first commit. work in progress

99-lidar_lite.rules

+SUBSYSTEM=="usb|usb_device", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A700evSl", RUN+="/bin/sh -c 'echo $kernel > /sys/bus/usb/drivers/ftdi_sio/unbind'"
+SUBSYSTEM=="usb|usb_device", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", ATTRS{serial}=="A700evSl", MODE="0666" 
\ No newline at end of file

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(lidar-lite)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+

Findlidar_lite.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(lidar_lite_INCLUDE_DIR lidar_lite.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(lidar_lite_LIBRARY
+    NAMES lidar_lite
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (lidar_lite_INCLUDE_DIR AND lidar_lite_LIBRARY)
+   SET(lidar_lite_FOUND TRUE)
+ENDIF (lidar_lite_INCLUDE_DIR AND lidar_lite_LIBRARY)
+
+IF (lidar_lite_FOUND)
+   IF (NOT lidar_lite_FIND_QUIETLY)
+      MESSAGE(STATUS "Found lidar_lite: ${lidar_lite_LIBRARY}")
+   ENDIF (NOT lidar_lite_FIND_QUIETLY)
+ELSE (lidar_lite_FOUND)
+   IF (lidar_lite_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find lidar_lite")
+   ENDIF (lidar_lite_FIND_REQUIRED)
+ENDIF (lidar_lite_FOUND)
+

ReadMe.txt

+Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Author asantamaria (asantamaria@iri.upc.edu)
+All rights reserved.
+
+This file is part of lidar_lite library
+lidar_lite library is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+

bin/.gitignore

+# Ignore everything
+*
+
+# But not these files...
+!.gitignore
+
+# ...even if they are in subdirectories
+!*/

build/.gitignore

+# Ignore everything
+*
+
+# But not these files...
+!.gitignore
+
+# ...even if they are in subdirectories
+!*/

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../doc/main.dox
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "lidar_lite"

doc/main.dox

+/*! \mainpage lidar_lite
+
+  \section Introduction 
+
+  \subsection Pre-Requisites
+
+  This package requires of the following libraries and packages
+	 - <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
+	 - <A href="http://www.doxygen.org">doxygen</a> and 
+	   <A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
+         - stdc++, 
+	 .
+  
+  Under linux all of these utilities are available in ready-to-use packages.
+
+  Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
+
+  \subsection Compilation
+
+  Just download this package, uncompress it, and execute
+   - cd build
+   - cmake ..
+   .
+  to generate the makefile and then
+   - make
+   .
+  to obtain the shared library (in this case called <em>iriutils.so</em>) and
+  also all the example programs.
+
+  The <em>cmake</em> only need to be executed once (make will automatically call
+  <em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
+
+  To generate this documentation type
+       - make doc
+       .
+
+  The files in the <em>build</em> directory are genetated by <em>cmake</em>
+  and <em>make</em> and can be safely removed.
+  After doing so you will need to call cmake manually again.
+
+  \subsection Configuration
+
+  The default build mode is DEBUG. That is, objects and executables 
+  include debug information.
+
+  The RELEASE build mode optimizes for speed. To build in this mode
+  execute
+      - cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+      .
+  The release mode will be kept until next time cmake is executed.
+
+  \subsection Installation
+
+  In order to be able to use the library, it it necessary to copy it into the system.
+  To do that, execute
+
+      - make install
+      .
+
+  as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
+  and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At 
+  this point, the library may be used by any user.
+
+  To remove the library from the system, exceute
+      - make uninstall
+      .
+  as root, and all the associated files will be removed from the system.
+
+  \section Customization
+
+  To build a new application using these library, first it is necessary to locate if the library
+  has been installed or not using the following command
+
+      - FIND_PACKAGE(lidar_lite REQUIRED)
+
+  In the case that the package is present, it is necessary to add the header files directory to
+  the include directory path by using
+
+      - INCLUDE_DIRECTORIES(${lidar_lite_INCLUDE_DIR})
+
+  Finally, it is also nevessary to link with the desired libraries by using the following command
+
+      - TARGET_LINK_LIBRARIES(<executable name> ${lidar_lite_LIBRARY})
+      .
+
+  \section License
+
+  This package is licensed under a  
+  <a href="http://www.gnu.org/licenses/lgpl.html">
+    LGPL 3.0 License</a>.
+
+  \section Disclaimer
+
+   This is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>. 
+
+ */

lib/.gitignore

+# Ignore everything
+*
+
+# But not these files...
+!.gitignore
+
+# ...even if they are in subdirectories
+!*/

