Implement GitHub Actions

[javydekoning]

Issue #, if available:
N/A

Description of changes:
Implement GitHub Actions to Replace Travis.

By submitting this pull request, I confirm that you can use, modify, copy, and redistribute this contribution, under the terms of your choice.

[javydekoning]

Had to loosen the version dependency for sam-cli to fix dependency conflicts. This results in a version bump for that package.

Tested the CI in my fork.:

============================== 19 passed in 1.28s ==============================
py39 run-test: commands[1] | make lint
# Linter performs static analysis to catch latent bugs
find src/ -iname "*.py" -not -path "src/.aws-sam/*" | xargs pylint --rcfile .pylintrc

------------------------------------
Your code has been rated at 10.00/10

cfn-lint
___________________________________ summary ____________________________________
  py39: commands succeeded
  congratulations :)

[javydekoning]

[sbkok]

Thank you!

[StewartW]

LGTM - Thanks