bugfix and interface optimize (#34)

* fix:bugfix

* fix:bugfix

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* Update build.yml

* update ci

* feat:Dio features for arm

* fix:bugfix

* fix:bugfix

* fix:bugfix

* fix:bugfix

* fix:bugfix

* add python-setup in windows_python_build

* merge master from liufang-robot:master

* Update windows_python_build.yml

* Update windows_python_build.yml

* Update windows_python_build.yml

* Update windows_python_build.yml

* fix:aach64 cpp build

* Update linux_aarch64_cpp_build.yml

* Update linux_aarch64_cpp_build.yml

* Update linux_aarch64_cpp_build.yml

* Update linux_aarch64_cpp_build.yml

* Update linux_aarch64_cpp_build.yml

* Delete linux_aarch64_cpp_build.yml

* Update linux_python_build.yml

* Update linux_python_build.yml

* fix:Cartesian rx rz wrong swap

* fix:bugfix

* chore:dio fields change

* Update linux_python_build.yml

[skip ci]

* fix:bugfix

* fix:bugfix

* fix:bugfix

* feat:hook exec

* fix:bugfix

* fix:get_task_state undefine

* Update robot.cc

* Update robot.hh

* Update CMakeLists.txt

* Update Doxyfile

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Co-authored-by: liufang <liufang_robot@outlook.com>