From 1916478494d67855efb688dd54fa165588ccc1a3 Mon Sep 17 00:00:00 2001
From: Pascal Serrarens <pascal@passervr.com>
Date: Mon, 24 Feb 2025 09:30:17 +0100
Subject: [PATCH] removed namespace Passer

---
 Arduino/Participant.cpp                  |   2 -
 Arduino/Participant.h                    |   2 -
 LinearAlgebra/CMakeLists.txt             |  25 +++--
 float16.cpp => LinearAlgebra/float16.cpp |   0
 float16.h => LinearAlgebra/float16.h     |   0
 Messages/BinaryMsg.cpp                   |  19 ++--
 Messages/BinaryMsg.h                     |  18 ++--
 Messages/DestroyMsg.cpp                  |   2 -
 Messages/DestroyMsg.h                    |  19 ++--
 Messages/InvestigateMsg.cpp              |  18 ++--
 Messages/InvestigateMsg.h                |   6 +-
 Messages/LowLevelMessages.cpp            |  31 +++---
 Messages/LowLevelMessages.h              |  24 ++---
 Messages/Messages.cpp                    |  11 +-
 Messages/Messages.h                      |  12 +--
 Messages/ModelUrlMsg.cpp                 |  18 ++--
 Messages/ModelUrlMsg.h                   |  22 ++--
 Messages/NameMsg.cpp                     |  16 ++-
 Messages/NameMsg.h                       |   6 +-
 Messages/NetworkIdMsg.cpp                |  15 +--
 Messages/NetworkIdMsg.h                  |   6 +-
 Messages/ParticipantMsg.cpp              |  14 ++-
 Messages/ParticipantMsg.h                |   4 +-
 Messages/PoseMsg.cpp                     |  19 ++--
 Messages/PoseMsg.h                       |   6 +-
 Messages/TextMsg.cpp                     |   7 +-
 Messages/TextMsg.h                       |   6 +-
 Messages/ThingMsg.cpp                    |  14 ++-
 Messages/ThingMsg.h                      |   8 +-
 Participant.cpp                          |   4 +-
 Participant.h                            |  53 +++++-----
 Posix/Participant.cpp                    |   2 -
 Posix/Participant.h                      |   2 -
 README.md                                |   6 +-
 RemoteParticipant.cpp                    |   2 -
 RemoteParticipant.h                      |   2 -
 Sensors/DigitalSensor.cpp                |   2 -
 Sensors/DigitalSensor.h                  |   2 -
 Sensors/TemperatureSensor.cpp            |  15 ++-
 Sensors/TemperatureSensor.h              |   2 -
 SiteServer.cpp                           |   2 -
 SiteServer.h                             |  24 ++---
 Thing.cpp                                | 123 +++++++++--------------
 Thing.h                                  |  68 ++++++-------
 Windows/Participant.cpp                  |   2 -
 Windows/Participant.h                    |   2 -
 test/second_test.cc                      |   3 +-
 test/thing_test.cc                       |   4 +-
 48 files changed, 276 insertions(+), 394 deletions(-)
 rename float16.cpp => LinearAlgebra/float16.cpp (100%)
 rename float16.h => LinearAlgebra/float16.h (100%)

diff --git a/Arduino/Participant.cpp b/Arduino/Participant.cpp
index 838aa1c..fbba67b 100644
--- a/Arduino/Participant.cpp
+++ b/Arduino/Participant.cpp
@@ -8,7 +8,6 @@
 #endif
 #endif
 
-namespace Passer {
 namespace RoboidControl {
 namespace Arduino {
 
@@ -96,4 +95,3 @@ bool Participant::Publish(IMessage* msg) {
 
 }  // namespace Arduino
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Arduino/Participant.h b/Arduino/Participant.h
index dc754c2..36a560e 100644
--- a/Arduino/Participant.h
+++ b/Arduino/Participant.h
@@ -2,7 +2,6 @@
 
 #include "../Participant.h"
 
-namespace Passer {
 namespace RoboidControl {
 namespace Arduino {
 
@@ -19,4 +18,3 @@ class Participant : public RoboidControl::Participant {
 
 }  // namespace Arduino
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/LinearAlgebra/CMakeLists.txt b/LinearAlgebra/CMakeLists.txt
index 0c8f19a..ed52791 100644
--- a/LinearAlgebra/CMakeLists.txt
+++ b/LinearAlgebra/CMakeLists.txt
@@ -23,17 +23,20 @@ else()
     FetchContent_MakeAvailable(googletest)
 
     include_directories(.)
-    add_library(LinearAlgebra STATIC 
-        "FloatSingle.cpp"
-        "Angle.cpp"
-        "Vector2.cpp" 
-        "Vector3.cpp" 
-        "Quaternion.cpp"
-        "Polar.cpp" 
-        "Spherical.cpp"
-        "Matrix.cpp"
-        "SwingTwist.cpp"
-        "Direction.cpp"
+    file(GLOB srcs
+        *.cpp
+    )
+    add_library(LinearAlgebra STATIC ${srcs}
+        # "FloatSingle.cpp"
+        # "Angle.cpp"
+        # "Vector2.cpp" 
+        # "Vector3.cpp" 
+        # "Quaternion.cpp"
+        # "Polar.cpp" 
+        # "Spherical.cpp"
+        # "Matrix.cpp"
+        # "SwingTwist.cpp"
+        # "Direction.cpp"
     )
 
     enable_testing()
diff --git a/float16.cpp b/LinearAlgebra/float16.cpp
similarity index 100%
rename from float16.cpp
rename to LinearAlgebra/float16.cpp
diff --git a/float16.h b/LinearAlgebra/float16.h
similarity index 100%
rename from float16.h
rename to LinearAlgebra/float16.h
diff --git a/Messages/BinaryMsg.cpp b/Messages/BinaryMsg.cpp
index fe8e380..81ad261 100644
--- a/Messages/BinaryMsg.cpp
+++ b/Messages/BinaryMsg.cpp
@@ -1,18 +1,16 @@
 #include "BinaryMsg.h"
 
-namespace Passer {
 namespace RoboidControl {
 
-BinaryMsg::BinaryMsg(char *buffer) {
+BinaryMsg::BinaryMsg(char* buffer) {
   unsigned char ix = 1;
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
-  this->bytes =
-      buffer + ix; // This is only valid because the code ensures the the msg
-                   // lifetime is shorter than the buffer lifetime...
+  this->bytes = buffer + ix;  // This is only valid because the code ensures the the msg
+                              // lifetime is shorter than the buffer lifetime...
 }
 
-BinaryMsg::BinaryMsg(unsigned char networkId, Thing *thing) {
+BinaryMsg::BinaryMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   this->thing = thing;
@@ -20,10 +18,10 @@ BinaryMsg::BinaryMsg(unsigned char networkId, Thing *thing) {
 
 BinaryMsg::~BinaryMsg() {}
 
-unsigned char BinaryMsg::Serialize(char *buffer) {
+unsigned char BinaryMsg::Serialize(char* buffer) {
   unsigned char ix = this->length;
   this->thing->GenerateBinary(buffer, &ix);
-  if (ix <= this->length) // in this case, no data is actually sent
+  if (ix <= this->length)  // in this case, no data is actually sent
     return 0;
 
   buffer[0] = this->id;
@@ -32,10 +30,9 @@ unsigned char BinaryMsg::Serialize(char *buffer) {
   return ix;
 }
 
-BinaryMsg BinaryMsg::Receive(char *buffer, unsigned char bufferSize) {
+BinaryMsg BinaryMsg::Receive(char* buffer, unsigned char bufferSize) {
   BinaryMsg msg = BinaryMsg(buffer);
   return msg;
 }
 
-} // namespace RoboidControl
-} // namespace Passer
+}  // namespace RoboidControl
diff --git a/Messages/BinaryMsg.h b/Messages/BinaryMsg.h
index 987b8a8..986eaf0 100644
--- a/Messages/BinaryMsg.h
+++ b/Messages/BinaryMsg.h
@@ -2,29 +2,27 @@
 
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 class BinaryMsg : public IMessage {
-public:
+ public:
   static const unsigned char id = 0xB1;
   static const unsigned length = 3;
 
   unsigned char networkId;
   unsigned char thingId;
-  Thing *thing;
+  Thing* thing;
 
   unsigned char bytesSize;
-  char *bytes = nullptr;
+  char* bytes = nullptr;
 
-  BinaryMsg(char *buffer);
-  BinaryMsg(unsigned char networkId, Thing *thing);
+  BinaryMsg(char* buffer);
+  BinaryMsg(unsigned char networkId, Thing* thing);
   virtual ~BinaryMsg();
 
-  virtual unsigned char Serialize(char *buffer) override;
+  virtual unsigned char Serialize(char* buffer) override;
 
-  static BinaryMsg Receive(char *buffer, unsigned char bufferSize);
+  static BinaryMsg Receive(char* buffer, unsigned char bufferSize);
 };
 
-} // namespace RoboidControl
-} // namespace Passer
+}  // namespace RoboidControl
diff --git a/Messages/DestroyMsg.cpp b/Messages/DestroyMsg.cpp
index e2c04ad..24fbb63 100644
--- a/Messages/DestroyMsg.cpp
+++ b/Messages/DestroyMsg.cpp
@@ -1,6 +1,5 @@
 #include "DestroyMsg.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 DestroyMsg::DestroyMsg(unsigned char networkId, Thing *thing) {
@@ -21,4 +20,3 @@ unsigned char DestroyMsg::Serialize(char *buffer) {
 }
 
 } // namespace RoboidControl
-} // namespace Passer
diff --git a/Messages/DestroyMsg.h b/Messages/DestroyMsg.h
index 66a6830..74ad2aa 100644
--- a/Messages/DestroyMsg.h
+++ b/Messages/DestroyMsg.h
@@ -1,10 +1,10 @@
 #include "Messages.h"
-namespace Passer {
+
 namespace RoboidControl {
 
 /// @brief Message notifiying that a Thing no longer exists
 class DestroyMsg : public IMessage {
-public:
+ public:
   /// @brief The message ID
   static const unsigned char id = 0x20;
   /// @brief The length of the message
@@ -17,15 +17,14 @@ public:
   /// @brief Create a message for sending
   /// @param networkId The network ID of the thing
   /// @param thing The ID of the thing
-  DestroyMsg(unsigned char networkId, Thing *thing);
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
-  DestroyMsg(char * buffer);
-  /// @brief Destructor for the message 
+  DestroyMsg(unsigned char networkId, Thing* thing);
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
+  DestroyMsg(char* buffer);
+  /// @brief Destructor for the message
   virtual ~DestroyMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
 
-} // namespace RoboidControl
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/InvestigateMsg.cpp b/Messages/InvestigateMsg.cpp
index da449a9..7bbde42 100644
--- a/Messages/InvestigateMsg.cpp
+++ b/Messages/InvestigateMsg.cpp
@@ -1,8 +1,9 @@
 #include "InvestigateMsg.h"
-#pragma region Investigate
 
-InvestigateMsg::InvestigateMsg(char *buffer) {
-  unsigned ix = 1; // first byte is msgId
+namespace RoboidControl {
+
+InvestigateMsg::InvestigateMsg(char* buffer) {
+  unsigned ix = 1;  // first byte is msgId
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
 }
@@ -12,7 +13,7 @@ InvestigateMsg::InvestigateMsg(unsigned char networkId, unsigned char thingId) {
 }
 
 InvestigateMsg::~InvestigateMsg() {}
-unsigned char InvestigateMsg::Serialize(char *buffer) {
+unsigned char InvestigateMsg::Serialize(char* buffer) {
   unsigned char ix = 0;
   buffer[ix++] = this->id;
   buffer[ix++] = this->networkId;
@@ -20,11 +21,4 @@ unsigned char InvestigateMsg::Serialize(char *buffer) {
   return ix;
 }
 
-// bool InvestigateMsg::Send(Participant *participant, unsigned char networkId,
-//                           unsigned char thingId) {
-//   InvestigateMsg msg = InvestigateMsg(networkId, thingId);
-//   return msg.Send(participant);
-// }
-
-// Investigate
-#pragma endregion
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Messages/InvestigateMsg.h b/Messages/InvestigateMsg.h
index 09eb0a8..3179ec4 100644
--- a/Messages/InvestigateMsg.h
+++ b/Messages/InvestigateMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief Message to request details for a Thing
@@ -19,14 +18,13 @@ class InvestigateMsg : public IMessage {
   /// @param networkId The network ID for the thing
   /// @param thingId The ID of the thing
   InvestigateMsg(unsigned char networkId, unsigned char thingId);
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   InvestigateMsg(char* buffer);
   /// @brief Destructor for the message
   virtual ~InvestigateMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/LowLevelMessages.cpp b/Messages/LowLevelMessages.cpp
index ccce3b4..e951e1b 100644
--- a/Messages/LowLevelMessages.cpp
+++ b/Messages/LowLevelMessages.cpp
@@ -2,13 +2,13 @@
 
 #include "float16.h"
 
-void LowLevelMessages::SendAngle8(char *buffer, unsigned char *ix,
-                                  const float angle) {
+namespace RoboidControl {
+
+void LowLevelMessages::SendAngle8(char* buffer, unsigned char* ix, const float angle) {
   Angle8 packedAngle2 = Angle8::Degrees(angle);
   buffer[(*ix)++] = packedAngle2.GetBinary();
 }
-Angle8 LowLevelMessages::ReceiveAngle8(const char *buffer,
-                                       unsigned char *startIndex) {
+Angle8 LowLevelMessages::ReceiveAngle8(const char* buffer, unsigned char* startIndex) {
   unsigned char binary = buffer[(*startIndex)++];
 
   Angle8 angle = Angle8::Binary(binary);
@@ -16,16 +16,14 @@ Angle8 LowLevelMessages::ReceiveAngle8(const char *buffer,
   return angle;
 }
 
-void LowLevelMessages::SendFloat16(char *buffer, unsigned char *ix,
-                                   float value) {
+void LowLevelMessages::SendFloat16(char* buffer, unsigned char* ix, float value) {
   float16 value16 = float16(value);
   short binary = value16.getBinary();
 
   buffer[(*ix)++] = (binary >> 8) & 0xFF;
   buffer[(*ix)++] = binary & 0xFF;
 }
-float LowLevelMessages::ReceiveFloat16(const char *buffer,
-                                       unsigned char *startIndex) {
+float LowLevelMessages::ReceiveFloat16(const char* buffer, unsigned char* startIndex) {
   unsigned char ix = *startIndex;
   unsigned char msb = buffer[ix++];
   unsigned char lsb = buffer[ix++];
@@ -37,14 +35,12 @@ float LowLevelMessages::ReceiveFloat16(const char *buffer,
   return (float)f.toFloat();
 }
 
-void LowLevelMessages::SendSpherical16(char *buffer, unsigned char *ix,
-                                       Spherical16 s) {
+void LowLevelMessages::SendSpherical16(char* buffer, unsigned char* ix, Spherical16 s) {
   SendFloat16(buffer, ix, s.distance);
   SendAngle8(buffer, ix, s.direction.horizontal.InDegrees());
   SendAngle8(buffer, ix, s.direction.vertical.InDegrees());
 }
-Spherical16 LowLevelMessages::ReceiveSpherical16(const char *buffer,
-                                                 unsigned char *startIndex) {
+Spherical16 LowLevelMessages::ReceiveSpherical16(const char* buffer, unsigned char* startIndex) {
   float distance = ReceiveFloat16(buffer, startIndex);
 
   Angle8 horizontal8 = ReceiveAngle8(buffer, startIndex);
@@ -57,9 +53,7 @@ Spherical16 LowLevelMessages::ReceiveSpherical16(const char *buffer,
   return s;
 }
 
-void Passer::RoboidControl::LowLevelMessages::SendQuat32(char *buffer,
-                                                   unsigned char *ix,
-                                                   SwingTwist16 rotation) {
+void LowLevelMessages::SendQuat32(char* buffer, unsigned char* ix, SwingTwist16 rotation) {
   Quaternion q = rotation.ToQuaternion();
   unsigned char qx = (char)(q.x * 127 + 128);
   unsigned char qy = (char)(q.y * 127 + 128);
@@ -78,8 +72,7 @@ void Passer::RoboidControl::LowLevelMessages::SendQuat32(char *buffer,
   buffer[(*ix)++] = qw;
 }
 
