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.

hal/src/main/native/athena/HALInitializer.h

@@ -6,11 +6,10 @@
 
 #include <atomic>
 
-namespace hal {
-namespace init {
+namespace hal::init {
 extern std::atomic_bool HAL_IsInitialized;
 extern void RunInitialize();
-static inline void CheckInit() {
+inline void CheckInit() {
   if (HAL_IsInitialized.load(std::memory_order_relaxed)) {
     return;
   }
@@ -52,5 +51,4 @@ extern void InitializeSerialPort();
 extern void InitializeSolenoid();
 extern void InitializeSPI();
 extern void InitializeThreads();
-}  // namespace init
-}  // namespace hal
+}  // namespace hal::init

hal/src/main/native/athena/cpp/SerialHelper.cpp

@@ -155,7 +155,7 @@ void SerialHelper::CoiteratedSort(
       }
     }
   }
-  vec = sortedVec;
+  vec.swap(sortedVec);
 }
 
 void SerialHelper::QueryHubPaths(int32_t* status) {