Merge branch 'dev' into dev_yy

yanweiyuan3

2023-10-16 d10671cc1821707c11e466c7a982a6dbfa6442a0

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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