more merges from gerrit

Change-Id: I13441cd8889dd39f74a2dd1a85e75a1b76bb93c8
2022-03-08 10:52:14 +01:00 · 2022-03-08 10:52:14 +01:00 · 34b93adef0
commit 34b93adef0
parent 10018b8cad
20 changed files with 1423 additions and 340 deletions
--- a/bin/secop-server
+++ b/bin/secop-server
@ -30,8 +30,8 @@ from os import path
 # Add import path for inplace usage
 sys.path.insert(0, path.abspath(path.join(path.dirname(__file__), '..')))

-from secop.lib import getGeneralConfig
-from secop.logging import initLogging
+from secop.lib import generalConfig
+from secop.logging import logger
 from secop.server import Server


@ -75,6 +75,11 @@ def parseArgv(argv):
                        action='store_true',
                        help='check cfg files only',
                        default=False)
+    parser.add_argument('-r',
+                        '--relaxed',
+                        action='store_true',
+                        help='no checking of problematic behaviour',
+                        default=False)
    return parser.parse_args(argv)


@ -85,9 +90,15 @@ def main(argv=None):
    args = parseArgv(argv[1:])

    loglevel = 'debug' if args.verbose else ('error' if args.quiet else 'info')
-    getGeneralConfig(args.gencfg)
-    log = initLogging(loglevel)
-    srv = Server(args.name, log, cfgfiles=args.cfgfiles, interface=args.port, testonly=args.test)
+    if args.relaxed:
+        generalConfig.defaults['lazy_number_validation'] = True
+        generalConfig.defaults['disable_value_range_check'] = True
+        generalConfig.defaults['legacy_hasiodev'] = True
+        generalConfig.defaults['tolerate_poll_property'] = True
+    generalConfig.init(args.gencfg)
+    logger.init(loglevel)
+
+    srv = Server(args.name, logger.log, cfgfiles=args.cfgfiles, interface=args.port, testonly=args.test)

    if args.daemonize:
        srv.start()
--- a/ci/Jenkinsfile
+++ b/ci/Jenkinsfile
@ -30,6 +30,8 @@ def changedFiles = '';

 def run_pylint(pyver) {
  stage ('pylint-' + pyver) {
+    def cpylint = "RUNNING"  
+    gerritPostCheck(["jenkins:pylint_${pyver}": cpylint])  
    def status = 'OK'
    changedFiles = sh returnStdout: true, script: '''\
 #!/bin/bash
@ -56,8 +58,8 @@ fi
    withCredentials([string(credentialsId: 'GERRITHTTP',
                     variable: 'GERRITHTTP')]) {
        sh """\
-        #!/bin/bash
-	if [ -f pylint_results.txt ] ; then
+#!/bin/bash
+        if [ -f pylint_results.txt ] ; then
          /home/jenkins/tools2/bin/pylint2gerrit
          mv pylint_results.txt pylint-${pyver}.txt
        else
@ -68,18 +70,15 @@ fi

    echo "pylint result: $res"
    this.verifyresult.put('pylint'+pyver, 1)
+    cpylint = "SUCCESSFUL"
    if ( res != 0 ) {
        currentBuild.result='FAILURE'
        this.verifyresult.put('pylint'+ pyver, -1)
        status = 'FAILURE'
+        cpylint = "FAILED"
    }

-    gerritverificationpublisher([
-        verifyStatusValue: this.verifyresult['pylint'+pyver],
-        verifyStatusCategory: 'pylint ',
-        verifyStatusName: 'pylint-'+pyver,
-        verifyStatusReporter: 'jenkins',
-        verifyStatusRerun: '!recheck'])
+    gerritPostCheck(["jenkins:pylint_${pyver}": cpylint])  
    archiveArtifacts([allowEmptyArchive: true,
                          artifacts: 'pylint-*.txt'])
    recordIssues([enabledForFailure: true,
@ -99,7 +98,9 @@ fi

 def run_tests(pyver) {
    stage('Test:' + pyver) {
-       writeFile file: 'setup.cfg', text: '''
+        def cpytest = "RUNNING"
+        gerritPostCheck(["jenkins:pytest_${pyver}":"RUNNING"])
+        writeFile file: 'setup.cfg', text: '''
 [tool:pytest]
 addopts = --junit-xml=pytest.xml --junit-prefix=''' + pyver

@ -116,18 +117,15 @@ python3 setup.py develop
 make test
 '''
        verifyresult.put(pyver, 1)
+        cpytest = "SUCCESSFUL"
        }
    } catch (all) {
        currentBuild.result = 'FAILURE'
        status = 'FAILURE'
+        cpytest= "FAILED"
        verifyresult.put(pyver, -1)
    }
-    gerritverificationpublisher([
-    verifyStatusValue: verifyresult[pyver],
-    verifyStatusCategory: 'test ',
-    verifyStatusName: 'pytest-'+pyver,
-    verifyStatusReporter: 'jenkins',
-    verifyStatusRerun: '!recheck'])
+    gerritPostCheck(["jenkins:pytest_${pyver}":cpytest])

    step([$class: 'JUnitResultArchiver', allowEmptyResults: true,
          keepLongStdio: true, testResults: 'pytest.xml'])
@ -138,6 +136,8 @@ make test
 }

 def run_docs() {
+    def cdocs  = "RUNNING"
+    gerritPostCheck(["jenkins:docs":cdocs])
    stage('prepare') {
        sh '''
        . /home/jenkins/secopvenv/bin/activate
@ -185,15 +185,9 @@ def run_docs() {

    stage('store html doc for build') {
        publishHTML([allowMissing: false, alwaysLinkToLastBuild: false, keepAll: true, reportDir: 'doc/_build/html', reportFiles: 'index.html', reportName: 'Built documentation', reportTitles: ''])
-        gerritverificationpublisher([
-        verifyStatusValue: 1,
-        verifyStatusCategory: 'test ',
-        verifyStatusName: 'doc',
-        verifyStatusReporter: 'jenkins',
-        verifyStatusRerun: '@recheck'
-    ])
+        cdocs = "SUCCESSFUL"
    }
-
+    gerritPostCheck(["jenkins:docs":cdocs])
 }


