From 666ac39e31ef6b0f46695c2d09a43a6a21e9c6e6 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 1 Mar 2022 12:19:06 +1100
Subject: [PATCH] AC_Avoidance: tidy includes

---
 libraries/AC_Avoidance/AP_OABendyRuler.h  | 5 +----
 libraries/AC_Avoidance/AP_OADatabase.h    | 6 ++----
 libraries/AC_Avoidance/AP_OADijkstra.h    | 5 +----
 libraries/AC_Avoidance/AP_OAPathPlanner.h | 3 ++-
 libraries/AC_Avoidance/AP_OAVisGraph.h    | 5 +----
 5 files changed, 7 insertions(+), 17 deletions(-)

diff --git a/libraries/AC_Avoidance/AP_OABendyRuler.h b/libraries/AC_Avoidance/AP_OABendyRuler.h
index ed5127c5d4..b90b7d6cbb 100644
--- a/libraries/AC_Avoidance/AP_OABendyRuler.h
+++ b/libraries/AC_Avoidance/AP_OABendyRuler.h
@@ -3,7 +3,6 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_HAL/AP_HAL.h>
 
 /*
  * BendyRuler avoidance algorithm for avoiding the polygon and circular fence and dynamic objects detected by the proximity sensor
@@ -12,9 +11,7 @@ class AP_OABendyRuler {
 public:
     AP_OABendyRuler();
 
-    /* Do not allow copies */
-    AP_OABendyRuler(const AP_OABendyRuler &other) = delete;
-    AP_OABendyRuler &operator=(const AP_OABendyRuler&) = delete;
+    CLASS_NO_COPY(AP_OABendyRuler);  /* Do not allow copies */
 
     // send configuration info stored in front end parameters
     void set_config(float margin_max) { _margin_max = MAX(margin_max, 0.0f); }
diff --git a/libraries/AC_Avoidance/AP_OADatabase.h b/libraries/AC_Avoidance/AP_OADatabase.h
index edf9df7b32..ec5d6b0bd7 100644
--- a/libraries/AC_Avoidance/AP_OADatabase.h
+++ b/libraries/AC_Avoidance/AP_OADatabase.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/Semaphores.h>
 #include <AP_Math/AP_Math.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Param/AP_Param.h>
@@ -10,9 +10,7 @@ public:
 
     AP_OADatabase();
 
-    /* Do not allow copies */
-    AP_OADatabase(const AP_OADatabase &other) = delete;
-    AP_OADatabase &operator=(const AP_OADatabase&) = delete;
+    CLASS_NO_COPY(AP_OADatabase); /* Do not allow copies */
 
     // get singleton instance
     static AP_OADatabase *get_singleton() {
diff --git a/libraries/AC_Avoidance/AP_OADijkstra.h b/libraries/AC_Avoidance/AP_OADijkstra.h
index 9a5ac41099..f95405ad71 100644
--- a/libraries/AC_Avoidance/AP_OADijkstra.h
+++ b/libraries/AC_Avoidance/AP_OADijkstra.h
@@ -3,7 +3,6 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_HAL/AP_HAL.h>
 #include "AP_OAVisGraph.h"
 
 /*
@@ -15,9 +14,7 @@ public:
 
     AP_OADijkstra(AP_Int16 &options);
 
-    /* Do not allow copies */
-    AP_OADijkstra(const AP_OADijkstra &other) = delete;
-    AP_OADijkstra &operator=(const AP_OADijkstra&) = delete;
+    CLASS_NO_COPY(AP_OADijkstra);  /* Do not allow copies */
 
     // set fence margin (in meters) used when creating "safe positions" within the polygon fence
     void set_fence_margin(float margin) { _polyfence_margin = MAX(margin, 0.0f); }
diff --git a/libraries/AC_Avoidance/AP_OAPathPlanner.h b/libraries/AC_Avoidance/AP_OAPathPlanner.h
index 4b12a58f78..1641377773 100644
--- a/libraries/AC_Avoidance/AP_OAPathPlanner.h
+++ b/libraries/AC_Avoidance/AP_OAPathPlanner.h
@@ -3,7 +3,8 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
-#include <AP_HAL/AP_HAL.h>
+#include <AP_HAL/Semaphores.h>
+
 #include "AP_OABendyRuler.h"
 #include "AP_OADijkstra.h"
 #include "AP_OADatabase.h"
diff --git a/libraries/AC_Avoidance/AP_OAVisGraph.h b/libraries/AC_Avoidance/AP_OAVisGraph.h
index bb2227a00f..800fbff407 100644
--- a/libraries/AC_Avoidance/AP_OAVisGraph.h
+++ b/libraries/AC_Avoidance/AP_OAVisGraph.h
@@ -2,7 +2,6 @@
 
 #include <AP_Common/AP_Common.h>
 #include <AP_Common/AP_ExpandingArray.h>
-#include <AP_HAL/AP_HAL.h>
 
 /*
  * Visibility graph used by Dijkstra's algorithm for path planning around fence, stay-out zones and moving obstacles
@@ -11,9 +10,7 @@ class AP_OAVisGraph {
 public:
     AP_OAVisGraph();
 
-    /* Do not allow copies */
-    AP_OAVisGraph(const AP_OAVisGraph &other) = delete;
-    AP_OAVisGraph &operator=(const AP_OAVisGraph&) = delete;
+    CLASS_NO_COPY(AP_OAVisGraph);  /* Do not allow copies */
 
     // types of items held in graph
     enum OAType : uint8_t {