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+I have been wanting to code properly with unit tests and continuous integration for a few years now and have never done it properly. 
+# Development Process
+## Unit Testing
+### C++
+In [[C++]] we use the [[GTest Framework|GoogleTest]] Framework.
+
+## Code Coverage
+Code coverage testing basically compiles the code with profiling flags, which count the number of times a specific line has been executed. And since google test runs the source code we can test if we are testing all the code that we have written.
+For C++ typically, a tool called `gcovr` is used. In order for it to work you need to compile the code with the following flags: `-fprofile-arcs` and `-ftest-coverage`
+If the project uses [[CMake]] you can add the following to your CMakeLists.txt:
+```cmake
+if(CMAKE_CXX_COMPILER_ID MATCHES GNU)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
+
+endif()
+```
+
+
+
+# Online Tools
+In order to do continuous integration we need a place that automatically runs our unit tests whenever a commit is pushed.
+## GitLab
+Gitlab is known for its [[Gitlab - CI CD|CICD]] (Continuous Integration / Continuous Deployment) pipeline. It allows to customize and automate the entire process very effectively. The setup process is also very easy and explained well on [their website](https://docs.gitlab.com/ee/ci/quick_start/).
+
+1. You must have runners[^1] available
+2. Create a `.gitlab-ci.yml` file at the root of your repository. The entire pipeline of automated tests is defined in this file.
+
+A good example repo can be found [here](https://github.com/pothitos/gtest-demo-gitlab/tree/master).
+My own first gitlab-ci config file (`.gitlab-ci.yml`):
+```yaml
+image: ubuntu:20.04
+
+job:
+	script:
+		- export DEBIAN_FRONTEND=noninteractive
+		- apt-get update
+		- apt-get install -y cmake g++ build-essential git gcovr 
+		- cd onesec3d_cpp
+		- mkdir build && cd build
+		- cmake -DBUILD_TESTING=ON ..
+		- cmake --build .
+		- export DATADIR=../test/sample_3d_files/
+		- ./test/onesec3d_cpp_test
+		- gcovr --exclude-directories '_deps' -r ..
+```
+# Flashcards
+#learning/cpp 
+which command to do code coverage testing;;`gcovr`
+<!--SR:!2023-12-21,14,290-->
+requirements for `gcovr`;; project must be built with flags: `-fprofile-arcs` and `-ftest-coverage`
+<!--SR:!2023-12-08,1,210-->
+
+# Resources
+- CI for robotics projects with [[ROS2]]: use [[Gazebo]] that is run on the gitlab server: http://moore-mike.com/bobble-ci.html
+# Footnotes
+[^1]: GitLab Runner is an application that can execute CI/CD jobs in a GitLab pipeline