-SwingTwist16 LowLevelMessages::ReceiveQuat32(const char *buffer,
-                                             unsigned char *ix) {
+SwingTwist16 LowLevelMessages::ReceiveQuat32(const char* buffer, unsigned char* ix) {
   float qx = (buffer[(*ix)++] - 128.0F) / 127.0F;
   float qy = (buffer[(*ix)++] - 128.0F) / 127.0F;
   float qz = (buffer[(*ix)++] - 128.0F) / 127.0F;
@@ -87,4 +80,6 @@ SwingTwist16 LowLevelMessages::ReceiveQuat32(const char *buffer,
   Quaternion q = Quaternion(qx, qy, qz, qw);
   SwingTwist16 s = SwingTwist16::FromQuaternion(q);
   return s;
-}
\ No newline at end of file
+}
+
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Messages/LowLevelMessages.h b/Messages/LowLevelMessages.h
index 0032cf4..277f1e7 100644
--- a/Messages/LowLevelMessages.h
+++ b/Messages/LowLevelMessages.h
@@ -1,25 +1,21 @@
 #include "LinearAlgebra/Spherical.h"
 #include "LinearAlgebra/SwingTwist.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 class LowLevelMessages {
-public:
-  static void SendAngle8(char *buffer, unsigned char *ix, const float angle);
-  static Angle8 ReceiveAngle8(const char *buffer, unsigned char *startIndex);
+ public:
+  static void SendAngle8(char* buffer, unsigned char* ix, const float angle);
+  static Angle8 ReceiveAngle8(const char* buffer, unsigned char* startIndex);
 
-  static void SendFloat16(char *buffer, unsigned char *ix, float value);
-  static float ReceiveFloat16(const char *buffer, unsigned char *startIndex);
+  static void SendFloat16(char* buffer, unsigned char* ix, float value);
+  static float ReceiveFloat16(const char* buffer, unsigned char* startIndex);
 
-  static void SendSpherical16(char *buffer, unsigned char *ix, Spherical16 s);
-  static Spherical16 ReceiveSpherical16(const char *buffer,
-                                        unsigned char *startIndex);
+  static void SendSpherical16(char* buffer, unsigned char* ix, Spherical16 s);
+  static Spherical16 ReceiveSpherical16(const char* buffer, unsigned char* startIndex);
 
-  static void SendQuat32(char *buffer, unsigned char *ix, SwingTwist16 q);
-  static SwingTwist16 ReceiveQuat32(const char *buffer, unsigned char *ix);
+  static void SendQuat32(char* buffer, unsigned char* ix, SwingTwist16 q);
+  static SwingTwist16 ReceiveQuat32(const char* buffer, unsigned char* ix);
 };
 
-} // namespace RoboidControl
-} // namespace Passer
-using namespace Passer::RoboidControl;
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/Messages.cpp b/Messages/Messages.cpp
index dfd2a4a..d4c77a2 100644
--- a/Messages/Messages.cpp
+++ b/Messages/Messages.cpp
@@ -4,8 +4,7 @@
 #include "Participant.h"
 #include "string.h"
 
-namespace Passer {
-  namespace RoboidControl {
+namespace RoboidControl {
 
 #pragma region IMessage
 
@@ -19,17 +18,11 @@ unsigned char IMessage::Serialize(char* buffer) {
   return 0;
 }
 
-// void IMessage::Deserialize(unsigned char *buffer) {}
-
 // bool IMessage::SendMsg(Participant *client, IMessage msg) {
 //   // return SendMsg(client, client.buffer, );nameLength
 //   return client->SendBuffer(msg.Serialize(client->buffer));
 // }
 
-// unsigned char *IMessage::ReceiveMsg(unsigned char packetSize) {
-//   return nullptr;
-// }
-
 // bool IMessage::Publish(Participant *participant) {
 //   return participant->PublishBuffer(Serialize(participant->buffer));
 // }
@@ -40,4 +33,4 @@ unsigned char IMessage::Serialize(char* buffer) {
 // IMessage
 #pragma endregion
 
-  }}
\ No newline at end of file
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Messages/Messages.h b/Messages/Messages.h
index 72263c2..1e96b1b 100644
--- a/Messages/Messages.h
+++ b/Messages/Messages.h
@@ -5,23 +5,19 @@
 #include "Thing.h"
 #include "float16.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 class Participant;
 
 class IMessage {
-public:
+ public:
   IMessage();
-  virtual unsigned char Serialize(char *buffer);
+  virtual unsigned char Serialize(char* buffer);
 
-  static unsigned char *ReceiveMsg(unsigned char packetSize);
+  static unsigned char* ReceiveMsg(unsigned char packetSize);
 
   // bool Publish(Participant *participant);
   // bool SendTo(Participant *participant);
 };
 
-} // namespace Control
-} // namespace Passer
-
-using namespace Passer::RoboidControl;
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/ModelUrlMsg.cpp b/Messages/ModelUrlMsg.cpp
index 4d30d6a..bb7bdd0 100644
--- a/Messages/ModelUrlMsg.cpp
+++ b/Messages/ModelUrlMsg.cpp
@@ -2,7 +2,6 @@
 
 #include <string.h>
 
-namespace Passer {
 namespace RoboidControl {
 
 // ModelUrlMsg::ModelUrlMsg(unsigned char networkId, unsigned char thingId,
@@ -15,16 +14,16 @@ namespace RoboidControl {
 //   this->scale = scale;
 // }
 
-ModelUrlMsg::ModelUrlMsg(const char *buffer) {
-  unsigned char ix = 1; // first byte is msg id
+ModelUrlMsg::ModelUrlMsg(const char* buffer) {
+  unsigned char ix = 1;  // first byte is msg id
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->urlLength = buffer[ix++];
-  this->url = &buffer[ix]; // dangerous! name should not be used anymore after
-                           // buffer has been re-used...
+  this->url = &buffer[ix];  // dangerous! name should not be used anymore after
+                            // buffer has been re-used...
 }
 
-ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing *thing) {
+ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   if (thing->modelUrl == nullptr)
@@ -32,12 +31,12 @@ ModelUrlMsg::ModelUrlMsg(unsigned char networkId, Thing *thing) {
   else
     this->urlLength = (unsigned char)strlen(thing->modelUrl);
 
-  this->url = thing->modelUrl; // dangerous!
+  this->url = thing->modelUrl;  // dangerous!
 }
 
 ModelUrlMsg::~ModelUrlMsg() {}
 
-unsigned char ModelUrlMsg::Serialize(char *buffer) {
+unsigned char ModelUrlMsg::Serialize(char* buffer) {
   if (this->urlLength == 0 || this->url == nullptr)
     return 0;
   unsigned char ix = 0;
@@ -51,5 +50,4 @@ unsigned char ModelUrlMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace RoboidControl
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/ModelUrlMsg.h b/Messages/ModelUrlMsg.h
index 0b3f521..27e5e25 100644
--- a/Messages/ModelUrlMsg.h
+++ b/Messages/ModelUrlMsg.h
@@ -1,11 +1,10 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief Message for communicating the URL for a model of the thing
 class ModelUrlMsg : public IMessage {
-public:
+ public:
   /// @brief The message ID
   static const unsigned char id = 0x90;
   /// @brief The length of the message without the URL string itself
@@ -15,27 +14,26 @@ public:
   unsigned char networkId;
   /// @brief The ID of the thing
   unsigned char thingId;
-  
+
   /// @brief The length of the url st5ring, excluding the null terminator
   unsigned char urlLength;
   /// @brief The url of the model, not terminated by a null character
-  const char *url;
+  const char* url;
 
   /// @brief Create a new message for sending
   /// @param networkId The network ID of the thing
   /// @param thing The thing for which to send the mode URL
-  ModelUrlMsg(unsigned char networkId, Thing *thing);
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
-  ModelUrlMsg(const char *buffer);
+  ModelUrlMsg(unsigned char networkId, Thing* thing);
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
+  ModelUrlMsg(const char* buffer);
   //   ModelUrlMsg(unsigned char networkId, unsigned char thingId,
   //               unsigned char urlLegth, const char *url, float scale = 1);
-  
+
   /// @brief Destructor for the message
   virtual ~ModelUrlMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
-  virtual unsigned char Serialize(char *buffer) override;
+  /// @copydoc RoboidControl::IMessage::Serialize
+  virtual unsigned char Serialize(char* buffer) override;
 };
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/NameMsg.cpp b/Messages/NameMsg.cpp
index d1f1992..1cd7125 100644
--- a/Messages/NameMsg.cpp
+++ b/Messages/NameMsg.cpp
@@ -2,26 +2,25 @@
 
