Add pre-commit

[michaelosthege]

Adds a pre-commit configuration including

• Automatic code formatting using ruff and isort
• Runs mypy to check against incorrect type hints
• GitHub action to run the pre-commit
• GitHub action to run the tests

The GitHub actions will only start running after the merge.
If I remember correctly, only PRs by maintainers run GitHub Actions that were not present on the default branch already.

Changes to fix typing errors:

• CRIController._wait_for_answer returned False on unknown message IDs → changed to return None to match the signature
• CRIController.wait_for_kinematics_ready implementation was not compatible with advertised timeout: float | None signature → changed to timeout: float
• CRIController.upload_file never returned True as described in the docstring → fixed