From f354821df723a8538ea9c682d8489c1c6f969dd5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 11 Jul 2024 22:17:55 -0700
Subject: [PATCH 01/49] python package

---
 .github/workflows/tests.yml | 40 +++++++++++++++++------------------
 MANIFEST.in                 |  5 +++++
 SConstruct                  |  2 ++
 install_dependencies.sh     | 20 ++++++++++++++++++
 pyproject.toml              | 28 ++++++++++++++++++++++++-
 requirements.txt            | 11 ----------
 setup.py                    | 42 ++++++++++++++++++-------------------
 7 files changed, 94 insertions(+), 54 deletions(-)
 create mode 100644 MANIFEST.in
 create mode 100644 install_dependencies.sh
 delete mode 100644 requirements.txt

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 9b0f82d..baa30d2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -2,33 +2,33 @@ name: tests
 
 on: [push, pull_request]
 
-env:
-  REGISTRY: ghcr.io/commaai
-  BUILD: docker buildx build --pull --load --cache-to type=inline --cache-from $REGISTRY/rednose:latest -t rednose -f Dockerfile .
-  RUN: docker run rednose bash -c
-
 jobs:
   test:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
-    - name: Build docker image
-      run: eval ${{ env.BUILD }}
+    - uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Installing build dependencies
+      run: ./install_dependencies.sh
+    - name: Installing rednose
+      run: pip3 install --break-system-packages .[dev]
     - name: Static analysis
-      run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
+      run: pre-commit run --all
     - name: Unit Tests
-      run: ${{ env.RUN }} "pytest"
+      run: pytest
 
-  docker_push:
-    name: docker push
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/rednose'
+  static_analysis:
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
-    - name: Build Docker image
-      run: eval ${{ env.BUILD }}
-    - name: Push to dockerhub
-      run: |
-        docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-        docker tag rednose ${{ env.REGISTRY }}/rednose:latest
-        docker push ${{ env.REGISTRY }}/rednose:latest
+    - name: Installing build dependencies
+      run: ./install_dependencies.sh
+    - name: Installing rednose
+      run: pip3 install --break-system-packages .[dev]
+    - name: Static analysis
+      run: pre-commit run --all
diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 0000000..3f0af2d
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1,5 @@
+exclude rednose/**/*.o
+include SConstruct
+include rednose/SConscript
+include examples/SConscript
+recursive-include site_scons *
diff --git a/SConstruct b/SConstruct
index c668d1b..3a947cd 100644
--- a/SConstruct
+++ b/SConstruct
@@ -40,6 +40,8 @@ env = Environment(
   tools=["default", "cython", "rednose_filter"],
 )
 
+env.AppendENVPath('PYTHONPATH', '.')
+
 # Cython build enviroment
 envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
diff --git a/install_dependencies.sh b/install_dependencies.sh
new file mode 100644
index 0000000..28adcb0
--- /dev/null
+++ b/install_dependencies.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+cd $DIR
+
+SUDO=""
+
+# Use sudo if not root
+if [[ ! $(id -u) -eq 0 ]]; then
+  if [[ -z $(which sudo) ]]; then
+    echo "Please install sudo or run as root"
+    exit 1
+  fi
+  SUDO="sudo"
+fi
+
+$SUDO apt-get update
+$SUDO apt-get install -y --no-install-recommends capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev
+
diff --git a/pyproject.toml b/pyproject.toml
index fa6ae11..d0f03a4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,4 +1,30 @@
-# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[project]
+name = "rednose"
+requires-python = ">= 3.8"
+version = "0.1.0"
+
+dependencies = [
+  "sympy",
+  "numpy",
+  "scipy",
+  "tqdm",
+  "cffi",
+  "scons",
+  "Cython",
+]
+
+[project.optional-dependencies]
+dev = [
+  "ruff",
+  "pre-commit",
+  "pytest",
+  "pytest-xdist",
+]
+
+[build-system]
+requires = ["setuptools","scons","Cython","numpy","sympy", "pytest", "cffi"]
+build-backend = "setuptools.build_meta"
+
 [tool.ruff]
 line-length = 160
 target-version="py311"
diff --git a/requirements.txt b/requirements.txt
deleted file mode 100644
index 81875a8..0000000
--- a/requirements.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-ruff
-sympy
-numpy
-scipy
-tqdm
-cffi
-scons
-pre-commit
-Cython
-pytest
-pytest-xdist
diff --git a/setup.py b/setup.py
index 492b58f..284c756 100644
--- a/setup.py
+++ b/setup.py
@@ -1,26 +1,24 @@
+from setuptools import Command, setup
+from setuptools.command.build import build
+import subprocess
 import os
-from setuptools import setup, find_packages
 
-here = os.path.abspath(os.path.dirname(__file__))
+class SconsBuild(Command):
+  def initialize_options(self) -> None:
+    pass
+
+  def finalize_options(self) -> None:
+    pass
+
+  def run(self) -> None:
+    subprocess.run(["scons -j$(nproc)"], shell=True).check_returncode()
+
+class CustomBuild(build):
+  sub_commands = [('scons_build', None)] + build.sub_commands
 
 setup(
-  name='rednose',
-  version='0.0.1',
-  url='https://github.com/commaai/rednose',
-  author='comma.ai',
-  author_email='harald@comma.ai',
-  packages=find_packages(),
-  platforms='any',
-  license='MIT',
-  package_data={'': ['helpers/chi2_lookup_table.npy', 'templates/*']},
-  install_requires=[
-    'sympy',
-    'numpy',
-    'scipy',
-    'tqdm',
-    'cffi',
-  ],
-  ext_modules=[],
-  description="Kalman filter library",
-  long_description='See https://github.com/commaai/rednose',
-)
+    packages = ["rednose", "examples", "rednose.helpers"],
+    package_data={'': ['**/*.cc', '**/*.c', '**/*.h', '**/*.pxd', '**/*.pyx', '**/*.py', '**/*.so', '**/*.npy']},
+    include_package_data=True,
+    cmdclass={'build': CustomBuild, 'scons_build': SconsBuild}
+    )

From a63fce0425991261065eff2830f4c1244d4440ea Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 11 Jul 2024 22:19:11 -0700
Subject: [PATCH 02/49] x

---
 install_dependencies.sh | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 mode change 100644 => 100755 install_dependencies.sh

diff --git a/install_dependencies.sh b/install_dependencies.sh
old mode 100644
new mode 100755

From 1e7adacfbd8c557fd0f3333da256e9b09c95392d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 11 Jul 2024 22:21:31 -0700
Subject: [PATCH 03/49] test

---
 .github/workflows/tests.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index baa30d2..2405b71 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+        python-version: ["3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5

From c0c93f73af26fa1ee33230e2ef167468a3cdf253 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 11 Jul 2024 22:23:45 -0700
Subject: [PATCH 04/49] no pre-commit

---
 .github/workflows/tests.yml | 2 --
 1 file changed, 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 2405b71..49e7f60 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -17,8 +17,6 @@ jobs:
       run: ./install_dependencies.sh
     - name: Installing rednose
       run: pip3 install --break-system-packages .[dev]
-    - name: Static analysis
-      run: pre-commit run --all
     - name: Unit Tests
       run: pytest
 

From 4b7c92c72ed987b458c9d8669c5f390e481ee236 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 11 Jul 2024 22:24:09 -0700
Subject: [PATCH 05/49] fix

---
 setup.py | 1 -
 1 file changed, 1 deletion(-)

diff --git a/setup.py b/setup.py
index 284c756..b0ea12f 100644
--- a/setup.py
+++ b/setup.py
@@ -1,7 +1,6 @@
 from setuptools import Command, setup
 from setuptools.command.build import build
 import subprocess
-import os
 
 class SconsBuild(Command):
   def initialize_options(self) -> None:

From 9fa5079dfcdd33fd0fb107c0019ede110f495b9c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 15:42:57 -0700
Subject: [PATCH 06/49] instructions