 #include <string.h>
 
-namespace Passer {
 namespace RoboidControl {
 
-NameMsg::NameMsg(unsigned char networkId, Thing *thing) {
+NameMsg::NameMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   if (thing->name == nullptr)
     this->nameLength = 0;
   else
     this->nameLength = (unsigned char)strlen(thing->name);
-  this->name = thing->name; // dangerous!
+  this->name = thing->name;  // dangerous!
 }
 
-NameMsg::NameMsg(const char *buffer) {
-  unsigned char ix = 1; // first byte is msg id
+NameMsg::NameMsg(const char* buffer) {
+  unsigned char ix = 1;  // first byte is msg id
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->nameLength = buffer[ix++];
   // the name string in the buffer is not \0 terminated!
-  char* name = new char[this->nameLength+1];
+  char* name = new char[this->nameLength + 1];
   for (int i = 0; i < this->nameLength; i++)
     name[i] = buffer[ix++];
   name[this->nameLength] = '\0';
@@ -32,7 +31,7 @@ NameMsg::~NameMsg() {
   delete[] this->name;
 }
 
-unsigned char NameMsg::Serialize(char *buffer) {
+unsigned char NameMsg::Serialize(char* buffer) {
   if (this->nameLength == 0 || this->name == nullptr)
     return 0;
 
@@ -47,5 +46,4 @@ unsigned char NameMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/NameMsg.h b/Messages/NameMsg.h
index 4a94237..0d1bebc 100644
--- a/Messages/NameMsg.h
+++ b/Messages/NameMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief Message for communicating the name of a thing
@@ -26,14 +25,13 @@ class NameMsg : public IMessage {
   //   NameMsg(unsigned char networkId, unsigned char thingId, const char *name,
   //           unsigned char nameLength);
 
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   NameMsg(const char* buffer);
   /// @brief Destructor for the message
   virtual ~NameMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
diff --git a/Messages/NetworkIdMsg.cpp b/Messages/NetworkIdMsg.cpp
index b133d3c..cfa36b8 100644
--- a/Messages/NetworkIdMsg.cpp
+++ b/Messages/NetworkIdMsg.cpp
@@ -1,9 +1,10 @@
 #include "NetworkIdMsg.h"
 
-namespace Passer {
 namespace RoboidControl {
 
-NetworkIdMsg::NetworkIdMsg(const char *buffer) { this->networkId = buffer[1]; }
+NetworkIdMsg::NetworkIdMsg(const char* buffer) {
+  this->networkId = buffer[1];
+}
 
 NetworkIdMsg::NetworkIdMsg(unsigned char networkId) {
   this->networkId = networkId;
@@ -11,17 +12,11 @@ NetworkIdMsg::NetworkIdMsg(unsigned char networkId) {
 
 NetworkIdMsg::~NetworkIdMsg() {}
 
-unsigned char NetworkIdMsg::Serialize(char *buffer) {
+unsigned char NetworkIdMsg::Serialize(char* buffer) {
   unsigned char ix = 0;
   buffer[ix++] = this->id;
   buffer[ix++] = this->networkId;
   return NetworkIdMsg::length;
 }
 
-// NetworkIdMsg NetworkIdMsg::Receive(char *buffer, unsigned char bufferSize) {
-//   NetworkIdMsg msg = NetworkIdMsg(buffer);
-//   return msg;
-// }
-
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/NetworkIdMsg.h b/Messages/NetworkIdMsg.h
index afc4fb8..083439b 100644
--- a/Messages/NetworkIdMsg.h
+++ b/Messages/NetworkIdMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A message communicating the network ID for that participant
@@ -16,14 +15,13 @@ public:
   /// @brief Create a new message for sending
   /// @param networkId The network ID for the participant
   NetworkIdMsg(unsigned char networkId);
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   NetworkIdMsg(const char *buffer);
   /// @brief Destructor for the message
   virtual ~NetworkIdMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char *buffer) override;
 };
 
 } // namespace Control
-} // namespace Passer
diff --git a/Messages/ParticipantMsg.cpp b/Messages/ParticipantMsg.cpp
index e9452ea..a13fa7f 100644
--- a/Messages/ParticipantMsg.cpp
+++ b/Messages/ParticipantMsg.cpp
@@ -1,14 +1,18 @@
 #include "ParticipantMsg.h"
 
-namespace Passer::RoboidControl {
+namespace RoboidControl {
 
-ParticipantMsg::ParticipantMsg(char networkId) { this->networkId = networkId; }
+ParticipantMsg::ParticipantMsg(char networkId) {
+  this->networkId = networkId;
+}
 
-ParticipantMsg::ParticipantMsg(const char *buffer) { this->networkId = buffer[1]; }
+ParticipantMsg::ParticipantMsg(const char* buffer) {
+  this->networkId = buffer[1];
+}
 
 ParticipantMsg::~ParticipantMsg() {}
 
-unsigned char ParticipantMsg::Serialize(char *buffer) {
+unsigned char ParticipantMsg::Serialize(char* buffer) {
   unsigned char ix = 0;
   buffer[ix++] = this->id;
   buffer[ix++] = this->networkId;
@@ -20,4 +24,4 @@ unsigned char ParticipantMsg::Serialize(char *buffer) {
 // }
 // Client Msg
 
-} // namespace Passer::RoboidControl
\ No newline at end of file
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Messages/ParticipantMsg.h b/Messages/ParticipantMsg.h
index df742e9..28f9eb5 100644
--- a/Messages/ParticipantMsg.h
+++ b/Messages/ParticipantMsg.h
@@ -2,7 +2,6 @@
 
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A participant messages notifies other participants of its presence
@@ -21,7 +20,7 @@ class ParticipantMsg : public IMessage {
   /// @param networkId The network ID known by the participant
   ParticipantMsg(char networkId);
 
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   ParticipantMsg(const char* buffer);
   /// @brief Destructor for the message
   virtual ~ParticipantMsg();
@@ -33,4 +32,3 @@ class ParticipantMsg : public IMessage {
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/PoseMsg.cpp b/Messages/PoseMsg.cpp
index e20c107..676e557 100644
--- a/Messages/PoseMsg.cpp
+++ b/Messages/PoseMsg.cpp
@@ -1,9 +1,14 @@
 #include "PoseMsg.h"
 #include "LowLevelMessages.h"
 
-PoseMsg::PoseMsg(unsigned char networkId, unsigned char thingId,
-                 unsigned char poseType, Spherical16 position,
-                 SwingTwist16 orientation, Spherical16 linearVelocity,
+namespace RoboidControl {
+
+PoseMsg::PoseMsg(unsigned char networkId,
+                 unsigned char thingId,
+                 unsigned char poseType,
+                 Spherical16 position,
+                 SwingTwist16 orientation,
+                 Spherical16 linearVelocity,
                  Spherical16 angularVelocity) {
   this->networkId = networkId;
   this->thingId = thingId;
@@ -14,8 +19,8 @@ PoseMsg::PoseMsg(unsigned char networkId, unsigned char thingId,
   this->linearVelocity = linearVelocity;
   this->angularVelocity = angularVelocity;
 }
-PoseMsg::PoseMsg(const char *buffer) {
-  unsigned char ix = 1; // First byte is msg id
+PoseMsg::PoseMsg(const char* buffer) {
+  unsigned char ix = 1;  // First byte is msg id
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->poseType = buffer[ix++];
@@ -25,7 +30,7 @@ PoseMsg::PoseMsg(const char *buffer) {
 
