diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 6a722f6..3ff9b0d 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -1,40 +1,32 @@ +--- name: ci - on: push: - branches: - - main + branches: [main] pull_request: - jobs: - build: - + lint: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v4 + with: + submodules: true + - name: Install uv + uses: astral-sh/setup-uv@v6 + - name: Lint + run: make lint + test: runs-on: ubuntu-latest strategy: matrix: python-version: ['3.10', '3.14'] - steps: - - uses: actions/checkout@v4 - with: - submodules: true - - - name: Install uv - uses: astral-sh/setup-uv@v6 - with: - python-version: ${{ matrix.python-version }} - - - name: Install from source - run: uv sync --locked - - - name: Ruff lint - run: uv run ruff check . - - - name: Ruff format - run: uv run ruff format --check . - - - name: Type check - run: uv run ty check - - - name: Test - run: uv run pytest + - uses: actions/checkout@v4 + with: + submodules: true + - name: Install uv + uses: astral-sh/setup-uv@v6 + with: + python-version: ${{ matrix.python-version }} + - name: Test + run: make test diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml index acb3d44..fbf8422 100644 --- a/.github/workflows/publish.yml +++ b/.github/workflows/publish.yml @@ -1,13 +1,11 @@ +--- name: publish - on: release: types: [published] - jobs: build: uses: ./.github/workflows/wheels.yml - publish: name: Publish to PyPI needs: build @@ -18,9 +16,8 @@ jobs: permissions: id-token: write steps: - - uses: actions/download-artifact@v4 - with: - path: dist - merge-multiple: true - - - uses: pypa/gh-action-pypi-publish@release/v1 + - uses: actions/download-artifact@v4 + with: + path: dist + merge-multiple: true + - uses: pypa/gh-action-pypi-publish@release/v1 diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml index bd17b83..e74fb2f 100644 --- a/.github/workflows/wheels.yml +++ b/.github/workflows/wheels.yml @@ -1,15 +1,12 @@ +--- name: wheels - on: push: - branches: - - main - tags: - - 'v*' + branches: [main] + tags: [v*] pull_request: workflow_dispatch: workflow_call: - jobs: build_wheels: name: Wheels (${{ matrix.os }} ${{ matrix.archs }}) @@ -26,33 +23,27 @@ jobs: archs: arm64 - os: windows-latest archs: AMD64 - steps: - - uses: actions/checkout@v4 - - - name: Build wheels - uses: pypa/cibuildwheel@v4.1.0 - env: - CIBW_ARCHS: ${{ matrix.archs }} - - - uses: actions/upload-artifact@v4 - with: - name: wheels-${{ matrix.os }}-${{ matrix.archs }} - path: wheelhouse/*.whl - + - uses: actions/checkout@v4 + - name: Build wheels + uses: pypa/cibuildwheel@v4.1.0 + env: + CIBW_ARCHS: ${{ matrix.archs }} + - uses: actions/upload-artifact@v4 + with: + name: wheels-${{ matrix.os }}-${{ matrix.archs }} + path: wheelhouse/*.whl build_sdist: name: sdist runs-on: ubuntu-latest steps: - - uses: actions/checkout@v4 - - - name: Build sdist - run: pipx run build --sdist - - - uses: actions/upload-artifact@v4 - with: - name: sdist - path: dist/*.tar.gz + - uses: actions/checkout@v4 + - name: Build sdist + run: pipx run build --sdist + - uses: actions/upload-artifact@v4 + with: + name: sdist + path: dist/*.tar.gz # Windows ships an AMD64 wheel (see build_wheels); this guards the remaining # from-source path there (e.g. win_arm64, or pip falling back to the sdist). @@ -61,25 +52,21 @@ jobs: needs: build_sdist runs-on: windows-latest steps: - - uses: actions/download-artifact@v4 - with: - name: sdist - path: dist - - - uses: actions/setup-python@v5 - with: - python-version: '3.13' - - - uses: actions/checkout@v4 - with: - path: src - - - name: Install from sdist - shell: bash - run: pip install --verbose dist/*.tar.gz - - - name: Test - shell: bash - run: | - pip install pytest numpy - pytest src/tests/ + - uses: actions/download-artifact@v4 + with: + name: sdist + path: dist + - uses: actions/setup-python@v5 + with: + python-version: '3.13' + - uses: actions/checkout@v4 + with: + path: src + - name: Install from sdist + shell: bash + run: pip install --verbose dist/*.tar.gz + - name: Test + shell: bash + run: |- + pip install pytest numpy + pytest src/tests/ diff --git a/.mdformat.toml b/.mdformat.toml new file mode 100644 index 0000000..01b2fb0 --- /dev/null +++ b/.mdformat.toml @@ -0,0 +1 @@ +number = true diff --git a/CHANGELOG.md b/CHANGELOG.md index 951ea5d..c3ec385 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -19,6 +19,7 @@ type stub, alongside several binding fixes. Drops Python 3.9, which reached end of life; the minimum