test_apps/main/CMakeLists.txt

@@ -1,14 +1,23 @@
 # === These files must be included in any case ===
 set(srcs "test_common.c"
-         "test_app_main.c"
+         "test_app_main.c")
-         "test_relay_chn_core.c"
-         "test_relay_chn_listener.c")
 
-if(CONFIG_RELAY_CHN_ENABLE_TILTING)
+# === Selective compilation based on channel count ===
-    list(APPEND srcs "test_relay_chn_tilt.c")
+if(CONFIG_RELAY_CHN_COUNT GREATER 1)
+    list(APPEND srcs "test_relay_chn_core_multi.c"
+                     "test_relay_chn_listener_multi.c")
+else()
+    list(APPEND srcs "test_relay_chn_core_single.c"
+                     "test_relay_chn_listener_single.c")
 endif()
 
-message(STATUS "srcs=${srcs}")
+if(CONFIG_RELAY_CHN_ENABLE_TILTING)
+    if(CONFIG_RELAY_CHN_COUNT GREATER 1)
+        list(APPEND srcs "test_relay_chn_tilt_multi.c")
+    else()    
+        list(APPEND srcs "test_relay_chn_tilt_single.c")
+    endif()
+endif()
 
 # In order for the cases defined by `TEST_CASE` to be linked into the final elf,
 # the component can be registered as WHOLE_ARCHIVE

test_apps/main/test_common.c

@@ -2,16 +2,38 @@
 
 const char *TEST_TAG = "RELAY_CHN_TEST";
 
-// GPIO eşlemesi (örn: GPIO_NUM_4 vs GPIO_NUM_5)
+const uint8_t relay_chn_count = CONFIG_RELAY_CHN_COUNT;
-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-wide GPIO map
+#if CONFIG_RELAY_CHN_COUNT > 1
+const uint8_t gpio_map[] = {
+    0, 1,
+    2, 3
+#if CONFIG_RELAY_CHN_COUNT > 2
+    , 4, 5
+#if CONFIG_RELAY_CHN_COUNT > 3
+    , 6, 7
+#if CONFIG_RELAY_CHN_COUNT > 4
+    , 8, 9
+#if CONFIG_RELAY_CHN_COUNT > 5
+    , 10, 11
+#if CONFIG_RELAY_CHN_COUNT > 6
+    , 12, 13
+#if CONFIG_RELAY_CHN_COUNT > 7
+    , 14, 15
+#endif
+#endif
+#endif
+#endif
+#endif
+#endif
+};
+#else
+const uint8_t gpio_map[] = {4, 5};
+#endif
+
+const uint8_t gpio_count = sizeof(gpio_map) / sizeof(gpio_map[0]);

test_apps/main/test_common.h

@@ -3,23 +3,21 @@
 #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
+// GPIO configurations
-extern const gpio_num_t gpio_map[];
+extern const uint8_t gpio_map[];
 extern const uint8_t gpio_count;
 extern const uint8_t relay_chn_count;
 
-// Config parametreleri
+// Config variables for tests
 extern const uint32_t opposite_inertia_ms;
 extern const uint32_t test_delay_margin_ms;
 
-// Init durumu
+// Init state
 extern bool g_is_component_initialized;

test_apps/main/test_relay_chn_core_multi.c

@@ -13,20 +13,20 @@ TEST_CASE("relay_chn_create handles invalid arguments", "[relay_chn][core]")
     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)
+    // 3. Test with invalid GPIO numbers (127 is an invalid GPIO for output)
-    gpio_num_t invalid_gpio_map[] = {GPIO_NUM_4, GPIO_NUM_MAX, GPIO_NUM_18, GPIO_NUM_19};
+    uint8_t invalid_gpio_map[] = {4, 127, 18, 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: Test that relay channels initialize correctly to RELAY_CHN_STATE_IDLE
 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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
@@ -39,7 +39,7 @@ TEST_CASE("Run forward does nothing if channel id is invalid", "[relay_chn][core
         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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
@@ -67,7 +67,7 @@ TEST_CASE("Run reverse does nothing if channel id is invalid", "[relay_chn][core
         // 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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
@@ -127,13 +127,13 @@ TEST_CASE("stop with ID_ALL stops all running channels", "[relay_chn][core][id_a
 