 PoseMsg::~PoseMsg() {}
 
-unsigned char PoseMsg::Serialize(char *buffer) {
+unsigned char PoseMsg::Serialize(char* buffer) {
   unsigned char ix = 0;
   buffer[ix++] = PoseMsg::id;
   buffer[ix++] = this->networkId;
@@ -41,3 +46,5 @@ unsigned char PoseMsg::Serialize(char *buffer) {
     LowLevelMessages::SendSpherical16(buffer, &ix, this->angularVelocity);
   return ix;
 }
+
+}  // namespace RoboidControl
diff --git a/Messages/PoseMsg.h b/Messages/PoseMsg.h
index ddb2e07..6d9151a 100644
--- a/Messages/PoseMsg.h
+++ b/Messages/PoseMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief Message to communicate the pose of the thing
@@ -53,14 +52,13 @@ class PoseMsg : public IMessage {
           SwingTwist16 orientation,
           Spherical16 linearVelocity = Spherical16(),
           Spherical16 angularVelocity = Spherical16());
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   PoseMsg(const char* buffer);
   /// @brief Destructor for the message
   virtual ~PoseMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/TextMsg.cpp b/Messages/TextMsg.cpp
index 854a821..371bf92 100644
--- a/Messages/TextMsg.cpp
+++ b/Messages/TextMsg.cpp
@@ -1,6 +1,5 @@
 #include "TextMsg.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 TextMsg::TextMsg(const char* text, unsigned char textLength) {
@@ -22,7 +21,7 @@ TextMsg::TextMsg(char* buffer) {
 TextMsg::~TextMsg() {}
 
 unsigned char TextMsg::Serialize(char* buffer) {
-    if (this->textLength == 0 || this->text == nullptr)
+  if (this->textLength == 0 || this->text == nullptr)
     return 0;
 
   unsigned char ix = 0;
@@ -31,7 +30,7 @@ unsigned char TextMsg::Serialize(char* buffer) {
   for (int nameIx = 0; nameIx < this->textLength; nameIx++)
     buffer[ix++] = this->text[nameIx];
 
-  return ix;}
+  return ix;
+}
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/TextMsg.h b/Messages/TextMsg.h
index dcb6c85..5b25fca 100644
--- a/Messages/TextMsg.h
+++ b/Messages/TextMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief Message for sending generic text
@@ -22,14 +21,13 @@ class TextMsg : public IMessage {
   /// @brief Create a new message for sending
   /// @param text The text
   TextMsg(const char* text, unsigned char textLength);
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   TextMsg(char* buffer);
   /// @brief Destructor for the message
   virtual ~TextMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Messages/ThingMsg.cpp b/Messages/ThingMsg.cpp
index 5242256..c22d58d 100644
--- a/Messages/ThingMsg.cpp
+++ b/Messages/ThingMsg.cpp
@@ -1,21 +1,20 @@
 #include "ThingMsg.h"
 
-namespace Passer {
 namespace RoboidControl {
 
-ThingMsg::ThingMsg(const char *buffer) {
-  unsigned char ix = 1; // first byte is msg id
+ThingMsg::ThingMsg(const char* buffer) {
+  unsigned char ix = 1;  // first byte is msg id
   this->networkId = buffer[ix++];
   this->thingId = buffer[ix++];
   this->thingType = buffer[ix++];
   this->parentId = buffer[ix++];
 }
 
-ThingMsg::ThingMsg(unsigned char networkId, Thing *thing) {
+ThingMsg::ThingMsg(unsigned char networkId, Thing* thing) {
   this->networkId = networkId;
   this->thingId = thing->id;
   this->thingType = thing->type;
-  Thing *parent = thing->GetParent();
+  Thing* parent = thing->GetParent();
   if (parent != nullptr)
     this->parentId = parent->id;
   else
@@ -32,7 +31,7 @@ ThingMsg::ThingMsg(unsigned char networkId, Thing *thing) {
 
 ThingMsg::~ThingMsg() {}
 
-unsigned char ThingMsg::Serialize(char *buffer) {
+unsigned char ThingMsg::Serialize(char* buffer) {
   unsigned char ix = 0;
   buffer[ix++] = this->id;
   buffer[ix++] = this->networkId;
@@ -42,5 +41,4 @@ unsigned char ThingMsg::Serialize(char *buffer) {
   return ix;
 }
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Messages/ThingMsg.h b/Messages/ThingMsg.h
index 0a6d006..c40fb97 100644
--- a/Messages/ThingMsg.h
+++ b/Messages/ThingMsg.h
@@ -1,6 +1,5 @@
 #include "Messages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief  Message providing generic information about a Thing
@@ -26,14 +25,13 @@ class ThingMsg : public IMessage {
   //   ThingMsg(unsigned char networkId, unsigned char thingId,
   //            unsigned char thingType, unsigned char parentId);
 
-  /// @copydoc Passer::RoboidControl::IMessage::IMessage(char*)
+  /// @copydoc RoboidControl::IMessage::IMessage(char*)
   ThingMsg(const char* buffer);
   /// @brief Destructor for the message
   virtual ~ThingMsg();
 
-  /// @copydoc Passer::RoboidControl::IMessage::Serialize
+  /// @copydoc RoboidControl::IMessage::Serialize
   virtual unsigned char Serialize(char* buffer) override;
 };
 
-}  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Participant.cpp b/Participant.cpp
index 85ba22f..bcecf6e 100644
--- a/Participant.cpp
+++ b/Participant.cpp
@@ -19,7 +19,6 @@
 #include <chrono>
 #endif
 
-namespace Passer {
 namespace RoboidControl {
 
 Participant::Participant() {}
@@ -138,7 +137,7 @@ void Participant::SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thi
   delete modelMsg;
 }
 
-void Passer::RoboidControl::Participant::PublishThingInfo(Thing* thing) {
+void Participant::PublishThingInfo(Thing* thing) {
   // std::cout << "Publish thing info" << thing->networkId << "\n";
   //  Strange, when publishing, the network id is irrelevant, because it is
   //  connected to a specific site...
@@ -277,4 +276,3 @@ void Participant::Process(RemoteParticipant* sender, BinaryMsg* msg) {
 #pragma endregion
 
 }  // namespace RoboidControl
-}  // namespace Passer
diff --git a/Participant.h b/Participant.h
index fdf53c1..9a7aea2 100644
--- a/Participant.h
+++ b/Participant.h
@@ -1,11 +1,11 @@
 #pragma once
 
-#include "Messages/ParticipantMsg.h"
 #include "Messages/BinaryMsg.h"
 #include "Messages/InvestigateMsg.h"
 #include "Messages/ModelUrlMsg.h"
 #include "Messages/NameMsg.h"
 #include "Messages/NetworkIdMsg.h"
+#include "Messages/ParticipantMsg.h"
 #include "Messages/PoseMsg.h"
 #include "Messages/ThingMsg.h"
 #include "RemoteParticipant.h"
@@ -23,26 +23,25 @@
 #include <WiFiUdp.h>
 #endif
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class Participant : public RemoteParticipant {
-public:
+ public:
   char buffer[1024];
-  long publishInterval = 3000; // 3 seconds
+  long publishInterval = 3000;  // 3 seconds
   // unsigned char networkId = 0;
 
-  const char *name = "Participant";
+  const char* name = "Participant";
 
   // const char *ipAddress = "0.0.0.0";
   // int port = 0;
   int localPort = 0;
 
 #if defined(ARDUINO)
-  const char *remoteIpAddress = nullptr;
+  const char* remoteIpAddress = nullptr;
   unsigned short remotePort = 0;
-  char *broadcastIpAddress = nullptr;
+  char* broadcastIpAddress = nullptr;
 
   WiFiUDP udp;
 #else
@@ -60,7 +59,7 @@ public:
 
   Participant();
   Participant(int port);
-  Participant(const char *ipAddress, int port);
+  Participant(const char* ipAddress, int port);
 
   void begin();
   bool connected = false;
@@ -73,35 +72,33 @@ public:
   // void Remove(Thing *thing);
   // void UpdateAll(unsigned long currentTimeMs);
 
-  void SendThingInfo(RemoteParticipant* remoteParticipant, Thing *thing);
-  void PublishThingInfo(Thing *thing);
+  void SendThingInfo(RemoteParticipant* remoteParticipant, Thing* thing);
+  void PublishThingInfo(Thing* thing);
 
-  bool Send(RemoteParticipant* remoteParticipant, IMessage *msg);
-  bool Publish(IMessage *msg);
+  bool Send(RemoteParticipant* remoteParticipant, IMessage* msg);
+  bool Publish(IMessage* msg);
 
-  void ReceiveData(unsigned char bufferSize, RemoteParticipant *remoteParticipant);
+  void ReceiveData(unsigned char bufferSize, RemoteParticipant* remoteParticipant);
 
-protected:
-  std::list<Participant *> senders;
+ protected:
+  std::list<Participant*> senders;
 
   unsigned long nextPublishMe = 0;
 
-  void SetupUDP(int localPort, const char *remoteIpAddress, int remotePort);
+  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);
 
-  Participant *GetParticipant(const char *ipAddress, int port);
-  Participant *AddParticipant(const char *ipAddress, int port);
+  Participant* GetParticipant(const char* ipAddress, int port);
+  Participant* AddParticipant(const char* ipAddress, int port);
 
   void ReceiveUDP();
 
