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Merge pull request #5 from amaliujia/master

Communication implementation
Debug and Clean up
[communication] Implement middleware and 1-way callback
[communication] Implement 2-way communication and callback
Merge pull request #1 from fyraimar/dev

Dev
[Protocol] implement matrix transition protocol
[Protocol] modify communication package interface
Merge pull request #6 from amaliujia/master

Add matrix protocol with type of double