diff --git a/.gitignore b/.gitignore
index 4d3b754290..61e02dae70 100644
--- a/.gitignore
+++ b/.gitignore
@@ -21,6 +21,11 @@ GPATH
 # MacOS directory files
 .DS_Store
 
+# Components Unit Test Apps files
+components/**/build
+components/**/sdkconfig
+components/**/sdkconfig.old
+
 # Example project files
 examples/**/sdkconfig
 examples/**/sdkconfig.old
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 4c74067585..bb596d7b37 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -64,22 +64,39 @@ variables:
 .fetch_submodules: &fetch_submodules |
   python $SUBMODULE_FETCH_TOOL -s $SUBMODULES_TO_FETCH
 
+.add_ssh_keys: &add_ssh_keys |
+  mkdir -p ~/.ssh
+  chmod 700 ~/.ssh
+  echo -n $GITLAB_KEY > ~/.ssh/id_rsa_base64
+  base64 --decode --ignore-garbage ~/.ssh/id_rsa_base64 > ~/.ssh/id_rsa
+  chmod 600 ~/.ssh/id_rsa
+  echo -e "Host gitlab.espressif.cn\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+
 before_script:
   - source tools/ci/setup_python.sh
   # apply bot filter in before script
   - *apply_bot_filter
   # add gitlab ssh key
-  - mkdir -p ~/.ssh
-  - chmod 700 ~/.ssh
-  - echo -n $GITLAB_KEY > ~/.ssh/id_rsa_base64
-  - base64 --decode --ignore-garbage ~/.ssh/id_rsa_base64 > ~/.ssh/id_rsa
-  - chmod 600 ~/.ssh/id_rsa
-  - echo -e "Host gitlab.espressif.cn\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
+  - *add_ssh_keys
   # Set some options and environment for CI
   - source tools/ci/configure_ci_environment.sh
   - *setup_tools_unless_target_test
   - *fetch_submodules
 
+# used for component-based unit test apps
+.before_script_for_component_ut:
+  variables:
+    COMPONENT_UT_EXCLUDE_LIST_FP: ${CI_PROJECT_DIR}/tools/ci/component_ut_excludes.txt
+  before_script:
+    - source tools/ci/setup_python.sh
+    - *apply_bot_filter
+    - *add_ssh_keys
+    - source tools/ci/configure_ci_environment.sh
+    - *setup_tools_unless_target_test
+    - *fetch_submodules
+    - export COMPONENT_UT_DIRS=`find components/ -name test_apps -type d`
+    - export COMPONENT_UT_EXCLUDES=`[ -r $COMPONENT_UT_EXCLUDE_LIST_FP ] && cat $COMPONENT_UT_EXCLUDE_LIST_FP | xargs`
+
 # used for check scripts which we want to run unconditionally
 .before_script_lesser_nofilter:
   variables:
diff --git a/components/esp_netif/test_apps/CMakeLists.txt b/components/esp_netif/test_apps/CMakeLists.txt
new file mode 100644
index 0000000000..03a8cad939
--- /dev/null
+++ b/components/esp_netif/test_apps/CMakeLists.txt
@@ -0,0 +1,7 @@
+# This is the project CMakeLists.txt file for the test subproject
+cmake_minimum_required(VERSION 3.5)
+
+set(EXTRA_COMPONENT_DIRS "$ENV{IDF_PATH}/tools/unit-test-app/components")
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(esp_netif_test)
diff --git a/components/esp_netif/test_apps/component_ut_test.py b/components/esp_netif/test_apps/component_ut_test.py
new file mode 100644
index 0000000000..2d23c0ea11
--- /dev/null
+++ b/components/esp_netif/test_apps/component_ut_test.py
@@ -0,0 +1,15 @@
+from __future__ import print_function
+
+import ttfw_idf
+
+
+@ttfw_idf.idf_component_unit_test(env_tag='COMPONENT_UT_GENERIC')
+def test_component_ut_esp_netif(env, extra_data):
+    dut = env.get_dut('esp_netif', 'components/esp_netif/test_app')
+    dut.start_app()
+    stdout = dut.expect('Tests finished', full_stdout=True)
+    ttfw_idf.ComponentUTResult.parse_result(stdout)
+
+
+if __name__ == '__main__':
+    test_component_ut_esp_netif()
diff --git a/components/esp_netif/test_apps/main/CMakeLists.txt b/components/esp_netif/test_apps/main/CMakeLists.txt
new file mode 100644
index 0000000000..472bc34f63
--- /dev/null
+++ b/components/esp_netif/test_apps/main/CMakeLists.txt
@@ -0,0 +1,5 @@
+idf_component_register(SRCS "esp_netif_test.c"
+                       REQUIRES test_utils
+                       INCLUDE_DIRS "."
+                       PRIV_INCLUDE_DIRS "$ENV{IDF_PATH}/components/esp_netif/private_include" "."
+                       PRIV_REQUIRES unity esp_netif nvs_flash)
diff --git a/components/esp_netif/test_apps/main/esp_netif_test.c b/components/esp_netif/test_apps/main/esp_netif_test.c
new file mode 100644
index 0000000000..264435507b
--- /dev/null
+++ b/components/esp_netif/test_apps/main/esp_netif_test.c
@@ -0,0 +1,287 @@
+#include <stdio.h>
+#include <string.h>
+#include "unity.h"
+#include "unity_fixture.h"
+#include "esp_netif.h"
+#include "esp_wifi.h"
+#include "nvs_flash.h"
+#include "esp_wifi_netif.h"
+#include "sdkconfig.h"
+#include "lwip/sockets.h"
+#include "test_utils.h"
+
+
+TEST_GROUP(esp_netif);
+
+TEST_SETUP(esp_netif)
+{
+}
+
+TEST_TEAR_DOWN(esp_netif)
+{
+}
+
+TEST(esp_netif, init_and_destroy)
+{
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_WIFI_STA();
+    esp_netif_t *esp_netif = esp_netif_new(NULL);
+
+    TEST_ASSERT_EQUAL(NULL, esp_netif);
+    esp_netif = esp_netif_new(&cfg);
+    TEST_ASSERT_NOT_EQUAL(NULL, esp_netif);
+
+    esp_netif_destroy(esp_netif);
+}
+
+
+TEST(esp_netif, get_from_if_key)
+{
+    // init default netif
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_WIFI_STA();
+    esp_netif_t *esp_netif = esp_netif_new(&cfg);
+    TEST_ASSERT_NOT_NULL(esp_netif);
+
+    // check it's accessible by key
+    TEST_ASSERT_EQUAL(esp_netif, esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"));
+
+    // destroy it
+    esp_netif_destroy(esp_netif);
+
+    // check it's also destroyed in list
+    TEST_ASSERT_EQUAL(NULL, esp_netif_get_handle_from_ifkey("WIFI_STA_DEF"));
+
+}
+
+
+TEST(esp_netif, create_delete_multiple_netifs)
+{
+    // interface key has to be a unique identifier
+    const char* if_keys[] = { "if1", "if2", "if3", "if4", "if5", "if6", "if7", "if8", "if9" };
+    const int nr_of_netifs = sizeof(if_keys)/sizeof(char*);
+    esp_netif_t *netifs[nr_of_netifs];
+
+    // create 10 wifi stations
+    for (int i=0; i<nr_of_netifs; ++i) {
+        esp_netif_inherent_config_t base_netif_config = { .if_key = if_keys[i]};
+        esp_netif_config_t cfg = { .base = &base_netif_config, .stack = ESP_NETIF_NETSTACK_DEFAULT_WIFI_STA };
+        netifs[i] = esp_netif_new(&cfg);
+        TEST_ASSERT_NOT_NULL(netifs[i]);
+    }
+
+    // there's no AP within created stations
+    TEST_ASSERT_EQUAL(NULL, esp_netif_get_handle_from_ifkey("WIFI_AP_DEF"));
+
+    // destroy
+    for (int i=0; i<nr_of_netifs; ++i) {
+        esp_netif_destroy(netifs[i]);
+    }
+
+}
+
+TEST(esp_netif, dhcp_client_state_transitions_wifi_sta)
+{
+    // init default wifi netif
+    test_case_uses_tcpip();
+    TEST_ESP_OK(nvs_flash_init());
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_WIFI_STA();
+    esp_netif_t *sta = esp_netif_new(&cfg);
+    TEST_ASSERT_NOT_NULL(sta);
+    esp_netif_attach_wifi_station(sta);
+    wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT();
+    TEST_ESP_OK(esp_wifi_init(&wifi_cfg));
+
+    esp_netif_dhcp_status_t state;
+
+    // testing DHCP states per netif state transitions
+    esp_netif_action_start(sta, NULL, 0, NULL);
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_dhcpc_get_status(sta, &state));
+
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_INIT, state);
+    esp_netif_action_connected(sta, NULL, 0, NULL);
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_dhcpc_get_status(sta, &state));
+
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    esp_netif_action_stop(sta, NULL, 0, NULL);
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_dhcpc_get_status(sta, &state));
+
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_INIT, state);
+
+    // destroy default wifi netif
+    esp_netif_destroy(sta);
+    TEST_ASSERT(esp_wifi_stop() == ESP_OK);
+    TEST_ASSERT(esp_wifi_deinit() == ESP_OK);
+    nvs_flash_deinit();
+}
+
+TEST(esp_netif, dhcp_server_state_transitions_wifi_ap)
+{
+    // init default wifi netif
+    test_case_uses_tcpip();
+    TEST_ESP_OK(nvs_flash_init());
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_WIFI_AP();
+    esp_netif_t *ap = esp_netif_new(&cfg);
+    TEST_ASSERT_NOT_NULL(ap);
+    esp_netif_attach_wifi_station(ap);
+    wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT();
+    TEST_ESP_OK(esp_wifi_init(&wifi_cfg));
+
+    esp_netif_dhcp_status_t state;
+
+    // testing DHCP server states per netif state transitions
+    esp_netif_action_start(ap, NULL, 0, NULL);
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+
+    esp_netif_action_stop(ap, NULL, 0, NULL);
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_INIT, state);
+
+    // destroy default wifi netif
+    esp_netif_destroy(ap);
+    TEST_ASSERT(esp_wifi_stop() == ESP_OK);
+    TEST_ASSERT(esp_wifi_deinit() == ESP_OK);
+    nvs_flash_deinit();
+}
+
+TEST(esp_netif, dhcp_server_state_transitions_mesh)
+{
+    esp_netif_t *ap = NULL;
+    esp_netif_t *sta = NULL;
+    esp_netif_dhcp_status_t state;
+
+    // init two mesh network interfaces
+    test_case_uses_tcpip();
+    TEST_ESP_OK(nvs_flash_init());
+    TEST_ESP_OK(esp_event_loop_create_default());
+    TEST_ESP_OK(esp_netif_create_default_wifi_mesh_netifs(&sta, &ap));
+    TEST_ASSERT_NOT_NULL(sta);
+    TEST_ASSERT_NOT_NULL(ap);
+    wifi_init_config_t wifi_cfg = WIFI_INIT_CONFIG_DEFAULT();
+    TEST_ESP_OK(esp_wifi_init(&wifi_cfg));
+
+    // test both server and client are *not* STARTED after interfaces created
+    TEST_ESP_OK(esp_netif_dhcpc_get_status(sta, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    TEST_ESP_OK(esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+
+    // test both server and client are still *not* STARTED after start
+    esp_netif_action_start(ap, NULL, 0, NULL);
+    esp_netif_action_start(sta, NULL, 0, NULL);
+    TEST_ESP_OK(esp_netif_dhcpc_get_status(sta, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    TEST_ESP_OK(esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+
+    // test both server and client are still *not* STARTED even after connect
+    esp_netif_action_connected(ap, NULL, 0, NULL);
+    esp_netif_action_connected(sta, NULL, 0, NULL);
+    TEST_ESP_OK(esp_netif_dhcpc_get_status(sta, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    TEST_ESP_OK(esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+
+    // test station gets promoted to be a root (so DHCP client started manually) and client is in STATED state
+    esp_netif_dhcpc_start(sta);
+    esp_netif_action_connected(sta, NULL, 0, NULL);
+    TEST_ESP_OK(esp_netif_dhcpc_get_status(sta, &state));
+    TEST_ASSERT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    esp_netif_dhcpc_stop(sta);
+
+    // test both server and client are still *not* STARTED even after stop
+    esp_netif_action_stop(sta, NULL, 0, NULL);
+    esp_netif_action_stop(ap, NULL, 0, NULL);
+    TEST_ESP_OK(esp_netif_dhcpc_get_status(sta, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+    TEST_ESP_OK(esp_netif_dhcps_get_status(ap, &state));
+    TEST_ASSERT_NOT_EQUAL(ESP_NETIF_DHCP_STARTED, state);
+
+    // destroy event_loop, netifs, wifi, nvs
+    TEST_ESP_OK(esp_event_loop_delete_default());
+    esp_netif_destroy(ap);
+    esp_netif_destroy(sta);
+    TEST_ASSERT(esp_wifi_stop() == ESP_OK);
+    TEST_ASSERT(esp_wifi_deinit() == ESP_OK);
+    nvs_flash_deinit();
+}
+
+TEST(esp_netif, create_custom_wifi_interfaces)
+{
+    esp_netif_t *ap = NULL;
+    esp_netif_t *sta = NULL;
+    uint8_t configured_mac[6] = {1, 2, 3, 4, 5, 6};
+    uint8_t actual_mac[6] = { 0 };
+
+    // create customized station
+    esp_netif_inherent_config_t esp_netif_config = ESP_NETIF_INHERENT_DEFAULT_WIFI_STA();
+    esp_netif_config.if_desc = "custom wifi station";
+    esp_netif_config.route_prio = 1;
+    sta = esp_netif_create_wifi(WIFI_IF_STA, &esp_netif_config);
+    TEST_ASSERT_NOT_NULL(sta);
+    TEST_ASSERT_EQUAL_STRING("custom wifi station", esp_netif_get_desc(sta));
+    TEST_ASSERT_EQUAL(1, esp_netif_get_route_prio(sta));
+
+    // create customized access point
+    esp_netif_inherent_config_t esp_netif_config2 = ESP_NETIF_INHERENT_DEFAULT_WIFI_AP();
+    esp_netif_config2.if_desc = "custom wifi ap";
+    esp_netif_config2.route_prio = 10;
+    memcpy(esp_netif_config2.mac, configured_mac, 6);
+
+    ap = esp_netif_create_wifi(WIFI_IF_AP, &esp_netif_config2);
+    TEST_ASSERT_NOT_NULL(ap);
+    TEST_ASSERT_EQUAL_STRING( "custom wifi ap", esp_netif_get_desc(ap));
+    TEST_ASSERT_EQUAL(10, esp_netif_get_route_prio(ap));
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_get_mac(ap, actual_mac));
+    TEST_ASSERT_EQUAL_HEX8_ARRAY(configured_mac, actual_mac, 6);
+
+    esp_wifi_destroy_if_driver(esp_netif_get_io_driver(ap));
+    esp_wifi_destroy_if_driver(esp_netif_get_io_driver(sta));
+    esp_netif_destroy(ap);
+    esp_netif_destroy(sta);
+}
+
+
+TEST(esp_netif, get_set_hostname)
+{
+    const char *hostname;
+    esp_netif_config_t cfg = ESP_NETIF_DEFAULT_WIFI_STA();
+
+    test_case_uses_tcpip();
+    esp_netif_t *esp_netif = esp_netif_new(&cfg);
+
+    // specific hostname not set yet, get_hostname should fail
+    TEST_ASSERT_NOT_EQUAL(ESP_OK, esp_netif_get_hostname(esp_netif, &hostname));
+
+    TEST_ASSERT_NOT_NULL(esp_netif);
+    esp_netif_attach_wifi_station(esp_netif);
+
+    esp_netif_action_start(esp_netif, NULL, 0, NULL);
+
+    // specific hostname not set yet, but if started, get_hostname to return default config value
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_get_hostname(esp_netif, &hostname));
+    TEST_ASSERT_EQUAL_STRING(hostname, CONFIG_LWIP_LOCAL_HOSTNAME);
+
+    // specific hostname set and get
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_set_hostname(esp_netif, "new_name"));
+    TEST_ASSERT_EQUAL(ESP_OK, esp_netif_get_hostname(esp_netif, &hostname));
+    TEST_ASSERT_EQUAL_STRING(hostname, "new_name");
+
+    esp_netif_destroy(esp_netif);
+}
+
+TEST_GROUP_RUNNER(esp_netif)
+{
+    RUN_TEST_CASE(esp_netif, init_and_destroy)
+    RUN_TEST_CASE(esp_netif, get_from_if_key)
+    RUN_TEST_CASE(esp_netif, create_delete_multiple_netifs)
+    RUN_TEST_CASE(esp_netif, dhcp_client_state_transitions_wifi_sta)
+    RUN_TEST_CASE(esp_netif, dhcp_server_state_transitions_wifi_ap)
+    RUN_TEST_CASE(esp_netif, dhcp_server_state_transitions_mesh)
+    RUN_TEST_CASE(esp_netif, create_custom_wifi_interfaces)
+    RUN_TEST_CASE(esp_netif, get_set_hostname)
+}
+
+void app_main(void)
+{
+    UNITY_MAIN(esp_netif);
+}
diff --git a/components/esp_netif/test_apps/sdkconfig.defaults b/components/esp_netif/test_apps/sdkconfig.defaults
new file mode 100644
index 0000000000..168e08d4cd
--- /dev/null
+++ b/components/esp_netif/test_apps/sdkconfig.defaults
@@ -0,0 +1,2 @@
+CONFIG_UNITY_ENABLE_FIXTURE=y
+CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER=n
diff --git a/components/unity/CMakeLists.txt b/components/unity/CMakeLists.txt
index b5a58ad84b..54cd33082a 100644
--- a/components/unity/CMakeLists.txt
+++ b/components/unity/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CONFIG_UNITY_ENABLE_FIXTURE)
 endif()
 
 idf_component_register(SRCS "${srcs}"
-                    INCLUDE_DIRS "include" "unity/src")
+                    INCLUDE_DIRS "include" "unity/src" "unity/extras/fixture/src")
 
 target_compile_definitions(${COMPONENT_LIB} PUBLIC
     -DUNITY_INCLUDE_CONFIG_H
diff --git a/components/unity/include/unity_config.h b/components/unity/include/unity_config.h
index 5d6fdfae51..8ebd88f293 100644
--- a/components/unity/include/unity_config.h
+++ b/components/unity/include/unity_config.h
@@ -47,6 +47,10 @@ uint32_t unity_exec_time_get_ms(void);
 
 #endif //CONFIG_UNITY_ENABLE_IDF_TEST_RUNNER
 
+#ifdef CONFIG_UNITY_ENABLE_FIXTURE
+#include "unity_fixture_extras.h"
+#endif // CONFIG_UNITY_ENABLE_FIXTURE
+
 // shorthand to check esp_err_t return code
 #define TEST_ESP_OK(rc) TEST_ASSERT_EQUAL_HEX32(ESP_OK, rc)
 #define TEST_ESP_ERR(err, rc) TEST_ASSERT_EQUAL_HEX32(err, rc)
diff --git a/components/unity/include/unity_fixture_extras.h b/components/unity/include/unity_fixture_extras.h
new file mode 100644
index 0000000000..2eeaec2e3a
--- /dev/null
+++ b/components/unity/include/unity_fixture_extras.h
@@ -0,0 +1,25 @@
+/* IDF-specific additions to "Unity Fixture" */
+#pragma once
+
+#ifndef CONFIG_IDF_TARGET
+
+/* A shorthand for running one test group from the main function */
+#define UNITY_MAIN(group_) do { \
+    const char* argv[] = { "test", "-v" }; \
+    const int argc = sizeof(argv)/sizeof(argv[0]); \
+    int rc = UnityMain(argc, argv, TEST_ ## group_ ## _GROUP_RUNNER); \
+    printf("\nTests finished, rc=%d\n", rc); \
+    exit(rc); \
+} while(0)
+
+#else // CONFIG_IDF_TARGET
+
+/* A shorthand for running one test group from the main function */
+#define UNITY_MAIN(group_) do { \
+    const char* argv[] = { "test", "-v" }; \
+    const int argc = sizeof(argv)/sizeof(argv[0]); \
+    int rc = UnityMain(argc, argv, TEST_ ## group_ ## _GROUP_RUNNER); \
+    printf("\nTests finished, rc=%d\n", rc); \
+} while(0)
+
+#endif // CONFIG_IDF_TARGET
diff --git a/examples/bluetooth/nimble/blehr/blehr_test.py b/examples/bluetooth/nimble/blehr/blehr_test.py
index 59e7cdb9b7..765c05f649 100644
--- a/examples/bluetooth/nimble/blehr/blehr_test.py
+++ b/examples/bluetooth/nimble/blehr/blehr_test.py
@@ -19,9 +19,13 @@ import os
 import re
 import threading
 import traceback
-import Queue
 import subprocess
 