is now Python 3.10. ### Added + - `ColorOcTree` and `ColorOcTreeNode` bindings, exposing a per-voxel RGB color (`setNodeColor` / `averageNodeColor` / `integrateNodeColor`, node `getColor` / `setColor` / `isColorSet` / `getAverageChildColor`) on top of the shared @@ -31,6 +32,7 @@ of life; the minimum is now Python 3.10. type checkers and editor completion (#65). ### Changed + - The occupancy/search/IO surface shared by every tree now lives on a common `OccupancyOcTreeBase`, which both `OcTree` and `ColorOcTree` extend. `OcTree`'s public API is unchanged (#66). @@ -42,11 +44,13 @@ of life; the minimum is now Python 3.10. - Build pinned to Cython 3 and NumPy 2 (#65). ### Fixed + - `OcTree.read()` and `ColorOcTree.read()` now raise instead of segfaulting when given a path that does not resolve to a valid OctoMap file (#70). - `adjustKeyAtDepth` now returns an `OcTreeKey` instance (#61). ### Removed + - Python 3.9 support, which reached end of life; the minimum is now Python 3.10 (#71). @@ -56,15 +60,18 @@ The first release in over six years: a full build and tooling modernization plus several long-standing binding fixes. ### Added + - `dynamicEDT_getDistanceAndClosestObstacle` binding for the Euclidean distance transform (#37). ### Fixed + - `castRay` now fills the `end` coordinate whether or not the ray hits an occupied voxel (#36). - OctoMap file paths accept `str`, not only `bytes` (#38). - Iterator crash caused by the name-mangled `__is_end` / `__is_acceseable` attributes (#23). - Compilation on modern compilers, by pinning the OctoMap build to C++14 (#24). ### Changed + - Build migrated to scikit-build-core, producing a statically linked extension (#40). - OctoMap C++ is fetched and pinned via CMake FetchContent instead of a git submodule (#41). - Binary wheels (CPython 3.9-3.13; manylinux x86_64/aarch64, macOS arm64) and an sdist are built with cibuildwheel (#49). @@ -77,72 +84,87 @@ several long-standing binding fixes. - CI tests the lower and upper supported Python bounds, 3.9 and 3.14 (#47). ### Removed + - Python 2 and Python 3.5 support, alongside repository housekeeping and an added LICENSE file (#35). ## [1.8.0.post12] - 2019-07-03 ### Removed + - `bbx_min` and `bbx_max` arguments from `extractPointCloud`. ## [1.8.0.post11] - 2019-07-02 ### Fixed + - Output dimension of `extractPointCloud`. ## [1.8.0.post10] - 2019-06-29 ### Added + - `bbx_min` and `bbx_max` arguments to `extractPointCloud`. ## [1.8.0.post9] - 2019-06-21 ### Changed + - Reverted linking against static libraries. ### Removed + - Unused `opengl_camera_transform`. ## [1.8.0.post8] - 2019-06-21 ### Changed + - Linked against static libraries. ## [1.8.0.post7] - 2019-06-21 ### Fixed + - Further handling of empty point clouds. ## [1.8.0.post6] - 2019-06-21 ### Fixed + - Zero-sized point cloud handling in `extractPointCloud`. ## [1.8.0.post5] - 2019-06-11 ### Changed + - Maintenance re-release; no functional changes. ## [1.8.0.post4] - 2019-05-08 ### Added + - `README.md` to the source distribution manifest. ## [1.8.0.post3] - 2019-05-08 ### Added + - `extractPointCloud`, plus visualization helpers and example scripts. ### Changed + - `getMetric*` methods return `numpy.ndarray`. ## [1.8.0.post2] - 2019-04-16 ### Changed + - README and `setup.py` packaging metadata. ## [1.8.0.post1] - 2019-04-16 ### Added + - Initial PyPI release of the OctoMap Python binding (bundling OctoMap 1.8.0): OcTree read/write, node and tree iterators, `OcTreeKey`, ray casting, and a dynamicEDT3D distance field. diff --git a/Makefile b/Makefile new file mode 100644 index 0000000..a49a2fe --- /dev/null +++ b/Makefile @@ -0,0 +1,41 @@ +ifneq ($(OS),Windows_NT) + SHELL := bash +endif + +.PHONY: help setup format lint test coverage +.DEFAULT_GOAL := help + +PYTEST_ARGS ?= --numprocesses=auto + +define exec + @uv run --no-sync python -c "print('\033[1;36m$(1)\033[0m')" + @$(1) +endef + +help: + @uv run --no-sync python -c "import re; lines=open('Makefile').read().splitlines(); print('\033[1;32mAvailable targets:\033[0m'); [print(f' \033[1;36m{m.group(1):<20s}\033[0m {m.group(2)}') for l in lines if (m:=re.match(r'^([a-zA-Z_-]+):.*?# (.+)$$',l))]" + +setup: # Setup the development environment + $(call exec,uv sync) + +lint: # Lint code + $(call exec,uv run ruff format --check) + $(call exec,uv run ruff check) + $(call exec,uv run ty check --no-progress) + $(call exec,git ls-files "*.toml" | xargs uv run taplo fmt --check) + $(call exec,git ls-files "*.md" | xargs uv run mdformat --check) + $(call exec,git ls-files "*.yml" "*.yaml" | xargs uv run yamlfix --check) + $(call exec,uv run typos) + +format: # Format code + $(call exec,uv run ruff format) + $(call exec,uv run ruff check --fix) + $(call exec,git ls-files "*.toml" | xargs uv run taplo fmt) + $(call exec,git ls-files "*.md" | xargs uv run mdformat) + $(call exec,git ls-files "*.yml" "*.yaml" | xargs uv run yamlfix) + +test: # Run tests + $(call exec,uv run pytest -v tests/ $(PYTEST_ARGS)) + +coverage: # Run tests with coverage + $(MAKE) test PYTEST_ARGS="--cov=octomap --cov-report=term-missing" diff --git a/_typos.toml b/_typos.toml new file mode 100644 index 0000000..985c6fa --- /dev/null +++ b/_typos.toml @@ -0,0 +1,5 @@ +# `leafs` mirrors OctoMap's upstream C++ API (begin_leafs/end_leafs); `ot` is +# the full-map file extension (.ot), as opposed to the binary tree (.bt). +[default.extend-words] +leafs = "leafs" +ot = "ot" diff --git a/pyproject.toml b/pyproject.toml index c767d46..fee0e56 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,49 +1,58 @@ [build-system] -requires = ["scikit-build-core>=0.10", "cython>=3.0", "numpy>=2.0", "hatch-fancy-pypi-readme"] build-backend = "scikit_build_core.build" +requires = [ + "cython>=3.0", + "hatch-fancy-pypi-readme", + "numpy>=2.0", + "scikit-build-core>=0.10", +] [project] -name = "octomap-python" -version = "1.10.0.0" -description = "Python binding of the OctoMap library." -license = { text = "BSD-3-Clause" } -maintainers = [ - { name = "Kentaro Wada", email = "www.kentaro.wada@gmail.com" }, -] -requires-python = ">=3.10" -dependencies = ["numpy"] classifiers = [ - "Development Status :: 5 - Production/Stable", - "Intended Audience :: Developers", - "License :: OSI Approved :: BSD License", - "Natural Language :: English", - "Programming Language :: Python", - "Programming Language :: Python :: 3", - "Programming Language :: Python :: 3.10", - "Programming Language :: Python :: 3.11", - "Programming Language :: Python :: 3.12", - "Programming Language :: Python :: 3.13", - "Programming Language :: Python :: 3.14", - "Programming Language :: Python :: Implementation :: CPython", + "Development Status :: 5 - Production/Stable", + "Intended Audience :: Developers", + "License :: OSI Approved :: BSD License", + "Natural Language :: English", + "Programming Language :: Python :: 3", + "Programming Language :: Python :: 3.10", + "Programming Language :: Python :: 3.11", + "Programming Language :: Python :: 3.12", + "Programming Language :: Python :: 3.13", + "Programming Language :: Python :: 3.14", + "Programming Language :: Python :: Implementation :: CPython", + "Programming Language :: Python", ] +dependencies = ["numpy"] +description = "Python binding of the OctoMap library." dynamic = ["readme"] +license = { text = "BSD-3-Clause" } +maintainers = [{ name = "Kentaro Wada", email = "www.kentaro.wada@gmail.com" }] +name = "octomap-python" +requires-python = ">=3.10" +version = "1.10.0.0" [project.urls] Homepage = "https://github.com/wkentaro/octomap-python" [dependency-groups] -dev = ["ruff", "pytest", "ty"] +dev = [ + "mdformat", + "mdformat-gfm", + "pytest", + "pytest-cov", + "pytest-xdist", + "ruff", + "taplo", + "ty", + "typos", + "yamlfix", +] # The examples use an old GUI stack pinned to keep it working: glooey 0.3.6 # needs pyglet 1.x APIs (e.g. graphics.OrderedGroup), trimesh.viewer.SceneWidget # was removed in trimesh 4.8.3, and glooey's autoprop/typeguard chain relies on # ast.Str (removed in Python 3.12), so the examples run on Python <=3.11; see # .python-version. -examples = [ - "glooey==0.3.6", - "imgviz>=1.2.0", - "pyglet<2", - "trimesh[easy]<4.8.3", -] +examples = ["glooey==0.3.6", "imgviz>=1.2.0", "pyglet<2", "trimesh[easy]<4.8.3"] [tool.pytest.ini_options] testpaths = ["tests"] @@ -52,8 +61,8 @@ testpaths = ["tests"] cmake.version = ">=3.18" # No pure-Python package directory; CMake installs the compiled extension # module straight to the wheel root. -wheel.packages = [] metadata.readme.provider = "scikit_build_core.metadata.fancy_pypi_readme" +wheel.packages = [] # github2pypi used to rewrite README's relative URLs to absolute ones so the # PyPI long description renders images; fancy-pypi-readme does that at build @@ -76,8 +85,8 @@ replacement = '![\1](https://raw.githubusercontent.com/wkentaro/octomap-python/m build = "cp310-* cp311-* cp312-* cp313-* cp314-*" # Only manylinux is 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