fix: use UAV-TEST and UAV-CALIB on component test and calib

src/features/uavs/UAVTestsPanel.jsx

@@ -121,13 +121,13 @@ const UAVTestButton = ({
 
   const [lastExecutionState, execute] = useAsyncFn(async () => {
     lastExecutedUavIdRef.current = uavId;
-    // TODO(ntamas): use the proper UAV-TEST messages designated for this
-    await messageHub.sendCommandRequest(
-      {
-        uavId,
-        command: type === 'test' ? 'test' : 'calib',
-        args: [String(component)],
-      },
+    await (
+      type === 'calib'
+        ? messageHub.sendComponentCalibrationRequest
+        : messageHub.sendComponentTestRequest
+    ).call(
+      messageHub,
+      { uavId, component },
       { onProgress: (progress) => progressHandler(uavId, progress), timeout }
     );
     return true;

src/flockwave/builders.ts

@@ -7,6 +7,8 @@ import type {
   Request_OBJCMD,
   Request_PRMSET,
   Request_PRMSETMANY,
+  Request_UAVCALIB,
+  Request_UAVTEST,
 } from '@skybrush/flockwave-spec';
 
 import arrify from 'arrify';
@@ -157,3 +159,43 @@ export function createBulkParameterUploadRequest(
     parameters,
   };
 }
+
+/**
+ * Creates an UAV-CALIB (component calibration) message
+ *
+ * @param  uavIds  IDs of the UAVs to send the request to
+ * @param  component the component to calibrate
+ * @return the message
+ */
+export function createComponentCalibrationRequest(
+  uavIds: ObjectIDs,
+  component: string
+): Request_UAVCALIB {
+  const result: Request_UAVCALIB = {
+    type: 'UAV-CALIB',
+    ids: uavIds,
+    component,
+  };
+
+  return result;
+}
+
+/**
+ * Creates an UAV-TEST (component test) message
+ *
+ * @param  uavIds  IDs of the UAVs to send the request to
+ * @param  component the component to test
+ * @return the message
+ */
+export function createComponentTestRequest(
+  uavIds: ObjectIDs,
+  component: string
+): Request_UAVTEST {
+  const result: Request_UAVTEST = {
+    type: 'UAV-TEST',
+    ids: uavIds,
+    component,
+  };
+
+  return result;
+}

src/flockwave/messages.ts

@@ -24,6 +24,8 @@ import pTimeout from 'p-timeout';
 import {
   createCancellationRequest,
   createCommandRequest,
+  createComponentCalibrationRequest,
+  createComponentTestRequest,
   createResumeRequest,
 } from './builders';
 import { createOperationExecutor, type OperationExecutor } from './operations';
@@ -1443,6 +1445,104 @@ export default class MessageHub {
     );
   }
 
+  /**
+   * Sends a Flockwave component calibration request (UAV-CALIB) with the given
+   * body and returns a promise that resolves or rejects when one of the following
+   * events happen:
+   *
+   * <ul>
+   * <li>The server signals an execution failure in a direct UAV-CALIB
+   * response to the original request. In this case, the promise errors
+   * out with an appropriate human-readable message.</li>
+   * <li>The server returns the response to the request in a direct UAV-CALIB
+   * message. In this case, the promise resolves normally with the
+   * UAV-CALIB message itself.</li>
+   * <li>The server signals a timeout or error for the request in a direct UAV-CALIB
+   * message. In this case, the promise errors out with an appropriate
+   * human-readable message.</li>
+   * <li>Any of the above, but in a separate notification delivered asynchronously
+   * with ASYNC-RESP (for responses and errors) or ASYNC-TIMEOUT (for timeouts).</li>
+   * <li>A cancellation is delivered to the server in an ASYNC-CANCEL request
+   * and the server acknowledges the cancellation in the corresponding
+   * ASYNC-CANCEL response.</li>
+   * </ul>
+   *
+   * @param  request.uavId   ID of the UAV to send the request to
+   * @param  request.component the component to calibrate
+   * @param  options additional options to forward to the
+   *         `handleMultiAsyncResponseForSingleId()` method of the
+   *         AsyncOperationManager. Typical keys to use are `cancelToken`,
+   *         `onProgress`, `timeout` and `noThrow`.
+   * @return a promise that resolves to the response of the UAV
+   *         to the command or errors out in case of execution errors and
+   *         timeouts.
+   */
+  async sendComponentCalibrationRequest(
+    request: {
+      uavId: string;
+      component: string;
+    },
+    options: AsyncResponseHandlerOptions
+  ): Promise<unknown> {
+    const { uavId, component } = request;
+    const message = createComponentCalibrationRequest([uavId], component);
+    const response = await this.sendMessage(message);
+    return this._asyncOperationManager.handleMultiAsyncResponseForSingleId(
+      response,
+      uavId,
+      options
+    );
+  }
+
+  /**
+   * Sends a Flockwave component test request (UAV-TEST) with the given
+   * body and returns a promise that resolves or rejects when one of the following
+   * events happen:
+   *
+   * <ul>
+   * <li>The server signals an execution failure in a direct UAV-TEST
+   * response to the original request. In this case, the promise errors
+   * out with an appropriate human-readable message.</li>
+   * <li>The server returns the response to the request in a direct UAV-TEST
+   * message. In this case, the promise resolves normally with the
+   * UAV-TEST message itself.</li>
+   * <li>The server signals a timeout or error for the request in a direct UAV-TEST
+   * message. In this case, the promise errors out with an appropriate
+   * human-readable message.</li>
+   * <li>Any of the above, but in a separate notification delivered asynchronously
+   * with ASYNC-RESP (for responses and errors) or ASYNC-TIMEOUT (for timeouts).</li>
+   * <li>A cancellation is delivered to the server in an ASYNC-CANCEL request
+   * and the server acknowledges the cancellation in the corresponding
+   * ASYNC-CANCEL response.</li>
+   * </ul>
+   *
+   * @param  request.uavId   ID of the UAV to send the request to
+   * @param  request.component the component to calibrate
+   * @param  options additional options to forward to the
+   *         `handleMultiAsyncResponseForSingleId()` method of the
+   *         AsyncOperationManager. Typical keys to use are `cancelToken`,
+   *         `onProgress`, `timeout` and `noThrow`.
+   * @return a promise that resolves to the response of the UAV
+   *         to the command or errors out in case of execution errors and
+   *         timeouts.
+   */
+  async sendComponentTestRequest(
+    request: {
+      uavId: string;
+      component: string;
+    },
+    options: AsyncResponseHandlerOptions
+  ): Promise<unknown> {
+    const { uavId, component } = request;
+    const message = createComponentTestRequest([uavId], component);
+    const response = await this.sendMessage(message);
+    return this._asyncOperationManager.handleMultiAsyncResponseForSingleId(
+      response,
+      uavId,
+      options
+    );
+  }
+
   /**
    * Sends a Flockwave message with the given body and then return a promise
    * that resolves when the server responds to the message.