--- a/debian/changelog
+++ b/debian/changelog
@ -1,3 +1,111 @@
+secop-core (0.12.4) focal; urgency=medium
+
+  * fix command inheritance
+
+ -- Markus Zolliker <jenkins@jenkins01.admin.frm2.tum.de>  Thu, 11 Nov 2021 16:21:19 +0100
+
+secop-core (0.12.3) focal; urgency=medium
+
+  [ Georg Brandl ]
+  * Makefile: fix docker image
+
+  [ Markus Zolliker ]
+  * various fixes
+  * remove irrelevant comments
+  * introduce BytesIO
+  * GUI fixes
+  * persistent params / trinamic motor
+  * fix Parameter/Command copy method
+  * show first instead of last traceback on multiple errors
+  * fix parameter inheritance
+  * fix property inheritance
+  * fix python 3.5 compatibility
+  * omit updates of unchanged values within short time
+  * improve simulation
+  * automatically register subclasses of AsynConn
+  * fix feature for removing commands
+
+ -- Georg Brandl <jenkins@jenkins01.admin.frm2.tum.de>  Wed, 10 Nov 2021 16:33:19 +0100
+
+secop-core (0.12.2) focal; urgency=medium
+
+  [ Markus Zolliker ]
+  * fix issue with new syntax in simulation
+  * treat specifier of describe message
+  * allow to remove accessibles
+
+  [ Enrico Faulhaber ]
+  * secop_mlz: small fixes
+
+ -- Markus Zolliker <jenkins@jenkins01.admin.frm2.tum.de>  Tue, 18 May 2021 10:29:17 +0200
+
+secop-core (0.12.1) focal; urgency=medium
+
+  * remove secop-console from debian *.install file
+
+ -- Enrico Faulhaber <jenkins@jenkins02.admin.frm2.tum.de>  Tue, 04 May 2021 09:42:53 +0200
+
+secop-core (0.12.0) focal; urgency=medium
+
+  [ Markus Zolliker ]
+  * make datatypes immutable
+  * customizable general config
+  * support for multiple secop servers
+  * secop.asynconn without pyserial
+  * change cfg file format
+  * fix bug in secop.gui.valuewidgets
+  * fix deadlock when reconnecting client
+  * allow class instead of class name in proxy_class
+  * fix pylint command in Makefile
+  * change arguments of stringio-server
+  * router bug fix
+  * introduce update callbacks
+  * improve error handling on client connections
+  * ppms: improve status and temperature
+  * rework tcp server
+  * cosmetics on datatypes.TextType
+  * improve error handling in SecopClient
+  * improve HasIodev
+  * HasIodev bug fix
+  * fix handling of StructOf datatype
+  * more flexible end_of_line in stringio
+  * improvements on PPMS and LS370
+  * add readbytes method to AsynConn
+  * Param(..., initwrite=True) works only with poll=True
+  * fix initwrite behaviour
+  * make order of accessibles work again
+  * main module of LS370 is now drivable
+  * improve softcal
+  * make arguments of Parameter and Override consistent
+  * new syntax for parameter/commands/properties
+  * enhance documentation
+  * removed old style syntax
+  * after running isort
+  * try to follow PEP8
+  * fix inheritance order
+  * remove obsolete code
+  * lookup cfg files in a list of directories
+  * added hook for optional history writer
+  * fixed errors during migration
+  * move historywriter to secop_psi
+  * fix autoscan behaviour in ls370res
+
+  [ l_samenv ]
+  * improve tutorial_helevel
+  * fixed bugs from syntax migration
+
+  [ Markus Zolliker ]
+  * user friendly reporting of config errors
+
+  [ Bjoern Pedersen ]
+  * Jenkisfile: verification
+  * Fixes to Jenkinsfile
+  * No pull for images, they are recreated in the job
+  * Another Jenkisfile error
+  * Correct checks enum
+
+ -- Markus Zolliker <jenkins@jenkins02.admin.frm2.tum.de>  Tue, 04 May 2021 08:49:57 +0200
+
 secop-core (0.11.6) unstable; urgency=medium

  * fix secop-generator
@ -133,7 +241,7 @@ secop-core (0.10.5) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 29 Oct 2019 16:33:18 +0100
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 29 Oct 2019 16:33:18 +0100

 secop-core (0.10.3) unstable; urgency=low

@ -142,7 +250,7 @@ secop-core (0.10.3) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 11 Oct 2019 10:49:43 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 11 Oct 2019 10:49:43 +0200

 secop-core (0.10.2) unstable; urgency=low

@ -153,7 +261,7 @@ secop-core (0.10.2) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 11 Oct 2019 10:42:58 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 11 Oct 2019 10:42:58 +0200

 secop-core (0.10.1) unstable; urgency=low

@ -162,7 +270,7 @@ secop-core (0.10.1) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 26 Sep 2019 16:41:10 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 26 Sep 2019 16:41:10 +0200

 secop-core (0.10.0) unstable; urgency=low

@ -171,7 +279,7 @@ secop-core (0.10.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 26 Sep 2019 16:31:14 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 26 Sep 2019 16:31:14 +0200

 secop-core (0.9.0) unstable; urgency=low

@ -198,7 +306,7 @@ secop-core (0.9.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 26 Sep 2019 16:26:07 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 26 Sep 2019 16:26:07 +0200

 secop-core (0.8.1) unstable; urgency=low

@ -207,7 +315,7 @@ secop-core (0.8.1) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Wed, 25 Sep 2019 15:40:44 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Wed, 25 Sep 2019 15:40:44 +0200

 secop-core (0.8.0) unstable; urgency=low

@ -275,7 +383,7 @@ secop-core (0.8.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Wed, 25 Sep 2019 10:27:51 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Wed, 25 Sep 2019 10:27:51 +0200

 secop-core (0.7.0) unstable; urgency=low

@ -311,7 +419,7 @@ secop-core (0.7.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 28 Mar 2019 13:46:08 +0100
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 28 Mar 2019 13:46:08 +0100

 secop-core (0.6.4) unstable; urgency=low

@ -376,7 +484,7 @@ secop-core (0.6.4) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 20 Dec 2018 16:44:03 +0100
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 20 Dec 2018 16:44:03 +0100

 secop-core (0.6.3) unstable; urgency=low

@ -390,7 +498,7 @@ secop-core (0.6.3) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 27 Jul 2018 09:31:59 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 27 Jul 2018 09:31:59 +0200

 secop-core (0.6.2) unstable; urgency=low

@ -429,7 +537,7 @@ secop-core (0.6.2) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Wed, 18 Jul 2018 12:06:57 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Wed, 18 Jul 2018 12:06:57 +0200

 secop-core (0.6.1) unstable; urgency=low

@ -438,7 +546,7 @@ secop-core (0.6.1) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 19 Apr 2018 10:24:44 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 19 Apr 2018 10:24:44 +0200

 secop-core (0.6.0) unstable; urgency=low

@ -458,7 +566,7 @@ secop-core (0.6.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 17 Apr 2018 17:38:52 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 17 Apr 2018 17:38:52 +0200

 secop-core (0.5.0) unstable; urgency=low

@ -521,7 +629,7 @@ secop-core (0.5.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 17 Apr 2018 12:45:58 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 17 Apr 2018 12:45:58 +0200

 secop-core (0.4.4) unstable; urgency=low

@ -530,7 +638,7 @@ secop-core (0.4.4) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Sun, 24 Sep 2017 22:25:01 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Sun, 24 Sep 2017 22:25:01 +0200

 secop-core (0.4.3) unstable; urgency=low

@ -539,7 +647,7 @@ secop-core (0.4.3) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 22 Sep 2017 17:29:46 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 22 Sep 2017 17:29:46 +0200

 secop-core (0.4.2) unstable; urgency=low

@ -548,7 +656,7 @@ secop-core (0.4.2) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 22 Sep 2017 16:37:59 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 22 Sep 2017 16:37:59 +0200

 secop-core (0.4.1) unstable; urgency=low

@ -557,7 +665,7 @@ secop-core (0.4.1) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 22 Sep 2017 13:25:28 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 22 Sep 2017 13:25:28 +0200

 secop-core (0.4.0) unstable; urgency=low

@ -567,7 +675,7 @@ secop-core (0.4.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Fri, 22 Sep 2017 10:33:04 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Fri, 22 Sep 2017 10:33:04 +0200