---
 .github/workflows/tests.yml                        |  6 +++---
 README.md                                          | 14 ++++++++++++++
 .../install_dependencies.sh                        |  1 -
 3 files changed, 17 insertions(+), 4 deletions(-)
 rename install_dependencies.sh => scripts/install_dependencies.sh (99%)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 49e7f60..28dfb04 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -7,14 +7,14 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.11", "3.12"]
+        python-version: ["3.10", "3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
         python-version: ${{ matrix.python-version }}
     - name: Installing build dependencies
-      run: ./install_dependencies.sh
+      run: scripts/install_dependencies.sh
     - name: Installing rednose
       run: pip3 install --break-system-packages .[dev]
     - name: Unit Tests
@@ -25,7 +25,7 @@ jobs:
     steps:
     - uses: actions/checkout@v4
     - name: Installing build dependencies
-      run: ./install_dependencies.sh
+      run: scripts/install_dependencies.sh
     - name: Installing rednose
       run: pip3 install --break-system-packages .[dev]
     - name: Static analysis
diff --git a/README.md b/README.md
index 264958b..f00702d 100644
--- a/README.md
+++ b/README.md
@@ -49,3 +49,17 @@ A lot of measurements do not come from a Gaussian distribution and as such have
 of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis
 distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent
 good measurements from being rejected.
+
+### Building
+On ubuntu:
+``` bash
+scripts/install_dependencies.sh
+pip install .
+```
+or run some test:
+On ubuntu:
+``` bash
+scripts/install_dependencies.sh
+pip install .[dev]
+pytest
+```
diff --git a/install_dependencies.sh b/scripts/install_dependencies.sh
similarity index 99%
rename from install_dependencies.sh
rename to scripts/install_dependencies.sh
index 28adcb0..59ee0d6 100755
--- a/install_dependencies.sh
+++ b/scripts/install_dependencies.sh
@@ -17,4 +17,3 @@ fi
 
 $SUDO apt-get update
 $SUDO apt-get install -y --no-install-recommends capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev
-

From 31f87dbd043b4c6cdcea93da885bdcd2c4346e33 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 15:49:23 -0700
Subject: [PATCH 07/49] version

---
 .github/workflows/tests.yml | 2 +-
 pyproject.toml              | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 28dfb04..688f22e 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.10", "3.11", "3.12"]
+        python-version: ["3.9", "3.10", "3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
diff --git a/pyproject.toml b/pyproject.toml
index d0f03a4..acea5df 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "rednose"
-requires-python = ">= 3.8"
+requires-python = ">= 3.9"
 version = "0.1.0"
 
 dependencies = [
@@ -27,7 +27,7 @@ build-backend = "setuptools.build_meta"
 
 [tool.ruff]
 line-length = 160
-target-version="py311"
+target-version="py39"
 
 [tool.ruff.lint]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]

From eb0541bed345c9baff06f6d70a360f18ef9e12e6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 21:35:25 -0700
Subject: [PATCH 08/49] clean

---
 scripts/install_dependencies.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/install_dependencies.sh b/scripts/install_dependencies.sh
index 59ee0d6..d7f109b 100755
--- a/scripts/install_dependencies.sh
+++ b/scripts/install_dependencies.sh
@@ -16,4 +16,4 @@ if [[ ! $(id -u) -eq 0 ]]; then
 fi
 
 $SUDO apt-get update
-$SUDO apt-get install -y --no-install-recommends capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev
+$SUDO apt-get install -y --no-install-recommends python3 python3-pip clang libeigen3-dev

From f1230d71837008a52e88481a522d54f2fd55e28e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 23:48:18 -0700
Subject: [PATCH 09/49] wheels

---
 .github/workflows/wheels.yml     | 15 +++++++++++++++
 scripts/build-manylinux-wheel.sh | 20 ++++++++++++++++++++
 2 files changed, 35 insertions(+)
 create mode 100644 .github/workflows/wheels.yml
 create mode 100755 scripts/build-manylinux-wheel.sh

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
new file mode 100644
index 0000000..3d44958
--- /dev/null
+++ b/.github/workflows/wheels.yml
@@ -0,0 +1,15 @@
+name: wheels
+
+on: [push, pull_request]
+
+jobs:
+  wheels:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        image: ["manylinux_2_28_x86_64"]
+        python_version: [ {cp: cp39-cp39, py: 39}, {cp: cp310-cp310, py: 3.10}, {cp: cp311-cp311, py: 3.11}, {cp: cp312-cp312, py: 3.12} ]
+    steps:
+    - uses: actions/checkout@v4
+    - name: Building wheel
+      run: docker run -e PYPATH=/opt/python/${{ matrix.python_version.cp }} -e PYTHON_VERSION=${{ matrix.python_version.py }} --rm -v `pwd`:/project quay.io/pypa/${{ matrix.image }} /project/scripts/build-manylinux-wheel.sh
diff --git a/scripts/build-manylinux-wheel.sh b/scripts/build-manylinux-wheel.sh
new file mode 100755
index 0000000..c29ffc9
--- /dev/null
+++ b/scripts/build-manylinux-wheel.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+set -ex
+
+if [ -x /usr/bin/yum ]; then
+    yum install -y python${PYTHON_VERSION}-devel.x86_64 clang libffi-devel eigen3-devel
+fi
+
+if [ -e /tmp/wheels ]; then
+    echo "/tmp/wheels should not exist!"
+    exit 1
+fi
+
+mkdir -p /tmp/wheels
+
+${PYPATH}/bin/python -m pip wheel -v /project -w /tmp/wheels --no-deps
+wheel=$(ls /tmp/wheels/*.whl)
+
+# Apply fixups.
+auditwheel repair ${wheel} -w /project/dist

From d2144103080e1bdc86f442f7dd44f443ae33d7d0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 23:51:17 -0700
Subject: [PATCH 10/49] par

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 3d44958..16b8a82 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -8,7 +8,7 @@ jobs:
     strategy:
       matrix:
         image: ["manylinux_2_28_x86_64"]
-        python_version: [ {cp: cp39-cp39, py: 39}, {cp: cp310-cp310, py: 3.10}, {cp: cp311-cp311, py: 3.11}, {cp: cp312-cp312, py: 3.12} ]
+        python_version: [ {cp: "cp39-cp39", py: "39"}, {cp: "cp310-cp310", py: "3.10"}, {cp: "cp311-cp311", py: "3.11"}, {cp: "cp312-cp312", py: "3.12"} ]
     steps:
     - uses: actions/checkout@v4
     - name: Building wheel

From 2ea36b581b64400dc3f657e733a18c3f089bb5d8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 12 Jul 2024 23:55:52 -0700
Subject: [PATCH 11/49] 39

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 16b8a82..8c98b23 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -8,7 +8,7 @@ jobs:
     strategy:
       matrix:
         image: ["manylinux_2_28_x86_64"]
-        python_version: [ {cp: "cp39-cp39", py: "39"}, {cp: "cp310-cp310", py: "3.10"}, {cp: "cp311-cp311", py: "3.11"}, {cp: "cp312-cp312", py: "3.12"} ]
+        python_version: [ {cp: "cp39-cp39", py: "39"}, {cp: "cp310-cp310", py: "39"}, {cp: "cp311-cp311", py: "3.11"}, {cp: "cp312-cp312", py: "3.12"} ]
     steps:
     - uses: actions/checkout@v4
     - name: Building wheel

From dd3ba67e4b84f7422dd4e1c0cd86d9fa1a84d613 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Sat, 13 Jul 2024 00:00:50 -0700
Subject: [PATCH 12/49] np

---
 pyproject.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index acea5df..25490cd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -5,7 +5,7 @@ version = "0.1.0"
 
 dependencies = [
   "sympy",
-  "numpy",
+  "numpy<2.0",
   "scipy",
   "tqdm",
   "cffi",
@@ -22,7 +22,7 @@ dev = [
 ]
 
 [build-system]
-requires = ["setuptools","scons","Cython","numpy","sympy", "pytest", "cffi"]
+requires = ["setuptools","scons","Cython","numpy<2.0","sympy", "pytest", "cffi"]
 build-backend = "setuptools.build_meta"
 
 [tool.ruff]

From 6ba9222873ce1a5f483d854508cc96a431cecb14 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 15:45:31 -0700
Subject: [PATCH 13/49] real wheel

