TIdy up, regenerate slam proto to include port

SlamController/slam_servicer.py

@@ -12,7 +12,9 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
         self.slam = slam.SlamStreamer(lidar_connection=lidar_connection)
 
     def start_map_streaming(self, request, context):
+        print('Slam THread: ' + str(slam_thread)')
         if self.slam_thread is None:
+            print('initialising slam_thread')
             # Don't bother creating and starting slam more than once.
             self.slam.port = request.port
             self.slam.map_pixels = request.map_size_pixels
@@ -24,4 +26,5 @@ class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
     def stop_streaming(self, request, context):
         if self.slam_thread is not None:
             self.slam.stop_scanning()
+            self.slam = None
         return SlamController_pb2.Empty()