Redo docker build system with buildkit+multi-stage and cache pio packages (#2338)

.github/workflows/ci-docker.yml

@@ -27,6 +27,11 @@ jobs:
       uses: actions/setup-python@v2
       with:
         python-version: '3.9'
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v1
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v1
+
     - name: Set TAG
       run: |
         echo "TAG=check" >> $GITHUB_ENV