Make SLAM view easier to implement in multiple protocols.

app/src/main/java/com/example/carcontroller/SLAM/SlamView.java

@@ -3,67 +3,69 @@ package com.example.carcontroller.SLAM;
 import android.content.Context;
 import android.content.SharedPreferences;
 import android.util.AttributeSet;
+import android.view.SurfaceHolder;
 import android.view.SurfaceView;
 
 import androidx.preference.PreferenceManager;
 
-import com.example.carcontroller.SlamScan;
-import com.google.protobuf.InvalidProtocolBufferException;
+import com.example.carcontroller.SlamLocation;
+import com.google.protobuf.ByteString;
 
-import org.zeromq.SocketType;
-import org.zeromq.ZContext;
-import org.zeromq.ZMQ;
+public class SlamView extends SurfaceView implements SlamUpdater.MapChangedListener {
 
-public class SlamView extends SurfaceView implements Runnable {
-
-    ZContext context;
-    String host;
-    String port;
+    SlamUpdater slam;
     Thread mapThread;
+    Context context;
+    private int width;
+    private int height;
+    private SurfaceHolder surfaceHolder;
 
     public SlamView(Context context) {
         super(context);
+        this.context = context;
         init();
     }
 
     public SlamView(Context context, AttributeSet attrs) {
         super(context, attrs);
+        this.context = context;
         init();
     }
 
     public SlamView(Context context, AttributeSet attrs, int defStyleAttr) {
         super(context, attrs, defStyleAttr);
+        this.context = context;
         init();
     }
 
     private void init() {
-        context = new ZContext();
-        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
-        host = prefs.getString("host", "10.0.0.53");
-        port = prefs.getString("zmqPort", "5050");
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(context);
+        String host = prefs.getString("host", "10.0.0.53");
+        String port = prefs.getString("zmqPort", "5050");
+        slam = new ZmqSlamUpdater(host, port);
+        slam.addMapChangedListener(this);
     }
 
-    @Override
-    public void run() {
-        // Receive map from zmq and update appropriately.
-        try (ZMQ.Socket socket = context.createSocket(SocketType.PAIR)) {
-            socket.connect("tcp://" + host + ":" + port);
-            socket.send("Hi");
-            while (!Thread.currentThread().isInterrupted()) {
-                byte[] map = socket.recv();
-                SlamScan scan = SlamScan.parseFrom(map);
-                for (Byte b : scan.getMap()) {
-
-                }
-            }
-        } catch (InvalidProtocolBufferException e) {
-            System.out.println("Invalid map found");
-        }
-
+    /**
+     * Called by MainActivity.onResume() to start a thread.
+     */
+    public void resume() {
+        mapThread = new Thread(slam);
+        mapThread.start();
     }
 
     public void stop() {
         // Use grpc to tell the loader to stop. Interrupt the loader thread as well.
-        mapThread.interrupt();
+        slam.stop();
+        try {
+            mapThread.join();
+        } catch (InterruptedException e) {
+
+        }
+    }
+
+    @Override
+    public void mapChanged(ByteString map, SlamLocation location) {
+
     }
 }