 secop-core (0.3.0) unstable; urgency=low

@ -633,7 +741,7 @@ secop-core (0.3.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Mon, 18 Sep 2017 14:18:36 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Mon, 18 Sep 2017 14:18:36 +0200

 secop-core (0.2.0) unstable; urgency=low

@ -642,7 +750,7 @@ secop-core (0.2.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 07 Sep 2017 14:55:41 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 07 Sep 2017 14:55:41 +0200

 secop-core (0.1.1) unstable; urgency=low

@ -651,7 +759,7 @@ secop-core (0.1.1) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 07 Sep 2017 11:02:19 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 07 Sep 2017 11:02:19 +0200

 secop-core (0.1.0) unstable; urgency=low

@ -660,7 +768,7 @@ secop-core (0.1.0) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 07 Sep 2017 10:50:24 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 07 Sep 2017 10:50:24 +0200

 secop-core (0.0.8) unstable; urgency=low

@ -669,7 +777,7 @@ secop-core (0.0.8) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 01 Aug 2017 14:13:11 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 01 Aug 2017 14:13:11 +0200

 secop-core (0.0.7) unstable; urgency=low

@ -678,7 +786,7 @@ secop-core (0.0.7) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 01 Aug 2017 13:52:15 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 01 Aug 2017 13:52:15 +0200

 secop-core (0.0.6) unstable; urgency=low

@ -688,7 +796,7 @@ secop-core (0.0.6) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 01 Aug 2017 13:39:07 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 01 Aug 2017 13:39:07 +0200

 secop-core (0.0.5) unstable; urgency=low

@ -697,7 +805,7 @@ secop-core (0.0.5) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Tue, 01 Aug 2017 13:11:43 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Tue, 01 Aug 2017 13:11:43 +0200

 secop-core (0.0.4) unstable; urgency=low

@ -706,7 +814,7 @@ secop-core (0.0.4) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 27 Jul 2017 11:39:42 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 27 Jul 2017 11:39:42 +0200

 secop-core (0.0.3) unstable; urgency=low

@ -716,7 +824,7 @@ secop-core (0.0.3) unstable; urgency=low

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Thu, 27 Jul 2017 11:27:28 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Thu, 27 Jul 2017 11:27:28 +0200

 secop-core (0.0.2) unstable; urgency=medium

@ -794,4 +902,4 @@ secop-core (0.0.2) unstable; urgency=medium

  [ Jenkins ]

- -- Jenkins <jenkins@debuild.taco.frm2>  Wed, 19 Jul 2017 11:44:13 +0200
+ -- Jenkins <jenkins@debuild.taco.frm2.tum.de>  Wed, 19 Jul 2017 11:44:13 +0200
--- a/debian/secop-core.install
+++ b/debian/secop-core.install
@ -1,5 +1,4 @@
 usr/bin/secop-server
-usr/bin/secop-console
 usr/lib/python3.*/dist-packages/secop/*.py
 usr/lib/python3.*/dist-packages/secop/lib
 usr/lib/python3.*/dist-packages/secop/client
--- a/doc/source/reference.rst
+++ b/doc/source/reference.rst
@ -4,6 +4,8 @@ Reference
 Module Base Classes
 ...................

+.. autodata:: secop.modules.Done
+
 .. autoclass:: secop.modules.Module
    :members: earlyInit, initModule, startModule, pollerClass

@ -49,11 +51,15 @@ Communication
    :show-inheritance:
    :members: communicate

-.. autoclass:: secop.stringio.StringIO
+.. autoclass:: secop.io.StringIO
    :show-inheritance:
    :members: communicate, multicomm

-.. autoclass:: secop.stringio.HasIodev
+.. autoclass:: secop.io.BytesIO
+    :show-inheritance:
+    :members: communicate, multicomm
+
+.. autoclass:: secop.io.HasIO
    :show-inheritance:

 .. autoclass:: secop.iohandler.IOHandlerBase
--- a/doc/source/tutorial_helevel.rst
+++ b/doc/source/tutorial_helevel.rst
@ -22,7 +22,7 @@ CCU4 luckily has a very simple and logical protocol:
 .. code:: python

    # the most common Frappy classes can be imported from secop.core
-    from secop.core import Readable, Parameter, FloatRange, BoolType, StringIO, HasIodev
+    from secop.core import Readable, Parameter, FloatRange, BoolType, StringIO, HasIO


    class CCU4IO(StringIO):
@ -34,14 +34,13 @@ CCU4 luckily has a very simple and logical protocol:
        identification = [('cid', r'CCU4.*')]


-    # inheriting the HasIodev mixin creates us a private attribute *_iodev*
-    # for talking with the hardware
+    # inheriting HasIO allows us to use the communicate method for talking with the hardware
    # Readable as a base class defines the value and status parameters
-    class HeLevel(HasIodev, Readable):
+    class HeLevel(HasIO, Readable):
        """He Level channel of CCU4"""

        # define the communication class to create the IO module
-        iodevClass = CCU4IO
+        ioClass = CCU4IO

        # define or alter the parameters
        # as Readable.value exists already, we give only the modified property 'unit'
@ -49,7 +48,7 @@ CCU4 luckily has a very simple and logical protocol:

        def read_value(self):
            # method for reading the main value
-            reply = self._iodev.communicate('h')  # send 'h\n' and get the reply 'h=<value>\n'
+            reply = self.communicate('h')  # send 'h\n' and get the reply 'h=<value>\n'
            name, txtvalue = reply.split('=')
            assert name == 'h'  # check that we got a reply to our command
            return txtvalue  # the framework will automatically convert the string to a float
@ -115,17 +114,17 @@ the status codes from the hardware to the standard SECoP status codes.
        }

        def read_status(self):
-            name, txtvalue = self._iodev.communicate('hsf').split('=')
+            name, txtvalue = self.communicate('hsf').split('=')
            assert name == 'hsf'
            return self.STATUS_MAP(int(txtvalue))

        def read_empty_length(self):
-            name, txtvalue = self._iodev.communicate('hem').split('=')
+            name, txtvalue = self.communicate('hem').split('=')
            assert name == 'hem'
            return txtvalue

        def write_empty_length(self, value):
-            name, txtvalue = self._iodev.communicate('hem=%g' % value).split('=')
+            name, txtvalue = self.communicate('hem=%g' % value).split('=')
            assert name == 'hem'
            return txtvalue

@ -152,7 +151,7 @@ which means it might be worth to create a *query* method, and then the
                        for changing a parameter
            :returns: the (new) value of the parameter
            """
-            name, txtvalue = self._iodev.communicate(cmd).split('=')
+            name, txtvalue = self.communicate(cmd).split('=')
            assert name == cmd.split('=')[0]  # check that we got a reply to our command
            return txtvalue  # Frappy will automatically convert the string to the needed data type

--- a/secop_demo/cryo.py
+++ b/secop_demo/cryo.py
@ -111,6 +111,7 @@ class Cryostat(CryoBase):
                        group='stability')

    def initModule(self):
+        super().initModule()
        self._stopflag = False
        self._thread = mkthread(self.thread)

--- a/secop_demo/modules.py
+++ b/secop_demo/modules.py
@ -133,6 +133,7 @@ class MagneticField(Drivable):
    status = Parameter(datatype=TupleOf(EnumType(Status), StringType()))

    def initModule(self):
+        super().initModule()
        self._state = Enum('state', idle=1, switch_on=2, switch_off=3, ramp=4).idle
        self._heatswitch = self.DISPATCHER.get_module(self.heatswitch)
        _thread = threading.Thread(target=self._thread)
@ -235,6 +236,7 @@ class SampleTemp(Drivable):
                     )

    def initModule(self):
+        super().initModule()
        _thread = threading.Thread(target=self._thread)
        _thread.daemon = True
        _thread.start()
--- a/secop_mlz/amagnet.py
+++ b/secop_mlz/amagnet.py
@ -31,7 +31,7 @@ import math
 from secop.datatypes import ArrayOf, FloatRange, StringType, StructOf, TupleOf
 from secop.errors import ConfigError, DisabledError
 from secop.lib.sequence import SequencerMixin, Step
-from secop.modules import BasicPoller, Drivable, Parameter
+from secop.modules import Drivable, Parameter


 class GarfieldMagnet(SequencerMixin, Drivable):
@ -47,9 +47,6 @@ class GarfieldMagnet(SequencerMixin, Drivable):
    the symmetry setting selects which.
    """

-    pollerClass = BasicPoller
-
-
    # parameters
    subdev_currentsource = Parameter('(bipolar) Powersupply', datatype=StringType(), readonly=True, export=False)
    subdev_enable = Parameter('Switch to set for on/off', datatype=StringType(), readonly=True, export=False)
@ -57,10 +54,10 @@ class GarfieldMagnet(SequencerMixin, Drivable):
    subdev_symmetry = Parameter('Switch to read for symmetry', datatype=StringType(), readonly=True, export=False)
    userlimits = Parameter('User defined limits of device value',
                       datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')),
-                       default=(float('-Inf'), float('+Inf')), readonly=False, poll=10)
+                       default=(float('-Inf'), float('+Inf')), readonly=False)
    abslimits = Parameter('Absolute limits of device value',
                      datatype=TupleOf(FloatRange(unit='$'), FloatRange(unit='$')),
-                      default=(-0.5, 0.5), poll=True,
+                      default=(-0.5, 0.5),
                      )
    precision = Parameter('Precision of the device value (allowed deviation '
                      'of stable values from target)',
@ -71,7 +68,7 @@ class GarfieldMagnet(SequencerMixin, Drivable):
    calibration = Parameter('Coefficients for calibration '
                        'function: [c0, c1, c2, c3, c4] calculates '
                        'B(I) = c0*I + c1*erf(c2*I) + c3*atan(c4*I)'
-                        ' in T', poll=1,
+                        ' in T',
                        datatype=ArrayOf(FloatRange(), 5, 5),
                        default=(1.0, 0.0, 0.0, 0.0, 0.0))
    calibrationtable = Parameter('Map of Coefficients for calibration per symmetry setting',
@ -137,7 +134,7 @@ class GarfieldMagnet(SequencerMixin, Drivable):
                                 '_current2field polynome not monotonic!')

    def initModule(self):
-        super(GarfieldMagnet, self).initModule()
+        super().initModule()
        self._enable = self.DISPATCHER.get_module(self.subdev_enable)
        self._symmetry = self.DISPATCHER.get_module(self.subdev_symmetry)
        self._polswitch = self.DISPATCHER.get_module(self.subdev_polswitch)
@ -220,7 +217,7 @@ class GarfieldMagnet(SequencerMixin, Drivable):
            self._currentsource.read_value() *
            self._get_field_polarity())

-    def read_hw_status(self):
+    def readHwStatus(self):
        # called from SequencerMixin.read_status if no sequence is running
        if self._enable.value == 'Off':
            return self.Status.WARN, 'Disabled'
--- a/secop_mlz/entangle.py
+++ b/secop_mlz/entangle.py
@ -39,7 +39,7 @@ from secop.datatypes import ArrayOf, EnumType, FloatRange, \
 from secop.errors import CommunicationFailedError, \
    ConfigError, HardwareError, ProgrammingError
 from secop.lib import lazy_property
-from secop.modules import BasicPoller, Command, \
+from secop.modules import Command, \
    Drivable, Module, Parameter, Readable

 #####
@ -157,8 +157,6 @@ class PyTangoDevice(Module):
    execution and attribute operations with logging and exception mapping.
    """

-    pollerClass = BasicPoller
-
    # parameters
    comtries = Parameter('Maximum retries for communication',
                         datatype=IntRange(1, 100), default=3, readonly=False,
@ -210,7 +208,7 @@ class PyTangoDevice(Module):
        # exception mapping is enabled).
        self._createPyTangoDevice = self._applyGuardToFunc(
            self._createPyTangoDevice, 'constructor')
-        super(PyTangoDevice, self).earlyInit()
+        super().earlyInit()

    @lazy_property
    def _dev(self):
@ -249,10 +247,10 @@ class PyTangoDevice(Module):
        # otherwise would lead to attribute errors later
        try:
            device.State
-        except AttributeError:
+        except AttributeError as e:
            raise CommunicationFailedError(
                self, 'connection to Tango server failed, '
-                'is the server running?')
+                'is the server running?') from e
        return self._applyGuardsToPyTangoDevice(device)

    def _applyGuardsToPyTangoDevice(self, dev):
@ -376,14 +374,17 @@ class AnalogInput(PyTangoDevice, Readable):
    The AnalogInput handles all devices only delivering an analogue value.
    """

-    def startModule(self, started_callback):
-        super(AnalogInput, self).startModule(started_callback)
-        # query unit from tango and update value property
-        attrInfo = self._dev.attribute_query('value')
-        # prefer configured unit if nothing is set on the Tango device, else
-        # update
-        if attrInfo.unit != 'No unit':
-            self.accessibles['value'].datatype.setProperty('unit', attrInfo.unit)
+    def startModule(self, start_events):
+        super().startModule(start_events)
+        try:
+            # query unit from tango and update value property
+            attrInfo = self._dev.attribute_query('value')
+            # prefer configured unit if nothing is set on the Tango device, else
+            # update
+            if attrInfo.unit != 'No unit':
+                self.accessibles['value'].datatype.setProperty('unit', attrInfo.unit)
+        except Exception as e:
+            self.log.error(e)

    def read_value(self):
        return self._dev.value
@ -422,7 +423,7 @@ class AnalogOutput(PyTangoDevice, Drivable):
    userlimits = Parameter('User defined limits of device value',
                           datatype=LimitsType(FloatRange(unit='$')),
                           default=(float('-Inf'), float('+Inf')),
-                           readonly=False, poll=10,
+                           readonly=False,
                           )
    abslimits = Parameter('Absolute limits of device value',
                          datatype=LimitsType(FloatRange(unit='$')),
@ -446,13 +447,13 @@ class AnalogOutput(PyTangoDevice, Drivable):
    _moving = False

    def initModule(self):
-        super(AnalogOutput, self).initModule()
+        super().initModule()
        # init history
        self._history = []  # will keep (timestamp, value) tuple
        self._timeout = None  # keeps the time at which we will timeout, or None

-    def startModule(self, started_callback):
-        super(AnalogOutput, self).startModule(started_callback)
+    def startModule(self, start_events):
+        super().startModule(start_events)
        # query unit from tango and update value property
        attrInfo = self._dev.attribute_query('value')
        # prefer configured unit if nothing is set on the Tango device, else
@ -460,8 +461,8 @@ class AnalogOutput(PyTangoDevice, Drivable):
        if attrInfo.unit != 'No unit':
            self.accessibles['value'].datatype.setProperty('unit', attrInfo.unit)

-    def pollParams(self, nr=0):
-        super(AnalogOutput, self).pollParams(nr)
+    def doPoll(self):
+        super().doPoll()
        while len(self._history) > 2:
            # if history would be too short, break
            if self._history[-1][0] - self._history[1][0] <= self.window:
@ -489,8 +490,11 @@ class AnalogOutput(PyTangoDevice, Drivable):
        hist = self._history[:]
        window_start = currenttime() - self.window
        hist_in_window = [v for (t, v) in hist if t >= window_start]
+        if len(hist) == len(hist_in_window):
+            return False  # no data point before window
        if not hist_in_window:
-            return False  # no relevant history -> no knowledge
+            # window is too small -> use last point only
+            hist_in_window = [self.value]

        max_in_hist = max(hist_in_window)
        min_in_hist = min(hist_in_window)
@ -503,13 +507,14 @@ class AnalogOutput(PyTangoDevice, Drivable):
        if self._isAtTarget():
            self._timeout = None
            self._moving = False
-            return super(AnalogOutput, self).read_status()
-        if self._timeout:
-            if self._timeout < currenttime():
-                return self.Status.UNSTABLE, 'timeout after waiting for stable value'
-        if self._moving:
-            return (self.Status.BUSY, 'moving')
-        return (self.Status.IDLE, 'stable')
+            status = super().read_status()
+        else:
+            if self._timeout and self._timeout < currenttime():
+                status = self.Status.UNSTABLE, 'timeout after waiting for stable value'
+            else:
+                status = (self.Status.BUSY, 'moving') if self._moving else (self.Status.IDLE, 'stable')
+        self.setFastPoll(self.isBusy(status))
+        return status

    @property
    def absmin(self):
@ -571,11 +576,14 @@ class AnalogOutput(PyTangoDevice, Drivable):
        if not self.timeout:
            self._timeout = None
        self._moving = True
-        self._history = []  # clear history
-        self.read_status()  # poll our status to keep it updated
+        # do not clear the history here:
+        #    - if the target is not changed by more than precision, there is no need to wait
+        # self._history = []
+        self.read_status()  # poll our status to keep it updated (this will also set fast poll)
+        return self.read_target()

    def _hw_wait(self):
-        while super(AnalogOutput, self).read_status()[0] == self.Status.BUSY:
+        while super().read_status()[0] == self.Status.BUSY:
            sleep(0.3)

    def stop(self):
@ -597,8 +605,7 @@ class Actuator(AnalogOutput):
                      readonly=False, datatype=FloatRange(0, unit='$/s'),
                      )
    ramp = Parameter('The speed of changing the value',
-                     readonly=False, datatype=FloatRange(0, unit='$/s'),
-                     poll=30,
+                     readonly=False, datatype=FloatRange(0, unit='$/min'),
                     )

    def read_speed(self):
@ -677,17 +684,22 @@ class TemperatureController(Actuator):
                  )
    pid = Parameter('pid control Parameters',
                    datatype=TupleOf(FloatRange(), FloatRange(), FloatRange()),
-                    readonly=False, group='pid', poll=30,
+                    readonly=False, group='pid',
                    )
-    setpoint = Parameter('Current setpoint', datatype=FloatRange(unit='$'), poll=1,
+    setpoint = Parameter('Current setpoint', datatype=FloatRange(unit='$'),
                         )
-    heateroutput = Parameter('Heater output', datatype=FloatRange(), poll=1,
+    heateroutput = Parameter('Heater output', datatype=FloatRange(),
                             )

    # overrides
    precision = Parameter(default=0.1)
    ramp = Parameter(description='Temperature ramp')

+    def doPoll(self):
+        super().doPoll()
+        self.read_setpoint()
+        self.read_heateroutput()
+
    def read_ramp(self):
        return self._dev.ramp

@ -730,6 +742,10 @@ class TemperatureController(Actuator):
    def read_heateroutput(self):
        return self._dev.heaterOutput

+    # remove UserCommand setposition from Actuator
+    # (makes no sense for a TemperatureController)
+    setposition = None
+

 class PowerSupply(Actuator):
    """A power supply (voltage and current) device.
@ -737,13 +753,19 @@ class PowerSupply(Actuator):

    # parameters
    voltage = Parameter('Actual voltage',
-                        datatype=FloatRange(unit='V'), poll=-5)
+                        datatype=FloatRange(unit='V'))
    current = Parameter('Actual current',
-                        datatype=FloatRange(unit='A'), poll=-5)
+                        datatype=FloatRange(unit='A'))

    # overrides
    ramp = Parameter(description='Current/voltage ramp')

+    def doPoll(self):
+        super().doPoll()
+        # TODO: poll voltage and current faster when busy
+        self.read_voltage()
+        self.read_current()
+
    def read_ramp(self):
        return self._dev.ramp

@ -777,16 +799,18 @@ class NamedDigitalInput(DigitalInput):
                        datatype=StringType(), export=False)  # XXX:!!!

    def initModule(self):
-        super(NamedDigitalInput, self).initModule()
+        super().initModule()
        try:
-            # pylint: disable=eval-used
-            mapping = eval(self.mapping.replace('\n', ' '))
+            mapping = self.mapping
+            if isinstance(mapping, str):
+                # pylint: disable=eval-used
+                mapping = eval(self.mapping.replace('\n', ' '))
            if isinstance(mapping, str):
                # pylint: disable=eval-used
                mapping = eval(mapping)
            self.accessibles['value'].setProperty('datatype', EnumType('value', **mapping))
        except Exception as e:
-            raise ValueError('Illegal Value for mapping: %r' % e)
+            raise ValueError('Illegal Value for mapping: %r' % self.mapping) from e

    def read_value(self):
        value = self._dev.value
@ -805,7 +829,7 @@ class PartialDigitalInput(NamedDigitalInput):
                         datatype=IntRange(0), default=1)

    def initModule(self):
-        super(PartialDigitalInput, self).initModule()
+        super().initModule()
        self._mask = (1 << self.bitwidth) - 1
        # self.accessibles['value'].datatype = IntRange(0, self._mask)

@ -827,9 +851,16 @@ class DigitalOutput(PyTangoDevice, Drivable):
    def read_value(self):
        return self._dev.value  # mapping is done by datatype upon export()

