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use StepRws to make rw index less error prone (#1582)
### Description Manually counting read-write indices is error-prone. We use the `StepRws` struct to automatically track read-write indices. This PR is motivated by trying to fix #1565. Unfortunately, this PR alone doesn't fix #1565. ### Issue Link ### Type of change - [ ] Bug fix (non-breaking change which fixes an issue) - [x] New feature (non-breaking change which adds functionality) - [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected) - [ ] This change requires a documentation update
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