diff --git a/aos/crio/queue_test.cc b/aos/crio/queue_test.cc
new file mode 100644
index 0000000..39609bc
--- /dev/null
+++ b/aos/crio/queue_test.cc
@@ -0,0 +1,122 @@
+#include <unistd.h>
+
+#include <memory>
+
+#include "gtest/gtest.h"
+#define __TEST_VXWORKS__
+#include "aos/common/test_queue.q.h"
+
+using ::aos::time::Time;
+
+namespace aos {
+namespace common {
+namespace testing {
+
+class CRIOQueueTest : public ::testing::Test {
+ protected:
+  // Create a new instance of the test queue that is fresh.
+  ::aos::Queue<TestingMessage> my_test_queue;
+
+  CRIOQueueTest() : my_test_queue(".aos.common.testing.test_queue") {}
+};
+
+// Tests that we can send a message with the message pointer and get it back.
+TEST_F(CRIOQueueTest, SendMessage) {
+  ScopedMessagePtr<TestingMessage> msg = my_test_queue.MakeMessage();
+  msg->test_bool = true;
+  msg->test_int = 0x971;
+  msg.Send();
+
+  my_test_queue.FetchLatest();
+  EXPECT_TRUE(my_test_queue->test_bool);
+  EXPECT_EQ(0x971, my_test_queue->test_int);
+}
+
+// Tests that we can send a message with the builder and get it back.
+TEST_F(CRIOQueueTest, SendWithBuilder) {
+  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
+
+  my_test_queue.FetchLatest();
+  EXPECT_EQ(true, my_test_queue->test_bool);
+  EXPECT_EQ(0x971, my_test_queue->test_int);
+  EXPECT_EQ(true, my_test_queue.IsNewerThanMS(10000));
+}
+
+// Tests that various pointer deref functions at least seem to work.
+TEST_F(CRIOQueueTest, PointerDeref) {
+  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
+
+  my_test_queue.FetchLatest();
+  const TestingMessage *msg_ptr = my_test_queue.get();
+  ASSERT_NE(static_cast<TestingMessage*>(NULL), msg_ptr);
+  EXPECT_EQ(0x971, msg_ptr->test_int);
+  EXPECT_EQ(msg_ptr, &(*my_test_queue));
+}
+
+// Tests that FetchLatest skips a missing message.
+TEST_F(CRIOQueueTest, FetchLatest) {
+  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x254).Send();
+  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
+
+  my_test_queue.FetchLatest();
+  EXPECT_EQ(0x971, my_test_queue->test_int);
+}
+
+// Tests that age makes some sense.
+TEST_F(CRIOQueueTest, Age) {
+  my_test_queue.MakeWithBuilder().test_bool(true).test_int(0x971).Send();
+
+  my_test_queue.FetchLatest();
+  EXPECT_TRUE(my_test_queue.IsNewerThanMS(100));
+  const Time age = my_test_queue.Age();
+  EXPECT_EQ(0, age.sec());
+  EXPECT_GE(100000000, age.nsec());
+}
+
+
+class CRIOMessageTest : public ::testing::Test {
+ public:
+  TestingMessage msg;
+};
+
+TEST_F(CRIOMessageTest, Zeroing) {
+  msg.test_bool = true;
+  msg.test_int = 0x254;
+  msg.SetTimeToNow();
+
+  msg.Zero();
+
+  EXPECT_FALSE(msg.test_bool);
+  EXPECT_EQ(0, msg.test_int);
+  EXPECT_EQ(0, msg.sent_time.sec());
+  EXPECT_EQ(0, msg.sent_time.nsec());
+}
+
+TEST_F(CRIOMessageTest, Size) {
+  EXPECT_EQ(static_cast<size_t>(13), msg.Size());
+}
+
+TEST_F(CRIOMessageTest, Serialize) {
+  char serialized_data[msg.Size()];
+  msg.test_bool = true;
+  msg.test_int = 0x254;
+  msg.SetTimeToNow();
+
+  msg.Serialize(serialized_data);
+
+  TestingMessage new_msg;
+  new_msg.Deserialize(serialized_data);
+
+  EXPECT_EQ(msg.test_bool, new_msg.test_bool);
+  EXPECT_EQ(msg.test_int, new_msg.test_int);
+  EXPECT_EQ(msg.sent_time, new_msg.sent_time);
+}
+
+TEST_F(CRIOMessageTest, SetNow) {
+  msg.SetTimeToNow();
+  EXPECT_LE(msg.sent_time - Time::Now(), Time::InMS(20));
+}
+
+}  // namespace testing
+}  // namespace common
+}  // namespace aos