[DNM] merge master to feature branch(planner_refactory)

[SeaRise]

What problem does this PR solve?

Issue Number: close #xxx

Problem Summary:

What is changed and how it works?

Check List

Tests

• Unit test
• Integration test
• Manual test (add detailed scripts or steps below)
• No code

Side effects

• Performance regression: Consumes more CPU
• Performance regression: Consumes more Memory
• Breaking backward compatibility

Documentation

• Affects user behaviors
• Contains syntax changes
• Contains variable changes
• Contains experimental features
• Changes MySQL compatibility

Release note

None

[ti-chi-bot]

[REVIEW NOTIFICATION]

This pull request has not been approved.

To complete the pull request process, please ask the reviewers in the list to review by filling /cc @reviewer in the comment.
After your PR has acquired the required number of LGTMs, you can assign this pull request to the committer in the list by filling /assign @committer in the comment to help you merge this pull request.

The full list of commands accepted by this bot can be found here.

Reviewer can indicate their review by submitting an approval review.
Reviewer can cancel approval by submitting a request changes review.

[ti-chi-bot]

[FORMAT CHECKER NOTIFICATION]

Notice: To remove the do-not-merge/needs-linked-issue label, please provide the linked issue number on one line in the PR body, for example: Issue Number: close #123 or Issue Number: ref #456.

_{📖 For more info, you can check the "Contribute Code" section in the development guide.}