added lsllidar and LIDARLITE library

lsllidar/Makefile

+LSLBASE=../labstreaminglayer/build/install
+CPPFLAGS+=-Wall -Wno-sign-compare -I$(LSLBASE)/include -I.
+LDFLAGS+=-L$(LSLBASE)/lib
+CXX=g++
+CC=g++
+
+
+LDLIBS+=-llsl32 -lboost_program_options 
+#LDLIBS+=-lzmq -lboost_program_options -lpigpio -llsl32
+#LDLIBS+=-lzmq -lpthread -lboost_system -lboost_regex  -lboost_program_options
+#INCLUDE+=RS-232
+CXXFLAGS+=-Wall -std=c++11
+
+all: lsllidar
+
+lsllidar: lsllidar.o lidarlite_v3.o
+lsllidar.o: lsllidar.cc include/lidarlite_v3.h
+lidarlite_v3.o: lidarlite_v3.cpp include/lidarlite_v3.h

lsllidar/include/lidarlite_v3.h

+../../LIDARLite_RaspberryPi_Library/include/lidarlite_v3.h
\ No newline at end of file

lsllidar/lidarlite_v3.cpp

+../LIDARLite_RaspberryPi_Library/src/lidarlite_v3.cpp
\ No newline at end of file

lsllidar/llv3.cpp

+/*------------------------------------------------------------------------------
+  This example illustrates how to use the LIDAR-Lite library to gain quick
+  access to the basic functions of LIDAR-Lite via the Raspberry Pi interface.
+  Additionally, it provides users of any platform with a template for their
+  own application code.
+  
+  Copyright (c) 2019 Garmin Ltd. or its subsidiaries.
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+  http://www.apache.org/licenses/LICENSE-2.0
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+------------------------------------------------------------------------------*/
+
+#include <linux/types.h>
+#include <cstdio>
+
+#include <include/lidarlite_v3.h>
+
+LIDARLite_v3 myLidarLite;
+
+int main()
+{
+    __u16 distance;
+    __u8  busyFlag;
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Optionally configure LIDAR-Lite
+    myLidarLite.configure(0);
+
+    while(1)
+    {
+        // Each time through the loop, check BUSY
+        busyFlag = myLidarLite.getBusyFlag();
+
+        if (busyFlag == 0x00)
+        {
+            // When no longer busy, immediately initialize another measurement
+            // and then read the distance data from the last measurement.
+            // This method will result in faster I2C rep rates.
+            myLidarLite.takeRange();
+            distance = myLidarLite.readDistance();
+
+            printf("%4d\n", distance);
+        }
+    }
+}
+
+
+/*
+ * ================================================================
+ * The set of instructions below illustrates one method of setting
+ * an alternate I2C device address in the LIDAR-Lite v3. See the
+ * operator manual and C++ libraries for further details.
+ * ================================================================
+ */
+
+/*
+#define i2cSecondaryAddr 0x44  // Set I2C address of LIDAR-Lite v3 to 0x44
+
+int main()
+{
+    __u16 distance;
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Set an alternate i2c address in the LIDAR-Lite
+    // The 2nd argument, if non-zero, disables the default addr 0x62
+    myLidarLite.setI2Caddr(i2cSecondaryAddr, true);
+
+    while(1)
+    {
+        myLidarLite.waitForBusy(i2cSecondaryAddr);
+        myLidarLite.takeRange(i2cSecondaryAddr);
+        distance      = myLidarLite.readDistance(i2cSecondaryAddr);
+
+        printf("%4d\n", distance);
+    }
+}
+*/

lsllidar/lsllidar.cc

+#include <linux/types.h>
+#include <cstdio>
+#include <cstdint>
+#include <iostream>
+#include <lsl_cpp.h>
+#include <boost/program_options.hpp>
+#include <include/lidarlite_v3.h>
+
+using namespace std;
+using namespace boost;
+using namespace lsl;
+
+LIDARLite_v3 myLidarLite;
+
+stream_outlet *outlet;
+string info_name, info_type, info_sourceid;
+
+static int verbose = 0;
+
+void parse_options(int argc, const char *argv[]) {
+    namespace po = boost::program_options;
+
+    // Declare the supported options.
+    po::options_description desc("Usage:");
+    desc.add_options()("help,h", "show this message")(
+        "lsl-name", po::value<string>(), "set the name of the LSL stream")(
+        "lsl-type", po::value<string>(), "set the type of the LSL stream")(
+        "lsl-sourceid", po::value<string>(),
+        "set the sourceid of the LSL stream")("verbose,v",
+                                              "enable verbose output");
+
+    po::variables_map vm;
+    po::store(po::parse_command_line(argc, argv, desc), vm);
+    po::notify(vm);
+
+    if (vm.count("help")) {
+        cout << desc << "\n";
+        exit(0);
+    }
+
+    if (vm.count("verbose")) {
+        verbose = 1;
+    }
+
+    if (vm.count("lsl-name"))
+        info_name = vm["lsl-name"].as<string>();
+    else
+        info_name = "Raspberry Pi LIDAR Events";
+
+    if (verbose)
+        cout << "LSL name is: " << info_name << endl;
+
+    if (vm.count("lsl-type"))
+        info_type = vm["lsl-type"].as<string>();
+    else {
+        char hostname[255];
+        gethostname(hostname, 255);
+        ostringstream s;
+        s << "LIDAR Events @ " << hostname;
+        info_type = s.str();
+    }
+    if (verbose)
+        cout << "LSL type is: " << info_type << endl;
+
+    if (vm.count("lsl-sourceid"))
+        info_sourceid = vm["lsl-sourceid"].as<string>();
+    else {
+        char hostname[255];
+        gethostname(hostname, 255);
+        ostringstream s;
+        s << argv[0] << "@" << hostname;
+        info_sourceid = s.str();
+    }
+
+    if (verbose)
+        cout << "LSL sourceid is: " << info_sourceid << endl;
+}
+
+int main(int argc, const char *argv[])
+{
+    int16_t distance;
+    __u8  busyFlag;
+
+    parse_options(argc, argv);
+
+    // Initialize i2c peripheral in the cpu core
+    myLidarLite.i2c_init();
+
+    // Optionally configure LIDAR-Lite
+    myLidarLite.configure(0);
+
+    // make a new stream_info and open an outlet with it
+    stream_info info(info_name.c_str(), info_type.c_str(), 1,
+                     lsl::IRREGULAR_RATE, lsl::cf_int16,
+                     info_sourceid.c_str());
+    outlet = new stream_outlet(info);
+
+    while(1)
+    {
+        // Each time through the loop, check BUSY
+        busyFlag = myLidarLite.getBusyFlag();
+
+        if (busyFlag == 0x00)
+        {
+            // When no longer busy, immediately initialize another measurement
+            // and then read the distance data from the last measurement.
+            // This method will result in faster I2C rep rates.
+            myLidarLite.takeRange();
+            distance = myLidarLite.readDistance();
+
+            outlet->push_sample(&distance);
+            printf("%4d\n", distance);
+        }
+    }
+}
+