linter fixes

examples/09_unroutable_best_effort.py

@@ -37,7 +37,12 @@ def main() -> None:
     else:
         print("The route unexpectedly reached the target. Increase difficulty or reduce the node budget further.")
 
-    fig, _ax = plot_routing_results(run.results_by_net, list(obstacles), bounds, netlist={"budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180))})
+    fig, _ax = plot_routing_results(
+        run.results_by_net,
+        list(obstacles),
+        bounds,
+        netlist={"budget_limited_net": (Port(10, 50, 0), Port(85, 60, 180))},
+    )
     fig.savefig("examples/09_unroutable_best_effort.png")
     print("Saved plot to examples/09_unroutable_best_effort.png")
 

inire/geometry/collision.py

@@ -105,9 +105,16 @@ class RoutingWorld:
         return reach < length - 0.001
 
     def _is_in_safety_zone_fast(self, idx: int, start_port: Port | None, end_port: Port | None) -> bool:
-        bounds = self._static_obstacles.bounds_array[idx]
+        bounds_array = self._static_obstacles.bounds_array
+        if bounds_array is None:
+            return False
+        bounds = bounds_array[idx]
         safety_zone = self.safety_zone_radius
-        if start_port and bounds[0] - safety_zone <= start_port.x <= bounds[2] + safety_zone and bounds[1] - safety_zone <= start_port.y <= bounds[3] + safety_zone:
+        if (
+            start_port
+            and bounds[0] - safety_zone <= start_port.x <= bounds[2] + safety_zone
+            and bounds[1] - safety_zone <= start_port.y <= bounds[3] + safety_zone
+        ):
             return True
         return bool(
             end_port
@@ -176,15 +183,18 @@ class RoutingWorld:
             return False
 
         self._ensure_static_tree()
+        tree = static_obstacles.tree
+        bounds_array = static_obstacles.bounds_array
+        if tree is None or bounds_array is None:
+            return False
 
-        hits = static_obstacles.tree.query(box(*result.total_dilated_bounds))
+        hits = tree.query(box(*result.total_dilated_bounds))
         if hits.size == 0:
             return False
 
-        static_bounds = static_obstacles.bounds_array
         move_poly_bounds = result.dilated_bounds
         for hit_idx in hits:
-            obstacle_bounds = static_bounds[hit_idx]
+            obstacle_bounds = bounds_array[hit_idx]
             poly_hits_obstacle_aabb = False
             for poly_bounds in move_poly_bounds:
                 if (
@@ -319,7 +329,7 @@ class RoutingWorld:
             raw_geometries = static_obstacles.raw_tree.geometries
             for component in components:
                 for polygon in component.physical_geometry:
-                    buffered = polygon.buffer(self.clearance, join_style=2)
+                    buffered = polygon.buffer(self.clearance, join_style="mitre")
                     hits = static_obstacles.raw_tree.query(buffered, predicate="intersects")
                     for hit_idx in hits:
                         obstacle = raw_geometries[hit_idx]
@@ -373,6 +383,9 @@ class RoutingWorld:
         net_width: float | None = None,
     ) -> float:
         static_obstacles = self._static_obstacles
+        tree: STRtree | None
+        is_rect_array: numpy.ndarray | None
+        bounds_array: numpy.ndarray | None
 
         radians = numpy.radians(angle_deg)
         cos_v, sin_v = numpy.cos(radians), numpy.sin(radians)
@@ -391,7 +404,7 @@ class RoutingWorld:
             is_rect_array = static_obstacles.is_rect_array
             bounds_array = static_obstacles.bounds_array
 
-        if tree is None:
+        if tree is None or is_rect_array is None or bounds_array is None:
             return max_dist
 
         candidates = tree.query(box(min_x, min_y, max_x, max_y))

inire/geometry/component_overlap.py

@@ -3,6 +3,7 @@ from __future__ import annotations
 from typing import TYPE_CHECKING
 
 if TYPE_CHECKING:
+    from collections.abc import Sequence
     from shapely.geometry import Polygon
 
     from inire.geometry.components import ComponentResult
@@ -13,8 +14,8 @@ def components_overlap(
     component_b: ComponentResult,
     prefer_actual: bool = False,
 ) -> bool:
-    polygons_a: tuple[Polygon, ...]
+    polygons_a: Sequence[Polygon]
-    polygons_b: tuple[Polygon, ...]
+    polygons_b: Sequence[Polygon]
     if prefer_actual:
         polygons_a = component_a.physical_geometry
         polygons_b = component_b.physical_geometry

inire/geometry/components.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from dataclasses import dataclass, field
-from typing import Literal
+from typing import TYPE_CHECKING, Literal
 
 import numpy
 from shapely.affinity import rotate as shapely_rotate
@@ -13,6 +13,9 @@ from inire.constants import TOLERANCE_ANGULAR
 from inire.seeds import Bend90Seed, PathSegmentSeed, SBendSeed, StraightSeed
 from .primitives import Port, rotation_matrix2
 
+if TYPE_CHECKING:
+    from collections.abc import Sequence
+
 
 MoveKind = Literal["straight", "bend90", "sbend"]
 BendCollisionModelName = Literal["arc", "bbox", "clipped_bbox"]
@@ -27,14 +30,14 @@ def _normalize_length(value: float) -> float:
 @dataclass(frozen=True, slots=True)
 class ComponentResult:
     start_port: Port
-    collision_geometry: tuple[Polygon, ...]
+    collision_geometry: Sequence[Polygon]
     end_port: Port
     length: float
     move_type: MoveKind
     move_spec: PathSegmentSeed
-    physical_geometry: tuple[Polygon, ...]
+    physical_geometry: Sequence[Polygon]
-    dilated_collision_geometry: tuple[Polygon, ...]
+    dilated_collision_geometry: Sequence[Polygon]
-    dilated_physical_geometry: tuple[Polygon, ...]
+    dilated_physical_geometry: Sequence[Polygon]
     _bounds: tuple[tuple[float, float, float, float], ...] = field(init=False, repr=False)
     _total_bounds: tuple[float, float, float, float] = field(init=False, repr=False)
     _dilated_bounds: tuple[tuple[float, float, float, float], ...] = field(init=False, repr=False)
@@ -146,7 +149,7 @@ def _clip_bbox_legacy(
     minx, miny, maxx, maxy = arc_poly.bounds
     bbox_poly = box(minx, miny, maxx, maxy)
     shrink = min(clip_margin, max(radius, width))
-    return bbox_poly.buffer(-shrink, join_style=2) if shrink > 0 else bbox_poly
+    return bbox_poly.buffer(-shrink, join_style="mitre") if shrink > 0 else bbox_poly
 
 
 def _clip_bbox_polygonal(cxy: tuple[float, float], radius: float, width: float, ts: tuple[float, float]) -> Polygon:

inire/geometry/index_helpers.py

@@ -1,17 +1,18 @@
 from __future__ import annotations
 
 import math
-from collections.abc import Iterator, Mapping
+from typing import TYPE_CHECKING
-from typing import TypeVar
 
 import numpy
 
-GeometryT = TypeVar("GeometryT")
+if TYPE_CHECKING:
+    from collections.abc import Iterator, Mapping
+    from shapely.geometry.base import BaseGeometry
 
 
 def build_index_payload(
-    geometries: Mapping[int, GeometryT],
+    geometries: Mapping[int, BaseGeometry],
-) -> tuple[list[int], list[GeometryT], numpy.ndarray]:
+) -> tuple[list[int], list[BaseGeometry], numpy.ndarray]:
     obj_ids = sorted(geometries)
     ordered_geometries = [geometries[obj_id] for obj_id in obj_ids]
     bounds_array = numpy.array([geometry.bounds for geometry in ordered_geometries], dtype=numpy.float64)
@@ -42,7 +43,7 @@ def iter_grid_cells(
             yield (gx, gy)
 
 
-def is_axis_aligned_rect(geometry, *, tolerance: float = 1e-4) -> bool:
+def is_axis_aligned_rect(geometry: BaseGeometry, *, tolerance: float = 1e-4) -> bool:
     bounds = geometry.bounds
     area = (bounds[2] - bounds[0]) * (bounds[3] - bounds[1])
     return abs(geometry.area - area) < tolerance

inire/geometry/primitives.py

@@ -1,10 +1,12 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
-from typing import Self
+from typing import TYPE_CHECKING, Self
 
 import numpy
-from numpy.typing import NDArray
+
+if TYPE_CHECKING:
+    from numpy.typing import NDArray
 
 
 def _normalize_angle(angle_deg: int | float) -> int:
@@ -58,6 +60,6 @@ ROT2_180 = numpy.array(((-1, 0), (0, -1)), dtype=numpy.int32)
 ROT2_270 = numpy.array(((0, 1), (-1, 0)), dtype=numpy.int32)
 
 
-def rotation_matrix2(rotation_deg: int) -> NDArray[numpy.int32]:
+def rotation_matrix2(rotation_deg: int | float) -> NDArray[numpy.int32]:
     quadrant = (_normalize_angle(rotation_deg) // 90) % 4
     return (ROT2_0, ROT2_90, ROT2_180, ROT2_270)[quadrant]

inire/geometry/static_obstacle_index.py

@@ -59,7 +59,7 @@ class StaticObstacleIndex:
         if dilated_geometry is not None:
             dilated = dilated_geometry
         else:
-            dilated = polygon.buffer(self.engine.clearance / 2.0, join_style=2)
+            dilated = polygon.buffer(self.engine.clearance / 2.0, join_style="mitre")
 
         self.geometries[obj_id] = polygon
         self.dilated[obj_id] = dilated
@@ -109,7 +109,7 @@ class StaticObstacleIndex:
 
         for obj_id in sorted(self.geometries.keys()):
             polygon = self.geometries[obj_id]
-            dilated = polygon.buffer(total_dilation, join_style=2)
+            dilated = polygon.buffer(total_dilation, join_style="mitre")
             geometries.append(dilated)
             bounds_list.append(dilated.bounds)
             is_rect_list.append(is_axis_aligned_rect(dilated))

inire/model.py

@@ -5,11 +5,10 @@ from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Literal
 
 from shapely.geometry import Polygon
-
-from inire.geometry.components import BendCollisionModel, BendPhysicalGeometry
 from inire.seeds import PathSeed
 
 if TYPE_CHECKING:
+    from inire.geometry.components import BendCollisionModel, BendPhysicalGeometry
     from inire.geometry.primitives import Port
 
 

inire/results.py

@@ -70,7 +70,7 @@ class RoutingResult:
 
     @property
     def locked_geometry(self) -> tuple[Polygon, ...]:
-        polygons = []
+        polygons: list[Polygon] = []
         for component in self.path:
             polygons.extend(component.physical_geometry)
         return tuple(polygons)

inire/router/_astar_admission.py

@@ -94,7 +94,6 @@ def process_move(
         res = res_rel.translate(cp.x, cp.y)
         context.move_cache_abs[abs_key] = res
 
-    move_radius = params[0] if move_class == "bend90" else (params[1] if move_class == "sbend" else None)
     add_node(
         parent,
         res,

inire/router/_astar_moves.py

@@ -1,13 +1,16 @@
 from __future__ import annotations
 
 import math
+from typing import TYPE_CHECKING
 
 from inire.constants import TOLERANCE_LINEAR
-from inire.geometry.components import MoveKind
-from inire.geometry.primitives import Port
 
 from ._astar_admission import process_move
-from ._astar_types import AStarContext, AStarMetrics, AStarNode, SearchRunConfig
+
+if TYPE_CHECKING:
+    from inire.geometry.components import MoveKind
+    from inire.geometry.primitives import Port
+    from ._astar_types import AStarContext, AStarMetrics, AStarNode, SearchRunConfig
 
 
 def _quantized_lengths(values: list[float], max_reach: float) -> list[int]:
@@ -96,7 +99,7 @@ def _visible_straight_candidates(
         return []
 
     collision_engine = context.cost_evaluator.collision_engine
-    candidates: set[int] = set()
+    tangent_candidates: set[int] = set()
     for _, dist, length, dx, dy in sorted(scored)[:4]:
         angle = math.degrees(math.atan2(dy, dx))
         corner_reach = collision_engine.ray_cast(current, angle, max_dist=dist + 0.05, net_width=net_width)
@@ -104,9 +107,9 @@ def _visible_straight_candidates(
             continue
         qlen = int(round(length))
         if qlen > 0:
-            candidates.add(qlen)
+            tangent_candidates.add(qlen)
 
-    return sorted(candidates, reverse=True)
+    return sorted(tangent_candidates, reverse=True)
 
 
 def _previous_move_metadata(node: AStarNode) -> tuple[MoveKind | None, float | None]:

inire/router/_astar_types.py

@@ -3,13 +3,14 @@ from __future__ import annotations
 from dataclasses import dataclass
 from typing import TYPE_CHECKING
 
-from inire.geometry.components import BendCollisionModel, BendPhysicalGeometry
+from inire.model import resolve_bend_geometry
-from inire.model import RoutingOptions, RoutingProblem, resolve_bend_geometry
 from inire.results import RouteMetrics
 from inire.router.visibility import VisibilityManager
 
 if TYPE_CHECKING:
-    from inire.geometry.components import ComponentResult
+    from inire.geometry.components import BendCollisionModel, BendPhysicalGeometry, ComponentResult
+    from inire.geometry.primitives import Port
+    from inire.model import RoutingOptions, RoutingProblem
     from inire.router.cost import CostEvaluator
 
 
@@ -61,7 +62,7 @@ class AStarNode:
 
     def __init__(
         self,
-        port,
+        port: Port,
         g_cost: float,
         h_cost: float,
         parent: AStarNode | None = None,

inire/router/_router.py

@@ -15,6 +15,8 @@ from inire.router.refiner import PathRefiner
 if TYPE_CHECKING:
     from collections.abc import Callable, Sequence
 
+    from shapely.geometry import Polygon
+
     from inire.geometry.components import ComponentResult
 
 
@@ -48,8 +50,8 @@ class PathFinder:
         self.accumulated_expanded_nodes: list[tuple[int, int, int]] = []
 
     def _install_path(self, net_id: str, path: Sequence[ComponentResult]) -> None:
-        all_geoms = []
+        all_geoms: list[Polygon] = []
-        all_dilated = []
+        all_dilated: list[Polygon] = []
         for result in path:
             all_geoms.extend(result.collision_geometry)
             all_dilated.extend(result.dilated_collision_geometry)
@@ -215,7 +217,7 @@ class PathFinder:
 
         return RoutingResult(
             net_id=net_id,
-            path=path,
+            path=tuple(path),
             reached_target=reached_target,
             report=RoutingReport() if report is None else report,
         )
@@ -276,7 +278,7 @@ class PathFinder:
             report = self.context.cost_evaluator.collision_engine.verify_path_report(net_id, refined_path)
             state.results[net_id] = RoutingResult(
                 net_id=net_id,
-                path=refined_path,
+                path=tuple(refined_path),
                 reached_target=result.reached_target,
                 report=report,
             )

inire/router/_search.py

@@ -4,13 +4,13 @@ import heapq
 from typing import TYPE_CHECKING
 
 from inire.constants import TOLERANCE_LINEAR
-from inire.geometry.primitives import Port
 
 from ._astar_moves import expand_moves as _expand_moves
 from ._astar_types import AStarContext, AStarMetrics, AStarNode as _AStarNode, SearchRunConfig
 
 if TYPE_CHECKING:
     from inire.geometry.components import ComponentResult
+    from inire.geometry.primitives import Port
 
 
 def _reconstruct_path(end_node: _AStarNode) -> list[ComponentResult]:

inire/router/_stack.py

@@ -1,17 +1,24 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
+from typing import TYPE_CHECKING
 
