Configure project for code coverage.

Reviewed-on: #30

.gitignore

@@ -1,102 +1,111 @@
-# ---> C
-# Prerequisites
-*.d
-
-# Object files
+.config
 *.o
-*.ko
-*.obj
-*.elf
+*.pyc
 
-# Linker output
-*.ilk
-*.map
-*.exp
+# gtags
+GTAGS
+GRTAGS
+GPATH
 
-# Precompiled Headers
-*.gch
-*.pch
+# emacs
+.dir-locals.el
 
-# Libraries
-*.lib
-*.a
-*.la
-*.lo
+# emacs temp file suffixes
+*~
+.#*
+\#*#
 
-# Shared objects (inc. Windows DLLs)
-*.dll
-*.so
-*.so.*
-*.dylib
+# eclipse setting
+.settings
 
-# Executables
-*.exe
-*.out
-*.app
-*.i*86
-*.x86_64
-*.hex
+# MacOS directory files
+.DS_Store
 
-# Debug files
-*.dSYM/
-*.su
-*.idb
-*.pdb
+# cache dir
+.cache/
 
-# Kernel Module Compile Results
-*.mod*
-*.cmd
-.tmp_versions/
-modules.order
-Module.symvers
-Mkfile.old
-dkms.conf
+# Doc build artifacts
+docs/_build/
+docs/doxygen_sqlite3.db
 
-# ---> C++
-# Prerequisites
-*.d
+# Downloaded font files
+docs/_static/DejaVuSans.ttf
+docs/_static/NotoSansSC-Regular.otf
 
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
+# Components Unit Test Apps files
+components/**/build/
+components/**/build_*_*/
+components/**/sdkconfig
+components/**/sdkconfig.old
 
-# Precompiled Headers
-*.gch
-*.pch
+# Example project files
+examples/**/build/
+examples/**/build_*_*/
+examples/**/sdkconfig
+examples/**/sdkconfig.old
 
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
+# Unit test app files
+tools/unit-test-app/build
+tools/unit-test-app/build_*_*/
+tools/unit-test-app/sdkconfig
+tools/unit-test-app/sdkconfig.old
 
-# Fortran module files
-*.mod
-*.smod
+# test application build files
+tools/test_apps/**/build/
+tools/test_apps/**/build_*_*/
+tools/test_apps/**/sdkconfig
+tools/test_apps/**/sdkconfig.old
 
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
+TEST_LOGS/
+build_summary_*.xml
 
-# Executables
-*.exe
-*.out
-*.app
+# gcov coverage reports
+*.gcda
+*.gcno
+coverage.info
+coverage_report/
 
-# ---> CMake
-CMakeLists.txt.user
-CMakeCache.txt
-CMakeFiles
-CMakeScripts
-Testing
-Makefile
-cmake_install.cmake
-install_manifest.txt
-compile_commands.json
-CTestTestfile.cmake
-_deps
-CMakeUserPresets.json
+test_multi_heap_host
 
+# VS Code Settings
+.vscode/
+
+# VIM files
+*.swp
+*.swo
+
+# Sublime Text files
+*.sublime-project
+*.sublime-workspace
+
+# Clion IDE CMake build & config
+.idea/
+cmake-build-*/
+
+# Results for the checking of the Python coding style and static analysis
+.mypy_cache
+flake8_output.txt
+
+# ESP-IDF default build directory name
+build
+
+# lock files for examples and components
+dependencies.lock
+
+# managed_components for examples
+managed_components
+
+# pytest log
+pytest-embedded/
+# legacy one
+pytest_embedded_log/
+list_job*.txt
+size_info*.txt
+XUNIT_RESULT*.xml
+.manifest_sha
+
+# clang config (for LSP)
+.clangd
+
+# Vale
+.vale/styles/*

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.associations": {
+        "relay_chn.h": "c"
+    },
+    "idf.port": "/dev/ttyUSB0"
+}

CMakeLists.txt

@@ -1,4 +1,4 @@
-idf_component_register(SRCS "relay_chn.c"
+idf_component_register(SRCS "src/relay_chn.c"
                     INCLUDE_DIRS include
                     REQUIRES driver
                     PRIV_REQUIRES esp_timer esp_event)

Kconfig

@@ -17,4 +17,13 @@ menu "Relay Channel Driver Configuration"
         help
             Number of relay channels between 1 and 8.
     
+    config RELAY_CHN_ENABLE_TILTING
+        bool "Enable tilting on relay channels"
+        default n
+        help
+            This option controls enabling tilting on channels. Tilting makes
+            a channel move with a specific pattern moving with small steps
+            at a time. Tilting is specifically designed for controlling some
+            types of curtains that need to be adjusted to let enter specific
+            amount of day light.
 endmenu

README.md

@@ -11,10 +11,15 @@ An ESP-IDF component for controlling relay channels, specifically designed for d
 - Forward/Reverse direction control
 - Direction flipping capability
 - State monitoring and reporting
+- Optional sensitivty adjustable tilting feature
 
 ## Description
 
-Each relay channel consists of 2 output relays controlled by 2 GPIO pins. The component provides APIs to control these relay pairs while ensuring safe operation, particularly for driving bipolar motors. It prevents short-circuits by automatically managing direction changes with configurable inertia timing.
+Each relay channel consists of 2 output relays controlled by 2 GPIO pins. The component provides APIs to control these relay pairs while ensuring safe operation, particularly for driving bipolar motors. To prevent mechanical strain on the motor, the component automatically manages direction changes with a configurable inertia delay, protecting it from abrupt reversals.
+
+It also provides an optional tilting interface per channel base. Tilting makes a channel move with a specific pattern moving with small steps at a time. Tilting is specifically designed for controlling some types of curtains that need to be adjusted to let enter specific amount of day light.  
+Since it operates on relays, the switching frequency is limited to 10Hz which complies with the most of the general purpose relays' requirements. The minimum frequency is 2Hz and the duty cycle is about 10% in all ranges.  
+The module also handles all the required timing between the movement transitions automatically to ensure reliable operation.
 
 ## Configuration
 
@@ -22,16 +27,18 @@ Configure the component through menuconfig under "Relay Channel Driver Configura
 
 - `CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS`: Time to wait before changing direction (200-1500ms, default: 800ms)
 - `CONFIG_RELAY_CHN_COUNT`: Number of relay channels (1-8, default: 1)
+- `CONFIG_RELAY_CHN_ENABLE_TILTING`: Enable tilting interface on all channels. (default: n)
 
 ## Installation
 
-1. Copy the component to your project's components directory
-2. Add dependency to your project's `idf_component.yml`:
+Just add it as a custom dependency to your project's `idf_component.yml`:
 
 ```yaml
 dependencies:
+  # Add as a custom component from git repository
   relay_chn:
-    version: "^0.1.0"
+    git: https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git
+    version: '>=0.5.0'
 ```
 
 ## Usage
@@ -77,6 +84,30 @@ char *state_str = relay_chn_get_state_str(0);
 relay_chn_direction_t direction = relay_chn_get_direction(0);
 ```
 
+### 4. Tilting Interface (if enabled)
+
+```c
+// Assuming CONFIG_RELAY_CHN_ENABLE_TILTING is enabled
+
+// Start tilting automatically (channel 0)
+relay_chn_tilt_auto(0);
+
+// Tilt forward (channel 0)
+relay_chn_tilt_forward(0);
+
+// Tilt reverse (channel 0)
+relay_chn_tilt_reverse(0);
+
+// Stop tilting (channel 0)
+relay_chn_tilt_stop(0);
+
+// Set tilting sensitivity (channel 0, sensitivity as percentage)
+relay_chn_tilt_sensitivity_set(0, 90);
+
+// Get tilting sensitivity (channel 0, sensitivty as percentage)
+uint8_t sensitivity = relay_chn_tilt_sensitivity_get(0);
+```
+
 ## License
 
 [MIT License](LICENSE) - Copyright (c) 2025 kozmotronik.

idf_component.yml

@@ -1,7 +1,6 @@
 name: relay_chn
-version: 0.1.0
-description: Custom component for relay channel control
-dependencies:
-  idf:
-    version: ">=4.0"
-# TODO: Repo ve belgelendirme bağlantılarını ekle.
+version: "0.5.0"
+description: "Custom component for relay channel control"
+license: "MIT"
+url: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn"
+repository: "https://git.kozmotronik.com.tr/KozmotronikTech/relay_chn.git"

include/relay_chn.h

@@ -14,7 +14,8 @@
  * One relay channel consists of 2 output relays, hence 2 GPIO pins are required for each relay channel.
  * This module provides an API to control the relay channels, specifically to drive bipolar motors.
  * It also provides APIs to control the direction of the relay channel, bipolar motors in mind.
- * The module also automatically manages the direction change inertia to prevent short-circuiting the motor.
+ * To prevent mechanical strain on the motor, the component automatically manages direction changes 
+ * with a configurable inertia delay, protecting it from abrupt reversals.
  * The STOP command overrides any other command and clears the pending command if any.
  * 
  * The module internally uses a custom esp event loop to handle relay commands serially to ensure
@@ -23,11 +24,14 @@
 
 #include "esp_err.h"
 #include "driver/gpio.h"
+#include <stdint.h>
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#define RELAY_CHN_ID_ALL   CONFIG_RELAY_CHN_COUNT ///< Special ID to address all channels
+
 /**
  * @brief Enumeration for relay channel direction.
  */
@@ -45,12 +49,17 @@ typedef enum relay_chn_direction_enum relay_chn_direction_t;
  * @brief Enums that represent the state of a relay channel.
  */
 enum relay_chn_state_enum {
+    RELAY_CHN_STATE_UNDEFINED,  ///< The relay channel state is undefined.
     RELAY_CHN_STATE_FREE,       ///< The relay channel is free to run or execute commands.
     RELAY_CHN_STATE_STOPPED,    ///< The relay channel is stopped and not running.
     RELAY_CHN_STATE_FORWARD,    ///< The relay channel is running in the forward direction.
     RELAY_CHN_STATE_REVERSE,    ///< The relay channel is running in the reverse direction.
     RELAY_CHN_STATE_FORWARD_PENDING,    ///< The relay channel is pending to run in the forward direction.
     RELAY_CHN_STATE_REVERSE_PENDING,    ///< The relay channel is pending to run in the reverse direction.
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+    RELAY_CHN_STATE_TILT_FORWARD,    ///< The relay channel is tilting for forward.
+    RELAY_CHN_STATE_TILT_REVERSE,    ///< The relay channel is tilting for reverse.
+#endif
 };
 
 /**
@@ -58,6 +67,20 @@ enum relay_chn_state_enum {
  */
 typedef enum relay_chn_state_enum relay_chn_state_t;
 
+/**
+ * @brief Relay channel state change listener.
+ *
+ * An optional interface to listen to the channel state change events.
+ * The listeners SHOULD be implemented as light functions and SHOULD NOT contain
+ * any blocking calls. Otherwise the relay_chn module would not function properly
+ * since it is designed as event driven.
+ *
+ * @param chn_id The ID of the channel whose state has changed.
+ * @param old_state The old state of the channel.
+ * @param new_state The new state of the channel.
+ */
+typedef void (*relay_chn_state_listener_t)(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state);
+
 
 /**
  * @brief Create and initialize relay channels.
@@ -74,6 +97,33 @@ typedef enum relay_chn_state_enum relay_chn_state_t;
  */
 esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count);
 
+/**
+ * @brief Destroy the relay channels and free resources.
+ *
+ * This function cleans up the relay channels and releases any resources allocated during their creation.
+ */
+void relay_chn_destroy(void);
+
+/**
+ * @brief Register a channel state change listener.
+ * 
+ * @param listener A function that implements relay_chn_state_listener_t interface.
+ *
+ * @return
+ *     - ESP_OK: Success
+ *     - ESP_ERR_INVALID_ARG: Invalid argument
+ *     - ESP_ERR_NO_MEM: No enough memory
+ *     - ESP_FAIL: General failure
+ */
+esp_err_t relay_chn_register_listener(relay_chn_state_listener_t listener);
+
+/**
+ * @brief Unregister a channel state change listener.
+ * 
+ * @param listener A function that implements relay_chn_state_listener_t interface.
+ */
+void relay_chn_unregister_listener(relay_chn_state_listener_t listener);
+
 /**
  * @brief Get the state of the specified relay channel.
  *
@@ -100,6 +150,14 @@ relay_chn_state_t relay_chn_get_state(uint8_t chn_id);
  */
 char *relay_chn_get_state_str(uint8_t chn_id);
 
+/**
+ * @brief Return the text presentation of an state.
+ * 
+ * @param state A state with type of relay_chn_state_t.
+ * @return char* The text presentation of the state. "UNKNOWN" if the state is not known.
+ */
+char *relay_chn_state_str(relay_chn_state_t state);
+
 /**
  * @brief Runs the relay channel in the forward direction.
  *
@@ -153,6 +211,77 @@ void relay_chn_flip_direction(uint8_t chn_id);
  */
 relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id);
 
+
+#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
+
+/**
+ * @brief Enables automatic tilting for the specified relay channel.
+ *
+ * This function enables automatic tilting mode for the given relay channel.  The channel will automatically
+ * switch between forward and reverse tilting based on some internal sensing mechanism (not detailed here).  
+ * Requires appropriate hardware support and configuration.
+ *
+ * @param chn_id The ID of the relay channel to enable automatic tilting.
+ */
+void relay_chn_tilt_auto(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel forward.
+ *
+ * This function initiates a forward tilting action for the specified relay channel.  This is a manual tilting 
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt forward.
+ */
+void relay_chn_tilt_forward(uint8_t chn_id);
+
+/**
+ * @brief Tilts the specified relay channel reverse.
+ *
+ * This function initiates a reverse tilting action for the specified relay channel. This is a manual tilting
+ * operation, unlike `relay_chn_tilt_auto()`.
+ *
+ * @param chn_id The ID of the relay channel to tilt reverse.
+ */
+void relay_chn_tilt_reverse(uint8_t chn_id);
+
+/**
+ * @brief Stops the tilting action on the specified relay channel.
+ *
+ * This function stops any ongoing tilting action (automatic or manual) on the specified relay channel.
+ *
+ * @param chn_id The ID of the relay channel to stop tilting.
+ */
+void relay_chn_tilt_stop(uint8_t chn_id);
+
+/**
+ * @brief Sets the tilting sensitivity for the specified relay channel.
+ *
+ * This function sets the sensitivity for the automatic tilting mechanism. A higher sensitivity value
+ * typically means the channel will react more readily to tilting events.
+ *
+ * @param chn_id The ID of the relay channel to set the sensitivity for.
+ * @param sensitivity The sensitivity in percentage: 0 - 100%.
+ */
+void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity);
+
+/**
+ * @brief Gets the tilting sensitivity for the specified relay channel.
+ *
+ * This function retrieves the currently set sensitivity for the specified relay channel's automatic
+ * tilting mechanism.
+ *
+ * @param chn_id The ID of the relay channel to get the sensitivity for.
+ * @param sensitivity The pointer to the memory in to which the sensitivity values will be copied.
+ * @param length The length of the sensitvity memory.
+ * @return
+ *      - ESP_OK: Success
+ *      - ESP_ERR_INVALID_ARG: Invalid argument
+ */
+esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length);
+
+#endif // CONFIG_RELAY_CHN_ENABLE_TILTING
+
 #ifdef __cplusplus
 }
 #endif

relay_chn.c

@@ -1,580 +0,0 @@
-/**
- * @file relay_chn.c
- * 
- * @author
- * Ismail Sahillioglu <ismailsahillioglu@gmail.com>
- *
- * @date 2025.02.08
- * 
- * @ingroup relay_chn
- * 
- * @brief This file contains the implementation of the relay channel component.
- * @{
- */
-
-#include <stdio.h>
-#include "esp_err.h"
-#include "esp_log.h"
-#include "esp_task.h"
-#include "driver/gpio.h"
-#include "esp_timer.h"
-#include "esp_event_base.h"
-#include "esp_event.h"
-#include "relay_chn.h"
-#include "sdkconfig.h"
-
-// TODO: on_state change API si ekle
-
-#define RELAY_CHN_OPPOSITE_INERTIA_MS CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS
-#define RELAY_CHN_COUNT CONFIG_RELAY_CHN_COUNT
-
-const char* TAG = "relay_chn";
-
-ESP_EVENT_DEFINE_BASE(RELAY_CHN_CMD_EVENT);
-
-
-/**
- * @brief Enumeration for relay channel commands.
- */
-enum relay_chn_cmd_enum {
-    RELAY_CHN_CMD_NONE,     ///< No command.
-    RELAY_CHN_CMD_STOP,     ///< Stop the relay channel.
-    RELAY_CHN_CMD_FORWARD,  ///< Run the relay channel in the forward direction.
-    RELAY_CHN_CMD_REVERSE,  ///< Run the relay channel in the reverse direction.
-    RELAY_CHN_CMD_FLIP,     ///< Flip the direction of the relay channel.
-    RELAY_CHN_CMD_FREE      ///< Free the relay channel.
-};
-
-/// @brief Alias for the enum type relay_chn_cmd_enum.
-typedef enum relay_chn_cmd_enum relay_chn_cmd_t;
-
-/**
- * @brief Structure to hold runtime information for a relay channel.
- */
-typedef struct relay_chn_run_info_type {
-    relay_chn_cmd_t last_run_cmd;   ///< The last run command issued on the relay channel; forward or reverse.
-    uint32_t last_run_cmd_time_ms;  ///< The time in milliseconds when the last run command was issued.
