Merge branch 'dev' into feat/pause-functionality

src/robot_interface/endpoints/audio_sender.py

@@ -97,34 +97,9 @@ class AudioSender(SocketBase):
                 stream = open_stream()
             
             while not state.exit_event.is_set():
-                if not state.active_event.is_set(): # when paused
-                    # Stop and close the stream if it is open to prevent buffer overflow
-                    if stream:
-                        try:
-                            stream.stop_stream()
-                            stream.close()
-                        except IOError:
-                            pass # Ignore errors on closing
-                        stream = None
-                    
-                    state.active_event.wait()  # Wait until unpaused
-
-                    # Check if exit_event was set while waiting
-                    if state.exit_event.is_set():
-                        break
-
-                    stream = open_stream()
-
-                if stream:
-                    try:
-                        data = stream.read(chunk)
-                        self.socket.send(data)
-                    except IOError as e:
-                        logger.warn("Audio read error occurred.", exc_info=e)
-                        if stream:
-                            stream.close()
-                            stream = open_stream()
-        
+                data = stream.read(chunk)
+                if (state.is_speaking): continue  # Do not send audio while the robot is speaking
+                self.socket.send(data)
         except IOError as e:
             logger.error("Stopped listening: failed to get audio from microphone.", exc_info=e)
         finally: