Add clang-tidy workflow

.github/workflows/clang-tidy.yml

@@ -0,0 +1,27 @@
+name: Run clang-tidy
+
+jobs:
+  tidy:
+    name: "clang-tidy"
+    runs-on: ubuntu-22.04
+    container: wpilib/roborio-cross-ubuntu:2023-22.04
+    steps:
+      - uses: actions/checkout@v3
+      - name: Fetch all history and metadata
+        run: |
+          git config --global --add safe.directory /__w/allwpilib/allwpilib
+          git fetch --prune --unshallow
+          git checkout -b pr
+          git branch -f main origin/main
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.8
+      - name: Install wpiformat
+        run: pip3 install wpiformat
+      - name: Create compile_commands.json
+        run: ./gradlew generateCompileCommands -Ptoolchain-optional-roboRio
+      - name: List changed files
+        run: wpiformat -list-changed-files
+      - name: Run clang-tidy
+        run: wpiformat -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv