cFS Integration Candidate: Caelum+dev3

*cFE v7.0.0-rc4+dev70*

nasa/cFE#2041, Improve CFE_SB_IsValidMsgId handler
nasa/cFE#2034, Update CodeQL workflow
nasa/cFE#2042, Replace CFE_SB_ValueToMsgId(0) with CFE_SB_INVALID_MSG_ID

*osal v6.0.0-rc4+dev32*

nasa/osal#1209, typesafe definition of osal_id_t

*sample_app v1.3.0-rc4+dev9*

nasa/sample_app#165, Use preferred UT patterns

Co-authored-by: Jacob Hageman   <skliper@users.noreply.github.com>
Co-authored-by: Paul            <paulober@users.noreply.github.com>
Co-authored-by: Ariel Adams     <ArielSAdamsNASA@users.noreply.github.com>