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Backport of "webrtc_sendrecv.py: Various fixes" into 1.22

Backport of !3742 (merged) "webrtc_sendrecv.py: Various fixes".

Commits:

  • 6f99faa0 webrtc_sendrecv.py: Use sine wave for audio instead of red-noise
  • 9b2404e7 webrtc_sendrecv.py: Add support for using H264 encoding
  • 5500c228 webrtc_sendrecv.py: Add bus message handling
  • 6a836026 webrtc_sendrecv.py: Handle LATENCY messages
  • 32e8ff4e webrtc_sendrecv.py: Fix PEP8 warnings in CI lint

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