AP_HAL_Linux: remove AP_HAL_Linux_Namespace header

This centralized namespace header encourages centralizing things on
umbrella headers that are a pain to maintain. Force each part of
AP_HAL_Linux to include what is used.

While at it, do some whitespace cleanups and minor changes to adhere to
coding style.

libraries/AP_BattMonitor/AP_BattMonitor_Bebop.cpp

@@ -24,11 +24,14 @@
 #include <AP_HAL_Linux/RCOutput_Bebop.h>
 #include <AP_HAL_Linux/RCOutput_Disco.h>
 
-extern const AP_HAL::HAL& hal;
-
 #define BATTERY_CAPACITY (1200U) /* mAh */
 #define BATTERY_VOLTAGE_COMPENSATION_LANDED (0.2f)
 
+
+extern const AP_HAL::HAL &hal;
+
+using namespace Linux;
+
 /* polynomial compensation coefficients */
 static const float bat_comp_polynomial_coeffs[5] = {
     -1.2471059149657287e-16f,

libraries/AP_HAL_Linux/AP_HAL_Linux_Namespace.h

@@ -1,56 +0,0 @@
-#pragma once
-
-namespace Linux {
-    class UARTDriver;
-    class SPIUARTDriver;
-    class RPIOUARTDriver;
-    class I2CDevice;
-    class I2CDeviceManager;
-    class SPIDeviceManager;
-    class SPIDeviceDriver;
-    class Storage;
-    class GPIO_BBB;
-    class GPIO_RPI;
-    class GPIO_Sysfs;
-    class Storage;
-    class DigitalSource;
-    class DigitalSource_Sysfs;
-    class PeriodicThread;
-    class PWM_Sysfs;
-    class PWM_Sysfs_Bebop;
-    class PWM_Sysfs_Base;
-    class RCInput;
-    class RCInput_PRU;
-    class RCInput_AioPRU;
-    class RCInput_RPI;
-    class RCInput_Raspilot;
-    class RCInput_Navio2;
-    class RCInput_ZYNQ;
-    class RCInput_UART;
-    class RCInput_UDP;
-    class RCInput_DSM;
-    class RCInput_SBUS;
-    class RCOutput_PRU;
-    class RCOutput_AioPRU;
-    class RCOutput_PCA9685;
-    class RCOutput_Raspilot;
-    class RCOutput_ZYNQ;
-    class RCOutput_Bebop;
-    class RCOutput_Sysfs;
-    class RCOutput_QFLIGHT;
-    class RCOutput_Disco;
-    class Semaphore;
-    class Scheduler;
-    class Util;
-    class UtilRPI;
-    class ToneAlarm;
-    class ToneAlarm_Raspilot;
-    class Thread;
-    class Heat;
-    class HeatPwm;
-    class CameraSensor;
-    class CameraSensor_Mt9v117;
-    class VideoIn;
-    class OpticalFlow_Onboard;
-    class Flow_PX4;
-}

libraries/AP_HAL_Linux/CameraSensor.h

@@ -16,7 +16,9 @@
 
 #include "AP_HAL_Linux.h"
 
-class Linux::CameraSensor {
+namespace Linux {
+
+class CameraSensor {
 public:
     CameraSensor(const char *device_path) { _device_path = device_path; }
 
@@ -26,3 +28,5 @@ public:
 private:
     const char *_device_path;
 };
+
+}

libraries/AP_HAL_Linux/Flow_PX4.h

@@ -16,7 +16,9 @@
 
 #include "AP_HAL_Linux.h"
 
-class Linux::Flow_PX4 {
+namespace Linux {
+
+class Flow_PX4 {
 public:
     Flow_PX4(uint32_t width, uint32_t bytesperline,
              uint32_t max_flow_pixel,
@@ -35,3 +37,5 @@ private:
     uint16_t _pixstep;
     uint8_t  _num_blocks;
 };
+
+}

libraries/AP_HAL_Linux/GPIO.h

@@ -2,7 +2,9 @@
 
 #include "AP_HAL_Linux.h"
 
-class Linux::DigitalSource : public AP_HAL::DigitalSource {
+namespace Linux {
+
+class DigitalSource : public AP_HAL::DigitalSource {
 public:
     DigitalSource(uint8_t v);
     void    mode(uint8_t output);
@@ -14,6 +16,8 @@ private:
 