---
 MANIFEST.in                                   |   2 +-
 SConstruct                                    |   4 +---
 pyproject.toml                                |   2 +-
 {examples => rednose/examples}/SConscript     |   2 ++
 {examples => rednose/examples}/__init__.py    |   0
 .../examples}/kinematic_kf.png                | Bin
 .../examples}/kinematic_kf.py                 |   0
 {examples => rednose/examples}/live_kf.py     |   0
 .../examples}/test_compare.py                 |   0
 .../examples}/test_kinematic_kf.py            |   0
 scripts/build-manylinux-wheel.sh              |  20 ------------------
 scripts/build_wheel.sh                        |  11 ++++++++++
 setup.py                                      |  14 +++++++++---
 13 files changed, 27 insertions(+), 28 deletions(-)
 rename {examples => rednose/examples}/SConscript (87%)
 rename {examples => rednose/examples}/__init__.py (100%)
 rename {examples => rednose/examples}/kinematic_kf.png (100%)
 rename {examples => rednose/examples}/kinematic_kf.py (100%)
 rename {examples => rednose/examples}/live_kf.py (100%)
 rename {examples => rednose/examples}/test_compare.py (100%)
 rename {examples => rednose/examples}/test_kinematic_kf.py (100%)
 delete mode 100755 scripts/build-manylinux-wheel.sh
 create mode 100755 scripts/build_wheel.sh

diff --git a/MANIFEST.in b/MANIFEST.in
index 3f0af2d..360135c 100644
--- a/MANIFEST.in
+++ b/MANIFEST.in
@@ -1,5 +1,5 @@
 exclude rednose/**/*.o
 include SConstruct
 include rednose/SConscript
-include examples/SConscript
+include rednose/examples/SConscript
 recursive-include site_scons *
diff --git a/SConstruct b/SConstruct
index 3a947cd..e0ce849 100644
--- a/SConstruct
+++ b/SConstruct
@@ -40,8 +40,6 @@ env = Environment(
   tools=["default", "cython", "rednose_filter"],
 )
 
-env.AppendENVPath('PYTHONPATH', '.')
-
 # Cython build enviroment
 envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
@@ -58,4 +56,4 @@ else:
 Export('env', 'envCython', 'common')
 
 SConscript(['#rednose/SConscript'])
-SConscript(['#examples/SConscript'])
+SConscript(['#rednose/examples/SConscript'])
diff --git a/pyproject.toml b/pyproject.toml
index 25490cd..c9608da 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -22,7 +22,7 @@ dev = [
 ]
 
 [build-system]
-requires = ["setuptools","scons","Cython","numpy<2.0","sympy", "pytest", "cffi"]
+requires = ["setuptools", "scons", "Cython", "numpy<2.0", "sympy", "pytest", "cffi"]
 build-backend = "setuptools.build_meta"
 
 [tool.ruff]
diff --git a/examples/SConscript b/rednose/examples/SConscript
similarity index 87%
rename from examples/SConscript
rename to rednose/examples/SConscript
index 3d178ad..57ba76e 100644
--- a/examples/SConscript
+++ b/rednose/examples/SConscript
@@ -1,5 +1,7 @@
 Import('env')
 
+env.AppendENVPath('PYTHONPATH', env["REDNOSE_ROOT"])
+
 gen_dir = Dir('generated/').abspath
 
 env.RednoseCompileFilter(
diff --git a/examples/__init__.py b/rednose/examples/__init__.py
similarity index 100%
rename from examples/__init__.py
rename to rednose/examples/__init__.py
diff --git a/examples/kinematic_kf.png b/rednose/examples/kinematic_kf.png
similarity index 100%
rename from examples/kinematic_kf.png
rename to rednose/examples/kinematic_kf.png
diff --git a/examples/kinematic_kf.py b/rednose/examples/kinematic_kf.py
similarity index 100%
rename from examples/kinematic_kf.py
rename to rednose/examples/kinematic_kf.py
diff --git a/examples/live_kf.py b/rednose/examples/live_kf.py
similarity index 100%
rename from examples/live_kf.py
rename to rednose/examples/live_kf.py
diff --git a/examples/test_compare.py b/rednose/examples/test_compare.py
similarity index 100%
rename from examples/test_compare.py
rename to rednose/examples/test_compare.py
diff --git a/examples/test_kinematic_kf.py b/rednose/examples/test_kinematic_kf.py
similarity index 100%
rename from examples/test_kinematic_kf.py
rename to rednose/examples/test_kinematic_kf.py
diff --git a/scripts/build-manylinux-wheel.sh b/scripts/build-manylinux-wheel.sh
deleted file mode 100755
index c29ffc9..0000000
--- a/scripts/build-manylinux-wheel.sh
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/bin/bash
-
-set -ex
-
-if [ -x /usr/bin/yum ]; then
-    yum install -y python${PYTHON_VERSION}-devel.x86_64 clang libffi-devel eigen3-devel
-fi
-
-if [ -e /tmp/wheels ]; then
-    echo "/tmp/wheels should not exist!"
-    exit 1
-fi
-
-mkdir -p /tmp/wheels
-
-${PYPATH}/bin/python -m pip wheel -v /project -w /tmp/wheels --no-deps
-wheel=$(ls /tmp/wheels/*.whl)
-
-# Apply fixups.
-auditwheel repair ${wheel} -w /project/dist
diff --git a/scripts/build_wheel.sh b/scripts/build_wheel.sh
new file mode 100755
index 0000000..b4d9394
--- /dev/null
+++ b/scripts/build_wheel.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+
+cd $DIR/..
+
+export CIBW_BUILD="cp312-manylinux_x86_64 cp311-manylinux_x86_64"
+export CIBW_MANYLINUX_X86_64_IMAGE="quay.io/pypa/manylinux_2_28_x86_64"
+export CIBW_BEFORE_ALL_LINUX="dnf install -y clang libffi-devel eigen3-devel"
+
+cibuildwheel
diff --git a/setup.py b/setup.py
index b0ea12f..f752cc1 100644
--- a/setup.py
+++ b/setup.py
@@ -1,7 +1,12 @@
-from setuptools import Command, setup
+from setuptools import Command, setup, Distribution
 from setuptools.command.build import build
 import subprocess
 
+class BinaryDistribution(Distribution):
+  def has_ext_modules(self):
+    return True
+
+
 class SconsBuild(Command):
   def initialize_options(self) -> None:
     pass
@@ -12,12 +17,15 @@ def finalize_options(self) -> None:
   def run(self) -> None:
     subprocess.run(["scons -j$(nproc)"], shell=True).check_returncode()
 
+
 class CustomBuild(build):
   sub_commands = [('scons_build', None)] + build.sub_commands
 
+
 setup(
-    packages = ["rednose", "examples", "rednose.helpers"],
+    packages = ["rednose", "rednose.examples", "rednose.helpers"],
     package_data={'': ['**/*.cc', '**/*.c', '**/*.h', '**/*.pxd', '**/*.pyx', '**/*.py', '**/*.so', '**/*.npy']},
     include_package_data=True,
-    cmdclass={'build': CustomBuild, 'scons_build': SconsBuild}
+    cmdclass={'build': CustomBuild, 'scons_build': SconsBuild},
+    distclass=BinaryDistribution,
     )

From c26fce51fa6b0a204fc23046706f317247d7d372 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:18:21 -0700
Subject: [PATCH 14/49] wheel

---
 .github/workflows/tests.yml  |  2 +-
 .github/workflows/wheels.yml | 16 ++++++++++++----
 pyproject.toml               |  4 ++--
 3 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 688f22e..bd12620 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -7,7 +7,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        python-version: ["3.9", "3.10", "3.11", "3.12"]
+        python-version: ["3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 8c98b23..76c6918 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -4,12 +4,20 @@ on: [push, pull_request]
 
 jobs:
   wheels:
-    runs-on: ubuntu-latest
+    runs-on: ${{ matrix.platform[0] }}
     strategy:
+      fail-fast: false
       matrix:
-        image: ["manylinux_2_28_x86_64"]
-        python_version: [ {cp: "cp39-cp39", py: "39"}, {cp: "cp310-cp310", py: "39"}, {cp: "cp311-cp311", py: "3.11"}, {cp: "cp312-cp312", py: "3.12"} ]
+        platform:
+          - ['ubuntu-20.04, manylinux_x86_64']
+        python: ['cp311', 'cp312']
+
     steps:
     - uses: actions/checkout@v4
     - name: Building wheel
-      run: docker run -e PYPATH=/opt/python/${{ matrix.python_version.cp }} -e PYTHON_VERSION=${{ matrix.python_version.py }} --rm -v `pwd`:/project quay.io/pypa/${{ matrix.image }} /project/scripts/build-manylinux-wheel.sh
+      uses: pypa/cibuildwheel@v2.19.2
+      env:
+        uses:
+          CIBW_BUILD: "${{ matrix.python }}-${{ matrix.buildplat[1] }}"
+          CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28_x86_64"
+          CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"
diff --git a/pyproject.toml b/pyproject.toml
index c9608da..a4f04c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "rednose"
-requires-python = ">= 3.9"
+requires-python = ">= 3.11"
 version = "0.1.0"
 
 dependencies = [
@@ -27,7 +27,7 @@ build-backend = "setuptools.build_meta"
 
 [tool.ruff]
 line-length = 160
-target-version="py39"
+target-version="py311"
 
 [tool.ruff.lint]
 select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A"]

From 09470cefef6fc9541c13182a9fd211fcbade395e Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:20:37 -0700
Subject: [PATCH 15/49] mapping

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 76c6918..59f3161 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -18,6 +18,6 @@ jobs:
       uses: pypa/cibuildwheel@v2.19.2
       env:
         uses:
-          CIBW_BUILD: "${{ matrix.python }}-${{ matrix.buildplat[1] }}"
+          CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
           CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28_x86_64"
           CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"

From 890c2c4a42e8442b2cc685793c89257fac0d1666 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:23:15 -0700
Subject: [PATCH 16/49] yml...

---
 .github/workflows/wheels.yml | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 59f3161..9310002 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -17,7 +17,6 @@ jobs:
     - name: Building wheel
       uses: pypa/cibuildwheel@v2.19.2
       env:
-        uses:
-          CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
-          CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28_x86_64"
-          CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"
+        CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
+        CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28_x86_64"
+        CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"

From 735f342941f326c4de4d3efa50dc55b57ff3c5e6 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:36:30 -0700
Subject: [PATCH 17/49] '

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 9310002..a8b48fa 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -9,7 +9,7 @@ jobs:
       fail-fast: false
       matrix:
         platform:
-          - ['ubuntu-20.04, manylinux_x86_64']
+          - [ubuntu-latest, manylinux_x86_64]
         python: ['cp311', 'cp312']
 
     steps:

From 76e25cf9dcb36c0bf004f4295fd16f189a1a342d Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:41:25 -0700
Subject: [PATCH 18/49] use this image

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index a8b48fa..bb86b7b 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -18,5 +18,5 @@ jobs:
       uses: pypa/cibuildwheel@v2.19.2
       env:
         CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
-        CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28_x86_64"
+        CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"

From f1ce9839bf860840ffb83e3f36c22ac807b2dd17 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:50:07 -0700
Subject: [PATCH 19/49] aarch64

---
 .github/workflows/wheels.yml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index bb86b7b..a6fdcc9 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -10,13 +10,22 @@ jobs:
       matrix:
         platform:
           - [ubuntu-latest, manylinux_x86_64]
+          - [ubuntu-latest, manylinux_aarch64]
         python: ['cp311', 'cp312']
 
     steps:
     - uses: actions/checkout@v4
+
+    - name: Set up QEMU
+      if: runner.os == 'Linux'
+      uses: docker/setup-qemu-action@v3
+      with:
+        platforms: all
+
     - name: Building wheel
       uses: pypa/cibuildwheel@v2.19.2
       env:
         CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
         CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
+        CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"

From a8db4b4d38f97462735c62c80ca4cab25c788ba5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 16:53:12 -0700
Subject: [PATCH 20/49] test aarch

---
 .github/workflows/wheels.yml | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index a6fdcc9..aac76ff 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -9,8 +9,8 @@ jobs:
       fail-fast: false
       matrix:
         platform:
-          - [ubuntu-latest, manylinux_x86_64]
           - [ubuntu-latest, manylinux_aarch64]
+          #- [ubuntu-latest, manylinux_x86_64]
         python: ['cp311', 'cp312']
 
     steps:
@@ -26,6 +26,7 @@ jobs:
       uses: pypa/cibuildwheel@v2.19.2
       env:
         CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
-        CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
+        #CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
+        CIBW_ARCHS_LINUX: "aarch64"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"

From e382021262df038145cff168a1ed429b392c51c9 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 17:47:27 -0700
Subject: [PATCH 21/49] fake test

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index aac76ff..b0c129f 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -29,4 +29,4 @@ jobs:
         #CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
         CIBW_ARCHS_LINUX: "aarch64"
-        CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel"
+        CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python3.11-devel.aarch64"

From 3bba17a17208f30c1498423127caaf068b448a94 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 20:31:41 -0700
Subject: [PATCH 22/49] macos

---
 .github/workflows/wheels.yml | 20 +++++++++-----------
 pyproject.toml               |  4 ++++
 2 files changed, 13 insertions(+), 11 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index b0c129f..ede817a 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -4,14 +4,14 @@ on: [push, pull_request]
 
 jobs:
   wheels:
-    runs-on: ${{ matrix.platform[0] }}
+    runs-on: ${{ matrix.platform.os }}
     strategy:
-      fail-fast: false
+      fail-fast: true
       matrix:
-        platform:
-          - [ubuntu-latest, manylinux_aarch64]
-          #- [ubuntu-latest, manylinux_x86_64]
-        python: ['cp311', 'cp312']
+        platform: [ {os: "ubuntu-latest", target: "manylinux_x86_64"},
+                    {os: "ubuntu-latest", target: "manylinux_aarch64"},
+                    {os: "macos-14",      target: "macosx_arm64"     }]
+        python:   [ {cp: "cp311", py: "3.11"}, {cp: "cp312", py: "3.12"}]
 
     steps:
     - uses: actions/checkout@v4
@@ -25,8 +25,6 @@ jobs:
     - name: Building wheel
       uses: pypa/cibuildwheel@v2.19.2
       env:
-        CIBW_BUILD: "${{ matrix.python }}-${{ matrix.platform[1] }}"
-        #CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
-        CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
-        CIBW_ARCHS_LINUX: "aarch64"
-        CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python3.11-devel.aarch64"
+        CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
+        CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
+        CIBW_BEFORE_ALL_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
diff --git a/pyproject.toml b/pyproject.toml
index a4f04c5..e7371ad 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -40,3 +40,7 @@ flake8-implicit-str-concat.allow-multiline=false
 
 [tool.pytest.ini_options]
 addopts = "--durations=10 -n auto"
+
+[tool.cibuildwheel.linux]
+manylinux-x86_64-image = "manylinux_2_28"
+manylinux-aarch64-image = "manylinux_2_28"

From b85776ae2d3fde538275babf1a62d1206b887837 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 20:34:52 -0700
Subject: [PATCH 23/49] skip

---
 pyproject.toml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index e7371ad..be13308 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -41,6 +41,9 @@ flake8-implicit-str-concat.allow-multiline=false
 [tool.pytest.ini_options]
 addopts = "--durations=10 -n auto"
 
+[tool.cibuildwheel]
+skip = "cp36-* cp37-* cp-38* cp-39* cp-310* pp37-* pp38-* pp39-* pp310-* *-manylinux_i686 *_ppc64le *_s390x *_universal2"
+
 [tool.cibuildwheel.linux]
 manylinux-x86_64-image = "manylinux_2_28"
 manylinux-aarch64-image = "manylinux_2_28"

From 5a983837c8d41489578841781803046831c7d7cb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 20:40:45 -0700
Subject: [PATCH 24/49] archs

---
 .github/workflows/wheels.yml | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index ede817a..52bdcfa 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -8,9 +8,9 @@ jobs:
     strategy:
       fail-fast: true
       matrix:
-        platform: [ {os: "ubuntu-latest", target: "manylinux_x86_64"},
-                    {os: "ubuntu-latest", target: "manylinux_aarch64"},
-                    {os: "macos-14",      target: "macosx_arm64"     }]
+        platform: [ {os: "ubuntu-latest", target: "manylinux_x86_64",  arch: "x86_64"},
+                    {os: "ubuntu-latest", target: "manylinux_aarch64", arch: "aarch64"},
+                    {os: "macos-14",      target: "macosx_arm64"       arch: "arm64"}]
         python:   [ {cp: "cp311", py: "3.11"}, {cp: "cp312", py: "3.12"}]
 
     steps:
@@ -26,5 +26,6 @@ jobs:
       uses: pypa/cibuildwheel@v2.19.2
       env:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
+        CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
         CIBW_BEFORE_ALL_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"

From 5cd9791af6815bb84d5c391a85709c316dfb914b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 20:44:24 -0700
Subject: [PATCH 25/49] fix

---
 .github/workflows/wheels.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 52bdcfa..90878b9 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -10,8 +10,8 @@ jobs:
       matrix:
         platform: [ {os: "ubuntu-latest", target: "manylinux_x86_64",  arch: "x86_64"},
                     {os: "ubuntu-latest", target: "manylinux_aarch64", arch: "aarch64"},
-                    {os: "macos-14",      target: "macosx_arm64"       arch: "arm64"}]
-        python:   [ {cp: "cp311", py: "3.11"}, {cp: "cp312", py: "3.12"}]
+                    {os: "macos-14",      target: "macosx_arm64",      arch: "arm64"} ]
+        python:   [ {cp: "cp311", py: "3.11"}, {cp: "cp312", py: "3.12"} ]
 
     steps:
     - uses: actions/checkout@v4

From ae7409e9afaabc40bdfcb9143a5f79fd8bd83bcb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 20:48:11 -0700
Subject: [PATCH 26/49] nproc

---
 setup.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/setup.py b/setup.py
index f752cc1..823c18e 100644
--- a/setup.py
+++ b/setup.py
@@ -15,7 +15,7 @@ def finalize_options(self) -> None:
     pass
 
   def run(self) -> None:
-    subprocess.run(["scons -j$(nproc)"], shell=True).check_returncode()
+    subprocess.run(["scons -j$(nproc || sysctl -n hw.logicalcpu)"], shell=True).check_returncode()
 
 
 class CustomBuild(build):

From 016609d98ce284d40e267626624b1bdad8f16db0 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 21:01:39 -0700
Subject: [PATCH 27/49] try

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 90878b9..a62e287 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,4 +28,4 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_ALL_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
+        CIBW_BEFORE_ALL_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"

From d022fe4e20bee93cd82b58dfc3db8fff05454494 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 21:09:41 -0700
Subject: [PATCH 28/49] freeling

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index a62e287..460fbb4 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,4 +28,4 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_ALL_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"
+        CIBW_BEFORE_ALL_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew uninstall freeling && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"

From f8ee985afa074952e678826d42f7f6e3f316abd5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 21:16:17 -0700
Subject: [PATCH 29/49] try

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 460fbb4..b18a106 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,4 +28,4 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_ALL_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew uninstall freeling && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"
+        CIBW_BEFORE_BUILD_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"

From 2c765de222ad8e5e86a27e0e1a8acf931d31b7fb Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 21:44:18 -0700
Subject: [PATCH 30/49] scons

---
 SConstruct | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index e0ce849..992742f 100644
--- a/SConstruct
+++ b/SConstruct
@@ -6,8 +6,9 @@ import numpy as np
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 
 common = ''
-
 python_path = sysconfig.get_paths()['include']
+
+libpath = []
 cpppath = [
   '#',
   '#rednose',
@@ -17,6 +18,15 @@ cpppath = [
   np.get_include(),
 ]
 
+if arch == "Darwin":
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+  libpath += [
+    f"{brew_prefix}/lib",
+  ]
+  cpppath += [
+    f"{brew_prefix}/include",
+  ]
+
 env = Environment(
   ENV=os.environ,
   CC='clang',
@@ -32,7 +42,7 @@ env = Environment(
     "-Werror=format-extra-args",
     "-Wshadow",
   ],
-  LIBPATH=["#rednose/examples/generated"],
+  LIBPATH=libpath + ["#rednose/examples/generated"],
   CFLAGS="-std=gnu11",
   CXXFLAGS="-std=c++1z",
   CPPPATH=cpppath,

From 1139a9d5ba3d2ab989c5cdcfd9cdf42a907e6e35 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 21:56:32 -0700
Subject: [PATCH 31/49] test

---
 SConstruct | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index 992742f..b1e4dcd 100644
--- a/SConstruct
+++ b/SConstruct
@@ -1,4 +1,5 @@
 import os
+import platform
 import subprocess
 import sysconfig
 import numpy as np
@@ -18,13 +19,16 @@ cpppath = [
   np.get_include(),
 ]
 
-if arch == "Darwin":
+if platform.processor() == "arm":
   brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+  print('xxxxxxx', brew_prefix)
   libpath += [
     f"{brew_prefix}/lib",
+    "/opt/homebrew/lib"
   ]
   cpppath += [
     f"{brew_prefix}/include",
+    "/opt/homebrew/include"
   ]
 
 env = Environment(
@@ -42,7 +46,7 @@ env = Environment(
     "-Werror=format-extra-args",
     "-Wshadow",
   ],
-  LIBPATH=libpath + ["#rednose/examples/generated"],
+  LIBPATH=libpath + ["#rednose/examples/generated", '/opt/homebrew/lib'],
   CFLAGS="-std=gnu11",
   CXXFLAGS="-std=c++1z",
   CPPPATH=cpppath,

From 6073df9d8f24e81fe6a2614d1d4bf75cc8af7aee Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:11:33 -0700
Subject: [PATCH 32/49] py lib

---
 SConstruct | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/SConstruct b/SConstruct
index b1e4dcd..b5b6c0e 100644
--- a/SConstruct
+++ b/SConstruct
@@ -46,7 +46,7 @@ env = Environment(
     "-Werror=format-extra-args",
     "-Wshadow",
   ],
-  LIBPATH=libpath + ["#rednose/examples/generated", '/opt/homebrew/lib'],
+  LIBPATH=libpath + ["#rednose/examples/generated"],
   CFLAGS="-std=gnu11",
   CXXFLAGS="-std=c++1z",
   CPPPATH=cpppath,
@@ -60,6 +60,7 @@ envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-decla
 
 envCython["LIBS"] = []
 if arch == "Darwin":
+  envCython["CPPPATH"] += [python_path, np.get_include()]
   envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
   envCython["LINKFLAGS"] = ["-shared"]

From 86b5b79ff32d082ba917e17df62509c2e9af9e46 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:19:13 -0700
Subject: [PATCH 33/49] try

---
 .github/workflows/wheels.yml | 2 +-
 rednose/SConscript           | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index b18a106..33f250c 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,4 +28,4 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_BUILD_MACOS: "brew install cmake && brew install zlib && brew install coreutils && brew install libarchive && brew install libtool && brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"
+        CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"
diff --git a/rednose/SConscript b/rednose/SConscript
index 52e36e0..6f442b8 100644
--- a/rednose/SConscript
+++ b/rednose/SConscript
@@ -12,6 +12,6 @@ if common != "":
 ekf_objects = env.SharedObject(cc_sources)
 rednose = env.Library("helpers/ekf_sym", ekf_objects, LIBS=libs)
 rednose_python = envCython.Program("helpers/ekf_sym_pyx.so", ["helpers/ekf_sym_pyx.pyx", ekf_objects],
-                                   LIBS=libs + envCython["LIBS"])
+                                   LIBS=libs + envCython["LIBS"], CPPPATH=envCython["CPPPATH"])
 
 Export('rednose', 'rednose_python')

From a24e8ce7b2ab771fcfc96ab1f9ed223ba94659f3 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:22:46 -0700
Subject: [PATCH 34/49] try this

---
 rednose/SConscript | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rednose/SConscript b/rednose/SConscript
index 6f442b8..a61b79d 100644
--- a/rednose/SConscript
+++ b/rednose/SConscript
@@ -12,6 +12,6 @@ if common != "":
 ekf_objects = env.SharedObject(cc_sources)
 rednose = env.Library("helpers/ekf_sym", ekf_objects, LIBS=libs)
 rednose_python = envCython.Program("helpers/ekf_sym_pyx.so", ["helpers/ekf_sym_pyx.pyx", ekf_objects],
-                                   LIBS=libs + envCython["LIBS"], CPPPATH=envCython["CPPPATH"])
+                                   LIBS=libs + envCython["LIBS"], CPPPATH=["/Library/Frameworks/Python.framework/Versions/3.12/include/python3.12", "/Library/Frameworks/Python.framework/Versions/3.11/include/python3.11"])
 
 Export('rednose', 'rednose_python')

From 754355c0311174d4474ef0b012e0573fb9bb5de2 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:30:04 -0700
Subject: [PATCH 35/49] should work

---
 SConstruct         | 3 ++-
 rednose/SConscript | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/SConstruct b/SConstruct
index b5b6c0e..d462a49 100644
--- a/SConstruct
+++ b/SConstruct
@@ -59,7 +59,8 @@ envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 
 envCython["LIBS"] = []
-if arch == "Darwin":
+if platform.processor() == "arm":
+  print('AAAAA:', arch)
   envCython["CPPPATH"] += [python_path, np.get_include()]
   envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
diff --git a/rednose/SConscript b/rednose/SConscript
index a61b79d..52e36e0 100644
--- a/rednose/SConscript
+++ b/rednose/SConscript
@@ -12,6 +12,6 @@ if common != "":
 ekf_objects = env.SharedObject(cc_sources)
 rednose = env.Library("helpers/ekf_sym", ekf_objects, LIBS=libs)
 rednose_python = envCython.Program("helpers/ekf_sym_pyx.so", ["helpers/ekf_sym_pyx.pyx", ekf_objects],
-                                   LIBS=libs + envCython["LIBS"], CPPPATH=["/Library/Frameworks/Python.framework/Versions/3.12/include/python3.12", "/Library/Frameworks/Python.framework/Versions/3.11/include/python3.11"])
+                                   LIBS=libs + envCython["LIBS"])
 
 Export('rednose', 'rednose_python')

From a4f19778d6d9d9b94ac977f1a2bd671480641a2c Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:39:00 -0700
Subject: [PATCH 36/49] get arch test

---
 SConstruct | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/SConstruct b/SConstruct
index d462a49..463c5e6 100644
--- a/SConstruct
+++ b/SConstruct
@@ -19,16 +19,15 @@ cpppath = [
   np.get_include(),
 ]
 
-if platform.processor() == "arm":
+print('AAAAA:', arch)
+#if platform.processor() == "arm":
+if arch == "Darwin":
   brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-  print('xxxxxxx', brew_prefix)
   libpath += [
     f"{brew_prefix}/lib",
-    "/opt/homebrew/lib"
   ]
   cpppath += [
     f"{brew_prefix}/include",
-    "/opt/homebrew/include"
   ]
 
 env = Environment(
@@ -59,8 +58,9 @@ envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
 
 envCython["LIBS"] = []
-if platform.processor() == "arm":
-  print('AAAAA:', arch)
+#if platform.processor() == "arm":
+if arch == "Darwin":
+  print('aaaaaaAAAAA:', arch)
   envCython["CPPPATH"] += [python_path, np.get_include()]
   envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":

From b3499f769c759616ef1b20b7d7cd439adb79ec8b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Wed, 17 Jul 2024 22:46:00 -0700
Subject: [PATCH 37/49] fix all

---
 .github/workflows/wheels.yml |  2 +-
 SConstruct                   | 14 ++++++--------
 2 files changed, 7 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 33f250c..b9e612b 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,4 +28,4 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13 && brew info eigen"
+        CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
diff --git a/SConstruct b/SConstruct
index 463c5e6..3fe4232 100644
--- a/SConstruct
+++ b/SConstruct
@@ -5,9 +5,11 @@ import sysconfig
 import numpy as np
 
 arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
+if platform.system() == "Darwin":
+  arch = "Darwin"
 
 common = ''
-python_path = sysconfig.get_paths()['include']
+py_include = sysconfig.get_paths()['include']
 
 libpath = []
 cpppath = [
@@ -15,12 +17,10 @@ cpppath = [
   '#rednose',
   '#rednose/examples/generated',
   '/usr/lib/include',
-  python_path,
+  py_include,
   np.get_include(),
 ]
 
-print('AAAAA:', arch)
-#if platform.processor() == "arm":
 if arch == "Darwin":
   brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
   libpath += [
@@ -56,16 +56,14 @@ env = Environment(
 # Cython build enviroment
 envCython = env.Clone()
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CPPPATH"] += [py_include, np.get_include()]
 
 envCython["LIBS"] = []
-#if platform.processor() == "arm":
 if arch == "Darwin":
-  print('aaaaaaAAAAA:', arch)
-  envCython["CPPPATH"] += [python_path, np.get_include()]
   envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
 elif arch == "aarch64":
   envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(python_path)]
+  envCython["LIBS"] = [os.path.basename(py_include)]
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 

From fec51dd67583603df7f380e0745b6c0623720ec5 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Thu, 18 Jul 2024 10:32:10 -0700
Subject: [PATCH 38/49] clean

---
 .github/workflows/wheels.yml | 2 ++
 pyproject.toml               | 7 -------
 2 files changed, 2 insertions(+), 7 deletions(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index b9e612b..aff93ee 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -29,3 +29,5 @@ jobs:
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
         CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
+        CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
+        CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
diff --git a/pyproject.toml b/pyproject.toml
index be13308..a4f04c5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -40,10 +40,3 @@ flake8-implicit-str-concat.allow-multiline=false
 
 [tool.pytest.ini_options]
 addopts = "--durations=10 -n auto"
-
-[tool.cibuildwheel]
-skip = "cp36-* cp37-* cp-38* cp-39* cp-310* pp37-* pp38-* pp39-* pp310-* *-manylinux_i686 *_ppc64le *_s390x *_universal2"
-
-[tool.cibuildwheel.linux]
-manylinux-x86_64-image = "manylinux_2_28"
-manylinux-aarch64-image = "manylinux_2_28"

From 1988025a91b676154ce1319ae1e67b4921612d9b Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 17:33:26 -0700
Subject: [PATCH 39/49] test this

---
 .github/workflows/tests.yml  | 55 +++++++++++++++++++++++------------
 .github/workflows/wheels.yml |  1 +
 Dockerfile                   | 14 ---------
 requirements.txt             | 56 ++++++++++++++++++++++++++++++++++++
 4 files changed, 94 insertions(+), 32 deletions(-)
 delete mode 100644 Dockerfile
 create mode 100644 requirements.txt

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index bd12620..78697c4 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -3,30 +3,49 @@ name: tests
 on: [push, pull_request]
 
 jobs:
-  test:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version: ["3.11", "3.12"]
+  static_analysis:
+    runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: ${{ matrix.python-version }}
-    - name: Installing build dependencies
-      run: scripts/install_dependencies.sh
-    - name: Installing rednose
-      run: pip3 install --break-system-packages .[dev]
-    - name: Unit Tests
-      run: pytest
+        python-version: '3.11'
+    - name: Installing requirements
+      run:
+        python -m pip install -r requirements.txt
+    - name: Static analysis
+      run: pre-commit run --all
 
