added utils from different project

test/CMakeLists.txt

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+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.16)
+
+# Include the components directory of the main application:
+#
+set(EXTRA_COMPONENT_DIRS "../components ../managed_components")
+
+# Set the components to include the tests for.
+# This can be overriden from CMake cache:
+# - when invoking CMake directly: cmake -D TEST_COMPONENTS="xxxxx" ..
+# - when using idf.py: idf.py -T xxxxx build
+#
+set(TEST_COMPONENTS "testable freeRtosApi hwHal" CACHE STRING "List of components to test")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(unit_test_test)

test/ReadMe.md

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+# Unit Testing
+
+Unit Test based on unity-library [Unity](https://github.com/ThrowTheSwitch/Unity). 
+
+* _Assertions_ (`TEST_ASSERT` and similar) are used when writing the test cases. See [the reference](https://github.com/ThrowTheSwitch/Unity/blob/master/docs/UnityAssertionsReference.md) for more information about assertions.
+
+* `UNITY_BEGIN()` and `UNITY_END()` macros allow Unity to count the number of tests which have passed or failed, and display the summary.
+
+In addition to features of Unity, _test registration_ feature of ESP-IDF is used. This feature works when unit test functions are declared using `TEST_CASE` macro. Such functions from all the object files in the program are automatically collected into a list, and run-time facilities are provided to run functions from this list. 
+
+Note testable components have a *test* subdirectory which is included in the *test project*
+When the main application project is compiled, tests are not included. 
+Test project includes the tests by setting `TEST_COMPONENTS` variable in the project makefile.
+
+## Build and flash production code
+
+* Start an ESP-IDF-Terminal
+* Run `idf.py -p PORT flash monitor` in the current directory (`unit_test`).
+* Observe the output: a list of random numbers and their mean value.
+To exit the serial monitor, type ``Ctrl-]``.
+
+## Build and flash test code
+
+* Start an ESP-IDF-Terminal
+* Enter `test` directory (`unit_test/test`), and run `idf.py -p PORT flash monitor`.
+To exit the serial monitor, type ``Ctrl-]``.
+* Observe the output: results of test case execution.
+
+This is the test menu, which is launched by `unity_run_menu` function in the test project. It allows running the tests in a few ways:
+* Run specific test by its index: type the number and press ENTER.
+* Run a group of tests with a certain tag: type the tag, including square brackets, and press ENTER.
+* nRu all tests except the ones with a certain tag: press `!`, then type the tag, including the square brackets, then press ENTER.
+* Run test with a specific name: type the name of the test, including quotes, and press ENTER.
+* Run all the tests: press `*` and then ENTER.
+

test/dependencies.lock

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+dependencies:
+  idf:
+    component_hash: null
+    source:
+      type: idf
+    version: 5.3.0
+manifest_hash: c4f4ec05313d427eb56c633f78ce213e553379725bf2af3c511665f930571beb
+target: esp32c6
+version: 1.0.0

test/main/CMakeLists.txt

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+idf_component_register(
+    SRCS "unitTest.cpp"
+    INCLUDE_DIRS "."
+)

test/main/unitTest.cpp

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+/**
+ * @file unitTest.cpp
+ * @author Gustice
+ * @brief Unit/Integration-Test frame for hardware bound components
+ *
+ * @copyright Copyright (c) 2024
+ */
+
+#include "unity.h"
+#include <stdio.h>
+#include <string.h>
+
+extern "C" { // This switch allows the ROS C-implementation to find this main
+void app_main(void);
+}
+
+void app_main(void) {
+    printf("\n#### Running all the registered tests #####\n\n");
+    UNITY_BEGIN();
+    unity_run_all_tests();
+    // Alternatively:
+    // "Executing one test by its name"
+    //      unity_run_test_by_name("Mean of an empty array is zero");
+    // Running tests with [mean] tag"
+    //      unity_run_tests_by_tag("[mean]", false);
+    // print_banner("Running tests without [fails] tag");
+    //      unity_run_tests_by_tag("[fails]", true);
+    UNITY_END();
+
+    printf("\n#### Starting interactive test menu: ####\n");
+    printf("# - run explicit #\n");
+    printf("- run all with *, \n");
+    printf("# - run tagged with [tag], \n");
+    printf("# - run all other than ![tag])\n");
+    printf("# Exit with 'Ctrl-]'\n");
+    unity_run_menu();
+}

test/sdkconfig.defaults

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+CONFIG_COMPILER_CXX_EXCEPTIONS=y
+
+CONFIG_ESP_TASK_WDT_EN=n