-from inire.model import RoutingOptions, RoutingProblem
+if TYPE_CHECKING:
+    from inire.geometry.collision import RoutingWorld
+    from inire.model import RoutingOptions, RoutingProblem
+    from inire.router._astar_types import AStarContext
+    from inire.router._router import PathFinder
+    from inire.router.cost import CostEvaluator
+    from inire.router.danger_map import DangerMap
 
 
 @dataclass(frozen=True, slots=True)
 class RoutingStack:
-    world: object
+    world: RoutingWorld
-    danger_map: object
+    danger_map: DangerMap
-    evaluator: object
+    evaluator: CostEvaluator
-    context: object
+    context: AStarContext
-    finder: object
+    finder: PathFinder
 
 
 def build_routing_stack(problem: RoutingProblem, options: RoutingOptions) -> RoutingStack:

inire/router/cost.py

@@ -8,6 +8,7 @@ from inire.constants import TOLERANCE_LINEAR
 from inire.model import ObjectiveWeights
 
 if TYPE_CHECKING:
+    from collections.abc import Sequence
     from inire.geometry.collision import RoutingWorld
     from inire.geometry.components import ComponentResult, MoveKind
     from inire.geometry.primitives import Port
@@ -71,7 +72,7 @@ class CostEvaluator:
     def set_target(self, target: Port) -> None:
         self._target_x = target.x
         self._target_y = target.y
-        self._target_r = target.r
+        self._target_r = int(target.r)
         rad = np.radians(target.r)
         self._target_cos = np.cos(rad)
         self._target_sin = np.sin(rad)
@@ -176,7 +177,7 @@ class CostEvaluator:
     def path_cost(
         self,
         start_port: Port,
-        path: list[ComponentResult],
+        path: Sequence[ComponentResult],
         *,
         weights: ObjectiveWeights | None = None,
     ) -> float:

inire/router/danger_map.py

@@ -51,14 +51,14 @@ class DangerMap:
         for poly in obstacles:
             # Sample exterior
             exterior = poly.exterior
-            dist = 0
+            dist = 0.0
             while dist < exterior.length:
                 pt = exterior.interpolate(dist)
                 all_points.append((pt.x, pt.y))
                 dist += self.resolution
             # Sample interiors (holes)
             for interior in poly.interiors:
-                dist = 0
+                dist = 0.0
                 while dist < interior.length:
                     pt = interior.interpolate(dist)
                     all_points.append((pt.x, pt.y))

inire/router/refiner.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import math
-from typing import TYPE_CHECKING, Any
+from typing import TYPE_CHECKING, Any, Literal
 
 from inire.geometry.component_overlap import components_overlap
 from inire.geometry.components import Bend90, Straight
@@ -55,7 +55,7 @@ class PathRefiner:
         ports.extend(comp.end_port for comp in path)
         return ports
 
-    def _to_local(self, start: Port, point: Port) -> tuple[int, int]:
+    def _to_local(self, start: Port, point: Port) -> tuple[float, float]:
         dx = point.x - start.x
         dy = point.y - start.y
         if start.r == 0:
@@ -197,8 +197,8 @@ class PathRefiner:
         if 0.01 < forward_length < min_straight - 0.01:
             return None
 
-        first_dir = "CCW" if side_extent > 0 else "CW"
+        first_dir: Literal["CW", "CCW"] = "CCW" if side_extent > 0 else "CW"
-        second_dir = "CW" if side_extent > 0 else "CCW"
+        second_dir: Literal["CW", "CCW"] = "CW" if side_extent > 0 else "CCW"
         dilation = self.collision_engine.clearance / 2.0
 
         path: list[ComponentResult] = []
@@ -288,10 +288,10 @@ class PathRefiner:
         net_id: str,
         start: Port,
         net_width: float,
-        path: list[ComponentResult],
+        path: Sequence[ComponentResult],
     ) -> list[ComponentResult]:
         if not path:
-            return path
+            return list(path)
 
         path = list(path)
 

inire/router/visibility.py

@@ -23,7 +23,7 @@ class VisibilityManager:
         self.corners: list[tuple[float, float]] = []
         self.corner_index = rtree.index.Index()
         self._corner_graph: dict[int, list[tuple[float, float, float]]] = {}
-        self._point_visibility_cache: dict[tuple[int, int], list[tuple[float, float, float]]] = {}
+        self._point_visibility_cache: dict[tuple[int, int, int], list[tuple[float, float, float]]] = {}
         self._built_static_version = -1
         self._build()
 

inire/tests/example_scenarios.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from time import perf_counter
-from typing import Callable
+from collections.abc import Callable
 
 from shapely.geometry import Polygon, box
 
@@ -154,7 +154,7 @@ def run_example_02() -> ScenarioOutcome:
         "vertical_up": (Port(45, 10, 90), Port(45, 90, 90)),
         "vertical_down": (Port(55, 90, 270), Port(55, 10, 270)),
     }
-    widths = {net_id: 2.0 for net_id in netlist}
+    widths = dict.fromkeys(netlist, 2.0)
     _, _, _, pathfinder = _build_routing_stack(
         bounds=(0, 0, 100, 100),
         netlist=netlist,
@@ -232,7 +232,7 @@ def run_example_05() -> ScenarioOutcome:
         "loop": (Port(100, 100, 90), Port(100, 80, 270)),
         "zig_zag": (Port(20, 150, 0), Port(180, 150, 0)),
     }
-    widths = {net_id: 2.0 for net_id in netlist}
+    widths = dict.fromkeys(netlist, 2.0)
     _, _, _, pathfinder = _build_routing_stack(
         bounds=(0, 0, 200, 200),
         netlist=netlist,

inire/tests/test_clearance_precision.py

@@ -1,6 +1,3 @@
-import pytest
-import numpy
-from shapely.geometry import Polygon
 from inire import CongestionOptions, RoutingOptions, RoutingProblem, SearchOptions
 from inire.geometry.collision import RoutingWorld
 from inire.geometry.primitives import Port
@@ -10,7 +7,6 @@ from inire.router._astar_types import AStarContext
 from inire.router._router import PathFinder
 from inire.router.cost import CostEvaluator
 from inire.router.danger_map import DangerMap
-from inire import RoutingResult
 
 
 def _build_pathfinder(
@@ -45,19 +41,19 @@ def test_clearance_thresholds():
     # Clearance = 2.0, Width = 2.0
     # Required Centerline-to-Centerline = (2+2)/2 + 2.0 = 4.0
     ce = RoutingWorld(clearance=2.0)
-    
+
     # Net 1: Centerline at y=0
     p1 = Port(0, 0, 0)
     res1 = Straight.generate(p1, 50.0, width=2.0, dilation=1.0)
     ce.add_path("net1", res1.collision_geometry, dilated_geometry=res1.dilated_collision_geometry)
-    
+
     # Net 2: Parallel to Net 1
     # 1. Beyond minimum spacing: y=5. Gap = 5 - 2 = 3 > 2. OK.
     p2_ok = Port(0, 5, 0)
     res2_ok = Straight.generate(p2_ok, 50.0, width=2.0, dilation=1.0)
     report_ok = ce.verify_path_report("net2", [res2_ok])
     assert report_ok.is_valid, f"Gap 3 should be valid, but got {report_ok.collision_count} collisions"
-    
+
     # 2. Exactly at: y=4.0. Gap = 4.0 - 2.0 = 2.0. OK.
     p2_exact = Port(0, 4, 0)
     res2_exact = Straight.generate(p2_exact, 50.0, width=2.0, dilation=1.0)
@@ -105,7 +101,7 @@ def test_verify_all_nets_cases():
     # Reset engine
     engine.remove_path("net1")
     engine.remove_path("net2")
-    
+
     results_p = _build_pathfinder(
         evaluator,
         bounds=(0, 0, 100, 100),
@@ -124,7 +120,7 @@ def test_verify_all_nets_cases():
     }
     engine.remove_path("net3")
     engine.remove_path("net4")
-    
+
     results_c = _build_pathfinder(
         evaluator,
         bounds=(0, 0, 100, 100),

