Feature/race refractor

[chenneal]

Describe what this PR does / why we need it

Fix global data race, and refractor some unreasonable design lead to potential data race.

Does this pull request fix one issue?

Pass the CI test at least.

Describe how you did it

Fix some bugs about data race, reshape design on concurrence of data visiting.

Describe how to verify it

Pass CI test.

Special notes for reviews

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