     // 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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
 
 
-// TEST_CASE: Test that relays stop and transition to RELAY_CHN_STATE_FREE
+// TEST_CASE: Test that relays stop and transition to RELAY_CHN_STATE_IDLE
 // 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));
@@ -151,9 +151,9 @@ TEST_CASE("Relay channels stop and update to FREE state", "[relay_chn][core]") {
         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
+        // Then, wait for the inertia period for it to transition to RELAY_CHN_STATE_IDLE
         vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(i));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
@@ -203,7 +203,7 @@ TEST_CASE("Multiple channels can operate independently", "[relay_chn][core]") {
         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
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, 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
@@ -214,14 +214,14 @@ TEST_CASE("Multiple channels can operate independently", "[relay_chn][core]") {
         // 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_IDLE, 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_IDLE, relay_chn_get_state(0));
-        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FREE, relay_chn_get_state(1));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(1));
     } else {
         ESP_LOGW("TEST", "Skipping 'Multiple channels can operate independently' test: Not enough channels available.");
     }
@@ -301,7 +301,7 @@ TEST_CASE("Running in same direction does not incur inertia", "[relay_chn][core]
 }
 
 // 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
+// Scenario: RELAY_CHN_STATE_IDLE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
 TEST_CASE("FREE to Running transition without inertia", "[relay_chn][core][inertia]") {
     uint8_t ch = 0;
 
@@ -309,7 +309,7 @@ TEST_CASE("FREE to Running transition without inertia", "[relay_chn][core][inert
     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));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch));
 
     // Start in forward direction
     relay_chn_run_forward(ch); // relay_chn_run_forward returns void
@@ -388,7 +388,7 @@ TEST_CASE("Flipping a running channel stops it and flips direction", "[relay_chn
 
     // 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_STATE_IDLE, relay_chn_get_state(ch));
     TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction(ch));
 }
 

test_apps/main/test_relay_chn_core_single.c

@@ -0,0 +1,204 @@
+#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)
+    uint8_t invalid_gpio_map[] = {4, 127};
+    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_IDLE
+TEST_CASE("Relay channels initialize correctly to IDLE state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
+}
+
+// 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;
+
+    relay_chn_run_forward();
+    // 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());
+}
+
+// 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;
+
+    relay_chn_run_reverse(); // 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());
+}
+
+
+// TEST_CASE: Test that relays stop and transition to RELAY_CHN_STATE_IDLE
+// This test also verifies the transition to IDLE state after a STOP command.
+TEST_CASE("Relay channels stop and update to IDLE state", "[relay_chn][core]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // First, run forward to test stopping and transitioning to IDLE state
+    relay_chn_run_forward();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+
+    // Now, issue the stop command
+    relay_chn_stop(); // 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());
+
+    // Then, wait for the inertia period for it to transition to RELAY_CHN_STATE_IDLE
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
+}
+
+
+// ### 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]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in forward direction
+    relay_chn_run_forward();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Short delay for state stabilization
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+
+    // 2. Issue reverse command
+    relay_chn_run_reverse(); // 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()); 
+
+    // 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()); // 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]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(); // 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());
+
+    // 2. Issue forward command
+    relay_chn_run_forward();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD_PENDING, relay_chn_get_state());
+
+    // 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());
+}
+
+// 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]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // 1. Start in forward direction
+    relay_chn_run_forward();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+
+    // 2. Issue the same forward command again
+    relay_chn_run_forward();
+    // 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());
+}
+
+// TEST_CASE: Test transition from IDLE state to running (no inertia expected)
+// Scenario: RELAY_CHN_STATE_IDLE -> (relay_chn_run_forward) -> RELAY_CHN_STATE_FORWARD
+TEST_CASE("IDLE to Running transition without inertia", "[relay_chn][core][inertia]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // setUp() should have already brought the channel to IDLE state
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
+
+    // Start in forward direction
+    relay_chn_run_forward();
+    // No inertia is expected when starting from IDLE state.
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+}
+
+// ### 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;
+
+    // 1. Initial direction should be default
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_DEFAULT, relay_chn_get_direction());
+
+    // 2. Flip the direction
+    relay_chn_flip_direction();
+    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());
+
+    // 4. Flip back
+    relay_chn_flip_direction();
+    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());
+}
+
+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;
+
+    // 1. Start channel running and verify state
+    relay_chn_run_forward();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+
+    // 2. Flip the direction while running
+    relay_chn_flip_direction();
+    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());
+
+    // 4. Wait for the flip inertia to pass, after which it should be IDLE and FLIPPED
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state());
+    TEST_ASSERT_EQUAL(RELAY_CHN_DIRECTION_FLIPPED, relay_chn_get_direction());
+}

