Add CodeQL workflow

CodeQL is a static analyzer from github with a very low false positive
rate. We have long wanted to have static analysis runs done on every
pull request and using CodeQL, we can.

Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: George Melikov <mail@gmelikov.ru>
Reviewed-by: Andrew Innes <andrew.c12@gmail.com>
Signed-off-by: Richard Yao <richard.yao@alumni.stonybrook.edu>
Closes #14087

.github/workflows/codeql.yml

@@ -0,0 +1,36 @@
+name: "CodeQL"
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  analyze:
+    name: Analyze
+    runs-on: ubuntu-latest
+    permissions:
+      actions: read
+      contents: read
+      security-events: write
+
+    strategy:
+      fail-fast: false
+      matrix:
+        language: [ 'cpp', 'python' ]
+
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v3
+
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v2
+      with:
+        languages: ${{ matrix.language }}
+
+    - name: Autobuild
+      uses: github/codeql-action/autobuild@v2
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v2
+      with:
+        category: "/language:${{matrix.language}}"