[SW-164] Add ruff and black formatting to spot_wrapper (#84)

## Change Overview

This PR enforces `ruff` and `black` linting for all files in `spot_wrapper`.  Pre-commit hooks have been added, and all existing code that did not meet these style requirements has been modified to do so. The configuration files added were taken from the [`spot_ros2` repository](https://github.com/bdaiinstitute/spot_ros2/). 

## Testing Done

I tested a few general Spot examples (move the arm, walk forward) that rely on `spot_wrapper` and the functionality was unchanged.

.github/workflows/util_pre-commit.yml

@@ -0,0 +1,20 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute, Inc.  All rights reserved.
+
+name: Util - Pre-Commit Runner
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: util_pre-commit
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v3
+    - uses: pre-commit/action@v3.0.0

.pre-commit-config.yaml

@@ -0,0 +1,23 @@
+# Copyright (c) 2023 Boston Dynamics AI Institute, Inc.  All rights reserved.
+
+repos:
+- repo: https://github.com/charliermarsh/ruff-pre-commit
+  # Ruff version.
+  rev: 'v0.0.263'
+  hooks:
+    - id: ruff
+      args: ['--fix', '--config', 'pyproject.toml']
+- repo: https://github.com/psf/black
+  rev: 23.3.0
+  hooks:
+    - id: black
+      language_version: python3.10
+      args: ['--config', 'pyproject.toml']
+      verbose: true
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v4.4.0
+  hooks:
+  -   id: check-yaml
+  -   id: check-added-large-files
+  -   id: check-toml
+  -   id: end-of-file-fixer

LICENSE

@@ -56,4 +56,4 @@ Copyright (c) 2020 Boston Dynamics, Inc.  All rights reserved.
 
 Downloading, reproducing, distributing or otherwise using the SDK Software
 is subject to the terms and conditions of the Boston Dynamics Software
-Development Kit License (20191101-BDSDK-SL).
+Development Kit License (20191101-BDSDK-SL).

README.md

@@ -19,3 +19,11 @@ To update requirements.txt, use
 ```commandline
 pipreqs . --force
 ```
+
+# Contributing
+This repository enforces `ruff` and `black` linting. To verify that your code will pass inspection, install `pre-commit` and run:
+```bash
+pre-commit install
+pre-commit run --all-files
+```
+The [Google Style Guide](https://google.github.io/styleguide/) is followed for default formatting. 

pyproject.toml

@@ -0,0 +1,48 @@
+[tool.ruff]
+# Enable pycodestyle (`E`), Pyflakes (`F`), and import sorting (`I`)
+select = ["E", "F", "I"]
+ignore = []
+fixable = ["ALL"]
+unfixable = []
+exclude = [
+    ".bzr",
+    ".direnv",
+    ".eggs",
+    ".git",
+    ".hg",
+    ".mypy_cache",
+    ".nox",
+    ".pants.d",
+    ".pytype",
+    ".ruff_cache",
+    ".svn",
+    ".tox",
+    ".venv",
+    "__pypackages__",
+    "_build",
+    "buck-out",
+    "build",
+    "dist",
+    "node_modules",
+    "venv",
+    "docker/ros",
+]
+line-length = 120
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+target-version = "py38"
+
+[tool.ruff.per-file-ignores]
+"__init__.py" = ["F401"]
+
+[tool.ruff.mccabe]
+max-complexity = 10
+
+[tool.black]
+line-length = 120
+target-version = ['py38']
+include = '\.pyi?$'
+force-exclude = '''
+/(
+)/
+'''
+preview = true

setup.py

@@ -1,4 +1,4 @@
-from setuptools import setup, find_packages
+from setuptools import find_packages, setup
 
 setup(
     name="spot_wrapper",

spot_wrapper/cam_webrtc_client.py

@@ -69,17 +69,16 @@ def send_sdp_answer_to_spot_cam(self, token, offer_id, sdp_answer):
         server_url = f"https://{self.hostname}:{self.sdp_port}/{self.sdp_filename}"
 
         payload = {"id": offer_id, "sdp": base64.b64encode(sdp_answer).decode("utf8")}
-        r = requests.post(
-            server_url, verify=self.cam_ssl_cert, json=payload, headers=headers
-        )
+        r = requests.post(server_url, verify=self.cam_ssl_cert, json=payload, headers=headers)
         if r.status_code != 200:
             raise ValueError(r)
 
     async def start(self):
         # first get a token
         try:
             token = self.get_bearer_token()
-        except:
+        except Exception as e:
+            print(f"Could not get bearer token, mocking instead. Exception: {e}")
             token = self.get_bearer_token(mock=True)
 
         offer_id, sdp_offer = self.get_sdp_offer_from_spot_cam(token)
@@ -101,9 +100,7 @@ async def _on_ice_connection_state_change():
             print(f"ICE connection state changed to: {self.pc.iceConnectionState}")
 
             if self.pc.iceConnectionState == "checking":
-                self.send_sdp_answer_to_spot_cam(
-                    token, offer_id, self.pc.localDescription.sdp.encode()
-                )
+                self.send_sdp_answer_to_spot_cam(token, offer_id, self.pc.localDescription.sdp.encode())
 
         @self.pc.on("track")
         def _on_track(track):