test_apps/main/test_relay_chn_listener_multi.c

@@ -52,7 +52,7 @@ TEST_CASE("Listener is called on state change", "[relay_chn][listener]") {
     // 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_IDLE, listener1_info.old_state);
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, listener1_info.new_state);
 
     // 4. Unregister to clean up
@@ -96,12 +96,12 @@ TEST_CASE("Multiple listeners are called on state change", "[relay_chn][listener
 
     // 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_IDLE, 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_IDLE, listener2_info.old_state);
     TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, listener2_info.new_state);
 
     // 5. Clean up

test_apps/main/test_relay_chn_listener_single.c

@@ -0,0 +1,130 @@
+#include "test_common.h"
+
+
+// --- Listener Test Globals ---
+typedef struct {
+    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) {
+    /* Just ignore the channel 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) {
+    /* Just ignore the channel 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]") {
+    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();
+    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(RELAY_CHN_STATE_IDLE, 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]") {
+    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();
+    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]") {
+    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();
+    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_IDLE, 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_IDLE, 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();
+    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_multi.c

@@ -23,7 +23,7 @@ void prepare_channel_for_tilt(uint8_t chn_id, int initial_cmd) {
     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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(chn_id));
 }
 
 // TEST_CASE: Test transition from running forward to tilt forward
@@ -79,7 +79,7 @@ TEST_CASE("Run Reverse to Tilt Reverse transition with inertia", "[relay_chn][ti
 }
 
 // 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
+// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (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;
 
@@ -88,7 +88,7 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
 
     // 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
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch)); // Ensure we are back to FREE
 
     // Issue tilt forward command
     relay_chn_tilt_forward(ch); 
@@ -98,7 +98,7 @@ TEST_CASE("FREE to Tilt Forward transition with inertia (prepared)", "[relay_chn
 }
 
 // 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
+// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (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;
 
@@ -107,7 +107,7 @@ TEST_CASE("FREE to Tilt Reverse transition with inertia (prepared)", "[relay_chn
 
     // 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
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch)); // Ensure we are back to FREE
 
     // Issue tilt reverse command
     relay_chn_tilt_reverse(ch); 
@@ -179,7 +179,7 @@ TEST_CASE("Tilt Forward to Run Reverse transition without inertia", "[relay_chn]
 }
 
 // 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
+// Scenario: RELAY_CHN_STATE_TILT_FORWARD -> (relay_chn_stop) -> RELAY_CHN_STATE_STOPPED -> (inertia) -> RELAY_CHN_STATE_IDLE
 TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
     uint8_t ch = 0;
 
@@ -196,7 +196,7 @@ TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_
     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));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(ch));
 }
 
 // ### Tilt Broadcast Command (RELAY_CHN_ID_ALL) Tests
@@ -259,7 +259,7 @@ TEST_CASE("tilt_stop with ID_ALL stops all tilting channels", "[relay_chn][tilt]
 
     // 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_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state(i));
     }
 }
 
@@ -306,28 +306,28 @@ TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][au
 }
 
 // Test sensitivity set/get
-TEST_CASE("relay_chn_tilt_sensitivity_set and get", "[relay_chn][tilt][sensitivity]") {
+TEST_CASE("relay_chn_tilt_set_sensitivity 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);
+    relay_chn_tilt_set_sensitivity(ch, 0);
-    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ESP_OK(relay_chn_tilt_get_sensitivity(ch, &val, 1));
     TEST_ASSERT_EQUAL_UINT8(0, val);
 
