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### What problem were solved in this pull request?
Issue Number: close#173close#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
Enhancement
现存代码中存在很多不合理的地方,比如代码文件放置位置不正确、命名不清晰等。
此issue可以长期存在
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