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Update and fix test coverage report generation
Generation of unit test coverage reports used to be quite complicated and required a lot of different settings, including a custom CMake build type. This patch updates the coverage CMake module to only require -DWITH_COVERAGE=ON to be set on a normal Debug build in order to create a coverage target. This patch also moves away from lcov in favor of gcovr, since lcov appears to be broken in GCC 8. However, the routines for generating lcov reports still exist, so provided lcov receives updates and there is sufficient reason to switch back, it is easy to do so.
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