 };
 
+}
+
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
 #include "GPIO_BBB.h"
 #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO || \

libraries/AP_HAL_Linux/GPIO_BBB.h

@@ -103,7 +103,9 @@
 #define BBB_P9_41 20
 #define BBB_P9_42 7
 
-class Linux::GPIO_BBB : public AP_HAL::GPIO {
+namespace Linux {
+
+class GPIO_BBB : public AP_HAL::GPIO {
 private:
     struct GPIO {
         volatile uint32_t *base;
@@ -131,3 +133,5 @@ public:
     /* return true if USB cable is connected */
     bool    usb_connected(void);
 };
+
+}

libraries/AP_HAL_Linux/GPIO_RPI.h

@@ -41,7 +41,9 @@
 #define RPI_GPIO_30   30   // Pin 5
 #define RPI_GPIO_31   31   // Pin 6
 
-class Linux::GPIO_RPI : public AP_HAL::GPIO {
+namespace Linux {
+
+class GPIO_RPI : public AP_HAL::GPIO {
 public:
     GPIO_RPI();
     void    init();
@@ -65,3 +67,5 @@ public:
 private:
     volatile uint32_t *_gpio;
 };
+
+}

libraries/AP_HAL_Linux/GPIO_Sysfs.h

@@ -5,8 +5,10 @@
 
 #include "GPIO.h"
 
-class Linux::DigitalSource_Sysfs : public AP_HAL::DigitalSource {
-    friend class Linux::GPIO_Sysfs;
+namespace Linux {
+
+class DigitalSource_Sysfs : public AP_HAL::DigitalSource {
+    friend class GPIO_Sysfs;
 public:
     ~DigitalSource_Sysfs();
     uint8_t read();
@@ -23,8 +25,8 @@ private:
 /**
  * Generic implementation of AP_HAL::GPIO for Linux based boards.
  */
-class Linux::GPIO_Sysfs : public AP_HAL::GPIO {
-    friend class Linux::DigitalSource_Sysfs;
+class GPIO_Sysfs : public AP_HAL::GPIO {
+    friend class DigitalSource_Sysfs;
 public:
     /* Fill this table with the real pin numbers. */
     static const unsigned pin_table[];
@@ -76,3 +78,5 @@ protected:
      */
     static bool _export_pin(uint8_t vpin);
 };
+
+}

libraries/AP_HAL_Linux/HAL_Linux_Class.h

@@ -2,8 +2,6 @@
 
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_HAL_Linux_Namespace.h"
-
 class HAL_Linux : public AP_HAL::HAL {
 public:
     HAL_Linux();

libraries/AP_HAL_Linux/Heat.h

@@ -15,8 +15,12 @@
  */
 #pragma once
 
-class Linux::Heat {
+namespace Linux {
+
+class Heat {
 public:
     virtual void set_imu_temp(float current) { }
     virtual void set_imu_target_temp(int8_t *target) { }
 };
+
+}

libraries/AP_HAL_Linux/Heat_Pwm.h

@@ -19,7 +19,9 @@
 #include "PWM_Sysfs.h"
 #include "Heat.h"
 
-class Linux::HeatPwm : public Linux::Heat {
+namespace Linux {
+
+class HeatPwm : public Heat {
 public:
     HeatPwm(uint8_t pwm_num, float Kp, float Ki,
             uint32_t period_ns);
@@ -35,3 +37,5 @@ private:
     float _sum_error;
     int8_t *_target = nullptr;
 };
+
+}

libraries/AP_HAL_Linux/OpticalFlow_Onboard.h

@@ -22,9 +22,12 @@
 #include "AP_HAL_Linux.h"
 #include "CameraSensor.h"
 #include "Flow_PX4.h"
+#include "PWM_Sysfs.h"
 #include "VideoIn.h"
 
-class Linux::OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
+namespace Linux {
+
+class OpticalFlow_Onboard : public AP_HAL::OpticalFlow {
 public:
     void init(AP_HAL::OpticalFlow::Gyro_Cb);
     bool read(AP_HAL::OpticalFlow::Data_Frame& frame);
@@ -59,3 +62,5 @@ private:
     AP_HAL::OpticalFlow::Gyro_Cb _get_gyro;
     Vector3f _last_gyro_rate;
 };
+
+}

libraries/AP_HAL_Linux/PWM_Sysfs.h

@@ -5,7 +5,9 @@
 #include "AP_HAL_Linux.h"
 #include "Util.h"
 
