Makes actuation tests pass. In main, the timing of the socket no longer contains the time to receive and send data, but only the processing time of the message handler.
ref: N25B-168
Previously, the `_handle_speech` function had an early return when no Pepper session was available, causing incoming messages not to get logged. Now messages are logged even when there is no session with the Pepper SDK.
ref: N25B-168
