diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..5a4e85a
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "third_party/googletest"]
+	path = third_party/googletest
+	url = https://github.com/google/googletest.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0735b48..804e706 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -26,6 +26,8 @@ math(EXPR MIND_VOSCILLATOR_FREQ_MS "1000 / ${MIND_VOSCILLATOR_PERIOD_MS}")
 # World thread configuration
 option(WORLD_USE_BODY_THREAD
 	"Use body thread for world component instead of separate world thread" OFF)
+# Test configuration
+option(ENABLE_TESTS "Enable building tests" OFF)
 
 # Configure config.h
 configure_file(
@@ -56,6 +58,10 @@ if(NOT DL_LIBRARY)
     message(FATAL_ERROR "Dynamic linking library (libdl/libldl) not found")
 endif()
 
+# Add third-party dependencies
+if(ENABLE_TESTS)
+    add_subdirectory(third_party)
+endif()
 # Add core components
 add_subdirectory(smocore)
 add_subdirectory(commonLibs)
@@ -74,6 +80,12 @@ target_link_libraries(salmanoff
 # Add all registered DAPSS targets as dependencies
 add_all_daps_dependencies()
 
+# Add tests if enabled
+if(ENABLE_TESTS)
+    enable_testing()
+    add_subdirectory(tests)
+endif()
+
 install(TARGETS salmanoff DESTINATION bin)
 
 # Install device configuration files (preprocessed .daps files)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
new file mode 100644
index 0000000..7cf9fbc
--- /dev/null
+++ b/tests/CMakeLists.txt
@@ -0,0 +1,16 @@
+# Create a test executable for qutex
+add_executable(qutex_tests smocore/qutex_tests.cpp)
+
+# Link against Google Test and the smocore library
+target_link_libraries(qutex_tests
+    gtest_main
+    smocore
+    ${Boost_LIBRARIES}
+    ${DL_LIBRARY}
+)
+
+# Ensure Google Test is built before our test executable
+add_dependencies(qutex_tests gtest_main)
+
+# Add the test to CTest
+add_test(NAME qutex_tests COMMAND qutex_tests)
diff --git a/tests/smocore/qutex_tests.cpp b/tests/smocore/qutex_tests.cpp
new file mode 100644
index 0000000..d45d1b1
--- /dev/null
+++ b/tests/smocore/qutex_tests.cpp
@@ -0,0 +1,347 @@
+#include <gtest/gtest.h>
+#include <qutex.h>
+#include <lockerAndInvokerBase.h>
+#include <memory>
+#include <thread>
+#include <chrono>
+#include <vector>
+
+namespace smo {
+
+// Mock implementation of LockerAndInvokerBase for testing
+class MockLockerAndInvoker : public LockerAndInvokerBase {
+public:
+    explicit MockLockerAndInvoker(const void* addr)
+        : LockerAndInvokerBase(addr), awakened(false) {}
+
+    bool awakened;
+    Qutex* registeredQutex = nullptr;
+    List::iterator queueIterator;
+
+    List::iterator getLockvokerIteratorForQutex(Qutex& qutex) override {
+        registeredQutex = &qutex;
+        queueIterator = qutex.registerInQueue(std::shared_ptr<LockerAndInvokerBase>(this));
+        return queueIterator;
+    }
+
+    void awaken(bool forceAwaken = false) override {
+        awakened = true;
+    }
+};
+
+class QutexTest : public ::testing::Test {
+protected:
+    void SetUp() override {
+        // Create mock lockvokers with unique addresses
+        mock1 = std::make_shared<MockLockerAndInvoker>(&addr1);
+        mock2 = std::make_shared<MockLockerAndInvoker>(&addr2);