-class Linux::PWM_Sysfs_Base {
+namespace Linux {
+
+class PWM_Sysfs_Base {
 public:
     virtual ~PWM_Sysfs_Base();
 
@@ -51,7 +53,7 @@ private:
     char *_period_path = NULL;
 };
 
-class Linux::PWM_Sysfs : public Linux::PWM_Sysfs_Base {
+class PWM_Sysfs : public PWM_Sysfs_Base {
 public:
     PWM_Sysfs(uint8_t chip, uint8_t channel);
 
@@ -63,7 +65,7 @@ private:
     char *_generate_period_path(uint8_t chip, uint8_t channel);
 };
 
-class Linux::PWM_Sysfs_Bebop : public Linux::PWM_Sysfs_Base {
+class PWM_Sysfs_Bebop : public PWM_Sysfs_Base {
 public:
     PWM_Sysfs_Bebop(uint8_t channel);
 
@@ -81,3 +83,5 @@ private:
         return PWM_Sysfs::NORMAL;
     }
 };
+
+}

libraries/AP_HAL_Linux/RCInput.h

@@ -4,7 +4,9 @@
 
 #define LINUX_RC_INPUT_NUM_CHANNELS 16
 
-class Linux::RCInput : public AP_HAL::RCInput {
+namespace Linux {
+
+class RCInput : public AP_HAL::RCInput {
 public:
     RCInput();
 
@@ -83,5 +85,4 @@ public:
     } sbus;
 };
 
-#include "RCInput_PRU.h"
-#include "RCInput_ZYNQ.h"
+}

libraries/AP_HAL_Linux/RCInput_AioPRU.h

@@ -18,11 +18,13 @@
 #include "AP_HAL_Linux.h"
 
 #define RCIN_PRUSS_RAM_BASE   0x4a303000
+
 // we use 300 ring buffer entries to guarantee that a full 25 byte
 // frame of 12 bits per byte
 
-class Linux::RCInput_AioPRU : public Linux::RCInput
-{
+namespace Linux {
+
+class RCInput_AioPRU : public RCInput {
 public:
     void init();
     void _timer_tick(void);
@@ -41,3 +43,5 @@ public:
     };
     volatile struct ring_buffer *ring_buffer;
 };
+
+}

libraries/AP_HAL_Linux/RCInput_DSM.h

@@ -16,12 +16,15 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
+
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 
 #include "RCInput.h"
 #include "RCInput_DSM.h"
 
-class Linux::RCInput_DSM : public Linux::RCInput
+namespace Linux {
+
+class RCInput_DSM : public RCInput
 {
 public:
     void init() override;
@@ -32,5 +35,7 @@ private:
     const char *device_path;
     int32_t fd = -1;
 };
-#endif // CONFIG_HAL_BOARD_SUBTYPE
 
+}
+
+#endif // CONFIG_HAL_BOARD_SUBTYPE

libraries/AP_HAL_Linux/RCInput_Navio2.h

@@ -2,8 +2,10 @@
 
 #include "RCInput.h"
 
-class Linux::RCInput_Navio2 : public Linux::RCInput
-{
+
+namespace Linux {
+
+class RCInput_Navio2 : public RCInput {
 public:
     void init() override;
     void _timer_tick(void) override;
@@ -18,3 +20,5 @@ private:
     int channels[CHANNEL_COUNT];
     uint16_t periods[ARRAY_SIZE(channels)] = {0};
 };
+
+}

libraries/AP_HAL_Linux/RCInput_PRU.cpp

@@ -3,6 +3,7 @@
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD || \
     CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
+#include "RCInput_PRU.h"
 
 #include <errno.h>
 #include <fcntl.h>

libraries/AP_HAL_Linux/RCInput_PRU.h

@@ -5,14 +5,15 @@
   doing the edge detection of the PPM sum input
  */
 
-#include "AP_HAL_Linux.h"
+#include "RCInput.h"
 
 #define RCIN_PRUSS_SHAREDRAM_BASE   0x4a312000
 // we use 300 ring buffer entries to guarantee that a full 25 byte
 // frame of 12 bits per byte
 
