fix(autopilot): honor allowUserBargeIn during the greeting and the idle message

The greeting and announcingIdleTimeout states accepted SPEECH_START
unconditionally, so the caller cut the first message and the idle prompt
short even with allowUserBargeIn set to false, unlike processingUserRequest
and waitingForSpeechTimeout which already guard that event.

Guarding the event alone would drop the utterance: idle only listens for
SPEECH_START, so speech produced while the assistant was talking would
never be processed. Both playing states now buffer SPEECH_RESULT without
stopping playback and hand it to waitingForSpeechTimeout when the message
finishes, and idle accepts a SPEECH_RESULT that lands right after playback
ended.

Closes #891

mods/autopilot/src/machine/machine.ts

@@ -34,10 +34,18 @@ const machine = machineSetup.createMachine({
         src: "doGreetUser",
         description: "Answer the call and play the first message",
         input: ({ context }) => ({ context }),
-        onDone: {
-          target: "idle",
-          description: "Transition to idle after the initial greeting."
-        },
+        onDone: [
+          {
+            target: "waitingForSpeechTimeout",
+            guard: "hasSpeechResult",
+            description:
+              "Process the speech captured while the greeting was playing."
+          },
+          {
+            target: "idle",
+            description: "Transition to idle after the initial greeting."
+          }
+        ],
         onError: {
           target: "idle"
         }
@@ -45,7 +53,13 @@ const machine = machineSetup.createMachine({
       on: {
         SPEECH_START: {
           target: "listeningToUser",
-          description: "The user barged in during the greeting."
+          description: "The user barged in during the greeting.",
+          guard: ({ context }) => context.allowUserBargeIn
+        },
+        SPEECH_RESULT: {
+          description:
+            "Keep the speech the user produced while the greeting was playing, without cutting it short.",
+          actions: [{ type: "appendSpeech" }]
         }
       }
     },
@@ -56,6 +70,13 @@ const machine = machineSetup.createMachine({
         SPEECH_START: {
           target: "listeningToUser",
           description: "Event from VAD system."
+        },
+        SPEECH_RESULT: {
+          target: "waitingForSpeechTimeout",
+          description:
+            "Speech that ends right as playback does, so no SPEECH_START is seen here.",
+          actions: [{ type: "appendSpeech" }],
+          reenter: true
         }
       },
       after: {
@@ -83,10 +104,18 @@ const machine = machineSetup.createMachine({
         src: "doAnnounceIdleTimeout",
         description: "Play the idle message",
         input: ({ context }) => ({ context }),
-        onDone: {
-          target: "idle",
-          description: "Re-arm the idle clock once the idle message finishes."
-        },
+        onDone: [
+          {
+            target: "waitingForSpeechTimeout",
+            guard: "hasSpeechResult",
+            description:
+              "Process the speech captured while the idle message was playing."
+          },
+          {
+            target: "idle",
+            description: "Re-arm the idle clock once the idle message finishes."
+          }
+        ],
         onError: {
           target: "idle"
         }
@@ -94,7 +123,13 @@ const machine = machineSetup.createMachine({
       on: {
         SPEECH_START: {
           target: "listeningToUser",
-          description: "The user spoke while the idle message was playing."
+          description: "The user spoke while the idle message was playing.",
+          guard: ({ context }) => context.allowUserBargeIn
+        },
+        SPEECH_RESULT: {
+          description:
+            "Keep the speech the user produced while the idle message was playing, without cutting it short.",
+          actions: [{ type: "appendSpeech" }]
         }
       }
     },