Merge branch 'dev_yy' into dev

yanweiyuan3

2023-09-22 42f46304bc28d9fb2bee770668b70204d877db93

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LIBRARIES
{
  Name 'LibMacroPlanner'
  Version ['2022.3.0.0']
}
{
  Name 'LibOpt'
  Version ['631.3.0.0']
}
{
  Name 'LibOpt_BT'
  Version ['631.3.0.0']
}
FRIENDS