Merge branch 'dev' into refactor/logging

src/control_backend/agents/ri_command_agent.py

@@ -2,10 +2,10 @@ import json
 
 import zmq
 from spade.behaviour import CyclicBehaviour
+from zmq.asyncio import Context
 
 from control_backend.agents import BaseAgent
 from control_backend.core.config import settings
-from control_backend.core.zmq_context import context
 from control_backend.schemas.ri_message import SpeechCommand
 
 
@@ -53,6 +53,8 @@ class RICommandAgent(BaseAgent):
         """
         self.logger.info("Setting up %s", self.jid)
 
+        context = Context.instance()
+
         # To the robot
         self.pubsocket = context.socket(zmq.PUB)
         if self.bind:
@@ -62,7 +64,7 @@ class RICommandAgent(BaseAgent):
 
         # Receive internal topics regarding commands
         self.subsocket = context.socket(zmq.SUB)
-        self.subsocket.connect(settings.zmq_settings.internal_comm_address)
+        self.subsocket.connect(settings.zmq_settings.internal_sub_address)
         self.subsocket.setsockopt(zmq.SUBSCRIBE, b"command")
 
         # Add behaviour to our agent