-  static_analysis:
+  smoke_test:
+    runs-on: ubuntu-24.04
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v5
+      with:
+        python-version: '3.11'
+    - name: Installing python requirements
+      run:
+        python -m pip install -r requirements.txt
+    - name: Installing ubuntu requirements
+      run:
+        apt-get install -y --no-install-recommends clang libeigen3-dev
+    - name: Building
+      run: scons -j$(nproc)
+
+  full_test:
     runs-on: ubuntu-24.04
     steps:
     - uses: actions/checkout@v4
-    - name: Installing build dependencies
-      run: scripts/install_dependencies.sh
+    - uses: actions/setup-python@v5
+      with:
+        python-version: '3.11'
+    - name: Installing python requirements
+      run:
+        python -m pip install -r requirements.txt
+    - name: Installing ubuntu requirements
+      run:
+        apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Installing rednose
-      run: pip3 install --break-system-packages .[dev]
-    - name: Static analysis
-      run: pre-commit run --all
+      run: pip install -e .
+    - name: Running all tests
+      run: pytest
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index aff93ee..057599c 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -31,3 +31,4 @@ jobs:
         CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
         CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
+        CIBW_TEST_COMMAND: pytest {package}
diff --git a/Dockerfile b/Dockerfile
deleted file mode 100644
index 57bd4c1..0000000
--- a/Dockerfile
+++ /dev/null
@@ -1,14 +0,0 @@
-FROM ubuntu:24.04
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && apt-get install -y capnproto libcapnp-dev clang wget git autoconf libtool curl make build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev libsqlite3-dev llvm libncurses5-dev libncursesw5-dev xz-utils tk-dev libffi-dev liblzma-dev python3-openssl libeigen3-dev python3-pip python3-dev
-
-WORKDIR /project
-
-ENV PYTHONPATH=/project
-
-COPY . .
-RUN rm -rf .git
-RUN pip3 install --break-system-packages --no-cache-dir -r requirements.txt
-RUN python3 setup.py install
-RUN scons -c && scons -j$(nproc)
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..f82c232
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,56 @@
+# This file was autogenerated by uv via the following command:
+#    uv pip compile --all-extras -o requirements.txt pyproject.toml
+cffi==1.16.0
+    # via rednose (pyproject.toml)
+cfgv==3.4.0
+    # via pre-commit
+cython==3.0.10
+    # via rednose (pyproject.toml)
+distlib==0.3.8
+    # via virtualenv
+execnet==2.1.1
+    # via pytest-xdist
+filelock==3.15.4
+    # via virtualenv
+identify==2.6.0
+    # via pre-commit
+iniconfig==2.0.0
+    # via pytest
+mpmath==1.3.0
+    # via sympy
+nodeenv==1.9.1
+    # via pre-commit
+numpy==1.26.4
+    # via
+    #   rednose (pyproject.toml)
+    #   scipy
+packaging==24.1
+    # via pytest
+platformdirs==4.2.2
+    # via virtualenv
+pluggy==1.5.0
+    # via pytest
+pre-commit==3.7.1
+    # via rednose (pyproject.toml)
+pycparser==2.22
+    # via cffi
+pytest==8.2.2
+    # via
+    #   rednose (pyproject.toml)
+    #   pytest-xdist
+pytest-xdist==3.6.1
+    # via rednose (pyproject.toml)
+pyyaml==6.0.1
+    # via pre-commit
+ruff==0.5.3
+    # via rednose (pyproject.toml)
+scipy==1.14.0
+    # via rednose (pyproject.toml)
+scons==4.8.0
+    # via rednose (pyproject.toml)
+sympy==1.13.1
+    # via rednose (pyproject.toml)
+tqdm==4.66.4
+    # via rednose (pyproject.toml)
+virtualenv==20.26.3
+    # via pre-commit

From 376c1d3de2ae43a4bc12f4df8d27cfcc699e2e98 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 17:34:50 -0700
Subject: [PATCH 40/49] sudo

---
 .github/workflows/tests.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 78697c4..448c352 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -28,7 +28,7 @@ jobs:
         python -m pip install -r requirements.txt
     - name: Installing ubuntu requirements
       run:
-        apt-get install -y --no-install-recommends clang libeigen3-dev
+        sudo apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Building
       run: scons -j$(nproc)
 
@@ -44,7 +44,7 @@ jobs:
         python -m pip install -r requirements.txt
     - name: Installing ubuntu requirements
       run:
-        apt-get install -y --no-install-recommends clang libeigen3-dev
+        sudo apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Installing rednose
       run: pip install -e .
     - name: Running all tests

From 5598c22daf059f33cd9f3fa3ddb54f339d1a72b7 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 17:40:55 -0700
Subject: [PATCH 41/49] fix

---
 .github/workflows/tests.yml  | 5 +----
 .github/workflows/wheels.yml | 2 +-
 2 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 448c352..eda6312 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -39,13 +39,10 @@ jobs:
     - uses: actions/setup-python@v5
       with:
         python-version: '3.11'
-    - name: Installing python requirements
-      run:
-        python -m pip install -r requirements.txt
     - name: Installing ubuntu requirements
       run:
         sudo apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Installing rednose
-      run: pip install -e .
+      run: pip install -e .[dev]
     - name: Running all tests
       run: pytest
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 057599c..59b7095 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -31,4 +31,4 @@ jobs:
         CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
         CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
-        CIBW_TEST_COMMAND: pytest {package}
+        CIBW_TEST_COMMAND: pip install -r {project}/requirements.txt && pytest {package}

From 39327b7c3e6de6a5d98a914cedb94013743118fa Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 18:51:00 -0700
Subject: [PATCH 42/49] macos

---
 .github/workflows/tests.yml | 30 ++++++++++++++++++++++++------
 1 file changed, 24 insertions(+), 6 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index eda6312..a0a7ba4 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -16,32 +16,50 @@ jobs:
     - name: Static analysis
       run: pre-commit run --all
 
-  smoke_test:
-    runs-on: ubuntu-24.04
+  scons_test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: ["ubuntu-20.04", "ubuntu-24.04", "macos-14"]
+        python: ["3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: '3.11'
+        python-version: ${{ matrix.python }}
     - name: Installing python requirements
       run:
         python -m pip install -r requirements.txt
     - name: Installing ubuntu requirements
+      if: startsWith(${{ matrix.os }}, 'ubuntu')
       run:
         sudo apt-get install -y --no-install-recommends clang libeigen3-dev
+    - name: Installing macos requirements
+      if: startsWith(${{ matrix.os }}, 'macos')
+      run:
+        brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
     - name: Building
-      run: scons -j$(nproc)
+      run: scons -j$(nproc || sysctl -n hw.logicalcpu)
 
   full_test:
-    runs-on: ubuntu-24.04
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: ["ubuntu-20.04", "ubuntu-24.04", "macos-14"]
+        python: ["3.11", "3.12"]
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
       with:
-        python-version: '3.11'
+        python-version: ${{ matrix.python }}
     - name: Installing ubuntu requirements
+      if: startsWith(${{ matrix.os }}, 'ubuntu')
       run:
         sudo apt-get install -y --no-install-recommends clang libeigen3-dev
+    - name: Installing macos requirements
+      if: startsWith(${{ matrix.os }}, 'macos')
+      run:
+        brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
     - name: Installing rednose
       run: pip install -e .[dev]
     - name: Running all tests

From a4bd7c07c72dd0b4e8c1bd82dd1899cb6cc0baf8 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 18:55:56 -0700
Subject: [PATCH 43/49] try

---
 .github/workflows/tests.yml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a0a7ba4..4e69558 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -31,11 +31,11 @@ jobs:
       run:
         python -m pip install -r requirements.txt
     - name: Installing ubuntu requirements
-      if: startsWith(${{ matrix.os }}, 'ubuntu')
+      if: ${{startsWith(matrix.os, 'ubuntu')}}
       run:
         sudo apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Installing macos requirements
-      if: startsWith(${{ matrix.os }}, 'macos')
+      if: ${{startsWith(matrix.os, 'macos')}}
       run:
         brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
     - name: Building
@@ -53,11 +53,11 @@ jobs:
       with:
         python-version: ${{ matrix.python }}
     - name: Installing ubuntu requirements
-      if: startsWith(${{ matrix.os }}, 'ubuntu')
+      if: ${{startsWith(matrix.os, 'ubuntu')}}
       run:
         sudo apt-get install -y --no-install-recommends clang libeigen3-dev
     - name: Installing macos requirements
-      if: startsWith(${{ matrix.os }}, 'macos')
+      if: ${{startsWith(matrix.os, 'macos')}}
       run:
         brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
     - name: Installing rednose

From b5f49d16b0cd3a59f89c35e0bb9831d24d807205 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 19:00:02 -0700
Subject: [PATCH 44/49] fix

---
 pyproject.toml   | 1 +
 requirements.txt | 2 ++
 2 files changed, 3 insertions(+)

diff --git a/pyproject.toml b/pyproject.toml
index a4f04c5..1337e81 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -11,6 +11,7 @@ dependencies = [
   "cffi",
   "scons",
   "Cython",
+  "setuptools",
 ]
 
 [project.optional-dependencies]
diff --git a/requirements.txt b/requirements.txt
index f82c232..d5a0215 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -48,6 +48,8 @@ scipy==1.14.0
     # via rednose (pyproject.toml)
 scons==4.8.0
     # via rednose (pyproject.toml)
+setuptools==71.0.4
+    # via rednose (pyproject.toml)
 sympy==1.13.1
     # via rednose (pyproject.toml)
 tqdm==4.66.4

