feat: using cargo xtask for build & testing

[ianchen-tw]

Ref: #399

This PR wraps cmake and other build systems within cargo xtask to simplify the build and test processes.
We only expose build options that developer would care while developing.

Notes:

1. cargo xtask --help will show available subcommands
2. cargo xtask build --help will show available build options
3. cargo xtask test --help will show available test options

[kanru]

👍🏼