-    relay_chn_tilt_sensitivity_set(ch, 50);
+    relay_chn_tilt_set_sensitivity(ch, 50);
-    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ESP_OK(relay_chn_tilt_get_sensitivity(ch, &val, 1));
     TEST_ASSERT_EQUAL_UINT8(50, val);
 
-    relay_chn_tilt_sensitivity_set(ch, 100);
+    relay_chn_tilt_set_sensitivity(ch, 100);
-    TEST_ESP_OK(relay_chn_tilt_sensitivity_get(ch, &val, 1));
+    TEST_ESP_OK(relay_chn_tilt_get_sensitivity(ch, &val, 1));
     TEST_ASSERT_EQUAL_UINT8(100, val);
 
     // Set all channels
-    relay_chn_tilt_sensitivity_set(RELAY_CHN_ID_ALL, 42);
+    relay_chn_tilt_set_sensitivity(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));
+    TEST_ESP_OK(relay_chn_tilt_get_sensitivity(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_apps/main/test_relay_chn_tilt_single.c

@@ -0,0 +1,275 @@
+#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(int initial_cmd) {
+    // Ensure the channel has had a 'last_run_cmd'
+    if (initial_cmd == RELAY_CHN_CMD_FORWARD) {
+        relay_chn_run_forward();
+    } else { // Assuming initial_cmd is RELAY_CHN_CMD_REVERSE
+        relay_chn_run_reverse();
+    }
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms)); // Allow command to process
+    relay_chn_stop(); // 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_IDLE, relay_chn_get_state());
+}
+
+// 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]") {
+    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(RELAY_CHN_CMD_FORWARD);
+
+    // 1. Start in forward direction
+    relay_chn_run_forward(); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+
+    // 2. Issue tilt forward command
+    relay_chn_tilt_forward(); 
+    // 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()); 
+
+    // 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());
+}
+
+// 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]") {
+    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(RELAY_CHN_CMD_REVERSE);
+
+    // 1. Start in reverse direction
+    relay_chn_run_reverse(); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
+
+    // 2. Issue tilt reverse command
+    relay_chn_tilt_reverse(); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_STOPPED, relay_chn_get_state());
+
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
+}
+
+// TEST_CASE: Test transition from FREE state to tilt forward (now with preparation)
+// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (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]") {
+    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(RELAY_CHN_CMD_FORWARD);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state()); // Ensure we are back to FREE
+
+    // Issue tilt forward command
+    relay_chn_tilt_forward(); 
+    // 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());
+}
+
+// TEST_CASE: Test transition from FREE state to tilt reverse (now with preparation)
+// Scenario: RELAY_CHN_STATE_IDLE -> (prepare) -> RELAY_CHN_STATE_IDLE -> (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]") {
+    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(RELAY_CHN_CMD_REVERSE);
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_IDLE, relay_chn_get_state()); // Ensure we are back to FREE
+
+    // Issue tilt reverse command
+    relay_chn_tilt_reverse(); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
+}
+
+// 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]") {
+    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(RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(); // 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());
+
+    // 2. Issue run forward command
+    relay_chn_run_forward(); 
+    // 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());
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_FORWARD, relay_chn_get_state());
+}
+
+// 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]") {
+    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(RELAY_CHN_CMD_REVERSE);
+    relay_chn_tilt_reverse(); // 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());
+
+    // 2. Issue run reverse command
+    relay_chn_run_reverse(); 
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE_PENDING, relay_chn_get_state());
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
+}
+
+// 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]") {
+    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(RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(); // 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());
+
+    // 2. Issue run reverse command (opposite direction)
+    relay_chn_run_reverse(); 
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_REVERSE, relay_chn_get_state());
+}
+
+// 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_IDLE
+TEST_CASE("Tilt to Stop transition without immediate inertia for stop", "[relay_chn][tilt][inertia]") {
+    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(RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward(); // 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());
+
+    // 2. Issue stop command
+    relay_chn_stop();
+    // 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_IDLE, relay_chn_get_state());
+}
+
+// Test relay_chn_tilt_auto() chooses correct tilt direction
+TEST_CASE("relay_chn_tilt_auto chooses correct direction", "[relay_chn][tilt][auto]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    // Prepare FORWARD
+    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_auto();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
+    relay_chn_tilt_stop();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+
+    // Prepare REVERSE
+    prepare_channel_for_tilt(RELAY_CHN_CMD_REVERSE);
+    relay_chn_tilt_auto();
+    vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
+}
+
+// Test sensitivity set/get
+TEST_CASE("relay_chn_tilt_set_sensitivity and get", "[relay_chn][tilt][sensitivity]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    relay_chn_tilt_set_sensitivity(0);
+    TEST_ASSERT_EQUAL_UINT8(0, relay_chn_tilt_get_sensitivity());
+
+    relay_chn_tilt_set_sensitivity(50);
+    TEST_ASSERT_EQUAL_UINT8(50, relay_chn_tilt_get_sensitivity());
+
+    relay_chn_tilt_set_sensitivity(100);
+    TEST_ASSERT_EQUAL_UINT8(100, relay_chn_tilt_get_sensitivity());
+
+    relay_chn_tilt_set_sensitivity(42);
+    TEST_ASSERT_EQUAL_UINT8(42, relay_chn_tilt_get_sensitivity());
+}
+
+// Test tilt counter logic: forward x3, reverse x3, extra reverse fails
+TEST_CASE("tilt counter logic: forward and reverse consumption", "[relay_chn][tilt][counter]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
+
+    // Tilt forward 3 times
+    for (int i = 0; i < 3; ++i) {
+        relay_chn_tilt_forward();
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
+        relay_chn_tilt_stop();
+        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();
+        vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        if (i < 3) {
+            TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_REVERSE, relay_chn_get_state());
+            relay_chn_tilt_stop();
+            vTaskDelay(pdMS_TO_TICKS(test_delay_margin_ms));
+        }
+    }
+
+    // Extra reverse tilt should fail (counter exhausted)
+    relay_chn_tilt_reverse();
+    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();
+    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]") {
+    TEST_ESP_OK(relay_chn_create(gpio_map, gpio_count));
+    g_is_component_initialized = true;
+
+    prepare_channel_for_tilt(RELAY_CHN_CMD_FORWARD);
+    relay_chn_tilt_forward();
+    vTaskDelay(pdMS_TO_TICKS(opposite_inertia_ms + test_delay_margin_ms));
+    TEST_ASSERT_EQUAL(RELAY_CHN_STATE_TILT_FORWARD, relay_chn_get_state());
+
+    // Issue run reverse while in TILT_FORWARD
+    relay_chn_run_reverse();
+    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();
+    TEST_ASSERT(state == RELAY_CHN_STATE_REVERSE || state == RELAY_CHN_STATE_REVERSE_PENDING);
+}

