Merge remote-tracking branch 'origin/dev' into feat/actuation-receiver

# Conflicts:
#	src/robot_interface/endpoints/socket_base.py

src/robot_interface/endpoints/socket_base.py

@@ -25,7 +25,7 @@ class SocketBase(object):
         self.socket = None  # Set later by `create_socket`
         self.bound = None  # Set later by `create_socket`
 
-    def create_socket(self, zmq_context, socket_type, port, bind=True):
+    def create_socket(self, zmq_context, socket_type, port, options=[], bind=True):
         """
         Create a ZeroMQ socket.
 
@@ -38,11 +38,19 @@ class SocketBase(object):
         :param port: The port to use.
         :type port: int
 
+        :param options: A list of options to be set on the socket. The list contains tuples where the first element contains the option
+        and the second the value, for example (zmq.CONFLATE, 1).
+        :type options: list[tuple[int, int]]
+
         :param bind: Whether to bind the socket or connect to it.
         :type bind: bool
         """
         self.port = port
         self.socket = zmq_context.socket(socket_type)
+
+        for option, arg in options:
+            self.socket.setsockopt(option,arg)
+
         self.bound = bind
         if bind:
             self.socket.bind("tcp://*:{}".format(port))