-class Linux::RCInput_PRU : public Linux::RCInput
-{
+namespace Linux {
+
+class RCInput_PRU : public RCInput {
 public:
     void init();
     void _timer_tick(void);
@@ -33,3 +34,5 @@ public:
     // time spent in the low state
     uint16_t _s0_time;
 };
+
+}

libraries/AP_HAL_Linux/RCInput_RPI.h

@@ -22,13 +22,14 @@
 #include <queue>
 
 
+namespace Linux {
+
 enum state_t{
     RCIN_RPI_INITIAL_STATE = -1,
     RCIN_RPI_ZERO_STATE = 0,
     RCIN_RPI_ONE_STATE = 1
 };
 
-
 //Memory table structure
 typedef struct {
     void **virt_pages;
@@ -45,7 +46,7 @@ typedef struct {
 
 class Memory_table {
 // Allow RCInput_RPI access to private members of Memory_table
-friend class Linux::RCInput_RPI;
+friend class RCInput_RPI;
 
 private:
     void** _virt_pages;
@@ -73,7 +74,7 @@ public:
 };
 
 
-class Linux::RCInput_RPI : public Linux::RCInput
+class RCInput_RPI : public RCInput
 {
 public:
     void init();
@@ -127,5 +128,6 @@ private:
     void set_sigaction();
     void set_physical_addresses(int version);
     void deinit() override;
-
 };
+
+}

libraries/AP_HAL_Linux/RCInput_Raspilot.h

@@ -4,7 +4,10 @@
 #include "RCInput.h"
 #include <AP_HAL/SPIDevice.h>
 
-class Linux::RCInput_Raspilot : public Linux::RCInput
+
+namespace Linux {
+
+class RCInput_Raspilot : public RCInput
 {
 public:
     void init();
@@ -16,3 +19,5 @@ private:
 
     void _poll_data(void);
 };
+
+}

libraries/AP_HAL_Linux/RCInput_SBUS.h

@@ -21,7 +21,9 @@
 #include "RCInput.h"
 #include "RCInput_SBUS.h"
 
-class Linux::RCInput_SBUS : public Linux::RCInput
+namespace Linux {
+
+class RCInput_SBUS : public RCInput
 {
 public:
     void init() override;
@@ -32,4 +34,7 @@ private:
     const char *device_path = "/dev/uart-sbus";
     int32_t fd = -1;
 };
+
+}
+
 #endif // CONFIG_HAL_BOARD_SUBTYPE

libraries/AP_HAL_Linux/RCInput_UART.h

@@ -7,7 +7,9 @@
 
 #define CHANNELS 8
 
-class Linux::RCInput_UART : public Linux::RCInput
+namespace Linux {
+
+class RCInput_UART : public RCInput
 {
 public:
     RCInput_UART(const char *path);
@@ -25,3 +27,5 @@ private:
         uint16_t values[CHANNELS];
     } _data;
 };
+
+}

libraries/AP_HAL_Linux/RCInput_UDP.h

@@ -6,7 +6,9 @@
 
 #define RCINPUT_UDP_DEF_PORT 777
 
-class Linux::RCInput_UDP : public Linux::RCInput
+namespace Linux {
+
+class RCInput_UDP : public RCInput
 {
 public:
     RCInput_UDP();
@@ -19,3 +21,5 @@ private:
     uint64_t _last_buf_ts;
     uint16_t _last_buf_seq;
 };
+
+}

libraries/AP_HAL_Linux/RCInput_ZYNQ.cpp

@@ -1,3 +1,5 @@
+#include "RCInput_ZYNQ.h"
+
 #include <errno.h>
 #include <fcntl.h>
 #include <poll.h>
@@ -13,7 +15,6 @@
 #include <AP_HAL/AP_HAL.h>
 
 #include "GPIO.h"
-#include "RCInput.h"
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_HAL_Linux/RCInput_ZYNQ.h

@@ -5,13 +5,14 @@
   logic doing the edge detection of the PPM sum input
  */
 
-#include "AP_HAL_Linux.h"
+#include "RCInput.h"
 
 // FIXME A puppie dies when you hard code an address
 #define RCIN_ZYNQ_PULSE_INPUT_BASE  0x43c10000
 
-class Linux::RCInput_ZYNQ : public Linux::RCInput
-{
+namespace Linux {
+
+class RCInput_ZYNQ : public RCInput {
 public:
     void init();
     void _timer_tick(void);
@@ -26,3 +27,5 @@ public:
     // time spent in the low state
     uint32_t _s0_time;
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_AioPRU.h

@@ -16,7 +16,9 @@
 #define RCOUT_PRUSS_IRAM_BASE 0x4a338000
 #define PWM_CHAN_COUNT 12
 
-class Linux::RCOutput_AioPRU : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_AioPRU : public AP_HAL::RCOutput {
     void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
@@ -40,3 +42,5 @@ private:
 
     volatile struct pwm *pwm;
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_Bebop.h

@@ -3,6 +3,10 @@
 #include "AP_HAL_Linux.h"
 #include <AP_HAL/I2CDevice.h>
 
+struct bldc_info;
+
+namespace Linux {
+
 enum bebop_bldc_motor {
     BEBOP_BLDC_MOTOR_1 = 0,
 #if CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_DISCO
@@ -49,9 +53,7 @@ public:
     uint8_t temperature;
 };
 
-struct bldc_info;
-
-class Linux::RCOutput_Bebop : public AP_HAL::RCOutput {
+class RCOutput_Bebop : public AP_HAL::RCOutput {
 public:
     RCOutput_Bebop(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
@@ -102,3 +104,5 @@ private:
     void _run_rcout();
     static void *_control_thread(void *arg);
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_Disco.h

@@ -4,7 +4,9 @@
 #include "RCOutput_Sysfs.h"
 #include "RCOutput_Bebop.h"
 
-class Linux::RCOutput_Disco : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_Disco : public AP_HAL::RCOutput {
 public:
     RCOutput_Disco(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
     ~RCOutput_Disco() {}
@@ -51,5 +53,6 @@ private:
         { sysfs_out, 5 },
         { sysfs_out, 0 },
     };
-    
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_PCA9685.h

@@ -9,7 +9,9 @@
 #define PCA9685_TERTIARY_ADDRESS            0x42
 #define PCA9685_QUATENARY_ADDRESS           0x55
 
-class Linux::RCOutput_PCA9685 : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_PCA9685 : public AP_HAL::RCOutput {
 public:
     RCOutput_PCA9685(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
                      bool external_clock,
@@ -45,3 +47,5 @@ private:
     int16_t _oe_pin_number;
     uint16_t _pending_write_mask;
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_PRU.h

@@ -13,7 +13,9 @@
 #define PWM_CMD_CLR	         5	/* clr a pwm output explicitly */
 #define PWM_CMD_TEST	         6	/* various crap */
 
-class Linux::RCOutput_PRU : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_PRU : public AP_HAL::RCOutput {
     void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
@@ -37,3 +39,5 @@ private:
     volatile struct pwm_cmd *sharedMem_cmd;
 
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_Raspilot.h

@@ -3,7 +3,10 @@
 #include "AP_HAL_Linux.h"
 #include <AP_HAL/SPIDevice.h>
 
-class Linux::RCOutput_Raspilot : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_Raspilot : public AP_HAL::RCOutput {
+public:
     void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
@@ -23,3 +26,5 @@ private:
     uint16_t _frequency;
     uint16_t _period_us[8];
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_Sysfs.h

@@ -3,7 +3,9 @@
 #include "AP_HAL_Linux.h"
 #include "PWM_Sysfs.h"
 
-class Linux::RCOutput_Sysfs : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_Sysfs : public AP_HAL::RCOutput {
 public:
     RCOutput_Sysfs(uint8_t chip, uint8_t channel_base, uint8_t channel_count);
     ~RCOutput_Sysfs();
@@ -28,3 +30,5 @@ private:
     const uint8_t _channel_count;
     PWM_Sysfs_Base **_pwm_channels;
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_ZYNQ.h

@@ -11,8 +11,13 @@
 #define PWM_CMD_CLR	         5	/* clr a pwm output explicitly */
 #define PWM_CMD_TEST	         6	/* various crap */
 
