lshal: add HelpCommand

Add *Command::usage() function for each Command and let
Lshal class to call them.

Suppress output from getopt_long and write our own
error message to customized error stream (for testing).

Test: lshal_test
Test: lshal --help

Change-Id: I8f5847c84a3e01af29fa85871479cab3baeb5312
diff --git a/cmds/lshal/Android.bp b/cmds/lshal/Android.bp
index 4781468..5a87505 100644
--- a/cmds/lshal/Android.bp
+++ b/cmds/lshal/Android.bp
@@ -25,6 +25,7 @@
     ],
     srcs: [
         "DebugCommand.cpp",
+        "HelpCommand.cpp",
         "Lshal.cpp",
         "ListCommand.cpp",
         "PipeRelay.cpp",