You can detect a single tap by implementing PDFLayoutListener.OnPDFBlankTapped or PDFLayoutListener.OnPDFAnnotTapped
You can detect a double tap by implementing PDFLayoutListener.OnPDFDoubleTapped
For examples on how these callbacks are used, please check PDFViewAct in the demo project.
If you need to detect more events, you can check PDFGestureListener in PDFLayoutView