-  virtual void Process(RemoteParticipant *sender, ParticipantMsg *msg);
-  virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg);
-  virtual void Process(RemoteParticipant* sender, InvestigateMsg *msg);
-  virtual void Process(RemoteParticipant* sender, ThingMsg *msg);
-  virtual void Process(RemoteParticipant* sender, NameMsg *msg);
-  virtual void Process(RemoteParticipant* sender, PoseMsg *msg);
-  virtual void Process(RemoteParticipant* sender, BinaryMsg *msg);
+  virtual void Process(RemoteParticipant* sender, ParticipantMsg* msg);
+  virtual void Process(RemoteParticipant* sender, NetworkIdMsg* msg);
+  virtual void Process(RemoteParticipant* sender, InvestigateMsg* msg);
+  virtual void Process(RemoteParticipant* sender, ThingMsg* msg);
+  virtual void Process(RemoteParticipant* sender, NameMsg* msg);
+  virtual void Process(RemoteParticipant* sender, PoseMsg* msg);
+  virtual void Process(RemoteParticipant* sender, BinaryMsg* msg);
 };
 
-} // namespace Control
-} // namespace Passer
-using namespace Passer::RoboidControl;
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Posix/Participant.cpp b/Posix/Participant.cpp
index 5205486..ff4af60 100644
--- a/Posix/Participant.cpp
+++ b/Posix/Participant.cpp
@@ -8,7 +8,6 @@
 #include <unistd.h>
 #endif
 
-namespace Passer {
 namespace RoboidControl {
 namespace Posix {
 
@@ -135,4 +134,3 @@ bool Participant::Publish(IMessage* msg) {
 
 }  // namespace Posix
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Posix/Participant.h b/Posix/Participant.h
index 295b495..9450811 100644
--- a/Posix/Participant.h
+++ b/Posix/Participant.h
@@ -2,7 +2,6 @@
 
 #include "../Participant.h"
 
-namespace Passer {
 namespace RoboidControl {
 namespace Posix {
 
@@ -16,4 +15,3 @@ class Participant : public RoboidControl::Participant {
 
 }  // namespace Posix
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/README.md b/README.md
index ac14c63..f5cabcc 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,6 @@ Supporting:
 
 # Basic components
 
-- Passer::RoboidControl::Thing
-- Passer::RoboidControl::Participant
-- Passer::RoboidControl::SiteServer
\ No newline at end of file
+- RoboidControl::Thing
+- RoboidControl::Participant
+- RoboidControl::SiteServer
\ No newline at end of file
diff --git a/RemoteParticipant.cpp b/RemoteParticipant.cpp
index 7ff7b13..2c19389 100644
--- a/RemoteParticipant.cpp
+++ b/RemoteParticipant.cpp
@@ -1,6 +1,5 @@
 #include "RemoteParticipant.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 RemoteParticipant::RemoteParticipant() {}
@@ -51,4 +50,3 @@ void RemoteParticipant::UpdateAll(unsigned long currentTimeMs) {
 }
 
 } // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/RemoteParticipant.h b/RemoteParticipant.h
index b3ed828..e9d76a8 100644
--- a/RemoteParticipant.h
+++ b/RemoteParticipant.h
@@ -1,7 +1,6 @@
 #pragma once
 #include "Thing.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 class RemoteParticipant {
@@ -25,4 +24,3 @@ public:
 };
 
 } // namespace Control
-} // namespace Passer
\ No newline at end of file
diff --git a/Sensors/DigitalSensor.cpp b/Sensors/DigitalSensor.cpp
index de21a15..ad14f3b 100644
--- a/Sensors/DigitalSensor.cpp
+++ b/Sensors/DigitalSensor.cpp
@@ -1,6 +1,5 @@
 #include "DigitalSensor.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 DigitalSensor::DigitalSensor() {}
@@ -8,4 +7,3 @@ DigitalSensor::DigitalSensor() {}
 DigitalSensor::DigitalSensor(unsigned char networkId, unsigned char thingId) {}
 
 }  // namespace RoboidControl
-}  // namespace Passer
diff --git a/Sensors/DigitalSensor.h b/Sensors/DigitalSensor.h
index 8328b33..ed0a973 100644
--- a/Sensors/DigitalSensor.h
+++ b/Sensors/DigitalSensor.h
@@ -2,7 +2,6 @@
 
 #include "Thing.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A digital (on/off, 1/0, true/false) sensor
@@ -20,4 +19,3 @@ class DigitalSensor : public Thing {
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Sensors/TemperatureSensor.cpp b/Sensors/TemperatureSensor.cpp
index ad63935..1852ef5 100644
--- a/Sensors/TemperatureSensor.cpp
+++ b/Sensors/TemperatureSensor.cpp
@@ -2,28 +2,27 @@
 
 #include "Messages/LowLevelMessages.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 // TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
 TemperatureSensor::TemperatureSensor() : Thing(Type::TemperatureSensor) {}
 
-TemperatureSensor::TemperatureSensor(unsigned char networkId,
-                                     unsigned char thingId)
+TemperatureSensor::TemperatureSensor(unsigned char networkId, unsigned char thingId)
     : Thing(nullptr, networkId, thingId, Type::TemperatureSensor) {}
 
-void TemperatureSensor::SetTemperature(float temp) { this->temperature = temp; }
+void TemperatureSensor::SetTemperature(float temp) {
+  this->temperature = temp;
+}
 
-void TemperatureSensor::GenerateBinary(char *buffer, unsigned char *ix) {
+void TemperatureSensor::GenerateBinary(char* buffer, unsigned char* ix) {
   std::cout << "Send temperature: " << this->temperature << "\n";
   LowLevelMessages::SendFloat16(buffer, ix, this->temperature);
 }
 
-void TemperatureSensor::ProcessBinary(char *bytes) {
+void TemperatureSensor::ProcessBinary(char* bytes) {
   unsigned char ix = 0;
   this->temperature = LowLevelMessages::ReceiveFloat16(bytes, &ix);
 }
 
-} // namespace Control
-} // namespace Passer
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Sensors/TemperatureSensor.h b/Sensors/TemperatureSensor.h
index 8ce8284..5ecec8f 100644
--- a/Sensors/TemperatureSensor.h
+++ b/Sensors/TemperatureSensor.h
@@ -2,7 +2,6 @@
 
 #include "Thing.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A temperature sensor
@@ -32,4 +31,3 @@ class TemperatureSensor : public Thing {
 };
 
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/SiteServer.cpp b/SiteServer.cpp
index 6510a65..c6acb88 100644
--- a/SiteServer.cpp
+++ b/SiteServer.cpp
@@ -5,7 +5,6 @@
 #include <functional>
 #include <memory>
 
-namespace Passer {
 namespace RoboidControl {
 
 SiteServer::SiteServer(int port) {
@@ -50,4 +49,3 @@ void SiteServer::Process(RemoteParticipant *sender, ThingMsg *msg) {
 }
 
 } // namespace Control
-} // namespace Passer
diff --git a/SiteServer.h b/SiteServer.h
index c9091b8..03c8223 100644
--- a/SiteServer.h
+++ b/SiteServer.h
@@ -6,35 +6,31 @@
 #include <memory>
 #include <unordered_map>
 
-namespace Passer {
 namespace RoboidControl {
 
 /// @brief A participant is device which can communicate with other participants
 class SiteServer : public Participant {
-public:
+ public:
   SiteServer(int port = 7681);
 
   // virtual void Update(unsigned long currentTimeMs = 0) override;
 
-  template <typename ThingClass> void Register(unsigned char thingType) {
-    thingMsgProcessors[thingType] = [](unsigned char networkId,
-                                       unsigned char thingId) {
+  template <typename ThingClass>
+  void Register(unsigned char thingType) {
+    thingMsgProcessors[thingType] = [](unsigned char networkId, unsigned char thingId) {
       return new ThingClass(networkId, thingId);
     };
   };
 
-protected:
+ protected:
   unsigned long nextPublishMe = 0;
 
-  virtual void Process(RemoteParticipant *sender, ParticipantMsg *msg) override;
-  virtual void Process(RemoteParticipant *sender, NetworkIdMsg *msg) override;
-  virtual void Process(RemoteParticipant* sender, ThingMsg *msg) override;
+  virtual void Process(RemoteParticipant* sender, ParticipantMsg* msg) override;
+  virtual void Process(RemoteParticipant* sender, NetworkIdMsg* msg) override;
+  virtual void Process(RemoteParticipant* sender, ThingMsg* msg) override;
 
