Robotics Service Bus

Make Method classes subclasses of Participant in rsb/patterns/__init__.py

refs #1743

• rsb/patterns/__init__.py (Method): changed superclass object ->
  Participant
  (Method.__init__): accept scope and config argument; pass to
  superclass
  (LocalMethod.__init): likewise
  (LocalMethod.makeListener): use method's own configuration instead of
  server's configuration when constructing the listener
  (LocalMethod.makeInformer): similar for informer
  (LocalServer.addMethod): pass scope and configuration to constructed
  LocalMethod
  (RemoteMethod.__init__): accept scope and config argument; pass to
  superclass
  (RemoteMethod.makeListener): use method's own configuration instead of
  server's configuration when constructing the listener
  (RemoteMethod.makeInformer): similar for informer
  (RemoteServer.addMethod): pass scope and configuration to constructed
  LocalMethod

Writable ParticipantConfig properties in rsb/__init__.py

refs #1743

• rsb/__init__.py (ParticipantConfig.setQualityOfServiceSpec): new
  method; set qualityOfServiceSpec
  (ParticipantConfig.qualityOfServiceSpec): new property; read/write
  qualityOfServiceSpec
  (ParticipantConfig.setIntrospection): new method; set introspection
  switch
  (ParticipantConfig.introspection): new property; read/write
  introspection
• test/coretest.py (ParticipantConfigTest.testMutation): new method;
  test modifying an existing ParticipantConfig object