Add retries for MoTan device stop and move methods

Author: albireox

src/gort/devices/telescope.py

@@ -16,6 +16,8 @@
 
 import numpy
 
+from lvmopstools.retrier import Retrier
+
 from gort.devices.core import GortDevice, GortDeviceSet
 from gort.enums import Event
 from gort.exceptions import ErrorCode, GortTelescopeError
@@ -97,6 +99,7 @@ async def slew_delay(self):
         else:
             await asyncio.sleep(self.SLEW_DELAY[self.telescope])
 
+    @Retrier(max_attempts=3, delay=2)
     async def stop(self, force: bool = False):
         """Stop the K-mirror movement."""
 
@@ -107,7 +110,7 @@ async def stop(self, force: bool = False):
                 await self.run_command("slewStop", timeout=self.timeouts["slewStop"])
             await self.run_command("stop", timeout=self.timeouts["slewStop"])
 
-            await asyncio.sleep(3)
+            await asyncio.sleep(1)
 
             if await self.is_moving():
                 raise GortTelescopeError(
@@ -158,6 +161,7 @@ async def park(self):
 
         await self.move(90)
 
+    @Retrier(max_attempts=3, delay=2)
     async def move(self, degs: float):
         """Move the k-mirror to a position in degrees. Does NOT track after the move.
 
@@ -171,7 +175,7 @@ async def move(self, degs: float):
         await self.check_reachable()
 
         await self.slew_delay()
-        # await self.stop()
+        await self.stop()
 
         self.write_to_log(f"Moving k-mirror to {degs:.3f} degrees.", level="info")
         await self.run_command(
@@ -229,7 +233,7 @@ async def slew(
         if abs(stop_degs_before) > 0:
             self.write_to_log(f"Using stop_degs_before={stop_degs_before}.")
 
-        # await self.stop()
+        await self.stop()
         await self.run_command(
             "slewStart",
             ra / 15.0,