[test] build with cmake instead of automake (#4653)

- Use cmake to build.
- Use rcp instead of transceiver simplicity.
- Add virtual time options for cmake.
- Enable readline support for posix apps.
- Use ninja instead of make.

script/bootstrap

@@ -41,7 +41,7 @@ install_packages_apt()
 {
     # apt update and install dependencies
     sudo apt-get update || die
-    sudo apt-get --no-install-recommends install -y automake g++ libtool lsb-release make || die
+    sudo apt-get --no-install-recommends install -y automake g++ libtool lsb-release make cmake ninja-build || die
 
     PLATFORM=$(lsb_release -is)
 
@@ -59,7 +59,6 @@ install_packages_apt()
 
     # add yapf for pretty
     python3 -m pip install yapf || echo 'Failed to install python code formatter yapf. Install it manually if you need.'
-    
 }
 
 install_packages_opkg()
@@ -74,8 +73,8 @@ install_packages_rpm()
 
 install_packages_brew()
 {
-    # add autotools
-    brew install automake libtool
+    # add build tools
+    brew install automake libtool cmake ninja
 
     # add ARM toolchain
     brew tap ArmMbed/homebrew-formulae