Add SlamController stuff

SlamController/slam_servicer.py

@@ -0,0 +1,21 @@
+import SlamController_pb2_grpc 
+import slam_streamer as slam
+from threading import Thread
+
+class SlamServicer(SlamController_pb2_grpc.SlamControlServicer):
+    def __init__(self, lidar_connection):
+        print('Servicer initialised')
+        self.slam = slam.SlamStreamer(lidar_connection=lidar_connection)
+
+    def start_map_streaming(self, request, context):
+        if not hasattr(self, 'slamThread'):
+            # Don't bother creating and starting slam more than once.
+            self.slam.port = request.port
+            self.slam.map_pixels = request.map_size_pixels
+            self.slam.map_meters = request.map_size_meters
+            slamThread = Thread(target=self.slam.start)
+            slamThread.start()
+
+    def stop_streaming(self, request, context):
+        if hasattr(self, 'slamThread'):
+            self.slam.stop_scanning()