Merge pull request #2 from kozmotronik/improve-tilt-algorithm

Improve tilt algorithm

.gitignore

@@ -100,3 +100,8 @@ CTestTestfile.cmake
 _deps
 CMakeUserPresets.json
 
+# Build directory
+build
+
+# unity-app directory
+unity-app

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "relay_chn.h": "c"
+    }
+}

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

@@ -11,17 +11,23 @@ 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.
 
+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
 
 Configure the component through menuconfig under "Relay Channel Driver Configuration":
 
 - `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
 
@@ -77,6 +83,30 @@ 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.

include/relay_chn.h

@@ -23,11 +23,14 @@
 
 #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.
  */
@@ -51,6 +54,10 @@ enum relay_chn_state_enum {
     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 +65,20 @@ 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 +95,26 @@ 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 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 +141,14 @@ 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 +202,77 @@ 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";
-    }
-}
-
-/// @}

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/main/test_relay_chn.c

@@ -1,8 +1,10 @@
+#include "driver/gpio.h"
 #include "unity.h"
+#include "unity_test_utils.h"
 #include "relay_chn.h"
 
 
-const gpip_num_t gpio_map[] = {GPIO_NUM_4, GPIO_NUM_5, GPIO_NUM_18, GPIO_NUM_19};
+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;
 
@@ -72,4 +74,22 @@ TEST_CASE("Relay channels do not change state for invalid channel", "[relay_chn]
     check_channels_state_unchanged();
     relay_chn_flip_direction(relay_chn_count + 1); // Flip the direction
     check_channels_state_unchanged();
-}
+}
+
+
+void setUp(void)
+{
+    // Run before each test
+}
+
+void tearDown(void)
+{
+    // Run after each test
+}
+
+// Test app entry point
+void app_main(void) 
+{
+    // Run the Unity tests menu
+    unity_run_menu();
+}