Use message factory for slam streamer

SlamController/slam_streamer.py

@@ -3,6 +3,8 @@ from breezyslam.algorithms import RMHC_SLAM
 from breezyslam.sensors import RPLidarA1 as LaserModel
 from rplidar import RPLidar as Lidar
 from .SlamController_pb2 import SlamScan, SlamLocation
+import Messaging.message_factory as mf
+import Messaging.messages as messages
 
 
 # Left here as was used in the example, configure as necessary.
@@ -33,8 +35,7 @@ class SlamStreamer:
         '''
         self.can_scan = True
         print('Starting to stream')
-        self._socket = self._start_socket(
-            self._create_socket(self._zmq_context), self._port)
+        self._mFactory = mf.getZmqPubSubStreamer(self._port)
 
         print('Started and bound zmq socket.')
 
@@ -52,7 +53,7 @@ class SlamStreamer:
 
         # Initialize empty map
         mapbytes = bytearray(self.map_pixels * self.map_pixels)
-        
+
         print('Initialised byte []')
 
         # Create an iterator to collect scan data from the RPLidar
@@ -80,25 +81,15 @@ class SlamStreamer:
         map should be the result of slam.getmap.
         location should be a tuple, the result of slam.getpos()
         '''
-        protoScan = SlamScan(map=bytes(mapbytes),
-                             location=SlamLocation(x=location[0], y=location[1], theta=location[2]))
+        protoScan = messages.ProtoMessage(message=SlamScan(map=bytes(mapbytes),
+                                                           location=SlamLocation(x=location[0], y=location[1], theta=location[2])))
         print('Sending map')
-        self._socket.send_multipart([b'slam_map', protoScan.SerializeToString()])
+        self._mFactory.send_message_topic(
+            'slam_map', protoScan)
 
     def stop_scanning(self):
         self.can_scan = False
 
-    def _create_context(self):
-        return zmq.Context.instance()
-
-    def _create_socket(self, context):
-        return context.socket(zmq.PUB)
-
-    def _start_socket(self, socket, port):
-        print('Starting socket at with address: ' + 'tcp://*:' + str(self._port))
-        socket.bind('tcp://*:' + str(self._port))
-        return socket
-
     # Properties
     @property
     def map_pixels(self):