test_apps/partition_table/partitionTable.csv

@@ -0,0 +1,5 @@
+# ESP-IDF Partition Table
+# Name, Type, SubType, Offset, Size, Flags
+nvs,data,nvs,0xa000,24K,
+phy_init,data,phy,0x10000,4K,
+factory,app,factory,0x20000,1M,

test_apps/sdkconfig

@@ -1261,7 +1261,7 @@ CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER=y
 # Relay Channel Driver Configuration
 #
 CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS=200
-CONFIG_RELAY_CHN_COUNT=2
+CONFIG_RELAY_CHN_COUNT=1
 CONFIG_RELAY_CHN_ENABLE_TILTING=y
 # end of Relay Channel Driver Configuration
 # end of Component config

test_apps/sdkconfig.defaults.single

@@ -0,0 +1,8 @@
+# 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=1
+CONFIG_RELAY_CHN_ENABLE_TILTING=y

test_apps/sdkconfig.old

@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.4.2 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.4.0 Project Configuration
 #
 CONFIG_SOC_BROWNOUT_RESET_SUPPORTED="Not determined"
 CONFIG_SOC_TWAI_BRP_DIV_SUPPORTED="Not determined"
@@ -98,7 +98,6 @@ CONFIG_SOC_I2C_FIFO_LEN=32
 CONFIG_SOC_I2C_CMD_REG_NUM=16
 CONFIG_SOC_I2C_SUPPORT_SLAVE=y
 CONFIG_SOC_I2C_SUPPORT_APB=y
-CONFIG_SOC_I2C_SUPPORT_10BIT_ADDR=y
 CONFIG_SOC_I2C_STOP_INDEPENDENT=y
 CONFIG_SOC_I2S_NUM=2
 CONFIG_SOC_I2S_HW_VERSION_1=y
@@ -176,8 +175,6 @@ CONFIG_SOC_TIMER_GROUP_TIMERS_PER_GROUP=2
 CONFIG_SOC_TIMER_GROUP_COUNTER_BIT_WIDTH=64
 CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=4
 CONFIG_SOC_TIMER_GROUP_SUPPORT_APB=y
-CONFIG_SOC_LP_TIMER_BIT_WIDTH_LO=32
-CONFIG_SOC_LP_TIMER_BIT_WIDTH_HI=16
 CONFIG_SOC_TOUCH_SENSOR_VERSION=1
 CONFIG_SOC_TOUCH_SENSOR_NUM=10
 CONFIG_SOC_TOUCH_SAMPLE_CFG_NUM=1
@@ -247,7 +244,7 @@ CONFIG_IDF_TOOLCHAIN_GCC=y
 CONFIG_IDF_TARGET_ARCH_XTENSA=y
 CONFIG_IDF_TARGET_ARCH="xtensa"
 CONFIG_IDF_TARGET="esp32"
-CONFIG_IDF_INIT_VERSION="5.4.2"
+CONFIG_IDF_INIT_VERSION="$IDF_INIT_VERSION"
 CONFIG_IDF_TARGET_ESP32=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0000
 
@@ -288,10 +285,10 @@ CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
 # CONFIG_BOOTLOADER_LOG_LEVEL_NONE is not set
 # CONFIG_BOOTLOADER_LOG_LEVEL_ERROR is not set
 # CONFIG_BOOTLOADER_LOG_LEVEL_WARN is not set
-CONFIG_BOOTLOADER_LOG_LEVEL_INFO=y
+# CONFIG_BOOTLOADER_LOG_LEVEL_INFO is not set
-# CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG is not set
+CONFIG_BOOTLOADER_LOG_LEVEL_DEBUG=y
 # CONFIG_BOOTLOADER_LOG_LEVEL_VERBOSE is not set
-CONFIG_BOOTLOADER_LOG_LEVEL=3
+CONFIG_BOOTLOADER_LOG_LEVEL=4
 
 #
 # Format
@@ -402,7 +399,7 @@ CONFIG_PARTITION_TABLE_SINGLE_APP=y
 # CONFIG_PARTITION_TABLE_CUSTOM is not set
 CONFIG_PARTITION_TABLE_CUSTOM_FILENAME="partitions.csv"
 CONFIG_PARTITION_TABLE_FILENAME="partitions_singleapp.csv"
-CONFIG_PARTITION_TABLE_OFFSET=0x8000
+CONFIG_PARTITION_TABLE_OFFSET=0x9000
 CONFIG_PARTITION_TABLE_MD5=y
 # end of Partition Table
 
@@ -465,7 +462,6 @@ CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y
 #
 CONFIG_ADC_DISABLE_DAC=y
 # CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_ADC_SKIP_LEGACY_CONFLICT_CHECK is not set
 
 #
 # Legacy ADC Calibration Configuration
@@ -481,55 +477,42 @@ CONFIG_ADC_CAL_LUT_ENABLE=y
 # Legacy DAC Driver Configurations
 #
 # CONFIG_DAC_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_DAC_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy DAC Driver Configurations
 
 #
 # Legacy MCPWM Driver Configurations
 #
 # CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_MCPWM_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy MCPWM Driver Configurations
 
 #
 # Legacy Timer Group Driver Configurations
 #
 # CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_GPTIMER_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy Timer Group Driver Configurations
 
 #
 # Legacy RMT Driver Configurations
 #
 # CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_RMT_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy RMT Driver Configurations
 
 #
 # Legacy I2S Driver Configurations
 #
 # CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_I2S_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy I2S Driver Configurations
 
-#
-# Legacy I2C Driver Configurations
-#
-# CONFIG_I2C_SKIP_LEGACY_CONFLICT_CHECK is not set
-# end of Legacy I2C Driver Configurations
-
 #
 # Legacy PCNT Driver Configurations
 #
 # CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_PCNT_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy PCNT Driver Configurations
 
