feat: ignore own speech

When we detect that Pepper is talking we stop sending audio.

ref: N25B-214

src/robot_interface/main.py

@@ -43,8 +43,19 @@ def main_loop(context):
 
     logging.debug("Starting main loop.")
 
+    import schedule
+    test_speaking_message = {"data": "Hi, my name is Pepper, and this is quite a long message."}
+    def test_speak():
+        logging.debug("Testing speech.")
+        actuation_receiver._handle_speech(test_speaking_message)
+
+    schedule.every(10).seconds.do(test_speak)
+
     while True:
         if state.exit_event.is_set(): break
+
+        schedule.run_pending()
+
         socks = dict(poller.poll(100))
 
         for receiver in receivers: