fix: Fix up merging request changes and make sure that there is no racing condition errors, and UI always gets correct information.

ref: N25B-256

src/control_backend/api/v1/endpoints/robot.py

@@ -21,7 +21,6 @@ async def receive_command(command: SpeechCommand, request: Request):
     SpeechCommand.model_validate(command)
     topic = b"command"
 
-    # TODO: Check with Kasper
     pub_socket: Socket = request.app.state.endpoints_pub_socket
     await pub_socket.send_multipart([topic, command.model_dump_json().encode()])
 
@@ -48,8 +47,8 @@ async def ping_stream(request: Request):
         ping_frequency = 2
 
         # Even though its most likely the updates should alternate
-        # So, True - False - True - False for connectivity.
-        # Let's still check:)
+        # (So, True - False - True - False for connectivity),
+        # let's still check.
         while True:
             try:
                 topic, body = await asyncio.wait_for(
@@ -58,11 +57,11 @@ async def ping_stream(request: Request):
                 connected = json.loads(body)
             except TimeoutError:
                 logger.debug("got timeout error in ping loop in ping router")
-                await asyncio.sleep(0.1)
+                connected = False
 
             # Stop if client disconnected
             if await request.is_disconnected():
-                print("Client disconnected from SSE")
+                logger.info("Client disconnected from SSE")
                 break
 
             logger.debug(f"Yielded new connection event in robot ping router: {str(connected)}")