How to design integration test for ARM embedded software to be run in Jenkins?

I need to design an integration test for embedded software that is already implemented.

Software is running on ARM processor; the application starts a set of processes which can work independently, but, in practice, they interact between each other via shared memory; there is a manager process which controls the others (it launches these other processes, checks for their state, etc.); I have the possibility of quering CGIs.

The integration test should be launched by Jenkins, and a test report should be returned.

My idea is to develop a new process which manages the integration test: this process would be starded by calling a dedicated CGI; when some conditions are met (i.e. those that make the test suite) in the other processes, this event shall be notified to the test process (maybe via DBUS?): for example, if I have a process which reads data from serial port, and I want to test if data is correctly saved, in this case I would assert that data is received and notify it to the test process). Test process will be polled to fetch the test status and return a report (e.g. to Jenkins).

Is this a good approach? What test framework do you suggest to be integrated into the test process?