FIx Slam protos

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

@@ -7,6 +7,9 @@ import android.view.SurfaceView;
 
 import androidx.preference.PreferenceManager;
 
+import com.example.carcontroller.SlamScan;
+import com.google.protobuf.InvalidProtocolBufferException;
+
 import org.zeromq.SocketType;
 import org.zeromq.ZContext;
 import org.zeromq.ZMQ;
@@ -43,17 +46,23 @@ public class SlamView extends SurfaceView implements Runnable {
     @Override
     public void run() {
         // Receive map from zmq and update appropriately.
-        try (ZMQ.Socket socket = context.createSocket(SocketType.SUB)) {
+        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");
         }
 
     }
 
-    public void stop(){
+    public void stop() {
         // Use grpc to tell the loader to stop. Interrupt the loader thread as well.
         mapThread.interrupt();
     }