Start return url

pyros_interfaces_common/basenode.py

@@ -20,8 +20,9 @@ class PyrosBase(pyzmp.Node):
 
     def __init__(self,
                  name=None,
-                 interface_class=None,
+                 socket_bind=None,
                  context_manager=None,
+                 interface_class=None,
                  args=None,
                  kwargs=None,
                  instance_path=None,
@@ -30,6 +31,8 @@ def __init__(self,
                  default_config=None):
         """
         :param name: name of the node
+        :param socket_bind: the url string to be passed to underlying network system so that the node is binding to this socket.
+                It will allow a client starting later to communicate with that node.
         :param interface_class: the class of the interface to instantiate (in child process)
                 OR a tuple (module_name, class_name), useful if the module should be imported only in child process
                 OR a tuple (package_name, module_name, class_name), usseful if the module name is relative
@@ -46,11 +49,6 @@ def __init__(self,
         :param default_config: a dict containing the values to use as default configuration values
         :return:
         """
-        super(PyrosBase, self).__init__(name or 'pyros', context_manager=context_manager, args=args or (), kwargs=kwargs or {})
-
-        self.last_update = 0
-        self.update_interval = 1  # seconds to wait between each update
-
         # we delegate config related behavior (including defaults)
         self.config_handler = ConfigHandler(
             name or 'pyros',
@@ -60,6 +58,19 @@ def __init__(self,
             default_config=default_config,
         )
 
+        # TODO : get socket_bind address from config file
+
+        super(PyrosBase, self).__init__(
+            name or 'pyros',
+            socket_bind=socket_bind or "ipc:///tmp/pyros/zmp-services.pipe",  # for now defaults to IPC for ZMQ (only works locally)
+            context_manager=context_manager,
+            args=args or (),
+            kwargs=kwargs or {}
+        )
+
+        self.last_update = 0
+        self.update_interval = 1  # seconds to wait between each update
+
         self.provides(self.msg_build)
         # BWCOMPAT
         self.provides(self.topic)
@@ -75,7 +86,6 @@ def __init__(self,
         self.provides(self.params)
         self.provides(self.setup)
 
-
         if not isinstance(interface_class, tuple) and not (
                 # TODO : we should pre check all the used members are present...
                 hasattr(interface_class, 'services')
@@ -175,9 +185,7 @@ def start(self, timeout=None):
         :return: None
         """
 
-        super(PyrosBase, self).start(timeout=timeout)
-        # Because we currently use this to setup connection
-        return self.name
+        return super(PyrosBase, self).start(timeout=timeout)
 
     @abc.abstractmethod
     def setup(self, *args, **kwargs):

pyros_interfaces_mock/tests/test_pyros_mock.py

@@ -395,11 +395,11 @@ def test_echo_service():
 
 
 class TestPyrosMockProcess(object):
-    def setUp(self):
+    def setup_class(self):
         self.mockInstance = PyrosMock()
         self.mockInstance.start()
 
-    def tearDown(self):
+    def teardown_class(self):
         self.mockInstance.shutdown()
 
     def test_msg_build(self):

setup.py

@@ -207,7 +207,7 @@ def run(self):
         'tblib',  # this might not always install six (latest version does not)
         'six',
         'pyzmq',
-        'pyzmp>=0.0.14',  # lets match the requirement in package.xml (greater than)
+        'pyzmp>0.0.15',  # lets match the requirement in package.xml (greater than)
         'pyros_setup>=0.1.5',  # Careful : pyros-setup < 0.0.8 might already be installed as a deb in /opt/ros/indigo/lib/python2.7/dist-packages/ => we still need to force hte install in the venv to have permissions to create hte configuration file...
         'pyros_config>=0.1.4',
         'nose>=1.3.7',