rt-thread/examples/utest/configs/kernel/ipc.conf

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CONFIG_UTEST_SEMAPHORE_TC=y
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CONFIG_UTEST_EVENT_TC=y
CONFIG_UTEST_MESSAGEQUEUE_TC=y
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CONFIG_UTEST_SIGNAL_TC=y
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# dependencies
CONFIG_RT_USING_SEMAPHORE=y
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CONFIG_RT_USING_EVENT=y
CONFIG_RT_USING_MESSAGEQUEUE=y
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CONFIG_RT_USING_SIGNALS=y