From c62a75a6b12651afda8bd79e50eebb074535f4cd Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 19:42:49 -0700
Subject: [PATCH 45/49] cleanup

---
 .github/workflows/tests.yml     |  8 ++++----
 .github/workflows/wheels.yml    | 19 ++++++++++++++++++-
 scripts/build_wheel.sh          | 11 -----------
 scripts/install_dependencies.sh | 19 -------------------
 scripts/macos_dependencies.sh   |  6 ++++++
 scripts/ubuntu_dependencies.sh  | 12 ++++++++++++
 6 files changed, 40 insertions(+), 35 deletions(-)
 delete mode 100755 scripts/build_wheel.sh
 delete mode 100755 scripts/install_dependencies.sh
 create mode 100755 scripts/macos_dependencies.sh
 create mode 100755 scripts/ubuntu_dependencies.sh

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 4e69558..5cb8306 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -33,11 +33,11 @@ jobs:
     - name: Installing ubuntu requirements
       if: ${{startsWith(matrix.os, 'ubuntu')}}
       run:
-        sudo apt-get install -y --no-install-recommends clang libeigen3-dev
+        scripts/ubuntu_dependencies.sh
     - name: Installing macos requirements
       if: ${{startsWith(matrix.os, 'macos')}}
       run:
-        brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
+        scripts/macos_dependencies.sh
     - name: Building
       run: scons -j$(nproc || sysctl -n hw.logicalcpu)
 
@@ -55,11 +55,11 @@ jobs:
     - name: Installing ubuntu requirements
       if: ${{startsWith(matrix.os, 'ubuntu')}}
       run:
-        sudo apt-get install -y --no-install-recommends clang libeigen3-dev
+        scripts/ubuntu_dependencies.sh
     - name: Installing macos requirements
       if: ${{startsWith(matrix.os, 'macos')}}
       run:
-        brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13
+        scripts/macos_dependencies.sh
     - name: Installing rednose
       run: pip install -e .[dev]
     - name: Running all tests
diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 59b7095..a2ae3bb 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,7 +28,24 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_BUILD_MACOS: "brew install eigen && brew install --cask gcc-arm-embedded && brew install gcc@13"
+        CIBW_BEFORE_BUILD_MACOS: {project}/scripts/macos_dependencies.sh
         CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
         CIBW_TEST_COMMAND: pip install -r {project}/requirements.txt && pytest {package}
+
+
+    - uses: actions/setup-python@v5
+      if: ${{ matrix.platform.arch }} != 'aarch64'
+      with:
+        python-version: ${{ matrix.python.py }}
+
+    - name: Installing the wheel
+      if: ${{ matrix.platform.arch }} != 'aarch64'
+      run: |
+        pip install --break-system-packages ./wheelhouse/*.whl
+
+    - name: Saving wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: cibw-wheels-${{ matrix.platform.target }}-${{ matrix.python.cp }}
+        path: ./wheelhouse/*.whl
diff --git a/scripts/build_wheel.sh b/scripts/build_wheel.sh
deleted file mode 100755
index b4d9394..0000000
--- a/scripts/build_wheel.sh
+++ /dev/null
@@ -1,11 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-cd $DIR/..
-
-export CIBW_BUILD="cp312-manylinux_x86_64 cp311-manylinux_x86_64"
-export CIBW_MANYLINUX_X86_64_IMAGE="quay.io/pypa/manylinux_2_28_x86_64"
-export CIBW_BEFORE_ALL_LINUX="dnf install -y clang libffi-devel eigen3-devel"
-
-cibuildwheel
diff --git a/scripts/install_dependencies.sh b/scripts/install_dependencies.sh
deleted file mode 100755
index d7f109b..0000000
--- a/scripts/install_dependencies.sh
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/bin/bash
-
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-
-cd $DIR
-
-SUDO=""
-
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-$SUDO apt-get update
-$SUDO apt-get install -y --no-install-recommends python3 python3-pip clang libeigen3-dev
diff --git a/scripts/macos_dependencies.sh b/scripts/macos_dependencies.sh
new file mode 100755
index 0000000..10534fc
--- /dev/null
+++ b/scripts/macos_dependencies.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+brew bundle --file=- <<-EOS
+brew "eigen"
+cask "gcc-arm-embedded"
+brew "gcc@13"
+EOS
diff --git a/scripts/ubuntu_dependencies.sh b/scripts/ubuntu_dependencies.sh
new file mode 100755
index 0000000..652f236
--- /dev/null
+++ b/scripts/ubuntu_dependencies.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+if [[ ! $(id -u) -eq 0 ]]; then
+  if [[ -z $(which sudo) ]]; then
+    echo "Please install sudo or run as root"
+    exit 1
+  fi
+  SUDO="sudo"
+fi
+
+$SUDO apt-get update
+$SUDO apt-get install -y --no-install-recommends clang libeigen3-dev

From 6e3b10c2a08a91aa793412816aa4325c3c05739a Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 19:46:14 -0700
Subject: [PATCH 46/49] fix

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index a2ae3bb..c43c7ec 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -28,7 +28,7 @@ jobs:
         CIBW_BUILD: "${{ matrix.python.cp }}-${{ matrix.platform.target }}"
         CIBW_ARCHS: "${{ matrix.platform.arch }}"
         CIBW_BEFORE_ALL_LINUX: "dnf install -y clang libffi-devel eigen3-devel python${{ matrix.python.py }}-devel"
-        CIBW_BEFORE_BUILD_MACOS: {project}/scripts/macos_dependencies.sh
+        CIBW_BEFORE_BUILD_MACOS: "bash {project}/scripts/macos_dependencies.sh"
         CIBW_MANYLINUX_X86_64_IMAGE: "manylinux_2_28"
         CIBW_MANYLINUX_AARCH64_IMAGE: "manylinux_2_28"
         CIBW_TEST_COMMAND: pip install -r {project}/requirements.txt && pytest {package}

From dde0fcbfaf4ffe78a7989a84a82b51d8bc92eebe Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 22:37:02 -0700
Subject: [PATCH 47/49] fix install

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index c43c7ec..24e2b98 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -35,7 +35,7 @@ jobs:
 
 
     - uses: actions/setup-python@v5
-      if: ${{ matrix.platform.arch }} != 'aarch64'
+      if: ${{ matrix.platform.arch != 'aarch64' }}
       with:
         python-version: ${{ matrix.python.py }}
 

From 2401657cd7a36f0c1b8ebd231a4d66f92c2ff693 Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Fri, 19 Jul 2024 22:45:33 -0700
Subject: [PATCH 48/49] last one

---
 .github/workflows/wheels.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
index 24e2b98..b4db7b7 100644
--- a/.github/workflows/wheels.yml
+++ b/.github/workflows/wheels.yml
@@ -40,7 +40,7 @@ jobs:
         python-version: ${{ matrix.python.py }}
 
     - name: Installing the wheel
-      if: ${{ matrix.platform.arch }} != 'aarch64'
+      if: ${{ matrix.platform.arch != 'aarch64' }}
       run: |
         pip install --break-system-packages ./wheelhouse/*.whl
 

From b9555c01aa678103c099f859b9f9f1ce600eba7f Mon Sep 17 00:00:00 2001
From: Maxime Desroches <desroches.maxime@gmail.com>
Date: Mon, 22 Jul 2024 13:32:15 -0700
Subject: [PATCH 49/49] remove this

---
 README.md | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/README.md b/README.md
index f00702d..264958b 100644
--- a/README.md
+++ b/README.md
@@ -49,17 +49,3 @@ A lot of measurements do not come from a Gaussian distribution and as such have
 of the Kalman filter. This can cause a lot of performance issues if not dealt with. This library allows the use of a mahalanobis
 distance statistical test on the incoming measurements to deal with this. Note that good initialization is critical to prevent
 good measurements from being rejected.
-
-### Building
-On ubuntu:
-``` bash
-scripts/install_dependencies.sh
-pip install .
-```
-or run some test:
-On ubuntu:
-``` bash
-scripts/install_dependencies.sh
-pip install .[dev]
-pytest
-```