feat: fully working face detection

ref: N25B-397

src/robot_interface/endpoints/main_receiver.py

@@ -4,6 +4,7 @@ from robot_interface.endpoints.receiver_base import ReceiverBase
 from robot_interface.state import state
 
 from robot_interface.core.config import settings
+from robot_interface.endpoints.face_detector import FaceDetectionSender
 
 
 class MainReceiver(ReceiverBase):
@@ -36,6 +37,29 @@ class MainReceiver(ReceiverBase):
         :rtype: dict[str, str | list[dict]]
         """
         return {"endpoint": "ping", "data": message.get("data")}
+    
+    @staticmethod
+    def _handle_face(message):
+        """
+        Handles sending face data to the cb
+        Sends if it sees a face or not
+        
+        :param message: face data.
+        :type message: int
+
+        :return: A response to CB containing the amount of faces
+        :rtype: int
+        """
+        # Poll the FaceDetectionSender status
+        face_sender = next(
+            (s for s in state.sockets if isinstance(s, FaceDetectionSender)),
+            None
+        )
+        if face_sender:
+            return {"endpoint": "face", "data": face_sender.face_detected}
+        else:
+            return {"endpoint": "face", "data": False}
+
 
     @staticmethod
     def _handle_port_negotiation(message):
@@ -86,6 +110,8 @@ class MainReceiver(ReceiverBase):
         """
         if message["endpoint"] == "ping":
             return self._handle_ping(message)
+        elif message["endpoint"] == "face":
+            return self._handle_face(message)
         elif message["endpoint"].startswith("negotiate"):
             return self._handle_negotiation(message)