update GitHub Action checkout action to v4

.github/workflows/ci.yml

@@ -82,15 +82,15 @@ jobs:
   clang-format:
     runs-on: ubuntu-20.04
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: DoozyX/[email protected]
       with:
         clangFormatVersion: 16
         exclude: './thirdParty'
         inplace: True
     - run: |
         git diff --exit-code > format.patch
-    - uses: actions/upload-artifact@v3
+    - uses: actions/upload-artifact@v4
       if: failure()
       with:
         name: format.patch
@@ -204,7 +204,7 @@ jobs:
     - name: check filter
       if: (contains(github.event.head_commit.message, 'ci_filter') && !contains(github.event.head_commit.message, matrix.name ))
       run: exit 1
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     # Print the environment variables in an additional step so that the environment variables can be displayed if the job is still running.
     # Call ./script/set_default_env_vars.sh in each step, as the environment variables are not shared between the steps by default.
     - name: print environment variables

.github/workflows/single-header.yml

@@ -11,7 +11,7 @@ jobs:
   single-header:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: clone single-header
       run: |
         git clone -b single-header --single-branch https://x-access-token:${{secrets.github_token}}@github.com/${{github.repository}}.git single-header