+#include <AP_HAL/AP_HAL.h>
 
-class Linux::RCOutput_ZYNQ : public AP_HAL::RCOutput {
+namespace Linux {
+
+
+class RCOutput_ZYNQ : public AP_HAL::RCOutput {
+public:
     void     init();
     void     set_freq(uint32_t chmask, uint16_t freq_hz);
     uint16_t get_freq(uint8_t ch);
@@ -36,3 +41,5 @@ private:
     };
     volatile struct pwm_cmd *sharedMem_cmd;
 };
+
+}

libraries/AP_HAL_Linux/RCOutput_qflight.h

@@ -5,7 +5,9 @@
 
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
 
-class Linux::RCOutput_QFLIGHT : public AP_HAL::RCOutput {
+namespace Linux {
+
+class RCOutput_QFLIGHT : public AP_HAL::RCOutput {
 public:
     void init();
     void set_freq(uint32_t chmask, uint16_t freq_hz);
@@ -44,4 +46,6 @@ private:
     uint8_t nrcin_bytes;
 };
 
+}
+
 #endif // CONFIG_HAL_BOARD_SUBTYPE

libraries/AP_HAL_Linux/RPIOUARTDriver.h

@@ -5,8 +5,9 @@
 #include "UARTDriver.h"
 #include <AP_HAL/SPIDevice.h>
 
+namespace Linux {
 
-class Linux::RPIOUARTDriver : public Linux::UARTDriver {
+class RPIOUARTDriver : public UARTDriver {
 public:
     RPIOUARTDriver();
 
@@ -37,3 +38,5 @@ private:
     bool _need_set_baud;
     uint32_t _baudrate;
 };
+
+}

libraries/AP_HAL_Linux/SPIUARTDriver.h

@@ -4,8 +4,9 @@
 
 #include "UARTDriver.h"
 
+namespace Linux {
 
-class Linux::SPIUARTDriver : public Linux::UARTDriver {
+class SPIUARTDriver : public UARTDriver {
 public:
     SPIUARTDriver();
     void begin(uint32_t b, uint16_t rxS, uint16_t txS);
@@ -23,3 +24,5 @@ protected:
 
     bool _external;
 };
+
+}

libraries/AP_HAL_Linux/Scheduler.h

@@ -10,7 +10,9 @@
 #define LINUX_SCHEDULER_MAX_TIMESLICED_PROCS 10
 #define LINUX_SCHEDULER_MAX_IO_PROCS 10
 
-class Linux::Scheduler : public AP_HAL::Scheduler {
+namespace Linux {
+
+class Scheduler : public AP_HAL::Scheduler {
 public:
     Scheduler();
 
@@ -109,3 +111,5 @@ private:
     Semaphore _timer_semaphore;
     Semaphore _io_semaphore;
 };
+
+}

libraries/AP_HAL_Linux/Semaphores.h

@@ -6,7 +6,9 @@
 
 #include "AP_HAL_Linux.h"
 
-class Linux::Semaphore : public AP_HAL::Semaphore {
+namespace Linux {
+
+class Semaphore : public AP_HAL::Semaphore {
 public:
     Semaphore() {
         pthread_mutex_init(&_lock, NULL);
@@ -17,3 +19,5 @@ public:
 private:
     pthread_mutex_t _lock;
 };
+
+}

libraries/AP_HAL_Linux/Storage.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include "AP_HAL_Linux_Namespace.h"
 
 #define LINUX_STORAGE_SIZE HAL_STORAGE_SIZE
 #define LINUX_STORAGE_MAX_WRITE 512
@@ -9,7 +8,9 @@
 #define LINUX_STORAGE_LINE_SIZE (1<<LINUX_STORAGE_LINE_SHIFT)
 #define LINUX_STORAGE_NUM_LINES (LINUX_STORAGE_SIZE/LINUX_STORAGE_LINE_SIZE)
 
-class Linux::Storage : public AP_HAL::Storage
+namespace Linux {
+
+class Storage : public AP_HAL::Storage
 {
 public:
     Storage() : _fd(-1),_dirty_mask(0) { }
@@ -39,3 +40,5 @@ protected:
     uint8_t _buffer[LINUX_STORAGE_SIZE];
     volatile uint32_t _dirty_mask;
 };
+
+}

libraries/AP_HAL_Linux/Thread.h

@@ -23,8 +23,6 @@
 
 #include <AP_HAL/utility/functor.h>
 
-#include "AP_HAL_Linux_Namespace.h"
-
 namespace Linux {
 
 /*

libraries/AP_HAL_Linux/ToneAlarm.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL.h>
-#include "AP_HAL_Linux_Namespace.h"
 
