chore: add Makefile-driven dev toolchain

.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

.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

.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/

.mdformat.toml

@@ -0,0 +1 @@
+number = true

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.

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"

_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"