You can draw on a (big) Canvas. A lot of work. I assume they use vector grafics, so it's a lot of math. Of course there is no "ready to go" solution here. About the dxf format: Take a look at the format and do it on your own.
There are several SVG libraries that are available that do vector drawing. This will allow you to zoom in on the floor plan and not lose any resolution. See www.b4x.com/android/help/svg.html and also do a search on "SVG library" in the forums because there are others.
Also see how others do it. There are a lot of awesome apps that allow you the create floor plans on Android/iPhone for free. I guess they make their money on volume.
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