+    def read_status(self):
+        status = self.read_status()
+        self.setFastPoll(self.isBusy(status))
+        return status
+
    def write_target(self, value):
        self._dev.value = value
        self.read_value()
+        self.read_status()  # this will also set fast poll
+        return self.read_target()

    def read_target(self):
        attrObj = self._dev.read_attribute('value')
@ -845,22 +876,25 @@ class NamedDigitalOutput(DigitalOutput):
                        datatype=StringType(), export=False)

    def initModule(self):
-        super(NamedDigitalOutput, self).initModule()
+        super().initModule()
        try:
-            # pylint: disable=eval-used
-            mapping = eval(self.mapping.replace('\n', ' '))
+            mapping = self.mapping
+            if isinstance(mapping, str):
+                # pylint: disable=eval-used
+                mapping = eval(self.mapping.replace('\n', ' '))
            if isinstance(mapping, str):
                # pylint: disable=eval-used
                mapping = eval(mapping)
            self.accessibles['value'].setProperty('datatype', EnumType('value', **mapping))
            self.accessibles['target'].setProperty('datatype', EnumType('target', **mapping))
        except Exception as e:
-            raise ValueError('Illegal Value for mapping: %r' % e)
+            raise ValueError('Illegal Value for mapping: %r' % self.mapping) from e

    def write_target(self, value):
        # map from enum-str to integer value
        self._dev.value = int(value)
        self.read_value()
+        return self.read_target()


 class PartialDigitalOutput(NamedDigitalOutput):
@ -875,7 +909,7 @@ class PartialDigitalOutput(NamedDigitalOutput):
                         datatype=IntRange(0), default=1)

    def initModule(self):
-        super(PartialDigitalOutput, self).initModule()
+        super().initModule()
        self._mask = (1 << self.bitwidth) - 1
        # self.accessibles['value'].datatype = IntRange(0, self._mask)
        # self.accessibles['target'].datatype = IntRange(0, self._mask)
@ -891,6 +925,7 @@ class PartialDigitalOutput(NamedDigitalOutput):
                   (value << self.startbit)
        self._dev.value = newvalue
        self.read_value()
+        return self.read_target()


 class StringIO(PyTangoDevice, Module):
--- a/test/test_attach.py
+++ b/test/test_attach.py
@ -0,0 +1,78 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+from secop.modules import Module, Attached
+from secop.protocol.dispatcher import Dispatcher
+
+
+# class DispatcherStub:
+#     # omit_unchanged_within = 0
+#
+#     # def __init__(self, updates):
+#     #     self.updates = updates
+#     #
+#     # def announce_update(self, modulename, pname, pobj):
+#     #     self.updates.setdefault(modulename, {})
+#     #     if pobj.readerror:
+#     #         self.updates[modulename]['error', pname] = str(pobj.readerror)
+#     #     else:
+#     #         self.updates[modulename][pname] = pobj.value
+#
+#     def __init__(self):
+#         self.modules = {}
+#
+#     def get_module(self, name):
+#         return self.modules[name]
+#
+#     def register_module(self, name, module):
+#         self.modules[name] = module
+
+
+class LoggerStub:
+    def debug(self, fmt, *args):
+        print(fmt % args)
+    info = warning = exception = debug
+    handlers = []
+
+
+logger = LoggerStub()
+
+
+class ServerStub:
+    restart = None
+    shutdown = None
+
+    def __init__(self):
+        self.dispatcher = Dispatcher('dispatcher', logger, {}, self)
+
+
+def test_attach():
+    class Mod(Module):
+        att = Attached()
+
+    srv = ServerStub()
+    a = Module('a', logger, {'description': ''}, srv)
+    m = Mod('m', logger, {'description': '', 'att': 'a'}, srv)
+    assert m.propertyValues['att'] == 'a'
+    srv.dispatcher.register_module(a, 'a')
+    srv.dispatcher.register_module(m, 'm')
+    assert m.att == a
--- a/test/test_datatypes.py
+++ b/test/test_datatypes.py
@ -28,7 +28,9 @@ import pytest
 from secop.datatypes import ArrayOf, BLOBType, BoolType, \
    CommandType, ConfigError, DataType, Enum, EnumType, FloatRange, \
    IntRange, ProgrammingError, ScaledInteger, StatusType, \
-    StringType, StructOf, TextType, TupleOf, get_datatype
+    StringType, StructOf, TextType, TupleOf, get_datatype, \
+    DiscouragedConversion
+from secop.lib import generalConfig


 def copytest(dt):
@ -36,6 +38,7 @@ def copytest(dt):
    assert dt.export_datatype() == dt.copy().export_datatype()
    assert dt != dt.copy()

+
 def test_DataType():
    dt = DataType()
    with pytest.raises(NotImplementedError):
@ -116,7 +119,6 @@ def test_IntRange():
        dt('1.3')
    dt(1)
    dt(0)
-    dt('1')
    with pytest.raises(ProgrammingError):
        IntRange('xc', 'Yx')

@ -132,6 +134,7 @@ def test_IntRange():
    with pytest.raises(ConfigError):
        dt.checkProperties()

+
 def test_ScaledInteger():
    dt = ScaledInteger(0.01, -3, 3)
    copytest(dt)
@ -407,6 +410,7 @@ def test_ArrayOf():
    dt = ArrayOf(EnumType('myenum', single=0), 5)
    copytest(dt)

+
 def test_TupleOf():
    # test constructor catching illegal arguments
    with pytest.raises(ValueError):
@ -641,6 +645,7 @@ def test_oneway_compatible(dt, contained_in):
    with pytest.raises(ValueError):
        contained_in.compatible(dt)

+
@pytest.mark.parametrize('dt1, dt2', [
    (FloatRange(-5.5, 5.5), ScaledInteger(10, -5.5, 5.5)),
    (IntRange(0,1), BoolType()),
@ -650,6 +655,7 @@ def test_twoway_compatible(dt1, dt2):
    dt1.compatible(dt1)
    dt2.compatible(dt2)

+
@pytest.mark.parametrize('dt1, dt2', [
    (StringType(), FloatRange()),
    (IntRange(-10, 10), StringType()),
@ -665,3 +671,12 @@ def test_incompatible(dt1, dt2):
        dt1.compatible(dt2)
    with pytest.raises(ValueError):
        dt2.compatible(dt1)
+
+
+@pytest.mark.parametrize('dt', [FloatRange(), IntRange(), ScaledInteger(1)])
+def test_lazy_validation(dt):
+    generalConfig.defaults['lazy_number_validation'] = True
+    dt('0')
+    generalConfig.defaults['lazy_number_validation'] = False
+    with pytest.raises(DiscouragedConversion):
+        dt('0')
--- a/test/test_handler.py
+++ b/test/test_handler.py
@ -0,0 +1,234 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+
+from secop.rwhandler import ReadHandler, WriteHandler, \
+    CommonReadHandler, CommonWriteHandler, nopoll
+from secop.core import Module, Parameter, FloatRange, Done
+
+
+class DispatcherStub:
+    # the first update from the poller comes a very short time after the
+    # initial value from the timestamp. However, in the test below
+    # the second update happens after the updates dict is cleared
+    # -> we have to inhibit the 'omit unchanged update' feature
+    omit_unchanged_within = 0
+
+    def __init__(self, updates):
+        self.updates = updates
+
+    def announce_update(self, modulename, pname, pobj):
+        self.updates.setdefault(modulename, {})
+        if pobj.readerror:
+            self.updates[modulename]['error', pname] = str(pobj.readerror)
+        else:
+            self.updates[modulename][pname] = pobj.value
+
+
+class LoggerStub:
+    def debug(self, fmt, *args):
+        print(fmt % args)
+    info = warning = exception = error = debug
+    handlers = []
+
+
+logger = LoggerStub()
+
+
+class ServerStub:
+    def __init__(self, updates):
+        self.dispatcher = DispatcherStub(updates)
+
+
+class ModuleTest(Module):
+    def __init__(self, updates=None, **opts):
+        opts['description'] = ''
+        super().__init__('mod', logger, opts, ServerStub(updates or {}))
+
+
+def test_handler():
+    data = []
+
+    class Mod(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @ReadHandler(['a', 'b'])
+        def read_hdl(self, pname):
+            value = data.pop()
+            data.append(pname)
+            return value
+
+        @WriteHandler(['a', 'b'])
+        def write_hdl(self, pname, value):
+            data.append(pname)
+            return value
+
+    assert Mod.read_a.poll is True
+    assert Mod.read_b.poll is True
+
+    m = Mod()
+
+    data.append(1.2)
+    assert m.read_a() == 1.2
+    assert data.pop() == 'a'
+
+    data.append(1.3)
+    assert m.read_b() == 1.3
+    assert data.pop() == 'b'
+
+    assert m.write_a(1.5) == 1.5
+    assert m.a == 1.5
+    assert data.pop() == 'a'
+
+    assert m.write_b(7) == 7
+    assert m.b == 7
+    assert data.pop() == 'b'
+
+    data.append(Done)
+    assert m.read_b() == 7
+    assert data.pop() == 'b'
+
+    assert data == []
+
+
+def test_common_handler():
+    data = []
+
+    class Mod(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @CommonReadHandler(['a', 'b'])
+        def read_hdl(self):
+            self.a, self.b = data.pop()
+            data.append('read_hdl')
+
+        @CommonWriteHandler(['a', 'b'])
+        def write_hdl(self, values):
+            self.a = values['a']
+            self.b = values['b']
+            data.append('write_hdl')
+
+    assert set([Mod.read_a.poll, Mod.read_b.poll]) == {True, False}
+
+    m = Mod(a=1, b=2)
+    assert m.writeDict == {'a': 1, 'b': 2}
+    m.write_a(3)
+    assert m.a == 3
+    assert m.b == 2
+    assert data.pop() == 'write_hdl'
+    assert m.writeDict == {}
+
+    m.write_b(4)
+    assert m.a == 3
+    assert m.b == 4
+    assert data.pop() == 'write_hdl'
+
+    data.append((3, 4))
+    assert m.read_a() == 3
+    assert m.a == 3
+    assert m.b == 4
+    assert data.pop() == 'read_hdl'
+    data.append((5, 6))
+    assert m.read_b() == 6
+    assert data.pop() == 'read_hdl'
+
+    data.append((1.1, 2.2))
+    assert m.read_b() == 2.2
+    assert m.a == 1.1
+    assert m.b == 2.2
+    assert data.pop() == 'read_hdl'
+
+    assert data == []
+
+
+def test_nopoll():
+    class Mod1(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @ReadHandler(['a', 'b'])
+        def read_hdl(self):
+            pass
+
+    assert Mod1.read_a.poll is True
+    assert Mod1.read_b.poll is True
+
+    class Mod2(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @CommonReadHandler(['a', 'b'])
+        def read_hdl(self):
+            pass
+
+    assert Mod2.read_a.poll is True
+    assert Mod2.read_b.poll is False
+
+    class Mod3(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @ReadHandler(['a', 'b'])
+        @nopoll
+        def read_hdl(self):
+            pass
+
+    assert Mod3.read_a.poll is False
+    assert Mod3.read_b.poll is False
+
+    class Mod4(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @nopoll
+        @ReadHandler(['a', 'b'])
+        def read_hdl(self):
+            pass
+
+    assert Mod4.read_a.poll is False
+    assert Mod4.read_b.poll is False
+
+    class Mod5(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @CommonReadHandler(['a', 'b'])
+        @nopoll
+        def read_hdl(self):
+            pass
+
+    assert Mod5.read_a.poll is False
+    assert Mod5.read_b.poll is False
+
+    class Mod6(ModuleTest):
+        a = Parameter('', FloatRange(), readonly=False)
+        b = Parameter('', FloatRange(), readonly=False)
+
+        @nopoll
+        @CommonReadHandler(['a', 'b'])
+        def read_hdl(self):
+            pass
+
+    assert Mod6.read_a.poll is False
+    assert Mod6.read_b.poll is False
--- a/test/test_iohandler.py
+++ b/test/test_iohandler.py
@ -120,7 +120,7 @@ def test_IOHandler():
        real = Parameter('a float value', FloatRange(), default=12.3, handler=group2, readonly=False)
        text = Parameter('a string value', StringType(), default='x', handler=group2, readonly=False)

-        def sendRecv(self, command):
+        def communicate(self, command):
            assert data.pop('command') == command
            return data.pop('reply')

@ -146,7 +146,7 @@ def test_IOHandler():
    print(updates)
    updates.clear() # get rid of updates from initialisation

-    # for sendRecv
+    # for communicate
    data.push('command', 'SIMPLE?')
    data.push('reply', '4.51')
    # for analyze_group1
@ -159,7 +159,7 @@ def test_IOHandler():
    assert updates.pop('simple') == 45.1
    assert not updates

-    # for sendRecv
+    # for communicate
    data.push('command', 'CMD?3')
    data.push('reply', '1.23,text,5')
    # for analyze_group2
@ -172,7 +172,7 @@ def test_IOHandler():
    assert data.empty()
    assert not updates

