Continuous Integration/ Unit testing in embedded C++ systems

What tools are generally used for unit testing and especially continuous integration for embedded systems?

I am especially thinking that you usually have to cross-compile and deploy, and also that you can't easily visualize the target platform. Also it can be difficult to run test-code and frameworks.

What could I use too alleviate these difficulties?

(I think it should be some kind of dual targeting, where the build server runs its tests on a easier target)