+try:
+    import Queue
+except ImportError:
+    import queue as Queue
+
 from tiny_test_fw import Utility
 import ttfw_idf
 from ble import lib_ble_client
diff --git a/tools/ci/check_public_headers_exceptions.txt b/tools/ci/check_public_headers_exceptions.txt
index 4b135b1f01..a4ad7820bb 100644
--- a/tools/ci/check_public_headers_exceptions.txt
+++ b/tools/ci/check_public_headers_exceptions.txt
@@ -82,6 +82,8 @@ components/libsodium/
 components/spiffs/include/spiffs_config.h
 
 components/unity/unity/src/unity_internals.h
+components/unity/unity/extras/
+components/unity/include/unity_fixture_extras.h
 components/unity/include/unity_config.h
 components/unity/include/unity_test_runner.h
 
diff --git a/tools/ci/config/assign-test.yml b/tools/ci/config/assign-test.yml
index 8691f50cb6..80b22321e0 100644
--- a/tools/ci/config/assign-test.yml
+++ b/tools/ci/config/assign-test.yml
@@ -1,4 +1,5 @@
 assign_test:
+  extends: .before_script_for_component_ut
   tags:
     - assign_test
   image: $CI_DOCKER_REGISTRY/ubuntu-test-env$BOT_DOCKER_IMAGE_TAG
@@ -11,8 +12,9 @@ assign_test:
     - build_esp_idf_tests_cmake_esp32s2
   variables:
     SUBMODULES_TO_FETCH: "components/esptool_py/esptool"
-    EXAMPLE_CONFIG_OUTPUT_PATH: "$CI_PROJECT_DIR/examples/test_configs"
-    TEST_APP_CONFIG_OUTPUT_PATH: "$CI_PROJECT_DIR/tools/test_apps/test_configs"
+    EXAMPLE_CONFIG_OUTPUT_PATH: "${CI_PROJECT_DIR}/examples/test_configs"
+    TEST_APP_CONFIG_OUTPUT_PATH: "${CI_PROJECT_DIR}/tools/test_apps/test_configs"
+    COMPONENT_UT_CONFIG_OUTPUT_PATH: "${CI_PROJECT_DIR}/component_ut/test_configs"
     UNIT_TEST_CASE_FILE: "${CI_PROJECT_DIR}/components/idf_test/unit_test"
     # auto_test_script is compatible with Python 3 only
     PYTHON_VER: 3
@@ -22,8 +24,10 @@ assign_test:
       - components/idf_test/*/TC.sqlite
       - $EXAMPLE_CONFIG_OUTPUT_PATH
       - $TEST_APP_CONFIG_OUTPUT_PATH
+      - $COMPONENT_UT_CONFIG_OUTPUT_PATH
       - build_examples/artifact_index.json
       - build_test_apps/artifact_index.json
+      - build_component_ut/artifact_index.json
       - tools/unit-test-app/builds/artifact_index.json
     expire_in: 1 week
   only:
@@ -37,16 +41,18 @@ assign_test:
       - $BOT_LABEL_WEEKEND_TEST
   script:
     # assign example tests
-    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py example_test $IDF_PATH/examples $CI_TARGET_TEST_CONFIG_FILE $EXAMPLE_CONFIG_OUTPUT_PATH
+    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py example_test $IDF_PATH/examples -c $CI_TARGET_TEST_CONFIG_FILE -o $EXAMPLE_CONFIG_OUTPUT_PATH
     # assign test apps
-    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py custom_test  $IDF_PATH/tools/test_apps $CI_TARGET_TEST_CONFIG_FILE $TEST_APP_CONFIG_OUTPUT_PATH
+    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py custom_test $IDF_PATH/tools/test_apps -c $CI_TARGET_TEST_CONFIG_FILE -o $TEST_APP_CONFIG_OUTPUT_PATH
+    # assign component ut
+    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py component_ut $COMPONENT_UT_DIRS -c $CI_TARGET_TEST_CONFIG_FILE -o $COMPONENT_UT_CONFIG_OUTPUT_PATH
     # assign unit test cases
-    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py unit_test $UNIT_TEST_CASE_FILE $CI_TARGET_TEST_CONFIG_FILE $IDF_PATH/components/idf_test/unit_test/CIConfigs
+    - python tools/ci/python_packages/ttfw_idf/IDFAssignTest.py unit_test $UNIT_TEST_CASE_FILE -c $CI_TARGET_TEST_CONFIG_FILE -o $IDF_PATH/components/idf_test/unit_test/CIConfigs
     # clone test script to assign tests
     - ./tools/ci/retry_failed.sh git clone $TEST_SCRIPT_REPOSITORY
     - python $CHECKOUT_REF_SCRIPT auto_test_script auto_test_script
     - cd auto_test_script
-    # assgin integration test cases
+    # assign integration test cases
     - python CIAssignTestCases.py -t $IDF_PATH/components/idf_test/integration_test -c $CI_TARGET_TEST_CONFIG_FILE -b $IDF_PATH/SSC/ssc_bin
 
 update_test_cases:
diff --git a/tools/ci/config/build.yml b/tools/ci/config/build.yml
index cc27f2bdff..00b51e13bd 100644
--- a/tools/ci/config/build.yml
+++ b/tools/ci/config/build.yml
@@ -85,12 +85,10 @@ build_esp_idf_tests_cmake_esp32s2:
 
 .build_examples_template:
   extends: .build_template
-  parallel: 8
   artifacts:
     when: always
     expire_in: 4 days
   only:
-    # Here both 'variables' and 'refs' conditions are given. They are combined with "AND" logic.
     variables:
       - $BOT_TRIGGER_WITH_LABEL == null
       - $BOT_LABEL_BUILD
@@ -98,8 +96,12 @@ build_esp_idf_tests_cmake_esp32s2:
       - $BOT_LABEL_REGULAR_TEST
       - $BOT_LABEL_WEEKEND_TEST
   variables:
-    SCAN_TEST_JSON: ${CI_PROJECT_DIR}/examples/test_configs/scan_${IDF_TARGET}_${BUILD_SYSTEM}.json
-    TEST_TYPE: "example_test"
+    TEST_PREFIX: examples
+    TEST_RELATIVE_DIR: examples
+    SCAN_TEST_JSON: ${CI_PROJECT_DIR}/${TEST_RELATIVE_DIR}/test_configs/scan_${IDF_TARGET}_${BUILD_SYSTEM}.json
+    TEST_TYPE: example_test
+    LOG_PATH: ${CI_PROJECT_DIR}/log_${TEST_PREFIX}
+    BUILD_PATH: ${CI_PROJECT_DIR}/build_${TEST_PREFIX}
   script:
     # RISC-V toolchain is optional but ULP may need it, so install:
     - $IDF_PATH/tools/idf_tools.py install riscv-none-embed-gcc
@@ -113,16 +115,15 @@ build_examples_make:
   # This is a workaround for a rarely encountered issue with building examples in CI.
   # Probably related to building of Kconfig in 'make clean' stage
   retry: 1
+  parallel: 8
   artifacts:
     paths:
       - $LOG_PATH
-      - build_examples/*/*/*/build/size.json
+      - build_${TEST_PREFIX}/*/*/*/build/size.json
       - $SIZE_INFO_LOCATION
   variables:
-    LOG_PATH: "${CI_PROJECT_DIR}/log_examples_make"
-    BUILD_PATH: "${CI_PROJECT_DIR}/build_examples_make"
-    BUILD_SYSTEM: "make"
-    IDF_TARGET: "esp32"  # currently we only support esp32
+    BUILD_SYSTEM: make
+    IDF_TARGET: esp32  # currently we only support esp32
   only:
     refs:
       - master
@@ -140,22 +141,20 @@ build_examples_make:
     - scan_tests
   artifacts:
     paths:
-      - build_examples/list.json
-      - build_examples/list_job_*.json
-      - build_examples/*/*/*/sdkconfig
-      - build_examples/*/*/*/build/size.json
-      - build_examples/*/*/*/build/*.bin
-      - build_examples/*/*/*/build/*.elf
-      - build_examples/*/*/*/build/*.map
-      - build_examples/*/*/*/build/flasher_args.json
-      - build_examples/*/*/*/build/bootloader/*.bin
-      - build_examples/*/*/*/build/partition_table/*.bin
+      - build_${TEST_PREFIX}/list.json
+      - build_${TEST_PREFIX}/list_job_*.json
+      - build_${TEST_PREFIX}/*/*/*/sdkconfig
+      - build_${TEST_PREFIX}/*/*/*/build/size.json
+      - build_${TEST_PREFIX}/*/*/*/build/*.bin
+      - build_${TEST_PREFIX}/*/*/*/build/*.elf
+      - build_${TEST_PREFIX}/*/*/*/build/*.map
+      - build_${TEST_PREFIX}/*/*/*/build/flasher_args.json
+      - build_${TEST_PREFIX}/*/*/*/build/bootloader/*.bin
+      - build_${TEST_PREFIX}/*/*/*/build/partition_table/*.bin
       - $LOG_PATH
       - $SIZE_INFO_LOCATION
   variables:
-    LOG_PATH: "${CI_PROJECT_DIR}/log_examples"
-    BUILD_PATH: "${CI_PROJECT_DIR}/build_examples"
-    BUILD_SYSTEM: "cmake"
+    BUILD_SYSTEM: cmake
 
 build_examples_cmake_esp32:
   extends: .build_examples_cmake
@@ -165,35 +164,15 @@ build_examples_cmake_esp32:
 
 build_examples_cmake_esp32s2:
   extends: .build_examples_cmake
+  parallel: 8
   variables:
     IDF_TARGET: esp32s2
 
-.build_test_apps: &build_test_apps
-  extends: .build_template
-  stage: build
-  dependencies:
-    - scan_tests
-  artifacts:
-    when: always
-    paths:
-      - build_test_apps/list.json
-      - build_test_apps/list_job_*.json
-      - build_test_apps/*/*/*/sdkconfig
-      - build_test_apps/*/*/*/build/size.json
-      - build_test_apps/*/*/*/build/*.bin
-      - build_test_apps/*/*/*/build/*.elf
-      - build_test_apps/*/*/*/build/*.map
-      - build_test_apps/*/*/*/build/flasher_args.json
-      - build_test_apps/*/*/*/build/bootloader/*.bin
-      - build_test_apps/*/*/*/build/partition_table/*.bin
-      - $LOG_PATH
-      - $SIZE_INFO_LOCATION
-    expire_in: 3 days
+.build_test_apps:
+  extends: .build_examples_cmake
   variables:
-    LOG_PATH: "${CI_PROJECT_DIR}/log_test_apps"
-    BUILD_PATH: "${CI_PROJECT_DIR}/build_test_apps"
-    BUILD_SYSTEM: "cmake"
-    SCAN_TEST_JSON: ${CI_PROJECT_DIR}/tools/test_apps/test_configs/scan_${IDF_TARGET}_${BUILD_SYSTEM}.json
+    TEST_PREFIX: test_apps
+    TEST_RELATIVE_DIR: tools/test_apps
     TEST_TYPE: custom_test
   only:
     variables:
@@ -207,14 +186,38 @@ build_examples_cmake_esp32s2:
 
 build_test_apps_esp32:
   extends: .build_test_apps
+  parallel: 8
   variables:
     IDF_TARGET: esp32
 
 build_test_apps_esp32s2:
   extends: .build_test_apps
+  parallel: 8
   variables:
     IDF_TARGET: esp32s2
 
+.build_component_ut:
+  extends: .build_test_apps
+  variables:
+    TEST_PREFIX: component_ut
+    TEST_RELATIVE_DIR: component_ut
+  only:
+    variables:
+      - $BOT_TRIGGER_WITH_LABEL == null
+      - $BOT_LABEL_BUILD
+      - $BOT_LABEL_REGULAR_TEST
+      - $BOT_LABEL_UNIT_TEST
+      - $BOT_LABEL_UNIT_TEST_S2
+
+build_component_ut_esp32:
+  extends: .build_component_ut
+  variables:
+    IDF_TARGET: esp32
+
+build_component_ut_esp32s2:
+  extends: .build_component_ut
+  variables:
+    IDF_TARGET: esp32s2
 
