include/relay_chn.h

@@ -97,6 +97,13 @@ typedef void (*relay_chn_state_listener_t)(uint8_t chn_id, relay_chn_state_t old
  */
 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.
  * 

src/relay_chn.c

@@ -370,6 +370,38 @@ esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count)
     return ret;
 }
 
+void relay_chn_destroy(void)
+{
+    // Destroy the event loop
+    esp_event_loop_delete(relay_chn_event_loop);
+    relay_chn_event_loop = NULL;
+
+    // Free the listeners
+    if (relay_chn_state_listener_manager.listeners != NULL) {
+        free(relay_chn_state_listener_manager.listeners);
+        relay_chn_state_listener_manager.listeners = NULL;
+    }
+
+    // Destroy the timers and reset GPIOs
+    for (int i = 0; i < RELAY_CHN_COUNT; i++) {
+        relay_chn_t* relay_chn = &relay_channels[i];
+        if (relay_chn->inertia_timer != NULL) {
+            esp_timer_delete(relay_chn->inertia_timer);
+            relay_chn->inertia_timer = NULL;
+        }
+
+#if RELAY_CHN_ENABLE_TILTING == 1
+        if (relay_chn->tilt_control.tilt_timer != NULL) {
+            esp_timer_delete(relay_chn->tilt_control.tilt_timer);
+            relay_chn->tilt_control.tilt_timer = NULL;
+        }
+#endif // RELAY_CHN_ENABLE_TILTING
+
+        gpio_reset_pin(relay_chn->output.forward_pin);
+        gpio_reset_pin(relay_chn->output.reverse_pin);
+    }
+}
+
 static int relay_chn_listener_index(relay_chn_state_listener_t listener)
 {
     for (int i = 0; i < relay_chn_state_listener_manager.listener_count; i++) {

test_apps/main/test_relay_chn.c

@@ -27,9 +27,10 @@ void setUp(void) {
 }
 
 void tearDown(void) {
-    
+    relay_chn_destroy(); // Clean up after each test
 }
 
+
 // --- Basic Functionality Tests ---
 
 // TEST_CASE 1: Test that relay channels initialize correctly to RELAY_CHN_STATE_FREE