 #define OCTAVE_OFFSET 0
 
@@ -109,7 +108,9 @@
 
 #define TONE_NUMBER_OF_TUNES 11
 
-class Linux::ToneAlarm{
+namespace Linux {
+
+class ToneAlarm {
 public:
 	ToneAlarm();
 	void set_tune(uint8_t tone);
@@ -141,3 +142,5 @@ private:
 	int32_t duty_fd;
 	int32_t run_fd;
 };
+
+}

libraries/AP_HAL_Linux/ToneAlarm_Raspilot.h

@@ -4,7 +4,9 @@
 
 #include "ToneAlarm.h"
 
-class Linux::ToneAlarm_Raspilot : public Linux::ToneAlarm {
+namespace Linux {
+
+class ToneAlarm_Raspilot : public ToneAlarm {
 public:
     ToneAlarm_Raspilot();
     bool init() override;
@@ -18,3 +20,5 @@ private:
     volatile uint32_t *_pwm;
     volatile uint32_t *_clk;
 };
+
+}

libraries/AP_HAL_Linux/UARTDriver.h

@@ -5,7 +5,9 @@
 #include "AP_HAL_Linux.h"
 #include "SerialDevice.h"
 
-class Linux::UARTDriver : public AP_HAL::UARTDriver {
+namespace Linux {
+
+class UARTDriver : public AP_HAL::UARTDriver {
 public:
     UARTDriver(bool default_console);
 
@@ -85,3 +87,5 @@ protected:
     virtual int _read_fd(uint8_t *buf, uint16_t n);
 
 };
+
+}

libraries/AP_HAL_Linux/Util.h

@@ -3,11 +3,13 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_HAL/AP_HAL.h>
 
-#include "AP_HAL_Linux_Namespace.h"
+#include "Heat.h"
 #include "Perf.h"
 #include "ToneAlarm.h"
 #include "Semaphores.h"
 
+namespace Linux {
+
 enum hw_type {
     UTIL_HARDWARE_RPI1 = 0,
     UTIL_HARDWARE_RPI2,
@@ -17,7 +19,7 @@ enum hw_type {
     UTIL_NUM_HARDWARES,
 };
 
-class Linux::Util : public AP_HAL::Util {
+class Util : public AP_HAL::Util {
 public:
     static Util *from(AP_HAL::Util *util) {
         return static_cast<Util*>(util);
@@ -87,20 +89,22 @@ public:
     }
 
     // create a new semaphore
-    AP_HAL::Semaphore *new_semaphore(void) override { return new Linux::Semaphore; }
+    AP_HAL::Semaphore *new_semaphore(void) override { return new Semaphore; }
 
     int get_hw_arm32();
 
 private:
 #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
-    static Linux::ToneAlarm_Raspilot _toneAlarm;
+    static ToneAlarm_Raspilot _toneAlarm;
 #else
-    static Linux::ToneAlarm _toneAlarm;
+    static ToneAlarm _toneAlarm;
 #endif
-    Linux::Heat *_heat;
+    Heat *_heat;
     int saved_argc;
     char* const *saved_argv;
     const char* custom_log_directory = NULL;
     const char* custom_terrain_directory = NULL;
     static const char *_hw_names[UTIL_NUM_HARDWARES];
 };
+
+}

libraries/AP_HAL_Linux/Util_RPI.h

@@ -2,7 +2,9 @@
 
 #include "Util.h"
 
-class Linux::UtilRPI : public Linux::Util {
+namespace Linux {
+
+class UtilRPI : public Util {
 public:
     UtilRPI();
 
@@ -20,3 +22,5 @@ protected:
 private:
     int _rpi_version = 0;
 };
+
+}

libraries/AP_HAL_Linux/VideoIn.h

@@ -18,12 +18,14 @@
 #include <linux/videodev2.h>
 #include <vector>
 
+namespace Linux {
+
 struct buffer {
     unsigned int size;
     void *mem;
 };
 
-class Linux::VideoIn {
+class VideoIn {
 public:
     /* This structure implements the fields of the v4l2_pix_format struct
      * that are considered useful for an optical flow application along
@@ -80,3 +82,5 @@ private:
     uint32_t _sizeimage;
     uint32_t _memtype = V4L2_MEMORY_MMAP;
 };
+
+}