-} relay_chn_run_info_t;
-
-/**
- * @brief Structure to hold the output configuration of a relay channel.
- */
-typedef struct relay_chn_output_type {
-    gpio_num_t forward_pin; ///< GPIO pin number for the forward direction.
-    gpio_num_t reverse_pin; ///< GPIO pin number for the reverse direction.
-    relay_chn_direction_t direction; ///< The current direction of the relay channel.
-} relay_chn_output_t;
-
-typedef struct relay_chn_type relay_chn_t; // Forward declaration
-
-/**
- * @brief Function pointer type for relay channel command execution functions.
- * @param relay_chn Pointer to the relay channel to execute the command on.
- */
-typedef void(*relay_chn_cmd_fn_t)(relay_chn_t*);
-
-/**
- * @brief Structure to hold the state and configuration of a relay channel.
- */
-typedef struct relay_chn_type {
-    uint8_t id; ///< The ID of the relay channel.
-    relay_chn_state_t state;        ///< The current state of the relay channel.
-    relay_chn_run_info_t run_info;  ///< Runtime information of the relay channel.
-    relay_chn_output_t output;      ///< Output configuration of the relay channel.
-    relay_chn_cmd_t pending_cmd;    ///< The command that is pending to be issued
-    esp_timer_handle_t timer;       ///< Timer to handle the opposite direction inertia time.
-} relay_chn_t;
-
-
-static relay_chn_t relay_channels[RELAY_CHN_COUNT];
-static esp_event_loop_handle_t relay_chn_event_loop;
-
-
-// Private function declarations
-// Event handler for the relay channel command event
-static void relay_chn_event_handler(void* handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data);
-
-/**
- * @brief Check if the provided channel ID is valid.
- * 
- * @param chn_id Channel ID to check.
- * @return true Channel ID is valid.
- * @return false Channel ID is invalid.
- */
-static bool relay_chn_is_channel_id_valid(uint8_t chn_id);
-
-/**
- * @brief Dispatches a relay channel command to the event loop.
- * 
- * @param relay_chn The relay channel.
- * @param cmd The command to dispatch.
- */
-static void relay_chn_dispatch_cmd(relay_chn_t *relay_chn, relay_chn_cmd_t cmd);
-
-/**
- * @brief Returns the string representation of a relay channel command.
- * 
- * @param cmd The relay channel command.
- * @return char* The string representation of the command.
- */
-static char *relay_chn_cmd_str(relay_chn_cmd_t cmd);
-
-/**
- * @brief Timer callback function for relay channel direction change inertia.
- * 
- * This function is called when the opposite direction inertia timer expires. It checks if the channel
- * has a pending command and dispatches it if there is one.
- * 
- * @param arg The channel ID of the relay channel.
- */
-static void relay_chn_timer_cb(void* arg)
-{
-    uint8_t chn_id = *(uint8_t*) arg;
-    if (!relay_chn_is_channel_id_valid(chn_id)) {
-        ESP_LOGE(TAG, "relay_chn_timer_cb: Invalid relay channel ID!");
-        return;
-    }
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    // Does channel have a pending command?
-    if (relay_chn->pending_cmd != RELAY_CHN_CMD_NONE) {
-        relay_chn_dispatch_cmd(relay_chn, relay_chn->pending_cmd);
-        relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
-    }
-    else {
-        ESP_LOGE(TAG, "relay_chn_timer_cb: No pending cmd for relay channel %d!", chn_id);
-    }
-}
-
-static esp_err_t relay_chn_init_timer(relay_chn_t *relay_chn)
-{
-    char timer_name[32];
-    snprintf(timer_name, sizeof(timer_name), "relay_chn_%d_timer", relay_chn->id);
-    esp_timer_create_args_t timer_args = {
-        .callback = relay_chn_timer_cb,
-        .arg = &relay_chn->id,
-        .name = timer_name
-    };
-    return esp_timer_create(&timer_args, &relay_chn->timer);
-}
-
-/**
- * @brief Check if the provided GPIO pin number is valid for the current device.
- * 
- * @param gpio The GPIO pin number to check.
- * @return true GPIO pin number is valid.
- * @return false GPIO pin number is invalid.
- */
-static bool relay_chn_is_gpio_valid(gpio_num_t gpio)
-{
-    return gpio >= 0 && gpio < GPIO_PIN_COUNT;
-}
-
-static esp_err_t relay_chn_create_event_loop()
-{
-    esp_event_loop_args_t loop_args = {
-        .queue_size = 10,
-        .task_name = "relay_chn_event_loop",
-        .task_priority = ESP_TASKD_EVENT_PRIO - 1,
-        .task_stack_size = 2048,
-        .task_core_id = tskNO_AFFINITY
-    };
-    esp_err_t ret = esp_event_loop_create(&loop_args, &relay_chn_event_loop);
-    ret |= esp_event_handler_register_with(relay_chn_event_loop,
-                                            RELAY_CHN_CMD_EVENT,
-                                            ESP_EVENT_ANY_ID,
-                                            relay_chn_event_handler, NULL);
-    return ret;
-}
-
-esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count)
-{
-    // Check if the device's GPIOs are enough for the number of channels
-    if (RELAY_CHN_COUNT > (GPIO_PIN_COUNT / 2)) {
-        ESP_LOGE(TAG, "Not enough GPIOs for the number of channels!");
-        ESP_LOGE(TAG, "Max available num of channels: %d, requested channels: %d", GPIO_PIN_COUNT / 2, RELAY_CHN_COUNT);
-        return ESP_ERR_INVALID_ARG;
-    }
-
-    // Check if the provided GPIOs correspond to the number of channels
-    if (gpio_count != RELAY_CHN_COUNT * 2) {
-        ESP_LOGE(TAG, "Invalid number of GPIOs provided: %d", gpio_count);
-        ESP_LOGE(TAG, "Expected number of GPIOs: %d", RELAY_CHN_COUNT * 2);
-        return ESP_ERR_INVALID_ARG;
-    }
-
-    esp_err_t ret;
-    for (int i = 0; i < RELAY_CHN_COUNT; i++) {
-        gpio_num_t forward_pin = gpio_map[i];
-        gpio_num_t reverse_pin = gpio_map[i+1];
-        // Check if the GPIOs are valid
-        if (!relay_chn_is_gpio_valid(forward_pin)) {
-            ESP_LOGE(TAG, "Invalid GPIO pin number: %d", forward_pin);
-            return ESP_ERR_INVALID_ARG;
-        }
-        if (!relay_chn_is_gpio_valid(reverse_pin)) {
-            ESP_LOGE(TAG, "Invalid GPIO pin number: %d", reverse_pin);
-            return ESP_ERR_INVALID_ARG;
-        }
-        // Check if the GPIOs are valid
-
-        // Initialize the GPIOs
-        ret = gpio_reset_pin(forward_pin);
-        ret |= gpio_set_direction(forward_pin, GPIO_MODE_OUTPUT);
-        
-        ret |= gpio_reset_pin(reverse_pin);
-        ret |= gpio_set_direction(reverse_pin, GPIO_MODE_OUTPUT);
-        if (ret != ESP_OK) {
-            ESP_LOGE(TAG, "Failed to initialize GPIOs relay channel %d!", i);
-            return ret;
-        }
-        // Initialize the GPIOs
-
-        // Initialize the relay channel
-        relay_chn_t* relay_chn = &relay_channels[i];
-        relay_chn->id = i;
-        relay_chn->output.forward_pin = forward_pin;
-        relay_chn->output.reverse_pin = reverse_pin;
-        relay_chn->output.direction = RELAY_CHN_DIRECTION_DEFAULT;
-        relay_chn->state = RELAY_CHN_STATE_STOPPED;
-        relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
-        relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_NONE;
-        ret |= relay_chn_init_timer(relay_chn);// Create direction change inertia timer
-        if (ret != ESP_OK) {
-            ESP_LOGE(TAG, "Failed to initialize relay channel %d!", i);
-            return ret;
-        }
-    }
-
-    // Create relay channel command event loop
-    ret |= relay_chn_create_event_loop();
-
-    return ret;
-}
-
-/**
- * @brief Check channel ID validity
- * 
- * @param chn_id Channel ID to check
- * @return true If channel is valid
- * @return false If channel is invalid
- */
-static bool relay_chn_is_channel_id_valid(uint8_t chn_id)
-{
-    bool valid = chn_id >= 0 && chn_id < RELAY_CHN_COUNT;
-    if (!valid) {
-        ESP_LOGE(TAG, "Invalid channel ID: %d", chn_id);
-    }
-    return valid;
-}
-
-
-// Dispatch relay channel command to its event loop
-static void relay_chn_dispatch_cmd(relay_chn_t *relay_chn, relay_chn_cmd_t cmd) {
-    if (cmd == RELAY_CHN_CMD_NONE) {
-        return;
-    }
-    esp_event_post_to(relay_chn_event_loop,
-                        RELAY_CHN_CMD_EVENT,
-                        cmd,
-                        &relay_chn->id,
-                        sizeof(relay_chn->id), portMAX_DELAY);
-}
-
-static esp_err_t relay_chn_invalidate_timer(relay_chn_t *relay_chn)
-{
-    if (esp_timer_is_active(relay_chn->timer)) {
-        return esp_timer_stop(relay_chn->timer);
-    }
-    return ESP_OK;
-}
-
-static esp_err_t relay_chn_start_timer(relay_chn_t *relay_chn, uint32_t time_ms)
-{
-    // Invalidate the channel's timer if it is active
-    relay_chn_invalidate_timer(relay_chn);
-    return esp_timer_start_once(relay_chn->timer, time_ms * 1000);
-}
-
-/**
- * @brief The command issuer function.
- * 
- * This function is the deciding logic for issuing a command to a relay channel. It evaluates 
- * the current state of the channel before issuing the command. Then it decides whether to run
- * the command immediately or wait for the opposite inertia time.
- * 
- * The STOP command is an exception, it is always run immediately since it is safe in any case.
- * 
- * Another special consideration is the FLIP command. If the channel is running, the FLIP command
- * is issued after the channel is stopped. If the channel is stopped, the FLIP command is issued
- * immediately.
- * 
- * @param relay_chn The relay channel to issue the command to.
- * @param cmd The command to issue.
- */
-static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
-{
-    if (cmd == RELAY_CHN_CMD_NONE) {
-        return;
-    }
-    
-    if (cmd == RELAY_CHN_CMD_STOP) {
-        if (relay_chn->state == RELAY_CHN_STATE_STOPPED) {
-            return; // Do nothing if already stopped
-        }
-        // If the command is STOP, issue it immediately
-        relay_chn_dispatch_cmd(relay_chn, cmd);
-        return;
-    }
-
-    // Evaluate the channel's next move depending on its status
-    switch (relay_chn->state)
-    {
-        case RELAY_CHN_STATE_FREE:
-            // If the channel is free, run the command immediately
-            relay_chn_dispatch_cmd(relay_chn, cmd);
-            break;
-        
-        case RELAY_CHN_STATE_FORWARD_PENDING:
-        case RELAY_CHN_STATE_REVERSE_PENDING:
-            // The channel is already waiting for the opposite inertia time,
-            // so do nothing unless the command is STOP
-            if (cmd == RELAY_CHN_CMD_STOP) {
-                relay_chn_dispatch_cmd(relay_chn, cmd);
-            }
-            break;
-        
-        case RELAY_CHN_STATE_STOPPED:
-            if (relay_chn->run_info.last_run_cmd == cmd) {
-                // If the last run command is the same as the current command, run the command immediately
-                relay_chn_dispatch_cmd(relay_chn, cmd);
-            }
-            else {
-                // If the last run command is different from the current command, calculate the time passed 
-                // since the last run command stopped and decide whether to run the command immediately or wait
-                uint32_t inertia_time_passed_ms = (uint32_t) (esp_timer_get_time() / 1000) - relay_chn->run_info.last_run_cmd_time_ms;
-                uint32_t inertia_time_ms = RELAY_CHN_OPPOSITE_INERTIA_MS - inertia_time_passed_ms;
-                if (inertia_time_ms > 0) {
-                    relay_chn->pending_cmd = cmd;
-                    relay_chn->state = cmd == RELAY_CHN_CMD_FORWARD 
-                                                ? RELAY_CHN_STATE_FORWARD_PENDING
-                                                : RELAY_CHN_STATE_REVERSE_PENDING;
-                    // If the time passed is less than the opposite inertia time, wait for the remaining time
-                    relay_chn_start_timer(relay_chn, inertia_time_ms);
-                }
-                else {
-                    // If the time passed is more than the opposite inertia time, run the command immediately
-                    relay_chn_dispatch_cmd(relay_chn, cmd);
-                }
-            }
-            break;
-        
-        case RELAY_CHN_STATE_FORWARD:
-        case RELAY_CHN_STATE_REVERSE:
-            if (cmd == RELAY_CHN_CMD_FLIP) {
-                // If the command is FLIP, stop the running channel first, then issue the FLIP command
-                relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
-                relay_chn_dispatch_cmd(relay_chn, cmd);
-                return;
-            }
-
-            if (relay_chn->run_info.last_run_cmd == cmd) {
-                // If the last run command is the same as the current command, do nothing
-                return;
-            }
-
-            // If the last run command is different from the current command, wait for the opposite inertia time
-            relay_chn->pending_cmd = cmd;
-            relay_chn->state = cmd == RELAY_CHN_CMD_FORWARD ? RELAY_CHN_STATE_FORWARD_PENDING : RELAY_CHN_STATE_REVERSE_PENDING;
-            relay_chn_start_timer(relay_chn, RELAY_CHN_OPPOSITE_INERTIA_MS);
-            break;
-
-        default: ESP_LOGD(TAG, "relay_chn_evaluate: Unknown relay channel state!");
-    }
-}
-
-/* relay_chn APIs */
-relay_chn_state_t relay_chn_get_state(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) {
-        return RELAY_CHN_STATE_STOPPED;
-    }
-    return relay_channels[chn_id].state;
-}
-
-char *relay_chn_get_state_str(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) {
-        return "INVALID";
-    }
-    switch (relay_channels[chn_id].state) {
-        case RELAY_CHN_STATE_FREE:
-            return "FREE";
-        case RELAY_CHN_STATE_STOPPED:
-            return "STOPPED";
-        case RELAY_CHN_STATE_FORWARD:
-            return "FORWARD";
-        case RELAY_CHN_STATE_REVERSE:
-            return "REVERSE";
-        case RELAY_CHN_STATE_FORWARD_PENDING:
-            return "FORWARD_PENDING";
-        case RELAY_CHN_STATE_REVERSE_PENDING:
-            return "REVERSE_PENDING";
-        default:
-            return "UNKNOWN";
-    }
-}
-
-void relay_chn_run_forward(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) return;
-
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FORWARD);
-}
-
-void relay_chn_run_reverse(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) return;
-
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_REVERSE);
-}
-
-void relay_chn_stop(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) return;
-
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_STOP);
-}
-
-void relay_chn_flip_direction(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) return;
-
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FLIP);    
-}
-
-relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id)
-{
-    if (!relay_chn_is_channel_id_valid(chn_id)) {
-        return RELAY_CHN_DIRECTION_DEFAULT;
-    }
-    return relay_channels[chn_id].output.direction;
-}
-/* relay_chn APIs */
-
-
-static void relay_chn_execute_stop(relay_chn_t *relay_chn)
-{
-    gpio_set_level(relay_chn->output.forward_pin, 0);
-    gpio_set_level(relay_chn->output.reverse_pin, 0);
-    relay_chn->state = RELAY_CHN_STATE_STOPPED;
-    
-    // If there is any pending command, cancel it since the STOP command is issued right after it
-    relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
-    // Invalidate the channel's timer if it is active
-    relay_chn_invalidate_timer(relay_chn);
-
-    // If the channel was running, schedule a free command for the channel
-    relay_chn_cmd_t last_run_cmd = relay_chn->run_info.last_run_cmd;
-    if (last_run_cmd == RELAY_CHN_CMD_FORWARD || last_run_cmd == RELAY_CHN_CMD_REVERSE) {
-        // Record the command's last run time
-        relay_chn->run_info.last_run_cmd_time_ms = esp_timer_get_time() / 1000;
-        // Schedule a free command for the channel
-        relay_chn->pending_cmd = RELAY_CHN_CMD_FREE;
-        relay_chn_start_timer(relay_chn, RELAY_CHN_OPPOSITE_INERTIA_MS);
-    } else {
-        // If the channel was not running, issue a free command immediately
-        relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_FREE);
-    }
-}
-
-static void relay_chn_execute_forward(relay_chn_t *relay_chn)
-{
-    gpio_set_level(relay_chn->output.reverse_pin, 0);
-    gpio_set_level(relay_chn->output.forward_pin, 1);
-    relay_chn->state = RELAY_CHN_STATE_FORWARD;
-    relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_FORWARD;
-}
-
-static void relay_chn_execute_reverse(relay_chn_t *relay_chn)
-{
-    gpio_set_level(relay_chn->output.forward_pin, 0);
-    gpio_set_level(relay_chn->output.reverse_pin, 1);
-    relay_chn->state = RELAY_CHN_STATE_REVERSE;
-    relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_REVERSE;
-}
-
-static void relay_chn_execute_flip(relay_chn_t *relay_chn)
-{
-    // Flip the output GPIO pins
-    gpio_num_t temp = relay_chn->output.forward_pin;
-    relay_chn->output.forward_pin = relay_chn->output.reverse_pin;
-    relay_chn->output.reverse_pin = temp;
-    // Flip the direction
-    relay_chn->output.direction = (relay_chn->output.direction == RELAY_CHN_DIRECTION_DEFAULT) 
-                                    ? RELAY_CHN_DIRECTION_FLIPPED 
-                                    : RELAY_CHN_DIRECTION_DEFAULT;
-    // Set an inertia on the channel to prevent any immediate movement
-    relay_chn->pending_cmd = RELAY_CHN_CMD_FREE;
-    relay_chn_start_timer(relay_chn, RELAY_CHN_OPPOSITE_INERTIA_MS);
-}
-
-void relay_chn_execute_free(relay_chn_t *relay_chn)
-{
-    relay_chn->state = RELAY_CHN_STATE_FREE;
-    relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
-    // Invalidate the channel's timer if it is active
-    relay_chn_invalidate_timer(relay_chn);
-}
-
-static void relay_chn_event_handler(void* handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
-{
-    uint8_t chn_id = *(uint8_t*) event_data;
-    if (!relay_chn_is_channel_id_valid(chn_id)) {
-        return;
-    }
-    relay_chn_t* relay_chn = &relay_channels[chn_id];
-    ESP_LOGD(TAG, "relay_chn_event_handler: Channel %d, Command: %s", relay_chn->id, relay_chn_cmd_str(event_id));
-    switch (event_id) {
-        case RELAY_CHN_CMD_STOP:
-            relay_chn_execute_stop(relay_chn);
-            break;
-        case RELAY_CHN_CMD_FORWARD:
-            relay_chn_execute_forward(relay_chn);
-            break;
-        case RELAY_CHN_CMD_REVERSE:
-            relay_chn_execute_reverse(relay_chn);
-            break;
-        case RELAY_CHN_CMD_FLIP:
-            relay_chn_execute_flip(relay_chn);
-            break;
-        case RELAY_CHN_CMD_FREE:
-            relay_chn_execute_free(relay_chn);
-            break;
-        default:
-            ESP_LOGD(TAG, "Unknown relay channel command!");
-    }
-}
-
-static char *relay_chn_cmd_str(relay_chn_cmd_t cmd)
-{
-    switch (cmd) {
-        case RELAY_CHN_CMD_STOP:
-            return "STOP";
-        case RELAY_CHN_CMD_FORWARD:
-            return "FORWARD";
-        case RELAY_CHN_CMD_REVERSE:
-            return "REVERSE";
-        case RELAY_CHN_CMD_FLIP:
-            return "FLIP";
-        case RELAY_CHN_CMD_FREE:
-            return "FREE";
-        default:
-            return "UNKNOWN";
-    }
-}
-
-/// @}

scripts/run_tests.sh

@@ -0,0 +1,156 @@
+#!/usr/bin/env bash
+
+set -e
+
+# ==== 1. Check ESP-IDF environment ====
+if [[ -z "$IDF_PATH" ]]; then
+  echo "❌ ESP-IDF environment not found. Please source the export.sh file first:"
+  echo "'. $HOME/esp/esp-idf/export.sh' or wherever the ESP-IDF is installed"
+  exit 1
+fi
+
+# ==== 2. Valid Modes and Defaults ====
+valid_test_tags=("core" "tilt" "listener" "all" "relay_chn")
+arg_tag="all" # Default to 'all' if no tag specified
+arg_clean=false
+arg_log=false
+arg_dry_run=false
+arg_sdkconfig_file=""
+flag_file=false
+
+print_help() {
+    echo "Usage: $0 -t <tags> [OPTIONS]"
+    echo ""
+    echo "This script builds and runs tests for the relay_chn component using QEMU."
+    echo ""
+    echo "Arguments:"
+    echo "  -t, --tag [relay_chn|core|tilt|listener|all]  Specify which test tag to run."
+    echo ""
+    echo "  If no tag is specified, it defaults to 'all'."
+    echo ""
+    echo "Options:"
+    echo "  -f, --file <path>                    Specify a custom sdkconfig file to use for the build."
+    echo "                                       Defaults to 'sdkconfig.defaults' if not provided."
+    echo "  -c, --clean                          Perform a 'fullclean' before building the tests."
+    echo "  -l, --log                            Log the test output to a timestamped file."
+    echo "  -n, --dry-run                        Build the project without running qemu."
+    echo "  -h, --help                           Show this help message and exit."
+}
+
+help() {
+  print_help
+  exit 0
+}
+
+usage() {
+  print_help
+  exit 1
+}
+
+# ==== 3. Argument Parsing ====
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    --tag|-t)
+      arg_tag="$2"
+      shift 2
+      ;;
+    --file|-f)
+      arg_sdkconfig_file="$2"
+      flag_file=true
+      shift 2
+      ;;
+    --clean|-c)
+      arg_clean=true
+      shift
+      ;;
+    --log|-l)
+      arg_log=true
+      shift
+      ;;
+    --dry-run|-n)
+      arg_dry_run=true
+      shift
+      ;;
+    --help|-h)
+      help
+      ;;
+    *)
+      usage
+      ;;
+  esac
+done
+
+# ==== 4. Validity Check ====
+if [[ ! " ${valid_test_tags[*]} " =~ " $arg_tag " ]]; then
+    echo "❌ Invalid mode: '$arg_tag'"
+    usage
+fi
+
+# ==== 5. Resolve Paths and Switch to Working Directory ====
+script_dir=$(dirname "$(readlink -f "$0")")
+project_root=$(dirname "$script_dir")
+
+echo "🔍 Searching for 'test_apps' directory in '$project_root'..."
+test_apps_dir=$(find "$project_root" -type d -name "test_apps" | head -n 1)
+
+if [[ -z "$test_apps_dir" || ! -d "$test_apps_dir" ]]; then
+    echo "❌ 'test_apps' directory not found within the project root: '$project_root'"
+    echo "   Please ensure the script is in a 'scripts' directory and 'test_apps' is a sibling."
+    exit 1
+fi
+echo "✅ Found 'test_apps' at: $test_apps_dir"
+
+if $flag_file; then
+    if [[ -z "$arg_sdkconfig_file" || ! -f "$arg_sdkconfig_file" ]]; then
+        echo "❌ Invalid or missing file: '$arg_sdkconfig_file'"
+        usage
+    fi
+    # Resolve to an absolute path to work correctly after changing directory
+    arg_sdkconfig_file=$(readlink -f "$arg_sdkconfig_file")
+else
+    echo "⚠️ No SDK configuration file provided. Using default sdkconfig."
+    arg_sdkconfig_file="$test_apps_dir/sdkconfig.defaults"
+fi
+
+echo "🧪 Test mode: $arg_tag"
+echo "🧹 Clean: $arg_clean | 📄 Log: $arg_log"
+
+echo "📂 Changing to working directory: $test_apps_dir"
+cd "$test_apps_dir" || exit 1
+
+# ==== 6. Clean if requested ====
+if $arg_clean; then
+  echo "🧹 Doing Fullclean..."
+  idf.py fullclean
+  rm sdkconfig
+fi
+
+# ==== 7. Building and Running Tests ====
+# In some locales, we can get errors like: "Error: unknown opcode or format name 'wsr.IBREAKA1'"
+# The 'LC_ALL=C' env variable is set to ensure consistent locale settings.
+LC_ALL=C \
+SDKCONFIG_DEFAULTS="$arg_sdkconfig_file" \
+RELAY_CHN_UNITY_TEST_GROUP_TAG="$arg_tag" \
+idf.py reconfigure build
+
+echo "🚀 Running test with QEMU..."
+
+if $arg_log; then
+    TIMESTAMP=$(date +"%Y%m%d_%H%M%S")
+    LOGFILE="test_log_${arg_tag}_$TIMESTAMP.txt"
+    if $arg_dry_run; then
+        echo "🔍 Dry run mode: Logging to $LOGFILE but not executing." | tee "$LOGFILE"
+        echo "Command: idf.py qemu" | tee "$LOGFILE"
+    else
+        echo "📜 Logging test output to: $LOGFILE"
+        idf.py qemu --qemu-extra-args "-no-reboot" | tee "$LOGFILE"
+    fi
+else
+    if $arg_dry_run; then
+        echo "🔍 Dry run mode: Not executing idf.py qemu."
+        echo "Command: idf.py qemu"
+    else
+        echo "🚀 Running idf.py qemu..."
+        idf.py qemu --qemu-extra-args "-no-reboot"
+    fi
+fi

test/CMakeLists.txt

@@ -1,8 +0,0 @@
-# The following lines of boilerplate have to be in your project's CMakeLists
-# in this exact order for cmake to work correctly
-cmake_minimum_required(VERSION 3.5)
-
-set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components"
-                         "../../relay_chn")
-include($ENV{IDF_PATH}/tools/cmake/project.cmake)
-project(relay_chn_test)

test/main/CMakeLists.txt

@@ -1,3 +0,0 @@
-idf_component_register(SRCS_DIRS "."
-                    PRIV_INCLUDE_DIRS "."
-                    PRIV_REQUIRES unity test_utils relay_chn)

test/main/relay_chn_test.c

@@ -1,75 +0,0 @@
-#include "unity.h"
-#include "relay_chn.h"
-
-
-const gpip_num_t gpio_map[] = {GPIO_NUM_4, GPIO_NUM_5, GPIO_NUM_18, GPIO_NUM_19};
-const uint8_t gpio_count = sizeof(gpio_map) / sizeof(gpio_map[0]);
-const uint8_t relay_chn_count = gpio_count / 2;
-
-TEST_CASE("relay chn inits correctly", "[relay_chn]")
-{
-    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
-}
-
-TEST_CASE("Relay channels run forward and update state", "[relay_chn][forward]")
-{
-    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
-    // Test forward run on all channels
-    for (uint8_t i = 0; i < relay_chn_count; i++) {
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-        relay_chn_run_forward(i); // Run the channel forward
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
-        relay_chn_stop(i); // Stop the channel
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-        
-        relay_chn_flip_direction(i); // Flip the direction
-        TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(i));
-        relay_chn_run_forward(i); // Run the channel forward
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
-        relay_chn_stop(i); // Stop the channel
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-    }
-}
-
-TEST_CASE("Relay channels run reverse and update state", "[relay_chn][reverse]")
-{
-    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
-    // Test reverse run on all channels
-    for (uint8_t i = 0; i < relay_chn_count; i++) {
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-        relay_chn_run_reverse(i); // Run the channel reverse
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(i));
-        relay_chn_stop(i); // Stop the channel
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-        
-        relay_chn_flip_direction(i); // Flip the direction
-        TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(i));
-        relay_chn_run_reverse(i); // Run the channel forward
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(i));
-        relay_chn_stop(i); // Stop the channel
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-    }
-}
-
-static void check_channels_state_unchanged(void)
-{
-    for (uint8_t i = 0; i < relay_chn_count; i++) {
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
-        TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction(i));
-    }
-}
-
-TEST_CASE("Relay channels do not change state for invalid channel", "[relay_chn][invalid]")
-{
-    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
-    // Test invalid channel run
-    relay_chn_run_forward(relay_chn_count + 1); // Run the channel forward
-    check_channels_state_unchanged();
-    relay_chn_run_reverse(relay_chn_count + 1); // Run the channel reverse
-    check_channels_state_unchanged();
-    relay_chn_stop(relay_chn_count + 1); // Stop the channel
-    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(relay_chn_count + 1));
-    check_channels_state_unchanged();
-    relay_chn_flip_direction(relay_chn_count + 1); // Flip the direction
-    check_channels_state_unchanged();
-}

test/main/relay_chn_test_main.c

@@ -1,21 +0,0 @@
-#include <stdio.h>
-#include <string.h>
-#include "unity.h"
-#include "unity_test_runner.h"
-
-
-static void print_banner(const char*);
-
-void app_main(void) {
-
-    print_banner("Starting interactive test menu");
-    /* This function will not return, and will be busy waiting for UART input.
-     * Make sure that task watchdog is disabled if you use this function.
-     */
-    unity_run_menu();
-}
-
-static void print_banner(const char* text)
-{
-    printf("\n##### %s #####\n\n", text);
-}

test/sdkconfig.defaults

@@ -1,5 +0,0 @@
-# For IDF 5.0
-CONFIG_ESP_TASK_WDT_EN=n
-
-# For IDF4.4
-CONFIG_ESP_TASK_WDT=n

test_apps/CMakeLists.txt

@@ -0,0 +1,29 @@
+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.5)
+
+# Define component search paths
+# IMPORTANT: We should tell to the ESP-IDF
+# where it can find relay_chn component.
+# We add the 'relay_chn' root directory to the EXTRA_COMPONENT_DIRS by specifying: "../"
+set(EXTRA_COMPONENT_DIRS "../")
+
+# "Trim" the build. Include the minimal set of components, main, and anything it depends on.
+set(COMPONENTS main)
+
+# Include ESP-IDF project build system
+# include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+file(TO_NATIVE_PATH "$ENV{IDF_PATH}/tools/cmake/project.cmake" _project_path)
+
+# Inject the test tag into the build
+add_compile_definitions(RELAY_CHN_UNITY_TEST_GROUP_TAG=\"$ENV{RELAY_CHN_UNITY_TEST_GROUP_TAG}\")
+
+include(${_project_path})
+
+# Define the name of this project
+project(relay_chn_test)
+
+file(TO_NATIVE_PATH "${CMAKE_CURRENT_BINARY_DIR}/coverage_report" _coverage_path)
+
+idf_create_coverage_report(${_coverage_path})
+idf_clean_coverage_report(${_coverage_path})

test_apps/main/CMakeLists.txt

@@ -0,0 +1,27 @@
+# === These files must be included in any case ===
+set(srcs "test_common.c"
+         "test_app_main.c"
+         "test_relay_chn_core.c"
+         "test_relay_chn_listener.c")
+
+if(CONFIG_RELAY_CHN_ENABLE_TILTING)
+    list(APPEND srcs "test_relay_chn_tilt.c")
+endif()
+
+message(STATUS "srcs=${srcs}")
+
+# In order for the cases defined by `TEST_CASE` to be linked into the final elf,
+# the component can be registered as WHOLE_ARCHIVE
+idf_component_register(
+    SRCS ${srcs}
+    INCLUDE_DIRS "."
+    REQUIRES unity relay_chn app_trace
+    WHOLE_ARCHIVE
+)
+
+set_source_files_properties(
+    "test_common.c"
+    "test_app_main.c"
+    "test_relay_chn_core.c"
+    "test_relay_chn_listener.c"
+    PROPERTIES COMPILE_FLAGS --coverage)

test_apps/main/test_app_main.c

@@ -0,0 +1,49 @@
+
+#include "esp_log.h"
+#include "esp_system.h"
+#include "test_common.h"
+#include "unity.h"
+#include "unity_internals.h"
+#include "unity_test_runner.h"
+#include <stdbool.h>
+
+
+#ifndef RELAY_CHN_UNITY_TEST_GROUP_TAG
+#warning "RELAY_CHN_UNITY_TEST_GROUP_TAG is not defined, using default 'relay_chn'"
+#define RELAY_CHN_UNITY_TEST_GROUP_TAG "relay_chn"
+#endif
+
+void setUp() 
+{
+    g_is_component_initialized = false;