+        mock3 = std::make_shared<MockLockerAndInvoker>(&addr3);
+        mock4 = std::make_shared<MockLockerAndInvoker>(&addr4);
+        mock5 = std::make_shared<MockLockerAndInvoker>(&addr5);
+    }
+
+    void TearDown() override {
+        // Clean up
+    }
+
+    Qutex qutex;
+    std::shared_ptr<MockLockerAndInvoker> mock1, mock2, mock3, mock4, mock5;
+
+    // Unique addresses for testing
+    int addr1 = 1;
+    int addr2 = 2;
+    int addr3 = 3;
+    int addr4 = 4;
+    int addr5 = 5;
+};
+
+// Test basic queue registration and unregistration
+TEST_F(QutexTest, QueueRegistrationAndUnregistration) {
+    // Register mock1 in queue
+    auto it1 = qutex.registerInQueue(mock1);
+    EXPECT_EQ(qutex.queue.size(), 1);
+    EXPECT_FALSE(qutex.isOwned);
+
+    // Register mock2 in queue
+    auto it2 = qutex.registerInQueue(mock2);
+    EXPECT_EQ(qutex.queue.size(), 2);
+
+    // Unregister mock1
+    qutex.unregisterFromQueue(it1);
+    EXPECT_EQ(qutex.queue.size(), 1);
+
+    // Unregister mock2
+    qutex.unregisterFromQueue(it2);
+    EXPECT_EQ(qutex.queue.size(), 0);
+}
+
+// Test single lock acquisition when queue is empty
+TEST_F(QutexTest, SingleLockAcquisitionEmptyQueue) {
+    // Register mock1
+    auto it1 = qutex.registerInQueue(mock1);
+
+    // Try to acquire with nRequiredLocks = 1
+    bool acquired = qutex.tryAcquire(*mock1, 1);
+    EXPECT_TRUE(acquired);
+    EXPECT_TRUE(qutex.isOwned);
+}
+
+// Test single lock acquisition when at front of queue
+TEST_F(QutexTest, SingleLockAcquisitionAtFront) {
+    // Register multiple lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+    auto it3 = qutex.registerInQueue(mock3);
+
+    // mock1 should be at front, mock3 at back
+    EXPECT_EQ(qutex.queue.front().get(), mock1.get());
+    EXPECT_EQ(qutex.queue.back().get(), mock3.get());
+
+    // mock1 (at front) should succeed
+    bool acquired = qutex.tryAcquire(*mock1, 1);
+    EXPECT_TRUE(acquired);
+    EXPECT_TRUE(qutex.isOwned);
+
+    // mock2 (not at front) should fail
+    qutex.isOwned = false; // Reset for testing
+    bool acquired2 = qutex.tryAcquire(*mock2, 1);
+    EXPECT_FALSE(acquired2);
+}
+
+// Test single lock acquisition failure when not at front
+TEST_F(QutexTest, SingleLockAcquisitionNotAtFront) {
+    // Register multiple lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+
+    // mock2 (not at front) should fail
+    bool acquired = qutex.tryAcquire(*mock2, 1);
+    EXPECT_FALSE(acquired);
+    EXPECT_FALSE(qutex.isOwned);
+}
+
+// Test multi-lock acquisition (nRequiredLocks > 1)
+TEST_F(QutexTest, MultiLockAcquisition) {
+    // Register 4 lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+    auto it3 = qutex.registerInQueue(mock3);
+    auto it4 = qutex.registerInQueue(mock4);
+
+    // For nRequiredLocks = 2, need to be in top 50% (top 2 out of 4)
+    // mock1 (position 1) should succeed
+    bool acquired1 = qutex.tryAcquire(*mock1, 2);
+    EXPECT_TRUE(acquired1);
+
+    // Reset for next test
+    qutex.isOwned = false;
+
+    // mock2 (position 2) should succeed
+    bool acquired2 = qutex.tryAcquire(*mock2, 2);
+    EXPECT_TRUE(acquired2);
+
+    // Reset for next test
+    qutex.isOwned = false;
+