src/CMakeLists.txt

+# driver source files
+SET(sources lidar_lite.cpp exceptions/exceptions.cpp exceptions/lidar_lite_exceptions.cpp)
+
+# application header files
+SET(headers lidar_lite.h exceptions/exceptions.h exceptions/lidar_lite_exceptions.h)
+
+# locate the necessary dependencies
+FIND_PACKAGE(usb_i2c_adapter REQUIRED)
+
+# add the necessary include directories
+INCLUDE_DIRECTORIES(. ${usb_i2c_adapter_INCLUDE_DIR})
+
+# create the shared library
+ADD_LIBRARY(lidar_lite SHARED ${sources})
+
+# link necessary libraries
+TARGET_LINK_LIBRARIES(lidar_lite ${usb_i2c_adapter_LIBRARY}) 
+
+# Check G++ compiler version
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+elseif(COMPILER_SUPPORTS_CXX0X)
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+else()
+        message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+
+# install
+INSTALL(TARGETS lidar_lite
+        RUNTIME DESTINATION bin
+        LIBRARY DESTINATION lib/iridrivers
+        ARCHIVE DESTINATION lib/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ../Findlidar_lite.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+INSTALL(FILES ../99-lidar_lite.rules DESTINATION /etc/udev/rules.d/)
+
+# Restart UDEV to account for new rules.d
+execute_process(COMMAND sudo service udev restart)
+
+ADD_SUBDIRECTORY(examples)

src/examples/CMakeLists.txt

+# create an example application
+ADD_EXECUTABLE(lidar_lite_test lidar_lite_test.cpp)
+
+# link necessary libraries
+TARGET_LINK_LIBRARIES(lidar_lite_test lidar_lite)

src/examples/lidar_lite_test.cpp

+#include "lidar_lite.h"
+
+int main(int argc, char *argv[])
+{
+
+	std::string serial="A700evSl";
+
+	CLidarLite* laser_ptr = new CLidarLite();
+
+	try
+	{
+		laser_ptr->open(serial);
+
+		laser_ptr->close();
+	}catch(CLidarLiteException &e)
+	{
+		std::cout << e.what() << std::endl;
+	}
+
+	if(laser_ptr != NULL)
+  	delete laser_ptr;
+}

src/exceptions/exceptions.cpp

+// Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Author Sergi Hernandez  (shernand@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of iriutils
+// iriutils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include "exceptions.h"
+#include <string.h>
+#include <stdio.h>
+
+const std::string exception_msg="[Exception caught] - ";
+
+CException::CException(const std::string& where, const std::string& error_msg)
+{
+  this->error_msg=exception_msg;
+  this->error_msg+=where;
+  this->error_msg+="\nError: ";
+  this->error_msg+=error_msg;
+}
+
+const std::string& CException::what(void)
+{
+  return this->error_msg;
+}
+
+CException::~CException() throw()
+{
+  /* the error message is destroyed by its own destructor */
+}

src/exceptions/exceptions.h

+// Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Author Sergi Hernandez  (shernand@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of iriutils
+// iriutils is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef _EXCEPTIONS
+#define _EXCEPTIONS
+
+#include <exception>
+#include <sstream>
+#include <string>
+
+template <typename T_> 
+inline std::string tostring (const T_ & src)
+{
+  std::ostringstream out;
+
+  out << src;
+  return out.str();
+}
+
+#define _HERE_ (std::string(__PRETTY_FUNCTION__) + " at " + \
+        std::string(__FILE__) + ":" +tostring(__LINE__))
+
+/** 
+ * \brief Generic exception
+ * 
+ * This class inherits from the std::exception class to provide generic 
+ * exceptions for for all classes. The error message is provided at
+ * construction time with all the necessary information about the error
+ * that has generated the exception. When the exception is caught, the 
+ * what() function may be used to get the error message. 
+ *
+ * This class should be used as a base class for all other exception
+ * classes in any program. This way it will be simple to distinguish 
+ * between system exceptions and application exceptions.
+ *
+ * When throwing exceptions, it is important to free all allocated 
+ * resources and also to set all the class attributes and variables to a 
+ * known state. Otherwise the behavior of the program after an exception
+ * is thrown could be unpredictible.
+ *
+ * Next there is a scketch of a program to catch exceptions:
+ *
+ * \verbatim
+ *   try{
+ *     user code here
+ *   }catch(CException &e){
+ *     handle the exception
+ *   }
+ * \endverbatim
+ *
+ * There exist no copy constructor, so if it is necessary to rethrow an
+ * exception just use throw; instead of throw e;, because the later tries
+ * to create a new CException object and initialize it with the information
+ * of the original one.
+ *
+ * This code will catch any exception of this class or any inherited class.
+ * Several catch statements can be used to catch exceptions of different 
+ * classes separatelly and handle them in different ways.
+ *
+ */
+class CException : public std::exception
+{
+  protected:
+    /**
+     * \brief Exception error message.
+     *
+     * This attribute is a string which contains the error message with the
+     * information about the error that has generated the exception. This 
+     * message is allocated and initialized at construction time and can not
+     * be modified afterwards.
+     *
+     * When the exception is caught, the what() function must be used to get
+     * the contents of this error message.
+     */
+    std::string error_msg;
+  public:
+    /**
+     * \brief Class constructor
+     *
+     * The constructor of this class allocates the necessary memory to store 
+     * the error message. In addition to the error message provided to the 
+     * constructor, the name of the function, filename and line where the error
+     * has ocurred, as well as the text "[Exception caught] - " is pre-appended 
+     * to label the message as an exception.
+     *
+     * \param where a null terminated string with the information about the name
+     *              of the function, the source code filename and the line where
+     *              the exception was generated. This string must be generated 
+     *              by the _HERE_ macro.
+     *
+     * \param error_msg a null terminated string that contains the error message.
+     *                  This string may have any valid character and there is no 
+     *                  limit on its length.
+     */
+    CException(const std::string& where, const std::string& error_msg);
+    /**
+     * \brief Function to get the error message
+     *
+     * This function is used to get the error message with the information about 
+     * the error that has generated the exception. 
+     *
+     * \return the error message as a constant string to prevent external
+     *          modifications of the private attributes of the class.
+     */   
+    virtual const std::string& what(void);
+    /**
+     * \brief Class destructor
+     *
+     * This destructor just frees all the memory allocated to store the error 
+     * message.
+     */  
+    virtual ~CException() throw();
+};
+
+#endif