+}
+
+void tearDown()
+{
+    // Clean up after each test
+    if (g_is_component_initialized) {
+        relay_chn_destroy();
+        g_is_component_initialized = false;
+    }
+}
+
+void app_main(void) 
+{
+    UNITY_BEGIN();
+
+    // Log general test information
+    ESP_LOGI(TEST_TAG, "Available test count: %d", unity_get_test_count());
+    ESP_LOGI(TEST_TAG, "Running tests for tag: %s", RELAY_CHN_UNITY_TEST_GROUP_TAG);
+
+    if (strncmp(RELAY_CHN_UNITY_TEST_GROUP_TAG, "all", strlen("all")) == 0) {
+        unity_run_all_tests();
+    }
+    else {
+        unity_run_tests_by_tag(RELAY_CHN_UNITY_TEST_GROUP_TAG, false);
+    }
+
+    UNITY_END();
+    ESP_LOGI(TEST_TAG, "All tests complete.");
+    
+    esp_restart(); // Restart to invoke qemu exit
+}

test_apps/main/test_common.c

@@ -0,0 +1,17 @@
+#include "test_common.h"
+
+const char *TEST_TAG = "RELAY_CHN_TEST";
+
+// GPIO eşlemesi (örn: GPIO_NUM_4 vs GPIO_NUM_5)
+const gpio_num_t gpio_map[] = {
+    GPIO_NUM_4, GPIO_NUM_5, GPIO_NUM_18, GPIO_NUM_19
+};
+
+const uint8_t gpio_count = sizeof(gpio_map) / sizeof(gpio_map[0]);
+const uint8_t relay_chn_count = gpio_count / 2;
+
+// Konfigürasyon tabanlı inertia süresi
+const uint32_t opposite_inertia_ms = CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS;
+const uint32_t test_delay_margin_ms = 50;  // ms toleransı
+
+bool g_is_component_initialized = false;

test_apps/main/test_common.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <string.h> // For memset
+#include "unity.h"
+#include "relay_chn.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+// Test log tag
+extern const char *TEST_TAG;
+
+// GPIO konfigürasyonları
+extern const gpio_num_t gpio_map[];
+extern const uint8_t gpio_count;
+extern const uint8_t relay_chn_count;
+
+// Config parametreleri
+extern const uint32_t opposite_inertia_ms;
+extern const uint32_t test_delay_margin_ms;
+
+// Init durumu
+extern bool g_is_component_initialized;

test_apps/main/test_relay_chn_core.c

@@ -0,0 +1,403 @@
+#include "test_common.h"
+
+
+// --- Initialization Tests ---
+
+TEST_CASE("relay_chn_create handles invalid arguments", "[relay_chn][core]")
+{
+    // 1. Test with NULL gpio_map
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_create(NULL, gpio_count));
+
+    // 2. Test with incorrect gpio_count (must be RELAY_CHN_COUNT * 2)
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_create(gpio_map, gpio_count - 1));
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_create(gpio_map, 1));
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_create(gpio_map, 0));
+
+    // 3. Test with invalid GPIO numbers (GPIO_NUM_MAX is an invalid GPIO for output)
+    gpio_num_t invalid_gpio_map[] = {GPIO_NUM_4, GPIO_NUM_MAX, GPIO_NUM_18, GPIO_NUM_19};
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_create(invalid_gpio_map, gpio_count));
+}
+
+// --- Basic Functionality Tests ---
+
+// TEST_CASE: Test that relay channels initialize correctly to RELAY_CHN_STATE_FREE
+TEST_CASE("Relay channels initialize correctly to FREE state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE: Test that relays do nothing when an invlid channel id given
+TEST_CASE("Run forward does nothing if channel id is invalid", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        relay_chn_run_forward(invalid_id); // relay_chn_run_forward returns void
+        // Short delay for state to update
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE: Test that relays run in the forward direction and update their state
+TEST_CASE("Relay channels run forward and update state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_run_forward(i); // relay_chn_run_forward returns void
+        // Short delay for state to update
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE: Test that relays do nothing when an invlid channel id given
+TEST_CASE("Run reverse does nothing if channel id is invalid", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Verify that no valid channels were affected
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        // Call run_reverse with an invalid ID
+        relay_chn_run_reverse(invalid_id);
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE: Test that relays run in the reverse direction and update their state
+TEST_CASE("Relay channels run reverse and update state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        relay_chn_run_reverse(i); // relay_chn_run_reverse returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(i));
+    }
+}
+
+
+// ### Broadcast Command (RELAY_CHN_ID_ALL) Tests
+
+TEST_CASE("run_forward with ID_ALL sets all channels to FORWARD", "[relay_chn][core][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    relay_chn_run_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
+    }
+}
+
+TEST_CASE("run_reverse with ID_ALL sets all channels to REVERSE", "[relay_chn][core][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    relay_chn_run_reverse(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(i));
+    }
+}
+
+TEST_CASE("stop with ID_ALL stops all running channels", "[relay_chn][core][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start all channels forward to ensure they are in a known running state
+    relay_chn_run_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // 2. Stop all channels using the broadcast command
+    relay_chn_stop(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+
+    // 3. Verify all channels have transitioned to the FREE state
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+
+
+// TEST_CASE: Test that relays stop and transition to RELAY_CHN_STATE_FREE
+// This test also verifies the transition to FREE state after a STOP command.
+TEST_CASE("Relay channels stop and update to FREE state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        // First, run forward to test stopping and transitioning to FREE state
+        relay_chn_run_forward(i); // relay_chn_run_forward returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(i));
+
+        // Now, issue the stop command
+        relay_chn_stop(i); // relay_chn_stop returns void
+        // Immediately after stop, state should be STOPPED
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(i));
+
+        // Then, wait for the inertia period for it to transition to RELAY_CHN_STATE_FREE
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+// TEST_CASE: Get state should return UNDEFINED when id is not valid
+TEST_CASE("Get state returns UNDEFINED when id is invalid", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_UNDEFINED, relay_chn_get_state(invalid_id));
+    }
+    // Test for running states also
+    relay_chn_run_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_UNDEFINED, relay_chn_get_state(invalid_id));
+    }
+}
+
+// TEST_CASE: Get state string should return "UNKNOWN" when id is not valid
+TEST_CASE("Get state string returns UNKNOWN when id is invalid", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        TEST_ASSERT_EQUAL_STRING("UNKNOWN", relay_chn_get_state_str(invalid_id));
+    }
+    // Test for running states also
+    relay_chn_run_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        int invalid_id = relay_chn_count * 2 + i;
+        TEST_ASSERT_EQUAL_STRING("UNKNOWN", relay_chn_get_state_str(invalid_id));
+    }
+}
+
+// TEST_CASE: Test independent operation of multiple relay channels
+TEST_CASE("Multiple channels can operate independently", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    if (relay_chn_count >= 2) {
+        // Start Channel 0 in forward direction
+        relay_chn_run_forward(0); // relay_chn_run_forward returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(1)); // Other channel should not be affected
+
+        // Start Channel 1 in reverse direction
+        relay_chn_run_reverse(1); // relay_chn_run_reverse returns void
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(1));
+
+        // Stop Channel 0 and wait for it to become FREE
+        relay_chn_stop(0); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(1)); // Other channel should continue running
+
+        // Stop Channel 1 and wait for it to become FREE
+        relay_chn_stop(1); // relay_chn_stop returns void
+        vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(0));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(1));
+    } else {
+        ESP_LOGW("TEST", "Skipping 'Multiple channels can operate independently' test: Not enough channels available.");
+    }
+}
+
+
+// ### Inertia and State Transition Tests
+
+// This section specifically targets the inertia periods and complex state transitions as per the component's logic.
+
+// TEST_CASE: Test transition from forward to reverse with inertia and state checks
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Forward to Reverse transition with opposite inertia", "[relay_chn][core][inertia]") {
+    uint8_t ch = 0; // Channel to test
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Short delay for state stabilization
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue reverse command
+    relay_chn_run_reverse(ch); // relay_chn_run_reverse returns void
+    // Immediately after the command, the motor should be stopped
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state(ch)); 
+
+    // Wait for the inertia period (after which the reverse command will be dispatched)
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch)); // Should now be in reverse state
+}
+
+// TEST_CASE: Test transition from reverse to forward with inertia and state checks
+// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Reverse to Forward transition with opposite inertia", "[relay_chn][core][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(ch); // relay_chn_run_reverse returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue forward command
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state(ch));
+
+    // Wait for inertia
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test issuing the same run command while already running (no inertia expected)
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Running in same direction does not incur inertia", "[relay_chn][core][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue the same forward command again
