Provide a generic way to receive zmq updates for lidar and slam.

app/src/main/java/com/example/carcontroller/LIDAR/LidarView.java

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+package com.example.carcontroller.LIDAR;
+
+import android.content.Context;
+import android.graphics.Bitmap;
+import android.graphics.Canvas;
+import android.util.AttributeSet;
+import android.view.MotionEvent;
+import android.view.SurfaceHolder;
+import android.view.SurfaceView;
+
+import com.example.carcontroller.PersonTrackingGrpc;
+
+public class LidarView extends SurfaceView implements Runnable {
+
+    private boolean running;
+    private Thread lidarThread;
+    private SurfaceHolder holder;
+    PersonTrackingGrpc.PersonTrackingBlockingStub stub;
+
+    private int mBitmapX, mBitmapY, mViewWidth, mViewHeight;
+    private Bitmap mBitmap;
+
+    public LidarView(Context context) {
+        super(context);
+    }
+
+    public LidarView(Context context, AttributeSet attrs) {
+        super(context, attrs);
+    }
+
+    public LidarView(Context context, AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+    }
+
+    @Override
+    protected void onSizeChanged(int w, int h, int oldw, int oldh) {
+        super.onSizeChanged(w, h, oldw, oldh);
+    }
+
+    @Override
+    public boolean onTouchEvent(MotionEvent event) {
+        float x = event.getX();
+        float y = event.getY();
+
+        // Get the group that was selected and select on the grpc controller.
+        switch (event.getAction()) {
+            case MotionEvent.ACTION_DOWN:
+                break;
+        }
+        return true;
+    }
+
+    @Override
+    public void run() {
+        Canvas canvas;
+        while (running) {
+            if (holder.getSurface().isValid()) {
+                canvas = holder.lockCanvas();
+                canvas.save();
+                // Get the updated points from the raspberry pi.
+
+
+                // Iterate through every point (hist point) and draw to the canvas.
+                
+            }
+        }
+    }
+
+    public void pause() {
+        running = false;
+        try {
+            lidarThread.join();
+        } catch (InterruptedException e) {
+
+        }
+
+    }
+
+    public void resume() {
+        lidarThread = new Thread(this);
+        lidarThread.start();
+        running = true;
+    }
+
+    private static class Point {
+        private double x;
+        private double y;
+
+        private Point(double x, double y) {
+            this.x = x;
+            this.y = y;
+        }
+
+        static Point fromXY(double x, double y) {
+            return new Point(x, y);
+        }
+
+        static Point fromHist(double distance, double angle) {
+            return fromHist(distance, angle, new Point(0, 0));
+        }
+
+        static Point fromHist(double distance, double angle, Point offset) {
+            return new Point(distance * Math.sin(angle) + offset.x, distance * Math.cos(angle) + offset.y);
+        }
+
+    }
+}