Finish clang-tidy cleanups (#3003)

* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
  (as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow.  This workflow is now only run on PRs.
  To reduce runtime, clang-tidy is only run on files changed in the PR.

Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final

After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.

.github/workflows/lint-format.yml

@@ -1,6 +1,6 @@
 name: Lint and Format
 
-on: [pull_request, push]
+on: [pull_request]
 
 jobs:
   wpiformat:
@@ -18,10 +18,35 @@ jobs:
         with:
           python-version: 3.8
       - name: Install clang-format
-        run: sudo apt-get update -q && sudo apt-get install clang-format-10
+        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
         run: wpiformat -clang 10
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
+  tidy:
+    name: "clang-tidy"
+    runs-on: ubuntu-latest
+    container: wpilib/roborio-cross-ubuntu:2020-18.04
+    steps:
+      - uses: actions/checkout@v2
+      - name: Fetch all history and metadata
+        run: |
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f master origin/master
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-format and clang-tidy
+        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10 clang-tidy-10
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Create compile_commands.json
+        run: mkdir build-cmake && cd build-cmake && cmake -DWITH_OLD_COMMANDS=ON -DWITH_EXAMPLES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=YES ..
+      - name: List changed files
+        run: wpiformat -list-changed-files
+      - name: Run clang-tidy
+        run: wpiformat -clang 10 -no-format -tidy-changed -compile-commands=build-cmake