 # If you want to add new build example jobs, please add it into dependencies of `.example_test_template`
 
diff --git a/tools/ci/config/pre_check.yml b/tools/ci/config/pre_check.yml
index c51b6c722c..06b13bf058 100644
--- a/tools/ci/config/pre_check.yml
+++ b/tools/ci/config/pre_check.yml
@@ -139,26 +139,34 @@ check_public_headers:
     TEST_CONFIG_FILE: ${CI_PROJECT_DIR}/tools/ci/config/target-test.yml
 
 scan_tests:
-  extends: .scan_build_tests
+  extends:
+    - .before_script_for_component_ut
+    - .scan_build_tests
   only:
     variables:
       - $BOT_TRIGGER_WITH_LABEL == null
       - $BOT_LABEL_REGULAR_TEST
       - $BOT_LABEL_EXAMPLE_TEST
       - $BOT_LABEL_CUSTOM_TEST
+      - $BOT_LABEL_UNIT_TEST
+      - $BOT_LABEL_UNIT_TEST_S2
   artifacts:
     paths:
       - $EXAMPLE_TEST_OUTPUT_DIR
       - $TEST_APPS_OUTPUT_DIR
+      - $COMPONENT_UT_OUTPUT_DIR
   variables:
     EXAMPLE_TEST_DIR: ${CI_PROJECT_DIR}/examples
     EXAMPLE_TEST_OUTPUT_DIR: ${CI_PROJECT_DIR}/examples/test_configs
     TEST_APPS_TEST_DIR: ${CI_PROJECT_DIR}/tools/test_apps
     TEST_APPS_OUTPUT_DIR: ${CI_PROJECT_DIR}/tools/test_apps/test_configs
+    COMPONENT_UT_OUTPUT_DIR: ${CI_PROJECT_DIR}/component_ut/test_configs
+    PYTHON_VER: 3
   script:
-    - python $CI_SCAN_TESTS_PY example_test -b make $EXAMPLE_TEST_DIR --exclude examples/build_system/idf_as_lib -c $TEST_CONFIG_FILE -o $EXAMPLE_TEST_OUTPUT_DIR
-    - python $CI_SCAN_TESTS_PY example_test -b cmake $EXAMPLE_TEST_DIR --exclude examples/build_system/idf_as_lib -c $TEST_CONFIG_FILE -o $EXAMPLE_TEST_OUTPUT_DIR
+    - python $CI_SCAN_TESTS_PY example_test $EXAMPLE_TEST_DIR -b make --exclude examples/build_system/idf_as_lib -c $TEST_CONFIG_FILE -o $EXAMPLE_TEST_OUTPUT_DIR
+    - python $CI_SCAN_TESTS_PY example_test $EXAMPLE_TEST_DIR -b cmake --exclude examples/build_system/idf_as_lib -c $TEST_CONFIG_FILE -o $EXAMPLE_TEST_OUTPUT_DIR
     - python $CI_SCAN_TESTS_PY test_apps $TEST_APPS_TEST_DIR -c $TEST_CONFIG_FILE -o $TEST_APPS_OUTPUT_DIR
+    - python $CI_SCAN_TESTS_PY component_ut $COMPONENT_UT_DIRS --exclude $COMPONENT_UT_EXCLUDES -c $TEST_CONFIG_FILE -o $COMPONENT_UT_OUTPUT_DIR
 
 check_readme_links:
   extends: .check_job_template
diff --git a/tools/ci/config/target-test.yml b/tools/ci/config/target-test.yml
index 98096ed223..f6a072b9a1 100644
--- a/tools/ci/config/target-test.yml
+++ b/tools/ci/config/target-test.yml
@@ -84,16 +84,7 @@
 
 .test_app_template:
   extends: .example_test_template
-  stage: target_test
-  dependencies:
-    - assign_test
   only:
-    refs:
-      - master
-      - /^release\/v/
-      - /^v\d+\.\d+(\.\d+)?($|-)/
-      - triggers
-      - schedules
     variables:
       - $BOT_TRIGGER_WITH_LABEL == null
       - $BOT_LABEL_CUSTOM_TEST
@@ -104,6 +95,28 @@
     LOG_PATH: "$CI_PROJECT_DIR/TEST_LOGS"
     ENV_FILE: "$CI_PROJECT_DIR/ci-test-runner-configs/$CI_RUNNER_DESCRIPTION/EnvConfig.yml"
 
+.component_ut_template:
+  extends:
+    - .before_script_for_component_ut
+    - .example_test_template
+  only:
+    variables:
+      - $BOT_TRIGGER_WITH_LABEL == null
+      - $BOT_LABEL_UNIT_TEST
+  variables:
+    CONFIG_FILE_PATH: "${CI_PROJECT_DIR}/component_ut/test_configs"
+    PYTHON_VER: 3
+  script:
+    - *define_config_file_name
+    # first test if config file exists, if not exist, exit 0
+    - test -e $CONFIG_FILE || exit 0
+    # clone test env configs
+    - ./tools/ci/retry_failed.sh git clone $TEST_ENV_CONFIG_REPOSITORY
+    - python $CHECKOUT_REF_SCRIPT ci-test-runner-configs ci-test-runner-configs
+    - cd tools/ci/python_packages/tiny_test_fw/bin
+    # run test
+    - python Runner.py $COMPONENT_UT_DIRS -c $CONFIG_FILE -e $ENV_FILE
+
 .unit_test_template:
   extends: .example_test_template
   stage: target_test
@@ -396,6 +409,12 @@ test_app_test_003:
     - ESP32
     - Example_PPP
 
+component_ut_test_001:
+  extends: .component_ut_template
+  tags:
+    - ESP32
+    - COMPONENT_UT_GENERIC
+
 UT_001:
   extends: .unit_test_template
   parallel: 39
diff --git a/tools/ci/python_packages/tiny_test_fw/DUT.py b/tools/ci/python_packages/tiny_test_fw/DUT.py
index ccb3797726..e01f8bb67b 100644
--- a/tools/ci/python_packages/tiny_test_fw/DUT.py
+++ b/tools/ci/python_packages/tiny_test_fw/DUT.py
@@ -571,7 +571,7 @@ class BaseDUT(object):
         return self.__getattribute__(method)
 
     @_expect_lock
-    def expect(self, pattern, timeout=DEFAULT_EXPECT_TIMEOUT):
+    def expect(self, pattern, timeout=DEFAULT_EXPECT_TIMEOUT, full_stdout=False):
         """
         expect(pattern, timeout=DEFAULT_EXPECT_TIMEOUT)
         expect received data on DUT match the pattern. will raise exception when expect timeout.
@@ -581,9 +581,11 @@ class BaseDUT(object):
 
         :param pattern: string or compiled RegEx(string pattern)
         :param timeout: timeout for expect
+        :param full_stdout: return full stdout until meet expect string/pattern or just matched string
         :return: string if pattern is string; matched groups if pattern is RegEx
         """
         method = self._get_expect_method(pattern)
+        stdout = ''
 
         # non-blocking get data for first time
         data = self.data_cache.get_data(0)
@@ -598,12 +600,13 @@ class BaseDUT(object):
                 break
             # wait for new data from cache
             data = self.data_cache.get_data(time_remaining)
+            stdout = data
 
         if ret is None:
             pattern = _pattern_to_string(pattern)
             self._save_expect_failure(pattern, data, start_time)
             raise ExpectTimeout(self.name + ": " + pattern)
-        return ret
+        return stdout if full_stdout else ret
 
     def _expect_multi(self, expect_all, expect_item_list, timeout):
         """
diff --git a/tools/ci/python_packages/tiny_test_fw/Utility/CIAssignTest.py b/tools/ci/python_packages/tiny_test_fw/Utility/CIAssignTest.py
index 240c7fbc40..d20ddb146a 100644
--- a/tools/ci/python_packages/tiny_test_fw/Utility/CIAssignTest.py
+++ b/tools/ci/python_packages/tiny_test_fw/Utility/CIAssignTest.py
@@ -145,7 +145,7 @@ class AssignTest(object):
     """
     Auto assign tests to CI jobs.
 
-    :param test_case_path: path of test case file(s)
+    :param test_case_paths: path of test case file(s)
     :param ci_config_file: path of ``.gitlab-ci.yml``
     """
     # subclass need to rewrite CI test job pattern, to filter all test jobs
@@ -157,8 +157,8 @@ class AssignTest(object):
         "supported_in_ci": True,
     }
 
-    def __init__(self, test_case_path, ci_config_file, case_group=Group):
-        self.test_case_path = test_case_path
+    def __init__(self, test_case_paths, ci_config_file, case_group=Group):
+        self.test_case_paths = test_case_paths
         self.test_case_file_pattern = None
         self.test_cases = []
         self.jobs = self._parse_gitlab_ci_config(ci_config_file)
@@ -197,7 +197,7 @@ class AssignTest(object):
         _case_filter = self.DEFAULT_FILTER.copy()
         if case_filter:
             _case_filter.update(case_filter)
-        test_methods = SearchCases.Search.search_test_cases(self.test_case_path, self.test_case_file_pattern)
+        test_methods = SearchCases.Search.search_test_cases(self.test_case_paths, self.test_case_file_pattern)
         return CaseConfig.filter_test_cases(test_methods, _case_filter)
 
     def _group_cases(self):
diff --git a/tools/ci/python_packages/tiny_test_fw/Utility/SearchCases.py b/tools/ci/python_packages/tiny_test_fw/Utility/SearchCases.py
index d85283b768..669a1a980a 100644
--- a/tools/ci/python_packages/tiny_test_fw/Utility/SearchCases.py
+++ b/tools/ci/python_packages/tiny_test_fw/Utility/SearchCases.py
@@ -120,15 +120,19 @@ class Search(object):
         return replicated_cases
 
     @classmethod
-    def search_test_cases(cls, test_case, test_case_file_pattern=None):
+    def search_test_cases(cls, test_case_paths, test_case_file_pattern=None):
         """
         search all test cases from a folder or file, and then do case replicate.
 
-        :param test_case: test case file(s) path
+        :param test_case_paths: test case file(s) paths
         :param test_case_file_pattern: unix filename pattern
         :return: a list of replicated test methods
         """
-        test_case_files = cls._search_test_case_files(test_case, test_case_file_pattern or cls.TEST_CASE_FILE_PATTERN)
+        if not isinstance(test_case_paths, list):
+            test_case_paths = [test_case_paths]
+        test_case_files = []
+        for path in test_case_paths:
+            test_case_files.extend(cls._search_test_case_files(path, test_case_file_pattern or cls.TEST_CASE_FILE_PATTERN))
         test_cases = []
         for test_case_file in test_case_files:
             test_cases += cls._search_cases_from_file(test_case_file)
diff --git a/tools/ci/python_packages/tiny_test_fw/bin/Runner.py b/tools/ci/python_packages/tiny_test_fw/bin/Runner.py
index a233de64f5..913054f5d4 100644
--- a/tools/ci/python_packages/tiny_test_fw/bin/Runner.py
+++ b/tools/ci/python_packages/tiny_test_fw/bin/Runner.py
@@ -32,12 +32,12 @@ from tiny_test_fw.Utility import SearchCases, CaseConfig
 
 class Runner(threading.Thread):
     """
-    :param test_case: test case file or folder
+    :param test_case_paths: test case file or folder
     :param case_config: case config file, allow to filter test cases and pass data to test case
     :param env_config_file: env config file
     """
 
-    def __init__(self, test_case, case_config, env_config_file=None):
+    def __init__(self, test_case_paths, case_config, env_config_file=None):
         super(Runner, self).__init__()
         self.setDaemon(True)
         if case_config:
@@ -45,7 +45,7 @@ class Runner(threading.Thread):
         else:
             test_suite_name = "TestRunner"
         TinyFW.set_default_config(env_config_file=env_config_file, test_suite_name=test_suite_name)
-        test_methods = SearchCases.Search.search_test_cases(test_case)
+        test_methods = SearchCases.Search.search_test_cases(test_case_paths)
         self.test_cases = CaseConfig.Parser.apply_config(test_methods, case_config)
         self.test_result = []
 
