Refactor #195
Merged
Refactor #195
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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