public void startService() {
super.startService();
try {
serial = getSerial();
// setting callback / message route
serial.addListener("publishByte", getName(), "byteReceived");
serial.startService();
if (model == null) {
model = MODEL_SICK_LMS200;
}
// start LIDAR hardware initialization here
// data coming back from the hardware will be in byteRecieved
if (MODEL_SICK_LMS200.equals(model)) {
serial.write(new byte[] {1, 38, 32, 43});
}
state = STATE_INITIALIZATION_STAGE_1;
} catch (Exception e) {
error(e.getMessage());
}
}
@Override
public void startService() {
super.startService();
arduino.startService();
attach(arduino);
}