-  using ThingConstructor =
-      std::function<Thing *(unsigned char networkId, unsigned char thingId)>;
+  using ThingConstructor = std::function<Thing*(unsigned char networkId, unsigned char thingId)>;
   std::unordered_map<unsigned char, ThingConstructor> thingMsgProcessors;
 };
 
-} // namespace Control
-} // namespace Passer
-using namespace Passer::RoboidControl;
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Thing.cpp b/Thing.cpp
index b1c2266..f1cca3e 100644
--- a/Thing.cpp
+++ b/Thing.cpp
@@ -1,13 +1,12 @@
 #include "Thing.h"
 
-#include "Participant.h"
+#include <string.h>
 #include <algorithm>
 #include <iostream>
 #include <list>
-#include <string.h>
+#include "Participant.h"
 
-namespace Passer {
-  namespace RoboidControl {
+namespace RoboidControl {
 
 Thing::Thing(Type thingType) : Thing((unsigned char)thingType) {}
 
@@ -23,8 +22,7 @@ Thing::Thing(unsigned char thingType) {
   this->angularVelocity = Spherical16::zero;
 }
 
-Thing::Thing(RemoteParticipant *participant, unsigned char networkId,
-                              unsigned char thingId, Type thingType) {
+Thing::Thing(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId, Type thingType) {
   // no participant reference yet..
   this->participant = participant;
   this->networkId = networkId;
@@ -41,25 +39,25 @@ void Thing::Terminate() {
   // Thing::Remove(this);
 }
 
-Thing *Thing::FindThing(const char *name) {
+Thing* Thing::FindThing(const char* name) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
-    Thing *child = this->children[childIx];
+    Thing* child = this->children[childIx];
     if (child == nullptr || child->name == nullptr)
       continue;
 
     if (strcmp(child->name, name) == 0)
       return child;
 
-    Thing *foundChild = child->FindThing(name);
+    Thing* foundChild = child->FindThing(name);
     if (foundChild != nullptr)
       return foundChild;
   }
   return nullptr;
 }
 
-void Thing::SetParent(Thing *parent) {
+void Thing::SetParent(Thing* parent) {
   if (parent == nullptr) {
-    Thing *parentThing = this->parent;
+    Thing* parentThing = this->parent;
     if (parentThing != nullptr)
       parentThing->RemoveChild(this);
     this->parent = nullptr;
@@ -67,18 +65,19 @@ void Thing::SetParent(Thing *parent) {
     parent->AddChild(this);
 }
 
-void Thing::SetParent(Thing *root, const char *name) {
-  Thing *thing = root->FindThing(name);
+void Thing::SetParent(Thing* root, const char* name) {
+  Thing* thing = root->FindThing(name);
   if (thing != nullptr)
     this->SetParent(thing);
 }
 
-Thing *Thing::GetParent() { return this->parent; }
-
-void Thing::AddChild(Thing *child) {
+Thing* Thing::GetParent() {
+  return this->parent;
+}
 
+void Thing::AddChild(Thing* child) {
   unsigned char newChildCount = this->childCount + 1;
-  Thing **newChildren = new Thing *[newChildCount];
+  Thing** newChildren = new Thing*[newChildCount];
 
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     newChildren[childIx] = this->children[childIx];
@@ -99,14 +98,14 @@ void Thing::AddChild(Thing *child) {
   this->childCount = newChildCount;
 }
 
-Thing *Thing::RemoveChild(Thing *child) {
+Thing* Thing::RemoveChild(Thing* child) {
   unsigned char newChildCount = this->childCount - 1;
-  Thing **newChildren = new Thing *[newChildCount];
+  Thing** newChildren = new Thing*[newChildCount];
 
   unsigned char newChildIx = 0;
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
     if (this->children[childIx] != child) {
-      if (newChildIx == newChildCount) { // We did not find the child
+      if (newChildIx == newChildCount) {  // We did not find the child
         // stop copying and return nothing
         delete[] newChildren;
         return nullptr;
@@ -124,16 +123,16 @@ Thing *Thing::RemoveChild(Thing *child) {
   return child;
 }
 
-Thing *Thing::GetChild(unsigned char id, bool recursive) {
+Thing* Thing::GetChild(unsigned char id, bool recursive) {
   for (unsigned char childIx = 0; childIx < this->childCount; childIx++) {
-    Thing *child = this->children[childIx];
+    Thing* child = this->children[childIx];
     if (child == nullptr)
       continue;
     if (child->id == id)
       return child;
 
     if (recursive) {
-      Thing *foundChild = child->GetChild(id, recursive);
+      Thing* foundChild = child->GetChild(id, recursive);
       if (foundChild != nullptr)
         return foundChild;
     }
@@ -141,9 +140,13 @@ Thing *Thing::GetChild(unsigned char id, bool recursive) {
   return nullptr;
 }
 
-Thing *Thing::GetChildByIndex(unsigned char ix) { return this->children[ix]; }
+Thing* Thing::GetChildByIndex(unsigned char ix) {
+  return this->children[ix];
+}
 
-void Thing::SetModel(const char *url) { this->modelUrl = url; }
+void Thing::SetModel(const char* url) {
+  this->modelUrl = url;
+}
 
 #if defined(ARDUINO)
 void Thing::Update() {
@@ -151,73 +154,37 @@ void Thing::Update() {
 }
 #endif
 
-void Thing::GenerateBinary(char *buffer, unsigned char *ix) {
+void Thing::GenerateBinary(char* buffer, unsigned char* ix) {
   (void)buffer;
   (void)ix;
 }
-void Thing::ProcessBinary(char *bytes) { (void)bytes; };
+void Thing::ProcessBinary(char* bytes) {
+  (void)bytes;
+};
 
 void Thing::SetPosition(Spherical16 position) {
   this->position = position;
   this->positionUpdated = true;
 }
-Spherical16 Thing::GetPosition() { return this->position; }
+Spherical16 Thing::GetPosition() {
+  return this->position;
+}
 
 void Thing::SetOrientation(SwingTwist16 orientation) {
   this->orientation = orientation;
   this->orientationUpdated = true;
 }
 
-SwingTwist16 Thing::GetOrientation() { return this->orientation; }
+SwingTwist16 Thing::GetOrientation() {
+  return this->orientation;
+}
 
-Spherical16 Thing::GetLinearVelocity() { return this->linearVelocity; }
+Spherical16 Thing::GetLinearVelocity() {
+  return this->linearVelocity;
+}
 
-Spherical16 Thing::GetAngularVelocity() { return this->angularVelocity; }
+Spherical16 Thing::GetAngularVelocity() {
+  return this->angularVelocity;
+}
 
-// All things
-// std::list<Thing *> Thing::allThings;
-
-// Thing *Thing::Get(unsigned char networkId, unsigned char thingId) {
-//   std::cout << "Get " << (int)networkId << "/" << (int)thingId << " from "
-//             << allThings.size() << " things\n";
-//   for (auto &thing : allThings) {
-//     std::cout << "  ? " << (int)thing->networkId << "/" << (int)thing->id
-//               << "\n";
-//     if (thing->networkId == networkId && thing->id == thingId) {
-//       return thing;
-//     }
-//   }
-//   return nullptr;
-// }
-
-// int Thing::Add(Thing *newThing) {
-//   for (Thing *thing : allThings) {
-//     if (thing == newThing)
-//       return thing->id;
-//   }
-//   std::cout << "Adding " << (int)newThing->networkId << "/" <<
-//   (int)newThing->id
-//             << "\n";
-//   allThings.push_back(newThing);
-//   return allThings.size();
-// }
-
-// void Thing::Remove(Thing *thing) {
-//   Thing::allThings.remove_if([thing](Thing *obj) { return obj == thing; });
-//   std::cout << "Removing " << thing->networkId << "/" << thing->id
-//             << " list size = " << allThings.size() << "\n";
-// }
-
-// void Thing::UpdateAll(unsigned long currentTimeMs) {
-//   // Not very efficient, but it works for now.
-
-//   for (Thing *thing : Thing::allThings) {
-//     if (thing != nullptr &&
-//         thing->parent == nullptr) { // update all root things
-//       // std::cout << " update " << (int)ix << " thingid " << (int)thing->id
-//       //           << "\n";
-//       thing->Update(currentTimeMs);
-//     }
-//   }
-//}
-  }}
\ No newline at end of file
+}  // namespace RoboidControl
\ No newline at end of file
diff --git a/Thing.h b/Thing.h
index 97845e4..28faea1 100644
--- a/Thing.h
+++ b/Thing.h
@@ -1,10 +1,9 @@
 #pragma once
-#include "LinearAlgebra/Spherical.h"
-#include "LinearAlgebra/SwingTwist.h"
 #include <iostream>
 #include <list>
+#include "LinearAlgebra/Spherical.h"
+#include "LinearAlgebra/SwingTwist.h"
 
