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### What problem were solved in this pull request? Issue Number: close #173 close #136 ref #174 ref #165 Problem: 这个PR修改了多个问题,可以参考各个issue。包括observer编译两次、代码目录规划不合理、command executor未全部实现等 ### What is changed and how it works? 做一些重构优化,包括CMakelist、一些代码目录、command executor
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