Fix clang-tidy warnings and enable be triggered by CI

[SYaoJun]

Describe the enhancement requested

• add .clang-tidy configuration fix(C++): add .clang-tidy configuration and fix missing brackets #851
• fix all warnings by category
• enable automatic check in CI

Component(s)

C++

[SYaoJun]

#851

[SYaoJun]

@yangxk1 Could you please add the good first issue label to this issue? I've uploaded the detailed warnings that need to be fixed in this clang_tidy.log.It will be a heavy task to fix all warnings in a short time.