@@ -59,23 +59,23 @@ class Runner(threading.Thread):
 
 
 if __name__ == '__main__':
-
     parser = argparse.ArgumentParser()
-    parser.add_argument("test_case",
-                        help="test case folder or file")
+    parser.add_argument("test_cases", nargs='+',
+                        help="test case folders or files")
     parser.add_argument("--case_config", "-c", default=None,
                         help="case filter/config file")
     parser.add_argument("--env_config_file", "-e", default=None,
                         help="test env config file")
     args = parser.parse_args()
 
-    runner = Runner(args.test_case, args.case_config, args.env_config_file)
+    test_cases = [os.path.join(os.getenv('IDF_PATH'), path) if not os.path.isabs(path) else path for path in args.test_cases]
+    runner = Runner(test_cases, args.case_config, args.env_config_file)
     runner.start()
 
     while True:
         try:
             runner.join(1)
-            if not runner.isAlive():
+            if not runner.is_alive():
                 break
         except KeyboardInterrupt:
             print("exit by Ctrl-C")
diff --git a/tools/ci/python_packages/ttfw_idf/CIScanTests.py b/tools/ci/python_packages/ttfw_idf/CIScanTests.py
index 5c2e9004ef..11af6fe864 100644
--- a/tools/ci/python_packages/ttfw_idf/CIScanTests.py
+++ b/tools/ci/python_packages/ttfw_idf/CIScanTests.py
@@ -8,18 +8,16 @@ from collections import defaultdict
 from find_apps import find_apps
 from find_build_apps import BUILD_SYSTEMS, BUILD_SYSTEM_CMAKE
 from ttfw_idf.IDFAssignTest import ExampleAssignTest, TestAppsAssignTest
-
-VALID_TARGETS = [
-    'esp32',
-    'esp32s2',
-]
+from idf_py_actions.constants import SUPPORTED_TARGETS
 
 TEST_LABELS = {
     'example_test': 'BOT_LABEL_EXAMPLE_TEST',
     'test_apps': 'BOT_LABEL_CUSTOM_TEST',
+    'component_ut': ['BOT_LABEL_UNIT_TEST', 'BOT_LABEL_UNIT_TEST_S2'],
 }
 
 BUILD_ALL_LABELS = [
+    'BOT_LABEL_BUILD',
     'BOT_LABEL_BUILD_ALL_APPS',
     'BOT_LABEL_REGULAR_TEST',
 ]
@@ -40,12 +38,17 @@ def _judge_build_or_not(action, build_all):  # type: (str, bool) -> (bool, bool)
         logging.info('Build all apps')
         return True, True
 
-    if os.getenv(TEST_LABELS[action]):
-        logging.info('Build test cases apps')
-        return True, False
-    else:
-        logging.info('Skip all')
-        return False, False
+    labels = TEST_LABELS[action]
+    if not isinstance(labels, list):
+        labels = [labels]
+
+    for label in labels:
+        if os.getenv(label):
+            logging.info('Build test cases apps')
+            return True, False
+        else:
+            logging.info('Skip all')
+            return False, False
 
 
 def output_json(apps_dict_list, target, build_system, output_dir):
@@ -59,8 +62,7 @@ def main():
     parser.add_argument('test_type',
                         choices=TEST_LABELS.keys(),
                         help='Scan test type')
-    parser.add_argument('paths',
-                        nargs='+',
+    parser.add_argument('paths', nargs='+',
                         help='One or more app paths')
     parser.add_argument('-b', '--build-system',
                         choices=BUILD_SYSTEMS.keys(),
@@ -71,8 +73,7 @@ def main():
     parser.add_argument('-o', '--output-path',
                         required=True,
                         help="output path of the scan result")
-    parser.add_argument("--exclude",
-                        action="append",
+    parser.add_argument("--exclude", nargs="*",
                         help='Ignore specified directory. Can be used multiple times.')
     parser.add_argument('--preserve', action="store_true",
                         help='add this flag to preserve artifacts for all apps')
@@ -90,15 +91,17 @@ def main():
                 raise e
 
     if (not build_standalone_apps) and (not build_test_case_apps):
-        for target in VALID_TARGETS:
+        for target in SUPPORTED_TARGETS:
             output_json([], target, args.build_system, args.output_path)
             SystemExit(0)
 
+    paths = set([os.path.join(os.getenv('IDF_PATH'), path) if not os.path.isabs(path) else path for path in args.paths])
+
     test_cases = []
-    for path in set(args.paths):
+    for path in paths:
         if args.test_type == 'example_test':
             assign = ExampleAssignTest(path, args.ci_config_file)
-        elif args.test_type == 'test_apps':
+        elif args.test_type in ['test_apps', 'component_ut']:
             assign = TestAppsAssignTest(path, args.ci_config_file)
         else:
             raise SystemExit(1)  # which is impossible
@@ -123,7 +126,7 @@ def main():
     build_system_class = BUILD_SYSTEMS[build_system]
 
     if build_test_case_apps:
-        for target in VALID_TARGETS:
+        for target in SUPPORTED_TARGETS:
             target_dict = scan_info_dict[target]
             test_case_apps = target_dict['test_case_apps'] = set()
             for case in test_cases:
@@ -134,21 +137,21 @@ def main():
                 test_case_apps.update(find_apps(build_system_class, app_dir, True, default_exclude, target.lower()))
                 exclude_apps.append(app_dir)
     else:
-        for target in VALID_TARGETS:
+        for target in SUPPORTED_TARGETS:
             scan_info_dict[target]['test_case_apps'] = set()
 
     if build_standalone_apps:
-        for target in VALID_TARGETS:
+        for target in SUPPORTED_TARGETS:
             target_dict = scan_info_dict[target]
             standalone_apps = target_dict['standalone_apps'] = set()
-            for path in args.paths:
+            for path in paths:
                 standalone_apps.update(find_apps(build_system_class, path, True, exclude_apps, target.lower()))
     else:
-        for target in VALID_TARGETS:
+        for target in SUPPORTED_TARGETS:
             scan_info_dict[target]['standalone_apps'] = set()
 
     test_case_apps_preserve_default = True if build_system == 'cmake' else False
-    for target in VALID_TARGETS:
+    for target in SUPPORTED_TARGETS:
         apps = []
         for app_dir in scan_info_dict[target]['test_case_apps']:
             apps.append({
diff --git a/tools/ci/python_packages/ttfw_idf/IDFApp.py b/tools/ci/python_packages/ttfw_idf/IDFApp.py
index 64c434f2c9..dfa767ea22 100644
--- a/tools/ci/python_packages/ttfw_idf/IDFApp.py
+++ b/tools/ci/python_packages/ttfw_idf/IDFApp.py
@@ -22,7 +22,7 @@ import sys
 from abc import abstractmethod
 
 from tiny_test_fw import App
-from .IDFAssignTest import ExampleGroup, TestAppsGroup, UnitTestGroup, IDFCaseGroup
+from .IDFAssignTest import ExampleGroup, TestAppsGroup, UnitTestGroup, IDFCaseGroup, ComponentUTGroup
 
 try:
     import gitlab_api
@@ -202,9 +202,9 @@ class IDFApp(App.BaseApp):
     def __str__(self):
         parts = ['app<{}>'.format(self.app_path)]
         if self.config_name:
-            parts.extend('config<{}>'.format(self.config_name))
+            parts.append('config<{}>'.format(self.config_name))
         if self.target:
-            parts.extend('target<{}>'.format(self.target))
+            parts.append('target<{}>'.format(self.target))
         return ' '.join(parts)
 
     @classmethod
@@ -447,6 +447,11 @@ class TestApp(Example):
         super(TestApp, self).__init__(app_path, config_name, target, case_group, artifacts_cls)
 
 
+class ComponentUTApp(TestApp):
+    def __init__(self, app_path, config_name='default', target='esp32', case_group=ComponentUTGroup, artifacts_cls=Artifacts):
+        super(ComponentUTApp, self).__init__(app_path, config_name, target, case_group, artifacts_cls)
+
+
 class LoadableElfTestApp(TestApp):
     def __init__(self, app_path, app_files, config_name='default', target='esp32', case_group=TestAppsGroup, artifacts_cls=Artifacts):
         # add arg `app_files` for loadable elf test_app.
diff --git a/tools/ci/python_packages/ttfw_idf/IDFAssignTest.py b/tools/ci/python_packages/ttfw_idf/IDFAssignTest.py
index 28e568ebb4..200d3618ad 100644
--- a/tools/ci/python_packages/ttfw_idf/IDFAssignTest.py
+++ b/tools/ci/python_packages/ttfw_idf/IDFAssignTest.py
@@ -17,7 +17,9 @@ except ImportError:
 import gitlab_api
 from tiny_test_fw.Utility import CIAssignTest
 
-IDF_PATH_FROM_ENV = os.getenv("IDF_PATH")
+from idf_py_actions.constants import SUPPORTED_TARGETS
+
+IDF_PATH_FROM_ENV = os.getenv('IDF_PATH')
 
 
 class IDFCaseGroup(CIAssignTest.Group):
@@ -28,33 +30,36 @@ class IDFCaseGroup(CIAssignTest.Group):
     def get_artifact_index_file(cls):
         assert cls.LOCAL_BUILD_DIR
         if IDF_PATH_FROM_ENV:
-            artifact_index_file = os.path.join(IDF_PATH_FROM_ENV, cls.LOCAL_BUILD_DIR, "artifact_index.json")
+            artifact_index_file = os.path.join(IDF_PATH_FROM_ENV, cls.LOCAL_BUILD_DIR, 'artifact_index.json')
         else:
-            artifact_index_file = "artifact_index.json"
+            artifact_index_file = 'artifact_index.json'
         return artifact_index_file
 
 
 class IDFAssignTest(CIAssignTest.AssignTest):
+    def __init__(self, test_case_path, ci_config_file, case_group=IDFCaseGroup):
+        super(IDFAssignTest, self).__init__(test_case_path, ci_config_file, case_group)
+
     def format_build_log_path(self, parallel_num):
-        return "{}/list_job_{}.json".format(self.case_group.LOCAL_BUILD_DIR, parallel_num)
+        return '{}/list_job_{}.json'.format(self.case_group.LOCAL_BUILD_DIR, parallel_num)
 
     def create_artifact_index_file(self, project_id=None, pipeline_id=None):
         if project_id is None:
-            project_id = os.getenv("CI_PROJECT_ID")
+            project_id = os.getenv('CI_PROJECT_ID')
         if pipeline_id is None:
-            pipeline_id = os.getenv("CI_PIPELINE_ID")
+            pipeline_id = os.getenv('CI_PIPELINE_ID')
         gitlab_inst = gitlab_api.Gitlab(project_id)
 
         artifact_index_list = []
         for build_job_name in self.case_group.BUILD_JOB_NAMES:
             job_info_list = gitlab_inst.find_job_id(build_job_name, pipeline_id=pipeline_id)
             for job_info in job_info_list:
-                parallel_num = job_info["parallel_num"] or 1  # Could be None if "parallel_num" not defined for the job
-                raw_data = gitlab_inst.download_artifact(job_info["id"],
+                parallel_num = job_info['parallel_num'] or 1  # Could be None if "parallel_num" not defined for the job
+                raw_data = gitlab_inst.download_artifact(job_info['id'],
                                                          [self.format_build_log_path(parallel_num)])[0]
                 build_info_list = [json.loads(line) for line in raw_data.decode().splitlines()]
                 for build_info in build_info_list:
-                    build_info["ci_job_id"] = job_info["id"]
+                    build_info['ci_job_id'] = job_info['id']
                     artifact_index_list.append(build_info)
         artifact_index_file = self.case_group.get_artifact_index_file()
         try:
@@ -63,48 +68,47 @@ class IDFAssignTest(CIAssignTest.AssignTest):
             if e.errno != errno.EEXIST:
                 raise e
 