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    // As per the code, is_direction_opposite_to_current_motion should return false, so no inertia.
+    // Just a short delay to check state remains the same.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from FREE state to running (no inertia expected)
+// Scenario: RELAY_CHN_STATE_FREE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("FREE to Running transition without inertia", "[relay_chn][core][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // setUp() should have already brought the channel to FREE state
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch));
+
+    // Start in forward direction
+    relay_chn_run_forward(ch); // relay_chn_run_forward returns void
+    // No inertia is expected when starting from FREE state.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// ### Direction Flipping Tests
+
+TEST_CASE("Single channel direction can be flipped", "[relay_chn][core][direction]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+    const uint8_t ch = 0;
+
+    // 1. Initial direction should be default
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction(ch));
+
+    // 2. Flip the direction
+    relay_chn_flip_direction(ch);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); // Wait for flip inertia
+
+    // 3. Verify direction is flipped
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(ch));
+
+    // 4. Flip back
+    relay_chn_flip_direction(ch);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms)); // Wait for flip inertia
+
+    // 5. Verify direction is back to default
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction(ch));
+}
+
+TEST_CASE("All channels direction can be flipped simultaneously", "[relay_chn][core][direction][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Flip all channels
+    relay_chn_flip_direction(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+
+    // 2. Verify all channels are flipped
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(i));
+    }
+
+    // 3. Flip all back
+    relay_chn_flip_direction(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+
+    // 4. Verify all channels are back to default
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction(i));
+    }
+}
+
+TEST_CASE("Flipping a running channel stops it and flips direction", "[relay_chn][core][direction]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+    const uint8_t ch = 0;
+
+    // 1. Start channel running and verify state
+    relay_chn_run_forward(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Flip the direction while running
+    relay_chn_flip_direction(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Give time for events to process
+    
+    // 3. The channel should stop as part of the flip process
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch));
+
+    // 4. Wait for the flip inertia to pass, after which it should be FREE and FLIPPED
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch));
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(ch));
+}
+
+TEST_CASE("Direction flip handles invalid channel ID gracefully", "[relay_chn][core][direction]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+    const uint8_t invalid_ch = relay_chn_count + 5;
+
+    relay_chn_flip_direction(invalid_ch); // Call with an invalid ID
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction(invalid_ch));
+}

test_apps/main/test_relay_chn_listener.c

@@ -0,0 +1,135 @@
+#include "test_common.h"
+
+
+// --- Listener Test Globals ---
+typedef struct {
+    uint8_t chn_id;
+    relay_chn_state_t old_state;
+    relay_chn_state_t new_state;
+    int call_count;
+} listener_callback_info_t;
+
+static listener_callback_info_t listener1_info;
+static listener_callback_info_t listener2_info;
+
+// --- Listener Test Helper Functions ---
+
+// Clear the memory from possible garbage values
+static void reset_listener_info(listener_callback_info_t* info) {
+    memset(info, 0, sizeof(listener_callback_info_t));
+}
+
+static void test_listener_1(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state) {
+    listener1_info.chn_id = chn_id;
+    listener1_info.old_state = old_state;
+    listener1_info.new_state = new_state;
+    listener1_info.call_count++;
+}
+
+static void test_listener_2(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state) {
+    listener2_info.chn_id = chn_id;
+    listener2_info.old_state = old_state;
+    listener2_info.new_state = new_state;
+    listener2_info.call_count++;
+}
+
+// ### Listener Functionality Tests
+
+TEST_CASE("Listener is called on state change", "[relay_chn][listener]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    reset_listener_info(&listener1_info);
+
+    // 1. Register the listener
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_1));
+
+    // 2. Trigger a state change
+    relay_chn_run_forward(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Allow event to be processed
+
+    // 3. Verify the listener was called with correct parameters
+    TEST_ASSERT_EQUAL(1, listener1_info.call_count);
+    TEST_ASSERT_EQUAL(ch, listener1_info.chn_id);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, listener1_info.old_state);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, listener1_info.new_state);
+
+    // 4. Unregister to clean up
+    relay_chn_unregister_listener(test_listener_1);
+}
+
+TEST_CASE("Unregistered listener is not called", "[relay_chn][listener]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    reset_listener_info(&listener1_info);
+
+    // 1. Register and then immediately unregister the listener
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_1));
+    relay_chn_unregister_listener(test_listener_1);
+
+    // 2. Trigger a state change
+    relay_chn_run_forward(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // 3. Verify the listener was NOT called
+    TEST_ASSERT_EQUAL(0, listener1_info.call_count);
+}
+
+TEST_CASE("Multiple listeners are called on state change", "[relay_chn][listener]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    reset_listener_info(&listener1_info);
+    reset_listener_info(&listener2_info);
+
+    // 1. Register two different listeners
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_1));
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_2));
+
+    // 2. Trigger a state change
+    relay_chn_run_forward(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // 3. Verify listener 1 was called correctly
+    TEST_ASSERT_EQUAL(1, listener1_info.call_count);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, listener1_info.old_state);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, listener1_info.new_state);
+
+    // 4. Verify listener 2 was also called correctly
+    TEST_ASSERT_EQUAL(1, listener2_info.call_count);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, listener2_info.old_state);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, listener2_info.new_state);
+
+    // 5. Clean up
+    relay_chn_unregister_listener(test_listener_1);
+    relay_chn_unregister_listener(test_listener_2);
+}
+
+TEST_CASE("Listener registration handles invalid arguments and duplicates", "[relay_chn][listener]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    reset_listener_info(&listener1_info);
+
+    // 1. Registering a NULL listener should fail
+    TEST_ASSERT_EQUAL(ESP_ERR_INVALID_ARG, relay_chn_register_listener(NULL));
+
+    // 2. Unregistering a NULL listener should not crash
+    relay_chn_unregister_listener(NULL);
+
+    // 3. Registering the same listener twice should be handled gracefully
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_1));
+    TEST_ESP_OK(relay_chn_register_listener(test_listener_1)); // Second call should be a no-op
+
+    // 4. Trigger a state change and verify the listener is only called ONCE
+    relay_chn_run_forward(0);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(1, listener1_info.call_count);
+
+    // 5. Clean up
+    relay_chn_unregister_listener(test_listener_1);
+}

test_apps/main/test_relay_chn_tilt.c

@@ -0,0 +1,389 @@
+#include "test_common.h"
+
+
+// ### Tilt Functionality Tests (Conditional)
+
+// This section will only be compiled if **`CONFIG_RELAY_CHN_ENABLE_TILTING`** is defined as **`1`** in `sdkconfig`.
+
+#ifndef CONFIG_RELAY_CHN_ENABLE_TILTING
+#error "This test requires CONFIG_RELAY_CHN_ENABLE_TILTING"
+#endif
+
+#define RELAY_CHN_CMD_FORWARD 1
+#define RELAY_CHN_CMD_REVERSE 2
+
+// Helper function to prepare channel for tilt tests
+void prepare_channel_for_tilt(uint8_t chn_id, int initial_cmd) {
+    // Ensure the channel has had a 'last_run_cmd'
+    if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
+        relay_chn_run_forward(chn_id);
+    } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
+        relay_chn_run_reverse(chn_id);
+    }
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Allow command to process
+    relay_chn_stop(chn_id); // Stop it to set last_run_cmd but return to FREE for next test
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(chn_id));
+}
+
+// TEST_CASE: Test transition from running forward to tilt forward
+// Scenario: RELAY_CHN_STATE_FORWARD -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
+TEST_CASE("Run Forward to Tilt Forward transition with inertia", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running forward first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue tilt forward command
+    relay_chn_tilt_forward(ch); 
+    // After tilt command, it should immediately stop and then trigger inertia.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch)); 
+
+    // Wait for the inertia period (after which the tilt command will be dispatched)
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from running reverse to tilt reverse
+// Scenario: RELAY_CHN_STATE_REVERSE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
+TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running reverse first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue tilt reverse command