inire/tests/test_collision.py

@@ -43,15 +43,15 @@ def test_ray_cast_width_clearance() -> None:
     # Clearance = 2.0um, Width = 2.0um.
     # Centerline to obstacle edge must be >= W/2 + C = 1.0 + 2.0 = 3.0um.
     engine = RoutingWorld(clearance=2.0)
-    
+
     # Obstacle at x=10 to 20
     _install_static_straight(engine, Port(10, 50, 0), 10.0, width=100.0)
-    
+
     # 1. Parallel move at x=6. Gap = 10 - 6 = 4.0. Clearly OK.
     start_ok = Port(6, 50, 90)
     reach_ok = engine.ray_cast(start_ok, 90, max_dist=10.0, net_width=2.0)
     assert reach_ok >= 10.0
-    
+
     # 2. Parallel move at x=8. Gap = 10 - 8 = 2.0. COLLISION.
     start_fail = Port(8, 50, 90)
     reach_fail = engine.ray_cast(start_fail, 90, max_dist=10.0, net_width=2.0)
@@ -61,19 +61,19 @@ def test_ray_cast_width_clearance() -> None:
 def test_check_move_static_clearance() -> None:
     engine = RoutingWorld(clearance=2.0)
     _install_static_straight(engine, Port(10, 50, 0), 10.0, width=100.0, dilation=1.0)
-    
+
     # Straight move of length 10 at x=8 (Width 2.0)
     # Gap = 10 - 8 = 2.0 < 3.0. COLLISION.
     start = Port(8, 0, 90)
     res = Straight.generate(start, 10.0, width=2.0, dilation=1.0) # dilation = C/2
-    
+
     assert engine.check_move_static(res, start_port=start)
-    
+
     # Move at x=7. Gap = 3.0 == minimum. OK.
     start_ok = Port(7, 0, 90)
     res_ok = Straight.generate(start_ok, 10.0, width=2.0, dilation=1.0)
     assert not engine.check_move_static(res_ok, start_port=start_ok)
-    
+
     # 3. Same exact-boundary case.
     start_exact = Port(7, 0, 90)
     res_exact = Straight.generate(start_exact, 10.0, width=2.0, dilation=1.0)

inire/tests/test_cost.py

@@ -17,7 +17,7 @@ def test_cost_calculation() -> None:
     p2 = Port(10, 10, 0)
 
     h = evaluator.h_manhattan(p1, p2)
-    # Manhattan distance = 20. 
+    # Manhattan distance = 20.
     # Jog alignment penalty = 2*bp = 20.
     # Side check penalty = 2*bp = 20.
     # Total = 1.1 * (20 + 40) = 66.0
@@ -56,25 +56,25 @@ def test_danger_map_kd_tree_and_cache() -> None:
     # Test that KD-Tree based danger map works and uses cache
     bounds = (0, 0, 1000, 1000)
     dm = DangerMap(bounds, resolution=1.0, safety_threshold=10.0)
-    
+
     # Square obstacle at (100, 100) to (110, 110)
     obstacle = Polygon([(100, 100), (110, 100), (110, 110), (100, 110)])
     dm.precompute([obstacle])
-    
+
     # 1. High cost near boundary
     cost_near = dm.get_cost(100.5, 100.5)
     assert cost_near > 1.0
-    
+
     # 2. Zero cost far away
     cost_far = dm.get_cost(500, 500)
     assert cost_far == 0.0
-    
+
     # 3. Check cache usage (internal detail check)
     # We can check if calling it again is fast or just verify it returns same result
     cost_near_2 = dm.get_cost(100.5, 100.5)
     assert cost_near_2 == cost_near
     assert len(dm._cost_cache) == 2
-    
+
     # 4. Out of bounds
     assert dm.get_cost(-1, -1) >= 1e12
 

inire/tests/test_example_performance.py

@@ -2,12 +2,15 @@ from __future__ import annotations
 
 import os
 import statistics
-from collections.abc import Callable
+from typing import TYPE_CHECKING
 
