Add CodeCov/Codacy/CodeQL to CI to replace SonarCloud

[gong-yu]

SonarCloud token cannot be transferred in Pull Requestion action in Github Actions. So we have to find some alternative to replace the features in SonarQube. CodeCov is a Leading Code Coverage Solution that can be applied to all commonly used programming languages. Besides, it' free for open source projects. Given that, we will use CodeCov to cover code coverage part in CI.