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serverless-application-model
The AWS Serverless Application Model (AWS SAM) transform is a AWS CloudFormation macro that transforms SAM templates into CloudFormation templates.
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When you combine this with the AWS Serverless Application Model you can also very easily include your dependencies. Or use a compiled language like golang for your Lambda functions. You simply run sam build before you run the aws cloudformation package and aws cloudformation deploy commands. SAM will build the binary and update the template to point to the newly built binary. Package will then upload it to S3 and replace the local reference to the S3 location. Deploy can then create or update the stack or you can use the CloudFormation integration in CodePipeline.