-        with open(artifact_index_file, "w") as f:
+        with open(artifact_index_file, 'w') as f:
             json.dump(artifact_index_list, f)
 
 
-SUPPORTED_TARGETS = [
-    'esp32',
-    'esp32s2',
-]
-
-
 class ExampleGroup(IDFCaseGroup):
-    SORT_KEYS = CI_JOB_MATCH_KEYS = ["env_tag", "target"]
+    SORT_KEYS = CI_JOB_MATCH_KEYS = ['env_tag', 'target']
 
-    LOCAL_BUILD_DIR = "build_examples"
-    BUILD_JOB_NAMES = ["build_examples_cmake_{}".format(target) for target in SUPPORTED_TARGETS]
+    LOCAL_BUILD_DIR = 'build_examples'
+    BUILD_JOB_NAMES = ['build_examples_cmake_{}'.format(target) for target in SUPPORTED_TARGETS]
 
 
 class TestAppsGroup(ExampleGroup):
-    LOCAL_BUILD_DIR = "build_test_apps"
-    BUILD_JOB_NAMES = ["build_test_apps_{}".format(target) for target in SUPPORTED_TARGETS]
+    LOCAL_BUILD_DIR = 'build_test_apps'
+    BUILD_JOB_NAMES = ['build_test_apps_{}'.format(target) for target in SUPPORTED_TARGETS]
+
+
+class ComponentUTGroup(TestAppsGroup):
+    LOCAL_BUILD_DIR = 'build_component_ut'
+    BUILD_JOB_NAMES = ['build_component_ut_{}'.format(target) for target in SUPPORTED_TARGETS]
 
 
 class UnitTestGroup(IDFCaseGroup):
-    SORT_KEYS = ["test environment", "tags", "chip_target"]
-    CI_JOB_MATCH_KEYS = ["test environment"]
+    SORT_KEYS = ['test environment', 'tags', 'chip_target']
+    CI_JOB_MATCH_KEYS = ['test environment']
 
-    LOCAL_BUILD_DIR = "tools/unit-test-app/builds"
-    BUILD_JOB_NAMES = ["build_esp_idf_tests_cmake_{}".format(target) for target in SUPPORTED_TARGETS]
+    LOCAL_BUILD_DIR = 'tools/unit-test-app/builds'
+    BUILD_JOB_NAMES = ['build_esp_idf_tests_cmake_{}'.format(target) for target in SUPPORTED_TARGETS]
 
     MAX_CASE = 50
     ATTR_CONVERT_TABLE = {
-        "execution_time": "execution time"
+        'execution_time': 'execution time'
     }
     DUT_CLS_NAME = {
-        "esp32": "ESP32DUT",
-        "esp32s2": "ESP32S2DUT",
-        "esp8266": "ESP8266DUT",
+        'esp32': 'ESP32DUT',
+        'esp32s2': 'ESP32S2DUT',
+        'esp8266': 'ESP8266DUT',
     }
 
     def __init__(self, case):
         super(UnitTestGroup, self).__init__(case)
-        for tag in self._get_case_attr(case, "tags"):
+        for tag in self._get_case_attr(case, 'tags'):
             self.ci_job_match_keys.add(tag)
 
     @staticmethod
@@ -119,7 +123,7 @@ class UnitTestGroup(IDFCaseGroup):
         if self.accept_new_case():
             for key in self.filters:
                 if self._get_case_attr(case, key) != self.filters[key]:
-                    if key == "tags":
+                    if key == 'tags':
                         if set(self._get_case_attr(case, key)).issubset(set(self.filters[key])):
                             continue
                     break
@@ -136,18 +140,18 @@ class UnitTestGroup(IDFCaseGroup):
         case_data = []
         for case in test_cases:
             one_case_data = {
-                "config": self._get_case_attr(case, "config"),
-                "name": self._get_case_attr(case, "summary"),
-                "reset": self._get_case_attr(case, "reset"),
-                "timeout": self._get_case_attr(case, "timeout"),
+                'config': self._get_case_attr(case, 'config'),
+                'name': self._get_case_attr(case, 'summary'),
+                'reset': self._get_case_attr(case, 'reset'),
+                'timeout': self._get_case_attr(case, 'timeout'),
             }
 
-            if test_function in ["run_multiple_devices_cases", "run_multiple_stage_cases"]:
+            if test_function in ['run_multiple_devices_cases', 'run_multiple_stage_cases']:
                 try:
-                    one_case_data["child case num"] = self._get_case_attr(case, "child case num")
+                    one_case_data['child case num'] = self._get_case_attr(case, 'child case num')
                 except KeyError as e:
-                    print("multiple devices/stages cases must contains at least two test functions")
-                    print("case name: {}".format(one_case_data["name"]))
+                    print('multiple devices/stages cases must contains at least two test functions')
+                    print('case name: {}'.format(one_case_data['name']))
                     raise e
 
             case_data.append(one_case_data)
@@ -160,18 +164,18 @@ class UnitTestGroup(IDFCaseGroup):
         :return: dict of list of cases for each test functions
         """
         case_by_test_function = {
-            "run_multiple_devices_cases": [],
-            "run_multiple_stage_cases": [],
-            "run_unit_test_cases": [],
+            'run_multiple_devices_cases': [],
+            'run_multiple_stage_cases': [],
+            'run_unit_test_cases': [],
         }
 
         for case in self.case_list:
-            if case["multi_device"] == "Yes":
-                case_by_test_function["run_multiple_devices_cases"].append(case)
-            elif case["multi_stage"] == "Yes":
-                case_by_test_function["run_multiple_stage_cases"].append(case)
+            if case['multi_device'] == 'Yes':
+                case_by_test_function['run_multiple_devices_cases'].append(case)
+            elif case['multi_stage'] == 'Yes':
+                case_by_test_function['run_multiple_stage_cases'].append(case)
             else:
-                case_by_test_function["run_unit_test_cases"].append(case)
+                case_by_test_function['run_unit_test_cases'].append(case)
         return case_by_test_function
 
     def output(self):
@@ -181,12 +185,12 @@ class UnitTestGroup(IDFCaseGroup):
         :return: {"Filter": case filter, "CaseConfig": list of case configs for cases in this group}
         """
 
-        target = self._get_case_attr(self.case_list[0], "chip_target")
+        target = self._get_case_attr(self.case_list[0], 'chip_target')
         if target:
             overwrite = {
-                "dut": {
-                    "package": "ttfw_idf",
-                    "class": self.DUT_CLS_NAME[target],
+                'dut': {
+                    'package': 'ttfw_idf',
+                    'class': self.DUT_CLS_NAME[target],
                 }
             }
         else:
@@ -196,11 +200,11 @@ class UnitTestGroup(IDFCaseGroup):
 
         output_data = {
             # we don't need filter for test function, as UT uses a few test functions for all cases
-            "CaseConfig": [
+            'CaseConfig': [
                 {
-                    "name": test_function,
-                    "extra_data": self._create_extra_data(test_cases, test_function),
-                    "overwrite": overwrite,
+                    'name': test_function,
+                    'extra_data': self._create_extra_data(test_cases, test_function),
+                    'overwrite': overwrite,
                 } for test_function, test_cases in case_by_test_function.items() if test_cases
             ],
         }
@@ -210,22 +214,29 @@ class UnitTestGroup(IDFCaseGroup):
 class ExampleAssignTest(IDFAssignTest):
     CI_TEST_JOB_PATTERN = re.compile(r'^example_test_.+')
 
-    def __init__(self, est_case_path, ci_config_file):
-        super(ExampleAssignTest, self).__init__(est_case_path, ci_config_file, case_group=ExampleGroup)
+    def __init__(self, test_case_path, ci_config_file):
+        super(ExampleAssignTest, self).__init__(test_case_path, ci_config_file, case_group=ExampleGroup)
 
 
 class TestAppsAssignTest(IDFAssignTest):
     CI_TEST_JOB_PATTERN = re.compile(r'^test_app_test_.+')
 
-    def __init__(self, est_case_path, ci_config_file):
-        super(TestAppsAssignTest, self).__init__(est_case_path, ci_config_file, case_group=TestAppsGroup)
+    def __init__(self, test_case_path, ci_config_file):
+        super(TestAppsAssignTest, self).__init__(test_case_path, ci_config_file, case_group=TestAppsGroup)
+
+
+class ComponentUTAssignTest(IDFAssignTest):
+    CI_TEST_JOB_PATTERN = re.compile(r'^component_ut_test_.+')
+
+    def __init__(self, test_case_path, ci_config_file):
+        super(ComponentUTAssignTest, self).__init__(test_case_path, ci_config_file, case_group=ComponentUTGroup)
 
 
 class UnitTestAssignTest(IDFAssignTest):
     CI_TEST_JOB_PATTERN = re.compile(r'^UT_.+')
 
-    def __init__(self, est_case_path, ci_config_file):
-        super(UnitTestAssignTest, self).__init__(est_case_path, ci_config_file, case_group=UnitTestGroup)
+    def __init__(self, test_case_path, ci_config_file):
+        super(UnitTestAssignTest, self).__init__(test_case_path, ci_config_file, case_group=UnitTestGroup)
 
     def search_cases(self, case_filter=None):
         """
@@ -252,13 +263,14 @@ class UnitTestAssignTest(IDFAssignTest):
                 return test_cases
 
         test_cases = []
-        if os.path.isdir(self.test_case_path):
-            for yml_file in find_by_suffix('.yml', self.test_case_path):
-                test_cases.extend(get_test_cases_from_yml(yml_file))
-        elif os.path.isfile(self.test_case_path):
-            test_cases.extend(get_test_cases_from_yml(self.test_case_path))
-        else:
-            print("Test case path is invalid. Should only happen when use @bot to skip unit test.")
+        for path in self.test_case_paths:
+            if os.path.isdir(path):
+                for yml_file in find_by_suffix('.yml', path):
+                    test_cases.extend(get_test_cases_from_yml(yml_file))
+            elif os.path.isfile(path) and path.endswith('.yml'):
+                test_cases.extend(get_test_cases_from_yml(path))
+            else:
+                print('Test case path is invalid. Should only happen when use @bot to skip unit test.')
 
