Initial Commit

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

@@ -0,0 +1,60 @@
+package com.example.carcontroller.SLAM;
+
+import android.content.Context;
+import android.content.SharedPreferences;
+import android.util.AttributeSet;
+import android.view.SurfaceView;
+
+import androidx.preference.PreferenceManager;
+
+import org.zeromq.SocketType;
+import org.zeromq.ZContext;
+import org.zeromq.ZMQ;
+
+public class SlamView extends SurfaceView implements Runnable {
+
+    ZContext context;
+    String host;
+    String port;
+    Thread mapThread;
+
+    public SlamView(Context context) {
+        super(context);
+        init();
+    }
+
+    public SlamView(Context context, AttributeSet attrs) {
+        super(context, attrs);
+        init();
+    }
+
+    public SlamView(Context context, AttributeSet attrs, int defStyleAttr) {
+        super(context, attrs, defStyleAttr);
+        init();
+    }
+
+    private void init() {
+        context = new ZContext();
+        SharedPreferences prefs = PreferenceManager.getDefaultSharedPreferences(getContext());
+        host = prefs.getString("host", "10.0.0.53");
+        port = prefs.getString("port", "50051");
+    }
+
+    @Override
+    public void run() {
+        // Receive map from zmq and update appropriately.
+        try (ZMQ.Socket socket = context.createSocket(SocketType.SUB)) {
+            socket.connect("tcp://" + host + ":" + port);
+            while (!Thread.currentThread().isInterrupted()) {
+                byte[] map = socket.recv();
+
+            }
+        }
+
+    }
+
+    public void stop(){
+        // Use grpc to tell the loader to stop. Interrupt the loader thread as well.
+        mapThread.interrupt();
+    }
+}