/networking/unix/threaded_unix_sender.cpp
@@ -1,7 +1,6 @@
 #include "software/networking/unix/threaded_unix_sender.h"
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 ThreadedUnixSender::ThreadedUnixSender(const std::string& unix_socket_path)
diff --git a/src/software/networking/unix/threaded_unix_sender.h b/src/software/networking/unix/threaded_unix_sender.h
index b5a069a542..a67d8109d3 100644
--- a/src/software/networking/unix/threaded_unix_sender.h
+++ b/src/software/networking/unix/threaded_unix_sender.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 
 #include "software/networking/unix/unix_sender.h"
diff --git a/src/software/networking/unix/unix_sender.h b/src/software/networking/unix/unix_sender.h
index 6ace95f630..dee2d89f86 100644
--- a/src/software/networking/unix/unix_sender.h
+++ b/src/software/networking/unix/unix_sender.h
@@ -1,7 +1,6 @@
 #pragma once
 
 #include <boost/asio.hpp>
-#include <boost/bind.hpp>
 #include <string>
 #include <type_traits>
 
diff --git a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
index e69bab8136..e803a3eca9 100644
--- a/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/non_terminating_function_validator.cpp
@@ -2,8 +2,6 @@
 
 #include <gtest/gtest.h>
 
-#include <boost/bind.hpp>
-
 NonTerminatingFunctionValidator::NonTerminatingFunctionValidator(
     ValidationFunction validation_function, std::shared_ptr<World> world)
     :  // We need to provide the world and validation_function in the coroutine function
diff --git a/src/software/simulated_tests/validation/terminating_function_validator.cpp b/src/software/simulated_tests/validation/terminating_function_validator.cpp
index b79e4f7ce7..7b9a7c346c 100644
--- a/src/software/simulated_tests/validation/terminating_function_validator.cpp
+++ b/src/software/simulated_tests/validation/terminating_function_validator.cpp
@@ -1,7 +1,5 @@
 #include "software/simulated_tests/validation/terminating_function_validator.h"
 
-#include <boost/bind.hpp>
-
 TerminatingFunctionValidator::TerminatingFunctionValidator(
     ValidationFunction validation_function,
     std::shared_ptr<World> world)