         # filter keys are lower case. Do map lower case keys with original keys.
         try:
@@ -285,27 +297,30 @@ class UnitTestAssignTest(IDFAssignTest):
         # sort cases with configs and test functions
         # in later stage cases with similar attributes are more likely to be assigned to the same job
         # it will reduce the count of flash DUT operations
-        test_cases.sort(key=lambda x: x["config"] + x["multi_stage"] + x["multi_device"])
+        test_cases.sort(key=lambda x: x['config'] + x['multi_stage'] + x['multi_device'])
         return test_cases
 
 
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
-    parser.add_argument("case_group", choices=["example_test", "custom_test", "unit_test"])
-    parser.add_argument("test_case", help="test case folder or file")
-    parser.add_argument("ci_config_file", help="gitlab ci config file")
-    parser.add_argument("output_path", help="output path of config files")
-    parser.add_argument("--pipeline_id", "-p", type=int, default=None, help="pipeline_id")
-    parser.add_argument("--test-case-file-pattern", help="file name pattern used to find Python test case files")
+    parser.add_argument('case_group', choices=['example_test', 'custom_test', 'unit_test', 'component_ut'])
+    parser.add_argument('test_case_paths', nargs='+', help='test case folder or file')
+    parser.add_argument('-c', '--config', help='gitlab ci config file')
+    parser.add_argument('-o', '--output', help='output path of config files')
+    parser.add_argument('--pipeline_id', '-p', type=int, default=None, help='pipeline_id')
+    parser.add_argument('--test-case-file-pattern', help='file name pattern used to find Python test case files')
     args = parser.parse_args()
 
-    args_list = [args.test_case, args.ci_config_file]
+    test_case_paths = [os.path.join(IDF_PATH_FROM_ENV, path) if not os.path.isabs(path) else path for path in args.test_case_paths]
+    args_list = [test_case_paths, args.config]
     if args.case_group == 'example_test':
         assigner = ExampleAssignTest(*args_list)
     elif args.case_group == 'custom_test':
         assigner = TestAppsAssignTest(*args_list)
     elif args.case_group == 'unit_test':
         assigner = UnitTestAssignTest(*args_list)
+    elif args.case_group == 'component_ut':
+        assigner = ComponentUTAssignTest(*args_list)
     else:
         raise SystemExit(1)  # which is impossible
 
@@ -313,5 +328,5 @@ if __name__ == '__main__':
         assigner.CI_TEST_JOB_PATTERN = re.compile(r'{}'.format(args.test_case_file_pattern))
 
     assigner.assign_cases()
-    assigner.output_configs(args.output_path)
+    assigner.output_configs(args.output)
     assigner.create_artifact_index_file()
diff --git a/tools/ci/python_packages/ttfw_idf/__init__.py b/tools/ci/python_packages/ttfw_idf/__init__.py
index 4abcadcd29..95c5e0e200 100644
--- a/tools/ci/python_packages/ttfw_idf/__init__.py
+++ b/tools/ci/python_packages/ttfw_idf/__init__.py
@@ -17,10 +17,13 @@ import logging
 import os
 import re
 
+import junit_xml
+
 from tiny_test_fw import TinyFW, Utility
-from .IDFApp import IDFApp, Example, LoadableElfTestApp, UT, TestApp  # noqa: export all Apps for users
-from .IDFDUT import IDFDUT, ESP32DUT, ESP32S2DUT, ESP8266DUT, ESP32QEMUDUT  # noqa: export DUTs for users
 from .DebugUtils import OCDBackend, GDBBackend, CustomProcess  # noqa: export DebugUtils for users
+from .IDFApp import IDFApp, Example, LoadableElfTestApp, UT, TestApp, ComponentUTApp  # noqa: export all Apps for users
+from .IDFDUT import IDFDUT, ESP32DUT, ESP32S2DUT, ESP8266DUT, ESP32QEMUDUT  # noqa: export DUTs for users
+from .unity_test_parser import TestResults, TestFormat
 
 # pass TARGET_DUT_CLS_DICT to Env.py to avoid circular dependency issue.
 TARGET_DUT_CLS_DICT = {
@@ -108,6 +111,22 @@ def ci_target_check(func):
     return wrapper
 
 
+def test_func_generator(func, app, target, ci_target, module, execution_time, level, erase_nvs, drop_kwargs_dut=False, **kwargs):
+    test_target = local_test_check(target)
+    dut = get_dut_class(test_target, erase_nvs)
+    if drop_kwargs_dut and 'dut' in kwargs:  # panic_test() will inject dut, resolve conflicts here
+        dut = kwargs['dut']
+        del kwargs['dut']
+    original_method = TinyFW.test_method(
+        app=app, dut=dut, target=upper_list_or_str(target), ci_target=upper_list_or_str(ci_target),
+        module=module, execution_time=execution_time, level=level, erase_nvs=erase_nvs,
+        dut_dict=TARGET_DUT_CLS_DICT, **kwargs
+    )
+    test_func = original_method(func)
+    test_func.case_info["ID"] = format_case_id(target, test_func.case_info["name"])
+    return test_func
+
+
 @ci_target_check
 def idf_example_test(app=Example, target="ESP32", ci_target=None, module="examples", execution_time=1,
                      level="example", erase_nvs=True, config_name=None, **kwargs):
@@ -125,19 +144,8 @@ def idf_example_test(app=Example, target="ESP32", ci_target=None, module="exampl
     :param kwargs: other keyword args
     :return: test method
     """
-
     def test(func):
-        test_target = local_test_check(target)
-        dut = get_dut_class(test_target, erase_nvs)
-        original_method = TinyFW.test_method(
-            app=app, dut=dut, target=upper_list_or_str(target), ci_target=upper_list_or_str(ci_target),
-            module=module, execution_time=execution_time, level=level, erase_nvs=erase_nvs,
-            dut_dict=TARGET_DUT_CLS_DICT, **kwargs
-        )
-        test_func = original_method(func)
-        test_func.case_info["ID"] = format_case_id(target, test_func.case_info["name"])
-        return test_func
-
+        return test_func_generator(func, app, target, ci_target, module, execution_time, level, erase_nvs, **kwargs)
     return test
 
 
@@ -157,25 +165,36 @@ def idf_unit_test(app=UT, target="ESP32", ci_target=None, module="unit-test", ex
     :param kwargs: other keyword args
     :return: test method
     """
-
     def test(func):
-        test_target = local_test_check(target)
-        dut = get_dut_class(test_target, erase_nvs)
-        original_method = TinyFW.test_method(
-            app=app, dut=dut, target=upper_list_or_str(target), ci_target=upper_list_or_str(ci_target),
-            module=module, execution_time=execution_time, level=level, erase_nvs=erase_nvs,
-            dut_dict=TARGET_DUT_CLS_DICT, **kwargs
-        )
-        test_func = original_method(func)
-        test_func.case_info["ID"] = format_case_id(target, test_func.case_info["name"])
-        return test_func
-
+        return test_func_generator(func, app, target, ci_target, module, execution_time, level, erase_nvs, **kwargs)
     return test
 
 
 @ci_target_check
 def idf_custom_test(app=TestApp, target="ESP32", ci_target=None, module="misc", execution_time=1,
-                    level="integration", erase_nvs=True, config_name=None, group="test-apps", **kwargs):
+                    level="integration", erase_nvs=True, config_name=None, **kwargs):
+    """
+    decorator for idf custom tests (with default values for some keyword args).
+
+    :param app: test application class
+    :param target: target supported, string or list
+    :param ci_target: target auto run in CI, if None than all target will be tested, None, string or list
+    :param module: module, string
+    :param execution_time: execution time in minutes, int
+    :param level: test level, could be used to filter test cases, string
+    :param erase_nvs: if need to erase_nvs in DUT.start_app()
+    :param config_name: if specified, name of the app configuration
+    :param kwargs: other keyword args
+    :return: test method
+    """
+    def test(func):
+        return test_func_generator(func, app, target, ci_target, module, execution_time, level, erase_nvs, drop_kwargs_dut=True, **kwargs)
+    return test
+
+
+@ci_target_check
+def idf_component_unit_test(app=ComponentUTApp, target="ESP32", ci_target=None, module="misc", execution_time=1,
+                            level="integration", erase_nvs=True, config_name=None, **kwargs):
     """
     decorator for idf custom tests (with default values for some keyword args).
 
@@ -187,29 +206,41 @@ def idf_custom_test(app=TestApp, target="ESP32", ci_target=None, module="misc",
     :param level: test level, could be used to filter test cases, string
     :param erase_nvs: if need to erase_nvs in DUT.start_app()
     :param config_name: if specified, name of the app configuration
-    :param group: identifier to group custom tests (unused for now, defaults to "test-apps")
     :param kwargs: other keyword args
     :return: test method
     """
 
     def test(func):
-        test_target = local_test_check(target)
-        dut = get_dut_class(test_target, erase_nvs)
-        if 'dut' in kwargs:  # panic_test() will inject dut, resolve conflicts here
-            dut = kwargs['dut']
-            del kwargs['dut']
-        original_method = TinyFW.test_method(
-            app=app, dut=dut, target=upper_list_or_str(target), ci_target=upper_list_or_str(ci_target),
-            module=module, execution_time=execution_time, level=level, erase_nvs=erase_nvs,
-            dut_dict=TARGET_DUT_CLS_DICT, **kwargs
-        )
-        test_func = original_method(func)
-        test_func.case_info["ID"] = format_case_id(target, test_func.case_info["name"])
-        return test_func
+        return test_func_generator(func, app, target, ci_target, module, execution_time, level, erase_nvs, **kwargs)
 