+    relay_chn_tilt_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state(ch));
+
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from FREE state to tilt forward (now with preparation)
+// Scenario: RELAY_CHN_STATE_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (relay_chn_tilt_forward) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_FORWARD
+TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running forward first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch)); // Ensure we are back to FREE
+
+    // Issue tilt forward command
+    relay_chn_tilt_forward(ch); 
+    // From FREE state, tilt command should still incur the inertia due to the internal timer logic
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from FREE state to tilt reverse (now with preparation)
+// Scenario: RELAY_CHN_STATE_FREE -> (prepare) -> RELAY_CHN_STATE_FREE -> (relay_chn_tilt_reverse) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_TILT_REVERSE
+TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running reverse first to set last_run_cmd
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch)); // Ensure we are back to FREE
+
+    // Issue tilt reverse command
+    relay_chn_tilt_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from tilt forward to run forward (inertia expected for run)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("Tilt Forward to Run Forward transition with inertia", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue run forward command
+    relay_chn_run_forward(ch); 
+    // From Tilt to Run in the same logical name but in the opposite direction, inertia is expected.
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state(ch));
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from tilt reverse to run reverse (no inertia expected for run)
+// Scenario: RELAY_CHN_STATE_TILT_REVERSE -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Tilt Reverse to Run Reverse transition with inertia", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running reverse first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+    relay_chn_tilt_reverse(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+
+    // 2. Issue run reverse command
+    relay_chn_run_reverse(ch); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state(ch));
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test transition from tilt forward to run reverse (without inertia)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_run_reverse) -> RELAY_CHN_STATE_REVERSE
+TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue run reverse command (opposite direction)
+    relay_chn_run_reverse(ch); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state(ch));
+}
+
+// TEST_CASE: Test stopping from a tilt state (no inertia for stop command itself)
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_stop) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_FREE
+TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
+    uint8_t ch = 0;
+
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare channel by running forward first to set last_run_cmd, then tilt
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch); // Go to tilt state
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // 2. Issue stop command
+    relay_chn_stop(ch);
+    // Stop command should apply immediately, setting state to FREE since last state was tilt.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(ch));
+}
+
+// ### Tilt Broadcast Command (RELAY_CHN_ID_ALL) Tests
+
+TEST_CASE("tilt_forward with ID_ALL sets all channels to TILT_FORWARD", "[relay_chn][tilt][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Prepare all channels.
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        prepare_channel_for_tilt(i, RELAY_CHN_CMD_FORWARD);
+    }
+
+    // 2. Issue tilt forward to all channels
+    relay_chn_tilt_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Tilt from FREE doesn't have stop-inertia
+
+    // 3. Verify all channels are tilting forward
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(i));
+    }
+}
+
+TEST_CASE("tilt_reverse with ID_ALL sets all channels to TILT_REVERSE", "[relay_chn][tilt][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Prepare all channels.
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
+    }
+
+    // 2. Issue tilt reverse to all channels
+    relay_chn_tilt_reverse(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // 3. Verify all channels are tilting reverse
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(i));
+    }
+}
+
+TEST_CASE("tilt_stop with ID_ALL stops all tilting channels", "[relay_chn][tilt][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Prepare and start all channels tilting forward
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        prepare_channel_for_tilt(i, RELAY_CHN_CMD_REVERSE);
+    }
+    relay_chn_tilt_forward(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // 2. Stop tilting on all channels
+    relay_chn_tilt_stop(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+
+    // 3. Verify all channels are free
+    for (uint8_t i = 0; i < relay_chn_count; i++) {
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+    }
+}
+
+TEST_CASE("tilt_auto with ID_ALL tilts channels based on last run direction", "[relay_chn][tilt][id_all]")
+{
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // This test requires at least 2 channels to demonstrate different behaviors
+    TEST_ASSERT_GREATER_OR_EQUAL_MESSAGE(2, relay_chn_count, "Test requires at least 2 channels");
+
+    // 1. Prepare channel 0 with last run FORWARD and channel 1 with last run REVERSE
+    prepare_channel_for_tilt(0, RELAY_CHN_CMD_FORWARD);
+    prepare_channel_for_tilt(1, RELAY_CHN_CMD_REVERSE);
+
+    // 2. Issue auto tilt command to all channels
+    relay_chn_tilt_auto(RELAY_CHN_ID_ALL);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Tilt from FREE state is dispatched immediately
+
+    // 3. Verify channel 0 tilts forward (last run was forward) and channel 1 tilts reverse (last run was reverse)
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(0));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(1));
+}
+
+// Test relay_chn_tilt_auto() chooses correct tilt direction
+TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][auto]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare FORWARD
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_auto(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+    relay_chn_tilt_stop(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // Prepare REVERSE
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_REVERSE);
+    relay_chn_tilt_auto(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+}
+
+// Test sensitivity set/get
+TEST_CASE("relay_chn_tilt_sensitivity_set and get", "[relay_chn][tilt][sensitivity]") {
+    uint8_t ch = 0;
+    uint8_t val = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    relay_chn_tilt_sensitivity_set(ch, 0);
+    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ASSERT_EQUAL_UINT8(0, val);
+
+    relay_chn_tilt_sensitivity_set(ch, 50);
+    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ASSERT_EQUAL_UINT8(50, val);
+
+    relay_chn_tilt_sensitivity_set(ch, 100);
+    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ASSERT_EQUAL_UINT8(100, val);
+
+    // Set all channels
+    relay_chn_tilt_sensitivity_set(RELAY_CHN_ID_ALL, 42);
+    uint8_t vals[CONFIG_RELAY_CHN_COUNT] = {0};
+    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(RELAY_CHN_ID_ALL, vals, relay_chn_count));
+    for (int i = 0; i < relay_chn_count; ++i) {
+        TEST_ASSERT_EQUAL_UINT8(42, vals[i]);
+    }
+}
+
+// Test tilt counter logic: forward x3, reverse x3, extra reverse fails
+TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][tilt][counter]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+
+    // Tilt forward 3 times
+    for (int i = 0; i < 3; ++i) {
+        relay_chn_tilt_forward(ch);
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+        relay_chn_tilt_stop(ch);
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    }
+
+    // Now tilt reverse 3 times (should succeed)
+    for (int i = 0; i < 3; ++i) {
+        relay_chn_tilt_reverse(ch);
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        if (i < 3) {
+            TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state(ch));
+            relay_chn_tilt_stop(ch);
+            vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        }
+    }
+
+    // Extra reverse tilt should fail (counter exhausted)
+    relay_chn_tilt_reverse(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    // Should not enter TILT_REVERSE, should remain FREE or STOPPED
+    relay_chn_state_t state = relay_chn_get_state(ch);
+    TEST_ASSERT(state != RELAY_CHN_STATE_TILT_REVERSE);
+}
+
+// Test run command during TILT state
+TEST_CASE("run command during TILT state transitions correctly", "[relay_chn][tilt][run-during-tilt]") {
+    uint8_t ch = 0;
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    prepare_channel_for_tilt(ch, RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(ch);
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state(ch));
+
+    // Issue run reverse while in TILT_FORWARD
+    relay_chn_run_reverse(ch);
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    // Should transition to REVERSE or REVERSE_PENDING depending on inertia logic
+    relay_chn_state_t state = relay_chn_get_state(ch);
+    TEST_ASSERT(state == RELAY_CHN_STATE_REVERSE || state == RELAY_CHN_STATE_REVERSE_PENDING);
+}

test_apps/sdkconfig.defaults

@@ -0,0 +1,17 @@
+# Disable task WDT for tests
+CONFIG_ESP_TASK_WDT_INIT=n
+
+# Relay Channel Driver Default Configuration for Testing
+# Keep this as short as possible for tests
+CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS=200
+CONFIG_RELAY_CHN_COUNT=2
+CONFIG_RELAY_CHN_ENABLE_TILTING=y
+
+# App Trace config
+CONFIG_APPTRACE_DEST_JTAG=y
+CONFIG_APPTRACE_ENABLE=y
+CONFIG_APPTRACE_LOCK_ENABLE=y
+CONFIG_APPTRACE_ONPANIC_HOST_FLUSH_TMO=-1
+CONFIG_APPTRACE_POSTMORTEM_FLUSH_THRESH=0
+CONFIG_APPTRACE_PENDING_DATA_SIZE_MAX=0
+CONFIG_APPTRACE_GCOV_ENABLE=y