 #
 # Legacy SDM Driver Configurations
 #
 # CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_SDM_SKIP_LEGACY_CONFLICT_CHECK is not set
 # end of Legacy SDM Driver Configurations
 # end of Driver Configurations
 
@@ -572,7 +555,6 @@ CONFIG_DAC_DMA_AUTO_16BIT_ALIGN=y
 CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
 # CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
 # CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
-CONFIG_GPTIMER_OBJ_CACHE_SAFE=y
 # CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
 # end of ESP-Driver:GPTimer Configurations
 
@@ -724,7 +706,7 @@ CONFIG_RTC_CLK_CAL_CYCLES=1024
 #
 # Peripheral Control
 #
-# CONFIG_PERIPH_CTRL_FUNC_IN_IRAM is not set
+CONFIG_PERIPH_CTRL_FUNC_IN_IRAM=y
 # end of Peripheral Control
 
 #
@@ -954,6 +936,7 @@ CONFIG_HAL_ASSERTION_EQUALS_SYSTEM=y
 CONFIG_HAL_DEFAULT_ASSERTION_LEVEL=2
 CONFIG_HAL_SPI_MASTER_FUNC_IN_IRAM=y
 CONFIG_HAL_SPI_SLAVE_FUNC_IN_IRAM=y
+# CONFIG_HAL_ECDSA_GEN_SIG_CM is not set
 # end of Hardware Abstraction Layer (HAL) and Low Level (LL)
 
 #
@@ -1062,7 +1045,6 @@ CONFIG_MBEDTLS_HAVE_TIME=y
 # CONFIG_MBEDTLS_PLATFORM_TIME_ALT is not set
 # CONFIG_MBEDTLS_HAVE_TIME_DATE is not set
 CONFIG_MBEDTLS_ECDSA_DETERMINISTIC=y
-CONFIG_MBEDTLS_SHA1_C=y
 CONFIG_MBEDTLS_SHA512_C=y
 # CONFIG_MBEDTLS_SHA3_C is not set
 CONFIG_MBEDTLS_TLS_SERVER_AND_CLIENT=y
@@ -1143,7 +1125,6 @@ CONFIG_MBEDTLS_ECP_NIST_OPTIM=y
 # CONFIG_MBEDTLS_HKDF_C is not set
 # CONFIG_MBEDTLS_THREADING_C is not set
 CONFIG_MBEDTLS_ERROR_STRINGS=y
-# CONFIG_MBEDTLS_ALLOW_WEAK_CERTIFICATE_VERIFICATION is not set
 # end of mbedTLS
 
 #
@@ -1203,7 +1184,6 @@ CONFIG_SPI_FLASH_BROWNOUT_RESET=y
 #
 CONFIG_SPI_FLASH_SUSPEND_TSUS_VAL_US=50
 # CONFIG_SPI_FLASH_FORCE_ENABLE_XMC_C_SUSPEND is not set
-# CONFIG_SPI_FLASH_FORCE_ENABLE_C6_H2_SUSPEND is not set
 # end of Optional and Experimental Features (READ DOCS FIRST)
 # end of Main Flash configuration
 
@@ -1277,10 +1257,10 @@ CONFIG_RELAY_CHN_ENABLE_TILTING=y
 # CONFIG_LOG_BOOTLOADER_LEVEL_NONE is not set
 # CONFIG_LOG_BOOTLOADER_LEVEL_ERROR is not set
 # CONFIG_LOG_BOOTLOADER_LEVEL_WARN is not set
-CONFIG_LOG_BOOTLOADER_LEVEL_INFO=y
+# CONFIG_LOG_BOOTLOADER_LEVEL_INFO is not set
-# CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG is not set
+CONFIG_LOG_BOOTLOADER_LEVEL_DEBUG=y
 # CONFIG_LOG_BOOTLOADER_LEVEL_VERBOSE is not set
-CONFIG_LOG_BOOTLOADER_LEVEL=3
+CONFIG_LOG_BOOTLOADER_LEVEL=4
 # CONFIG_APP_ROLLBACK_ENABLE is not set
 # CONFIG_FLASH_ENCRYPTION_ENABLED is not set
 # CONFIG_FLASHMODE_QIO is not set