-namespace Passer {
 namespace RoboidControl {
 
 class RemoteParticipant;
@@ -15,8 +14,8 @@ class RemoteParticipant;
 
 /// @brief A thing is the primitive building block
 class Thing {
-public:
-  RemoteParticipant *participant;
+ public:
+  RemoteParticipant* participant;
   unsigned char networkId = 0;
   /// @brief The ID of the thing
   unsigned char id = 0;
@@ -52,31 +51,33 @@ public:
   /// @param networkId The network ID of the thing
   /// @param thingId The ID of the thing
   /// @param thingType The type of thing
-  Thing(RemoteParticipant *participant, unsigned char networkId,
-        unsigned char thingId, Type thingType = Type::Undetermined);
+  Thing(RemoteParticipant* participant,
+        unsigned char networkId,
+        unsigned char thingId,
+        Type thingType = Type::Undetermined);
 
   /// @brief Find a thing by name
   /// @param name Rhe name of the thing
   /// @return The found thing or nullptr when nothing is found
-  Thing *FindThing(const char *name);
+  Thing* FindThing(const char* name);
 
   /// @brief Sets the parent Thing
   /// @param parent The Thing which should become the parnet
   /// @remark This is equivalent to calling parent->AddChild(this);
-  virtual void SetParent(Thing *parent);
-  void SetParent(Thing *root, const char *name);
+  virtual void SetParent(Thing* parent);
+  void SetParent(Thing* root, const char* name);
   /// @brief Gets the parent Thing
   /// @return The parent Thing
-  Thing *GetParent();
+  Thing* GetParent();
 
   /// @brief Add a child Thing to this Thing
   /// @param child The Thing which should become a child
   /// @remark When the Thing is already a child, it will not be added again
-  virtual void AddChild(Thing *child);
+  virtual void AddChild(Thing* child);
   /// @brief Remove the given thing as a child of this thing
   /// @param child The child to remove
   /// @return The removed child or nullptr if the child could not be found
-  Thing *RemoveChild(Thing *child);
+  Thing* RemoveChild(Thing* child);
 
   /// @brief The number of children
   unsigned char childCount = 0;
@@ -84,21 +85,21 @@ public:
   /// @param id The thing ID to find
   /// @param recursive Look recursively through all descendants
   /// @return The found thing of nullptr when nothing is found
-  Thing *GetChild(unsigned char id, bool recursive = false);
+  Thing* GetChild(unsigned char id, bool recursive = false);
   /// @brief Get a child by index
   /// @param ix The child index
   /// @return The found thing of nullptr when nothing is found
-  Thing *GetChildByIndex(unsigned char ix);
+  Thing* GetChildByIndex(unsigned char ix);
 
-protected:
-  Thing *parent = nullptr;
-  Thing **children = nullptr;
+ protected:
+  Thing* parent = nullptr;
+  Thing** children = nullptr;
 
-public:
+ public:
   /// @brief The name of the thing
-  const char *name = nullptr;
+  const char* name = nullptr;
   /// @brief An URL pointing to the location where a model of the thing can be found
-  const char *modelUrl = nullptr;
+  const char* modelUrl = nullptr;
   /// @brief The scale of the model (deprecated I think)
   float modelScale = 1;
 
@@ -115,14 +116,14 @@ public:
   /// @return The orienation in local space
   SwingTwist16 GetOrientation();
   /// @brief The scale of the thing (deprecated I think)
-  float scale = 1; // assuming uniform scale
+  float scale = 1;  // assuming uniform scale
 
   /// @brief boolean indicating if the position was updated
   bool positionUpdated = false;
   /// @brief boolean indicating if the orientation was updated
   bool orientationUpdated = false;
 
-protected:
+ protected:
   /// @brief The position in local space
   /// @remark When this Thing has a parent, the position is relative to the
   /// parent's position and orientation
@@ -132,7 +133,7 @@ protected:
   /// parent's orientation
   SwingTwist16 orientation;
 
-public:
+ public:
   Spherical16 linearVelocity;
   Spherical16 angularVelocity;
 
@@ -143,7 +144,7 @@ public:
   /// @return The angular velocity in local space
   virtual Spherical16 GetAngularVelocity();
 
-public:
+ public:
   /// @brief Terminated things are no longer updated
   void Terminate();
 
@@ -152,12 +153,12 @@ public:
   /// @param url The url of the model
   /// @remark Although the roboid implementation is not dependent on the model,
   /// the only official supported model format is .obj
-  void SetModel(const char *url);
+  void SetModel(const char* url);
 
-  #if defined(ARDUINO)
+#if defined(ARDUINO)
   void Update();
-  #endif
-  
+#endif
+
   /// @brief Updates the state of the thing
   /// @param currentTimeMs The current clock time in milliseconds
   virtual void Update(unsigned long currentTimeMs) { (void)currentTimeMs; };
@@ -165,13 +166,10 @@ public:
   /// @brief Function used to generate binary data for this thing
   /// @param buffer The byte array for thw binary data
   /// @param ix The starting position for writing the binary data
-  virtual void GenerateBinary(char *buffer, unsigned char *ix);
+  virtual void GenerateBinary(char* buffer, unsigned char* ix);
   // /// @brief FUnction used to process binary data received for this thing
   /// @param bytes The binary data
-  virtual void ProcessBinary(char *bytes);
-
+  virtual void ProcessBinary(char* bytes);
 };
 
-} // namespace Control
-} // namespace Passer
-using namespace Passer::RoboidControl;
\ No newline at end of file
+}  // namespace RoboidControl
diff --git a/Windows/Participant.cpp b/Windows/Participant.cpp
index d6fa76f..431bf07 100644
--- a/Windows/Participant.cpp
+++ b/Windows/Participant.cpp
@@ -12,7 +12,6 @@
 #include <unistd.h>
 #endif
 
-namespace Passer {
 namespace RoboidControl {
 namespace Windows {
 
@@ -196,4 +195,3 @@ bool Participant::Publish(IMessage* msg) {
 
 }  // namespace Windows
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/Windows/Participant.h b/Windows/Participant.h
index a0487b4..36cd747 100644
--- a/Windows/Participant.h
+++ b/Windows/Participant.h
@@ -2,7 +2,6 @@
 
 #include "../Participant.h"
 
-namespace Passer {
 namespace RoboidControl {
 namespace Windows {
 
@@ -16,4 +15,3 @@ class Participant : public RoboidControl::Participant {
 
 }  // namespace Windows
 }  // namespace RoboidControl
-}  // namespace Passer
\ No newline at end of file
diff --git a/test/second_test.cc b/test/second_test.cc
index 6f706ad..2726b3e 100644
--- a/test/second_test.cc
+++ b/test/second_test.cc
@@ -4,12 +4,13 @@
 // not supported using Visual Studio 2022 compiler...
 #include <gtest/gtest.h>
 
-// #include "../Thing.h"
 #include <chrono>
 
 #include "Participant.h"
 #include "Thing.h"
 
+using namespace RoboidControl;
+
 class ControlCoreSuite2 : public ::testing::Test {
 protected:
   // SetUp and TearDown can be used to set up and clean up before/after each
diff --git a/test/thing_test.cc b/test/thing_test.cc
index e3d20de..98c07b4 100644
--- a/test/thing_test.cc
+++ b/test/thing_test.cc
@@ -12,7 +12,7 @@
 #include "SiteServer.h"
 #include "Thing.h"
 
-namespace Passer {
+using namespace RoboidControl;
 
 // Function to get the current time in milliseconds as unsigned long
 unsigned long get_time_ms() {
@@ -94,6 +94,4 @@ TEST_F(ControlCoreSuite, Thing) {
   ASSERT_EQ(1, 1);
 }
 
-
-} // namespace Passer
 #endif