ci: add clang-tidy job

[jmayclin]

Description of changes:

This commit adds a clang-tidy job to our CI

This is in preparation of the merging of #4404. Note that I am not disabling the clang-static-analyzer warnings, because most of those don't look like false positives. Rather I will put out PR's to fix those before I make this a required check.

Call-outs:

This will likely stay in draft for a while until

• style: fix declarations without initial value #4404 is merged in
• clang static analyzer errors are fixed

I also have a cppcheck job written, but the new cppcheck introduces a large number of new lints, so we either have a lot of things to fix or a lot of things to suppress.

Testing:

I verified that new codebuild job runs correctly (although it is currently failing)

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

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