Make firmware (not FBOS) respnsible for retries

farmbot_os/lib/farmbot_os/sys_calls/movement.ex

@@ -69,10 +69,10 @@ defmodule FarmbotOS.SysCalls.Movement do
   end
 
   def move_absolute(x, y, z, speed) do
-    do_move_absolute(x, y, z, speed, max_retries())
+    do_move_absolute(x, y, z, speed)
   end
 
-  defp do_move_absolute(x, y, z, speed, retries, errors \\ [])
+  defp do_move_absolute(x, y, z, speed, errors \\ [])
 
   # This is the final attempt before movement is aborted.
   defp do_move_absolute(x, y, z, speed, 0, errors) do
@@ -101,7 +101,7 @@ defmodule FarmbotOS.SysCalls.Movement do
     end
   end
 
-  defp do_move_absolute(x, y, z, speed, retries, errors) do
+  defp do_move_absolute(x, y, z, speed, errors) do
     with {:ok, speed_x} <- param_read(:movement_max_spd_x),
          {:ok, speed_y} <- param_read(:movement_max_spd_y),
          {:ok, speed_z} <- param_read(:movement_max_spd_z),
@@ -120,15 +120,18 @@ defmodule FarmbotOS.SysCalls.Movement do
         {:error, "emergency_lock"}
 
       {:error, reason} ->
-        FarmbotCore.Logger.error(
-          1,
-          "Movement failed. Retrying up to #{retries} more time(s)"
-        )
+        handle_movement_error(reason)
 
-        do_move_absolute(x, y, z, speed, retries - 1, [reason | errors])
+      reason ->
+        handle_movement_error(reason)
     end
   end
 
+  def handle_movement_error(reason) do
+    msg = "Movement failed. #{inspect(reason)}"
+    FarmbotCore.Logger.error(1, msg)
+  end
+
   def calibrate(axis) do
     axis = assert_axis!(axis)
 
@@ -173,21 +176,13 @@ defmodule FarmbotOS.SysCalls.Movement do
     end
   end
 
-  defp max_retries do
-    case param_read(:param_mov_nr_retry) do
-      {:ok, nr} -> floor(nr)
-      _ -> 3
-    end
-  end
-
   defp assert_axis!(axis) when is_atom(axis),
     do: axis
 
   defp assert_axis!(axis) when axis in ~w(x y z),
     do: String.to_existing_atom(axis)
 
   defp assert_axis!(axis) do
-    # {:error, "unknown axis #{axis}"}
     raise("unknown axis #{axis}")
   end
 end