+    // mock3 (position 3) should fail (in bottom 50%)
+    bool acquired3 = qutex.tryAcquire(*mock3, 2);
+    EXPECT_FALSE(acquired3);
+
+    // Reset for next test
+    qutex.isOwned = false;
+
+    // mock4 (position 4) should fail (in bottom 50%)
+    bool acquired4 = qutex.tryAcquire(*mock4, 2);
+    EXPECT_FALSE(acquired4);
+}
+
+// Test multi-lock acquisition with 3 required locks
+TEST_F(QutexTest, MultiLockAcquisitionThreeLocks) {
+    // Register 6 lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+    auto it3 = qutex.registerInQueue(mock3);
+    auto it4 = qutex.registerInQueue(mock4);
+    auto it5 = qutex.registerInQueue(mock5);
+
+    // Create one more mock
+    int addr6 = 6;
+    auto mock6 = std::make_shared<MockLockerAndInvoker>(&addr6);
+    auto it6 = qutex.registerInQueue(mock6);
+
+    // For nRequiredLocks = 3, need to be in top 66% (top 4 out of 6)
+    // Positions 1, 2, 3, 4 should succeed
+    // Positions 5, 6 should fail
+
+    bool acquired1 = qutex.tryAcquire(*mock1, 3);
+    EXPECT_TRUE(acquired1);
+    qutex.isOwned = false;
+
+    bool acquired2 = qutex.tryAcquire(*mock2, 3);
+    EXPECT_TRUE(acquired2);
+    qutex.isOwned = false;
+
+    bool acquired3 = qutex.tryAcquire(*mock3, 3);
+    EXPECT_TRUE(acquired3);
+    qutex.isOwned = false;
+
+    bool acquired4 = qutex.tryAcquire(*mock4, 3);
+    EXPECT_TRUE(acquired4);
+    qutex.isOwned = false;
+
+    bool acquired5 = qutex.tryAcquire(*mock5, 3);
+    EXPECT_FALSE(acquired5);
+
+    qutex.isOwned = false;
+    bool acquired6 = qutex.tryAcquire(*mock6, 3);
+    EXPECT_FALSE(acquired6);
+}
+
+// Test acquisition failure when already owned
+TEST_F(QutexTest, AcquisitionFailureWhenOwned) {
+    // Register mock1
+    auto it1 = qutex.registerInQueue(mock1);
+
+    // Manually set as owned
+    qutex.isOwned = true;
+
+    // Try to acquire should fail
+    bool acquired = qutex.tryAcquire(*mock1, 1);
+    EXPECT_FALSE(acquired);
+    EXPECT_TRUE(qutex.isOwned);
+}
+
+// Test backoff with single item (should not rotate)
+TEST_F(QutexTest, BackoffSingleItem) {
+    // Register only one lockvoker
+    auto it1 = qutex.registerInQueue(mock1);
+
+    // Set as owned first
+    qutex.isOwned = true;
+
+    // Backoff should not rotate and should awaken the front item
+    mock1->awakened = false;
+    qutex.backoff(*mock1, 1);
+
+    EXPECT_FALSE(qutex.isOwned);
+    EXPECT_EQ(qutex.queue.size(), 1);
+    // Should not awaken since there's only one item
+    EXPECT_FALSE(mock1->awakened);
+}
+
+// Test backoff with multiple items and rotation
+TEST_F(QutexTest, BackoffWithRotation) {
+    // Register multiple lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+    auto it3 = qutex.registerInQueue(mock3);
+
+    // Set as owned first
+    qutex.isOwned = true;
+
+    // mock1 should be at front initially
+    EXPECT_EQ(qutex.queue.front().get(), mock1.get());
+
+    // Backoff from mock1 (at front) with nRequiredLocks = 2
+    mock2->awakened = false;
+    qutex.backoff(*mock1, 2);
+
+    // mock1 should have been rotated to position 2
+    // mock2 should now be at front
+    EXPECT_EQ(qutex.queue.front().get(), mock2.get());
+    EXPECT_FALSE(qutex.isOwned);
+
+    // mock2 should have been awakened
