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refactor: use github actions and grcov
This commit replaces azure pipelines with github actions, tarpaulin with (cross-platform) grcov, and codecov.io with coveralls.io. Github Actions turned out to be a much better fit for this project. It integrates much better with our already existing workflow, seems more feature complete and is easier to work with. Tarpaulin kept crashing on Azure Pipelines and after trying also with Github Actions, its still under active development so thats not very strange. However, I prefer to have inaccurate code coverage than no coverage at all. Therefor I replaced Tarpaulin with grcov. grcov does report some lines missed that are actually ok but again, its better than nothing. Also, grcov works on all our target platforms so we get better cross platform coverage in return. I replaced codecov.io as our coverage service with coveralls.io. Although I like the interface of codecov better there is no support for uploading reports on macOS and windows. See codecov/codecov-action#13 for more information.
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