src/exceptions/lidar_lite_exceptions.cpp

+#include "lidar_lite_exceptions.h"
+#include <sstream>
+#include <string.h>
+#include <stdio.h>
+
+#include "exceptions/lidar_lite_exceptions.h"
+
+const std::string lidar_lite_error_message="LidarLite error - ";
+
+CLidarLiteException::CLidarLiteException(const std::string& where,const std::string &error_msg):CException(where,lidar_lite_error_message)
+{
+  std::stringstream text;
+ 
+  this->error_msg+=error_msg;
+}

src/exceptions/lidar_lite_exceptions.h

+#ifndef _LIDAR_LITE_EXCEPTIONS
+#define _LIDAR_LITE_EXCEPTIONS
+
+#include "exceptions.h"
+
+/**
+ * \brief Lidar Lite exception
+ * 
+ * This class is used to report general errors of the Lidar Lite devices. These 
+ * errors are normally caused by invalid parameters passed to the functions.
+ * In this case the error message is used to identify which error has ocuurred.
+ *
+ */
+class CLidarLiteException : public CException
+{
+  public:
+    /**
+     * \brief  
+     */
+    CLidarLiteException(const std::string& where,const std::string &error_msg);
+};
+
+#endif

src/lidar_lite.cpp

+#include "lidar_lite.h"
+
+CLidarLite::CLidarLite(void)
+{
+}
+ 
+CLidarLite::~CLidarLite(void)
+{
+	close();
+	if(this->adapter_ != NULL)
+		delete this->adapter_;
+}
+
+void CLidarLite::blink_led(void)
+{
+	try
+	{
+		for (int ii = 0; ii < 2; ++ii)
+		{
+      this->adapter_->turn_led_off();
+      usleep(200000);
+      this->adapter_->turn_led_on();
+      usleep(200000);
+		}
+  }catch(CException &e)
+  {
+  	throw CLidarLiteException(_HERE_, e.what());
+  }
+}
+
+void CLidarLite::open(const std::string& serial)
+{
+	this->adapter_ = new CUSBI2C("adapter");
+	try
+	{
+		// open serial port
+    std::cout << "[CLidarLite] Opening Lidar Lite. " << std::endl; 
+    this->adapter_->open(serial);
+    std::cout << "  - Serial number: " << serial << std::endl;
+    std::cout << "  - Firmware revision: " << (int)this->adapter_->get_revision() << std::endl;
+
+    // blink led
+    blink_led();
+		
+		// Setup gpio 2 as i2c    
+    this->adapter_->config_gpio(gpio2,i2c);
+
+    // Test
+
+		
+		// unsigned char param1 = 0x00;
+		unsigned char data = 0x04;
+
+    this->adapter_->write_reg(gpio2, 0x00, &data, 1);
+
+		// this->adapter_->write(0x00, &data, 1);
+
+		//int CUSBI2C::write_reg(unsigned char dev_id, short int address, unsigned char *data, int len)
+  
+
+
+  //Write 0x04 to register 0x00.
+
+	//Read register 0x01. Repeat until bit 0 (LSB) goes low.
+			
+	//Read two bytes from 0x8f (High byte 0x0f then low byte 0x10) to obtain the 16-bit measured distance in centimeter
+
+  }catch(CException &e)
+  {
+  	throw CLidarLiteException(_HERE_, e.what());
+  }
+}
+
+void CLidarLite::close(void)
+{
+	try
+	{
+		this->adapter_->close();
+  }catch(CException &e)
+  {
+  	throw CLidarLiteException(_HERE_, e.what());
+  }
+}

src/lidar_lite.h

+#ifndef _LIDAR_LITE_H
+#define _LIDAR_LITE_H
+
+#include <iostream>
+#include "usb_i2c.h"
+#include "exceptions/lidar_lite_exceptions.h"
+
+class CLidarLite
+{
+	private:
+		std::string serial_;	// Serial port
+		CUSBI2C* adapter_;			// Device object
+
+		void blink_led(void);
+
+  public:
+    CLidarLite(void);
+    ~CLidarLite(void);
+
+		void open(const std::string& serial);
+		void close(void);
+};
+
+#endif