From c0ea0ccd434db41f97db82ac6e586d09ae852c5e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tom=C3=A1s=20Badenes?= <tomasbadenes@gmail.com>
Date: Wed, 5 Feb 2025 00:27:27 -0300
Subject: [PATCH] Use tenacity for retries

---
 .../inorbit_mir_connector/src/connector.py    | 19 +++++++------------
 mir_connector/setup.py                        |  1 +
 2 files changed, 8 insertions(+), 12 deletions(-)

diff --git a/mir_connector/inorbit_mir_connector/src/connector.py b/mir_connector/inorbit_mir_connector/src/connector.py
index fddfa23..3508595 100644
--- a/mir_connector/inorbit_mir_connector/src/connector.py
+++ b/mir_connector/inorbit_mir_connector/src/connector.py
@@ -6,6 +6,8 @@
 import pytz
 import math
 import uuid
+import logging
+from tenacity import retry, wait_exponential_jitter, before_sleep_log
 from threading import Thread
 from inorbit_connector.connector import Connector
 from inorbit_edge.robot import COMMAND_CUSTOM_COMMAND
@@ -97,9 +99,7 @@ def __init__(self, robot_id: str, config: MiR100Config) -> None:
         )
 
         # Get or create the required missions and mission groups
-        Thread(
-            target=self.retry_until_successful, args=(self.setup_connector_missions,), daemon=True
-        ).start()
+        Thread(target=self.setup_connector_missions, daemon=True).start()
 
     def _inorbit_command_handler(self, command_name, args, options):
         """Callback method for command messages.
@@ -357,6 +357,10 @@ def send_waypoint_over_missions(self, pose):
         )
         self.mir_api.queue_mission(mission_id)
 
+    @retry(
+        wait=wait_exponential_jitter(max=10),
+        before_sleep=before_sleep_log(logging.getLogger(__name__), logging.WARNING),
+    )
     def setup_connector_missions(self):
         """Find and store the required missions and mission groups, or create them if they don't
         exist."""
@@ -383,15 +387,6 @@ def setup_connector_missions(self):
                 f"guid '{self.tmp_missions_group_id}'"
             )
 
-    def retry_until_successful(self, func, *args, **kwargs):
-        """Retry a function until it is successful"""
-        while True:
-            try:
-                return func(*args, **kwargs)
-            except Exception as ex:
-                self._logger.error(f"Failed to execute function: {ex}")
-                sleep(5)
-
     def cleanup_connector_missions(self):
         """Delete the missions group created at startup"""
         self._logger.info("Cleaning up connector missions")
diff --git a/mir_connector/setup.py b/mir_connector/setup.py
index 107acf4..d8f5a70 100644
--- a/mir_connector/setup.py
+++ b/mir_connector/setup.py
@@ -20,6 +20,7 @@
     "psutil==5.9",
     "websocket-client==1.7.0",
     "uuid==1.30",
+    "tenacity==9.0.0",
 ]
 
 test_requirements = [