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ci: add cmake&ninja to speed up github action build #15348

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Run time

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Job	Run time
kernel/mem	2m 18s
kernel/ipc	3m 14s
kernel/irq	2m 8s
kernel/timer	5m 48s
kernel/thread	2m 23s
kernel/device	2m 2s
kernel/atomic	2m 1s
kernel/atomic_c11	1m 48s
components/utest	2m 11s
components/cpp11	2m 1s
kernel/mem/riscv64	1m 41s
kernel/atomic/riscv64	1m 51s
kernel/atomic_c11/riscv64	1m 50s
rtsmart/arm	1m 17s
rtsmart/aarch64	1m 25s
rtsmart/riscv64	1m 40s
	35m 38s