     return test
 
 
+class ComponentUTResult:
+    """
+    Function Class, parse component unit test results
+    """
+
+    @staticmethod
+    def parse_result(stdout):
+        try:
+            results = TestResults(stdout, TestFormat.UNITY_FIXTURE_VERBOSE)
+        except (ValueError, TypeError) as e:
+            raise ValueError('Error occurs when parsing the component unit test stdout to JUnit report: ' + str(e))
+
+        group_name = results.tests()[0].group()
+        with open(os.path.join(os.getenv('LOG_PATH', ''), '{}_XUNIT_RESULT.xml'.format(group_name)), 'w') as fw:
+            junit_xml.to_xml_report_file(fw, [results.to_junit()])
+
+        if results.num_failed():
+            # raise exception if any case fails
+            err_msg = 'Failed Cases:\n'
+            for test_case in results.test_iter():
+                if test_case.result() == 'FAIL':
+                    err_msg += '\t{}: {}'.format(test_case.name(), test_case.message())
+            raise AssertionError(err_msg)
+
+
 def log_performance(item, value):
     """
     do print performance with pre-defined format to console
diff --git a/tools/ci/python_packages/ttfw_idf/unity_test_parser.py b/tools/ci/python_packages/ttfw_idf/unity_test_parser.py
new file mode 100644
index 0000000000..63c4bb140e
--- /dev/null
+++ b/tools/ci/python_packages/ttfw_idf/unity_test_parser.py
@@ -0,0 +1,375 @@
+"""
+Modification version of https://github.com/ETCLabs/unity-test-parser/blob/develop/unity_test_parser.py
+since only python 3.6 or higher version have ``enum.auto()``
+
+unity_test_parser.py
+
+Parse the output of the Unity Test Framework for C. Parsed results are held in the TestResults
+object format, which can then be converted to various XML formats.
+"""
+
+import enum
+import re
+
+import junit_xml
+
+_NORMAL_TEST_REGEX = re.compile(r"(?P<file>.+):(?P<line>\d+):(?P<test_name>[^\s:]+):(?P<result>PASS|FAIL|IGNORE)(?:: (?P<message>.+))?")
+_UNITY_FIXTURE_VERBOSE_PREFIX_REGEX = re.compile(r"(?P<prefix>TEST\((?P<test_group>[^\s,]+), (?P<test_name>[^\s\)]+)\))(?P<remainder>.+)?$")
+_UNITY_FIXTURE_REMAINDER_REGEX = re.compile(r"^(?P<file>.+):(?P<line>\d+)::(?P<result>PASS|FAIL|IGNORE)(?:: (?P<message>.+))?")
+_TEST_SUMMARY_BLOCK_REGEX = re.compile(
+    r"^(?P<num_tests>\d+) Tests (?P<num_failures>\d+) Failures (?P<num_ignored>\d+) Ignored\s*\r?\n(?P<overall_result>OK|FAIL)(?:ED)?", re.MULTILINE
+)
+_TEST_RESULT_ENUM = ["PASS", "FAIL", "IGNORE"]
+
+
+class TestFormat(enum.Enum):
+    """Represents the flavor of Unity used to produce a given output."""
+
+    UNITY_BASIC = 0
+    # UNITY_FIXTURE = enum.auto()
+    UNITY_FIXTURE_VERBOSE = 1
+
+
+globals().update(TestFormat.__members__)
+
+
+class TestStats:
+    """Statistics about a test collection"""
+
+    def __init__(self):
+        self.total = 0
+        self.passed = 0
+        self.failed = 0
+        self.ignored = 0
+
+    def __eq__(self, other):
+        if isinstance(other, self.__class__):
+            return (self.total == other.total
+                    and self.passed == other.passed
+                    and self.failed == other.failed
+                    and self.ignored == other.ignored)
+        return False
+
+
+class TestResult:
+    """
+    Class representing the result of a single test.
+
+    Contains the test name, its result (either PASS, FAIL or IGNORE), the file and line number if
+    the test result was not PASS, and an optional message.
+    """
+
+    def __init__(
+            self,
+            test_name,
+            result,
+            group="default",
+            file="",
+            line=0,
+            message="",
+            full_line="",
+    ):
+        if result not in _TEST_RESULT_ENUM:
+            raise ValueError("result must be one of {}.".format(_TEST_RESULT_ENUM))
+
+        self._test_name = test_name
+        self._result = result
+        self._group = group
+        self._message = message
+        self._full_line = full_line
+
+        if result != "PASS":
+            self._file = file
+            self._line = line
+        else:
+            self._file = ""
+            self._line = 0
+
+    def file(self):
+        """The file name - returns empty string if the result is PASS."""
+        return self._file
+
+    def line(self):
+        """The line number - returns 0 if the result is PASS."""
+        return self._line
+
+    def name(self):
+        """The test name."""
+        return self._test_name
+
+    def result(self):
+        """The test result, one of PASS, FAIL or IGNORED."""
+        return self._result
+
+    def group(self):
+        """
+        The test group, if applicable.
+
+        For basic Unity output, this will always be "default".
+        """
+        return self._group
+
+    def message(self):
+        """The accompanying message - returns empty string if the result is PASS."""
+        return self._message
+
+    def full_line(self):
+        """The original, full line of unit test output that this object was created from."""
+        return self._full_line
+
+
+class TestResults:
+    """
+    Class representing Unity test results.
+
+    After being initialized with raw test output, it parses the output and represents it as a list
+    of TestResult objects which can be inspected or converted to other types of output, e.g. JUnit
+    XML.
+    """
+
+    def __init__(self, test_output, test_format=TestFormat.UNITY_BASIC):
+        """
+        Create a new TestResults object from Unity test output.
+
+        Keyword arguments:
+        test_output -- The full test console output, must contain the overall result and summary
+                       block at the bottom.
+
+        Optional arguments:
+        test_format -- TestFormat enum representing the flavor of Unity used to create the output.
+
+        Exceptions:
+        ValueError, if the test output is not formatted properly.
+        """
+        self._tests = []
+        self._test_stats = self._find_summary_block(test_output)
+
+        if test_format is TestFormat.UNITY_BASIC:
+            self._parse_unity_basic(test_output)
+        elif test_format is TestFormat.UNITY_FIXTURE_VERBOSE:
+            self._parse_unity_fixture_verbose(test_output)
+        else:
+            raise ValueError(
+                "test_format must be one of UNITY_BASIC or UNITY_FIXTURE_VERBOSE."
+            )
+
+    def num_tests(self):
+        """The total number of tests parsed."""
+        return self._test_stats.total
+
+    def num_passed(self):
+        """The number of tests with result PASS."""
+        return self._test_stats.passed
+
+    def num_failed(self):
+        """The number of tests with result FAIL."""
+        return self._test_stats.failed
+
+    def num_ignored(self):
+        """The number of tests with result IGNORE."""
+        return self._test_stats.ignored
+
+    def test_iter(self):
+        """Get an iterator for iterating over individual tests.
+
+        Returns an iterator over TestResult objects.
+
+        Example:
+        for test in unity_results.test_iter():
+            print(test.name())
+        """
+        return iter(self._tests)
+
+    def tests(self):
+        """Get a list of all the tests (TestResult objects)."""
+        return self._tests
+
+    def to_junit(
+            self, suite_name="all_tests",
+    ):
+        """
+        Convert the tests to JUnit XML.
+
+        Returns a junit_xml.TestSuite containing all of the test cases. One test suite will be
+        generated with the name given in suite_name. Unity Fixture test groups are mapped to the
+        classname attribute of test cases; for basic Unity output there will be one class named
+        "default".
+
+        Optional arguments:
+        suite_name -- The name to use for the "name" and "package" attributes of the testsuite element.
+
+        Sample output:
+        <testsuite disabled="0" errors="0" failures="1" name="[suite_name]" package="[suite_name]" skipped="0" tests="8" time="0">
+            <testcase classname="test_group_1" name="group_1_test" />
+            <testcase classname="test_group_2" name="group_2_test" />
+        </testsuite>
+        """
+        test_case_list = []
+
+        for test in self._tests:
+            if test.result() == "PASS":
+                test_case_list.append(
+                    junit_xml.TestCase(name=test.name(), classname=test.group())
+                )
+            else:
+                junit_tc = junit_xml.TestCase(
+                    name=test.name(),
+                    classname=test.group(),
+                    file=test.file(),
+                    line=test.line(),
+                )
+                if test.result() == "FAIL":
+                    junit_tc.add_failure_info(
+                        message=test.message(), output=test.full_line()
+                    )
+                elif test.result() == "IGNORE":
+                    junit_tc.add_skipped_info(
+                        message=test.message(), output=test.full_line()
+                    )
+                test_case_list.append(junit_tc)
+
+        return junit_xml.TestSuite(
+            name=suite_name, package=suite_name, test_cases=test_case_list
+        )
+
+    def _find_summary_block(self, unity_output):
+        """
+        Find and parse the test summary block.
+
+        Unity prints a test summary block at the end of a test run of the form:
+        -----------------------
+        X Tests Y Failures Z Ignored
+        [PASS|FAIL]
+
+        Returns the contents of the test summary block as a TestStats object.
+        """
+        match = _TEST_SUMMARY_BLOCK_REGEX.search(unity_output)
+        if not match:
+            raise ValueError("A Unity test summary block was not found.")
+
+        try:
+            stats = TestStats()
+            stats.total = int(match.group("num_tests"))
+            stats.failed = int(match.group("num_failures"))
+            stats.ignored = int(match.group("num_ignored"))
+            stats.passed = stats.total - stats.failed - stats.ignored
+            return stats
+        except ValueError:
+            raise ValueError("The Unity test summary block was not valid.")
+
+    def _parse_unity_basic(self, unity_output):
+        """
+        Parse basic unity output.
+
+        This is of the form file:line:test_name:result[:optional_message]
+        """
+        found_test_stats = TestStats()
+
+        for test in _NORMAL_TEST_REGEX.finditer(unity_output):
+            try:
+                new_test = TestResult(
+                    test.group("test_name"),
+                    test.group("result"),
+                    file=test.group("file"),
+                    line=int(test.group("line")),
+                    message=test.group("message")
+                    if test.group("message") is not None
+                    else "",
+                    full_line=test.group(0),
+                )
+            except ValueError:
+                continue
+
+            self._add_new_test(new_test, found_test_stats)
+
+        if len(self._tests) == 0:
+            raise ValueError("No tests were found.")
+
+        if found_test_stats != self._test_stats:
+            raise ValueError("Test output does not match summary block.")
+
+    def _parse_unity_fixture_verbose(self, unity_output):
+        """
+        Parse the output of the unity_fixture add-in invoked with the -v flag.
+
+        This is a more complex operation than basic unity output, because the output for a single
+        test can span multiple lines. There is a prefix of the form "TEST(test_group, test_name)"
+        that always exists on the first line for a given test. Immediately following that can be a
+        pass or fail message, or some number of diagnostic messages followed by a pass or fail
+        message.
+        """
+        found_test_stats = TestStats()
+
+        line_iter = iter(unity_output.splitlines())
+        try:
+            line = next(line_iter)
+            while True:
+                prefix_match = _UNITY_FIXTURE_VERBOSE_PREFIX_REGEX.search(line)
+                line = next(line_iter)
+                if prefix_match:
+                    # Handle the remaining portion of a test case line after the unity_fixture
+                    # prefix.
+                    remainder = prefix_match.group("remainder")
+                    if remainder:
+                        self._parse_unity_fixture_remainder(
+                            prefix_match, remainder, found_test_stats
+                        )
+                    # Handle any subsequent lines with more information on the same test case.
+                    while not _UNITY_FIXTURE_VERBOSE_PREFIX_REGEX.search(line):
+                        self._parse_unity_fixture_remainder(
+                            prefix_match, line, found_test_stats
+                        )
+                        line = next(line_iter)
+        except StopIteration:
+            pass
+
+        if len(self._tests) == 0:
+            raise ValueError("No tests were found.")
+
+        if found_test_stats != self._test_stats:
+            raise ValueError("Test output does not match summary block.")
+
+    def _parse_unity_fixture_remainder(self, prefix_match, remainder, test_stats):
+        """
+        Parse the remainder of a Unity Fixture test case.
+
+        Can be on the same line as the prefix or on subsequent lines.
+        """
+        new_test = None
+
+        if remainder == " PASS":
+            new_test = TestResult(
+                prefix_match.group("test_name"),
+                "PASS",
+                group=prefix_match.group("test_group"),
+                full_line=prefix_match.group(0),
+            )
+        else:
+            remainder_match = _UNITY_FIXTURE_REMAINDER_REGEX.match(remainder)
+            if remainder_match:
+                new_test = TestResult(
+                    prefix_match.group("test_name"),
+                    remainder_match.group("result"),
+                    group=prefix_match.group("test_group"),
+                    file=remainder_match.group("file"),
+                    line=int(remainder_match.group("line")),
+                    message=remainder_match.group("message")
+                    if remainder_match.group("message") is not None
+                    else "",
+                    full_line=prefix_match.group("prefix") + remainder_match.group(0),
+                )
+
+        if new_test is not None:
+            self._add_new_test(new_test, test_stats)
+
+    def _add_new_test(self, new_test, test_stats):
+        """Add a new test and increment the proper members of test_stats."""
+        test_stats.total += 1
+        if new_test.result() == "PASS":
+            test_stats.passed += 1
+        elif new_test.result() == "FAIL":
+            test_stats.failed += 1
+        else:
+            test_stats.ignored += 1
+
+        self._tests.append(new_test)
diff --git a/tools/unit-test-app/components/test_utils/test_runner.c b/tools/unit-test-app/components/test_utils/test_runner.c
index 6c17a0640f..daa64d5295 100644
--- a/tools/unit-test-app/components/test_utils/test_runner.c
+++ b/tools/unit-test-app/components/test_utils/test_runner.c
@@ -18,6 +18,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "unity.h"
+#include "unity_test_runner.h"
 #include "test_utils.h"
 #include "esp_newlib.h"