 import pytest
 
 from inire.tests.example_scenarios import SCENARIOS, ScenarioOutcome
 
+if TYPE_CHECKING:
+    from collections.abc import Callable
+
 
 RUN_PERFORMANCE = os.environ.get("INIRE_RUN_PERFORMANCE") == "1"
 PERFORMANCE_REPEATS = 3

inire/utils/visualization.py

@@ -1,6 +1,6 @@
 from __future__ import annotations
 
-from typing import TYPE_CHECKING
+from typing import TYPE_CHECKING, cast
 import matplotlib.pyplot as plt
 import numpy
 from shapely.geometry import MultiPolygon, Polygon
@@ -129,7 +129,7 @@ def plot_danger_map(
     if ax is None:
         fig, ax = plt.subplots(figsize=(10, 10))
     else:
-        fig = ax.get_figure()
+        fig = cast("Figure", ax.get_figure())
 
     # Generate a temporary grid for visualization
     res = resolution if resolution is not None else max(1.0, (danger_map.maxx - danger_map.minx) / 200.0)
@@ -155,12 +155,12 @@ def plot_danger_map(
     # Need to transpose because grid is [x, y] and imshow expects [row, col] (y, x)
     im = ax.imshow(
         grid.T,
-        origin='lower',
+        origin="lower",
-        extent=[danger_map.minx, danger_map.maxx, danger_map.miny, danger_map.maxy],
+        extent=(danger_map.minx, danger_map.maxx, danger_map.miny, danger_map.maxy),
-        cmap='YlOrRd',
+        cmap="YlOrRd",
-        alpha=0.6
+        alpha=0.6,
     )
-    plt.colorbar(im, ax=ax, label='Danger Cost')
+    plt.colorbar(im, ax=ax, label="Danger Cost")
     ax.set_title("Danger Map (Proximity Costs)")
     return fig, ax
 
@@ -176,7 +176,7 @@ def plot_expanded_nodes(
     if ax is None:
         fig, ax = plt.subplots(figsize=(10, 10))
     else:
-        fig = ax.get_figure()
+        fig = cast("Figure", ax.get_figure())
 
     if not nodes:
         return fig, ax
@@ -206,7 +206,7 @@ def plot_expansion_density(
     if ax is None:
         fig, ax = plt.subplots(figsize=(12, 12))
     else:
-        fig = ax.get_figure()
+        fig = cast("Figure", ax.get_figure())
 
     if not nodes:
         ax.text(0.5, 0.5, "No Expansion Data", ha='center', va='center', transform=ax.transAxes)
@@ -224,14 +224,14 @@ def plot_expansion_density(
     # Plot as image
     im = ax.imshow(
         h.T,
-        origin='lower',
+        origin="lower",
-        extent=[bounds[0], bounds[2], bounds[1], bounds[3]],
+        extent=(bounds[0], bounds[2], bounds[1], bounds[3]),
-        cmap='plasma',
+        cmap="plasma",
-        interpolation='nearest',
+        interpolation="nearest",
-        alpha=0.7
+        alpha=0.7,
     )
 
-    plt.colorbar(im, ax=ax, label='Expansion Count')
+    plt.colorbar(im, ax=ax, label="Expansion Count")
     ax.set_title("Search Expansion Density")
     ax.set_xlim(bounds[0], bounds[2])
     ax.set_ylim(bounds[1], bounds[3])

pyproject.toml

@@ -74,6 +74,18 @@ lint.ignore = [
     "TRY003",   # Long exception message
     ]
 
+[tool.ruff.lint.per-file-ignores]
+"inire/tests/*.py" = ["ANN", "ARG005", "PT009"]
+
+[tool.mypy]
+python_version = "3.11"
+warn_unused_configs = true
+exclude = ["^examples/", "^inire/tests/"]
+
+[[tool.mypy.overrides]]
+module = ["scipy.*"]
+ignore_missing_imports = true
+
 [tool.pytest.ini_options]
 addopts = "-rsXx"
 testpaths = ["inire"]