+    EXPECT_TRUE(mock2->awakened);
+}
+
+// Test backoff with rotation to back when queue smaller than nRequiredLocks
+TEST_F(QutexTest, BackoffRotationToBack) {
+    // Register only 2 lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+
+    // Set as owned first
+    qutex.isOwned = true;
+
+    // mock1 should be at front initially
+    EXPECT_EQ(qutex.queue.front().get(), mock1.get());
+    EXPECT_EQ(qutex.queue.back().get(), mock2.get());
+
+    // Backoff from mock1 with nRequiredLocks = 5 (larger than queue size)
+    mock2->awakened = false;
+    qutex.backoff(*mock1, 5);
+
+    // mock1 should have been moved to the back
+    EXPECT_EQ(qutex.queue.front().get(), mock2.get());
+    EXPECT_EQ(qutex.queue.back().get(), mock1.get());
+    EXPECT_FALSE(qutex.isOwned);
+
+    // mock2 should have been awakened
+    EXPECT_TRUE(mock2->awakened);
+}
+
+// Test release functionality
+TEST_F(QutexTest, Release) {
+    // Register multiple lockvokers
+    auto it1 = qutex.registerInQueue(mock1);
+    auto it2 = qutex.registerInQueue(mock2);
+
+    // Set as owned
+    qutex.isOwned = true;
+
+    // Release should set isOwned to false and awaken front item
+    mock1->awakened = false;
+    qutex.release();
+
+    EXPECT_FALSE(qutex.isOwned);
+    EXPECT_TRUE(mock1->awakened);
+}
+
+// Test release with empty queue
+TEST_F(QutexTest, ReleaseEmptyQueue) {
+    // Set as owned
+    qutex.isOwned = true;
+
+    // Release with empty queue should just set isOwned to false
+    qutex.release();
+
+    EXPECT_FALSE(qutex.isOwned);
+    EXPECT_TRUE(qutex.queue.empty());
+}
+
+// Test exception when trying to acquire from empty queue
+TEST_F(QutexTest, ExceptionOnEmptyQueueAcquisition) {
+    // Don't register any lockvokers
+    EXPECT_THROW(qutex.tryAcquire(*mock1, 1), std::runtime_error);
+}
+
+// Test exception when backoff called on empty queue
+TEST_F(QutexTest, ExceptionOnEmptyQueueBackoff) {
+    // Don't register any lockvokers
+    EXPECT_THROW(qutex.backoff(*mock1, 1), std::runtime_error);
+}
+
+// Test edge case: single lockvoker with multiple required locks
+TEST_F(QutexTest, SingleLockvokerMultipleRequiredLocks) {
+    // Register only one lockvoker
+    auto it1 = qutex.registerInQueue(mock1);
+
+    // Should succeed regardless of nRequiredLocks when only one item
+    bool acquired = qutex.tryAcquire(*mock1, 5);
+    EXPECT_TRUE(acquired);
+    EXPECT_TRUE(qutex.isOwned);
+}
+
+// Test unregistration without locking
+TEST_F(QutexTest, UnregistrationWithoutLocking) {
+    // Register lockvoker
+    auto it1 = qutex.registerInQueue(mock1);
+    EXPECT_EQ(qutex.queue.size(), 1);
+
+    // Unregister without locking
+    qutex.unregisterFromQueue(it1, false);
+    EXPECT_EQ(qutex.queue.size(), 0);
+}
+
+} // namespace smo
diff --git a/third_party/CMakeLists.txt b/third_party/CMakeLists.txt
new file mode 100644
index 0000000..175a76f
--- /dev/null
+++ b/third_party/CMakeLists.txt
@@ -0,0 +1,2 @@
+# Add Google Test as a subdirectory
+add_subdirectory(googletest googletest)
diff --git a/third_party/googletest b/third_party/googletest
new file mode 160000
index 0000000..50b8600
--- /dev/null
+++ b/third_party/googletest
@@ -0,0 +1 @@
+Subproject commit 50b8600c63c5487e901e2845a0f64d384a65f75d