-    # for sendRecv
+    # for communicate
    data.push('command', 'CMD?3')
    data.push('reply', '1.23,text,5')
    # for analyze_group2
@ -183,7 +183,7 @@ def test_IOHandler():
    data.push('self', 12.3, 'string')
    data.push('new', 12.3, 'FOO')
    data.push('changed', 1.23, 'foo', 9)
-    # for sendRecv
+    # for communicate
    data.push('command', 'CMD 3,1.23,foo,9|CMD?3')
    data.push('reply', '1.23,foo,9')
    # for analyze_group2
--- a/test/test_logging.py
+++ b/test/test_logging.py
@ -0,0 +1,274 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+import pytest
+import mlzlog
+from secop.modules import Module
+from secop.protocol.dispatcher import Dispatcher
+from secop.protocol.interface import encode_msg_frame, decode_msg
+import secop.logging
+from secop.logging import logger, generalConfig, HasComlog
+
+
+class ServerStub:
+    restart = None
+    shutdown = None
+
+    def __init__(self):
+        self.dispatcher = Dispatcher('', logger.log.getChild('dispatcher'), {}, self)
+
+
+class Connection:
+    def __init__(self, name, dispatcher, result):
+        self.result = result
+        self.dispatcher = dispatcher
+        self.name = name
+        dispatcher.add_connection(self)
+
+    def send_reply(self, msg):
+        self.result.append(encode_msg_frame(*msg).strip().decode())
+
+    def send(self, msg):
+        request = decode_msg(msg.encode())
+        assert self.dispatcher.handle_request(self, request) == request
+
+
+@pytest.fixture(name='init')
+def init_(monkeypatch):
+    logger.__init__()
+
+    class Playground:
+        def __init__(self, console_level='debug', comlog=True, com_module=True):
+            self.result_dict = result_dict = dict(
+                console=[], comlog=[], conn1=[], conn2=[])
+
+            class ConsoleHandler(mlzlog.Handler):
+                def __init__(self, *args, **kwds):
+                    super().__init__()
+                    self.result = result_dict['console']
+
+                def emit(self, record):
+                    if record.name != 'frappy.dispatcher':
+                        self.result.append('%s %s %s' % (record.name, record.levelname, record.getMessage()))
+
+            class ComLogHandler(mlzlog.Handler):
+                def __init__(self, *args, **kwds):
+                    super().__init__()
+                    self.result = result_dict['comlog']
+
+                def emit(self, record):
+                    self.result.append('%s %s' % (record.name.split('.')[1], record.getMessage()))
+
+            class LogfileHandler(mlzlog.Handler):
+                def __init__(self, *args, **kwds):
+                    super().__init__()
+
+                def noop(self, *args):
+                    pass
+
+                close = flush = emit = noop
+
+            monkeypatch.setattr(mlzlog, 'ColoredConsoleHandler', ConsoleHandler)
+            monkeypatch.setattr(secop.logging, 'ComLogfileHandler', ComLogHandler)
+            monkeypatch.setattr(secop.logging, 'LogfileHandler', LogfileHandler)
+
+            class Mod(Module):
+                result = []
+
+                def __init__(self, name, srv, **kwds):
+                    kwds['description'] = ''
+                    super().__init__(name or 'mod', logger.log.getChild(name), kwds, srv)
+                    srv.dispatcher.register_module(self, name, name)
+                    self.result[:] = []
+
+                def earlyInit(self):
+                    pass
+
+            class Com(HasComlog, Mod):
+                def __init__(self, name, srv, **kwds):
+                    super().__init__(name, srv, **kwds)
+                    self.earlyInit()
+                    self.log.handlers[-1].result = result_dict['comlog']
+
+                def communicate(self, request):
+                    self.comLog('> %s', request)
+
+            generalConfig.testinit(logger_root='frappy', comlog=comlog)
+            logger.init(console_level)
+            self.srv = ServerStub()
+
+            self.conn1 = Connection('conn1', self.srv.dispatcher, self.result_dict['conn1'])
+            self.conn2 = Connection('conn2', self.srv.dispatcher, self.result_dict['conn2'])
+            self.mod = Mod('mod', self.srv)
+            self.com = Com('com', self.srv, comlog=com_module)
+            for item in self.result_dict.values():
+                assert item == []
+
+        def check(self, both=None, **expected):
+            if both:
+                expected['conn1'] = expected['conn2'] = both
+            assert self.result_dict['console'] == expected.get('console', [])
+            assert self.result_dict['comlog'] == expected.get('comlog', [])
+            assert self.result_dict['conn1'] == expected.get('conn1', [])
+            assert self.result_dict['conn2'] == expected.get('conn2', [])
+            for item in self.result_dict.values():
+                item[:] = []
+
+        def comlog(self, flag):
+            logger.comlog = flag
+
+    yield Playground
+    # revert settings
+    generalConfig.testinit()
+    logger.__init__()
+
+
+def test_mod_info(init):
+    p = init()
+    p.mod.log.info('i')
+    p.check(console=['frappy.mod INFO i'])
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.mod.log.info('i')
+    p.check(console=['frappy.mod INFO i'], both=['log mod:info "i"'])
+
+
+def test_mod_debug(init):
+    p = init()
+    p.mod.log.debug('d')
+    p.check(console=['frappy.mod DEBUG d'])
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.mod.log.debug('d')
+    p.check(console=['frappy.mod DEBUG d'], conn1=['log mod:debug "d"'])
+
+
+def test_com_info(init):
+    p = init()
+    p.com.log.info('i')
+    p.check(console=['frappy.com INFO i'])
+    p.conn1.send('logging com "info"')
+    p.conn2.send('logging com "debug"')
+    p.com.log.info('i')
+    p.check(console=['frappy.com INFO i'], both=['log com:info "i"'])
+
+
+def test_com_debug(init):
+    p = init()
+    p.com.log.debug('d')
+    p.check(console=['frappy.com DEBUG d'])
+    p.conn2.send('logging com "debug"')
+    p.com.log.debug('d')
+    p.check(console=['frappy.com DEBUG d'], conn2=['log com:debug "d"'])
+
+
+def test_com_com(init):
+    p = init()
+    p.com.communicate('x')
+    p.check(console=['frappy.com COMLOG > x'], comlog=['com > x'])
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.conn2.send('logging com "debug"')
+    p.com.communicate('x')
+    p.check(console=['frappy.com COMLOG > x'], comlog=['com > x'], conn2=['log com:comlog "> x"'])
+
+
+def test_main_info(init):
+    p = init(console_level='info')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.check(comlog=['com > x'])
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.conn2.send('logging com "debug"')
+    p.com.communicate('x')
+    p.check(comlog=['com > x'], conn2=['log com:comlog "> x"'])
+
+
+def test_comlog_off(init):
+    p = init(console_level='info', comlog=False)
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.check()
+
+
+def test_comlog_module_off(init):
+    p = init(console_level='info', com_module=False)
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.check()
+
+
+def test_remote_all_off(init):
+    p = init()
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.conn2.send('logging com "debug"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks = dict(
+        console=['frappy.mod DEBUG d', 'frappy.com COMLOG > x', 'frappy.mod INFO i'],
+        comlog=['com > x'],
+        conn1=['log mod:debug "d"', 'log mod:info "i"'],
+        conn2=['log com:comlog "> x"', 'log mod:info "i"'])
+    p.check(**checks)
+    p.conn1.send('logging  "off"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks.pop('conn1')
+    p.check(**checks)
+    p.conn2.send('logging . "off"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks.pop('conn2')
+    p.check(**checks)
+
+
+def test_remote_single_off(init):
+    p = init()
+    p.conn1.send('logging mod "debug"')
+    p.conn2.send('logging mod "info"')
+    p.conn2.send('logging com "debug"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks = dict(
+        console=['frappy.mod DEBUG d', 'frappy.com COMLOG > x', 'frappy.mod INFO i'],
+        comlog=['com > x'],
+        conn1=['log mod:debug "d"', 'log mod:info "i"'],
+        conn2=['log com:comlog "> x"', 'log mod:info "i"'])
+    p.check(**checks)
+    p.conn2.send('logging com "off"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks['conn2'] = ['log mod:info "i"']
+    p.check(**checks)
+    p.conn2.send('logging mod "off"')
+    p.mod.log.debug('d')
+    p.com.communicate('x')
+    p.mod.log.info('i')
+    checks['conn2'] = []
+    p.check(**checks)
--- a/test/test_modules.py
+++ b/test/test_modules.py
@ -22,15 +22,16 @@
 # *****************************************************************************
 """test data types."""

+import sys
 import threading
-
 import pytest

-from secop.datatypes import BoolType, FloatRange, StringType, IntRange
+from secop.datatypes import BoolType, FloatRange, StringType, IntRange, ScaledInteger
 from secop.errors import ProgrammingError, ConfigError
 from secop.modules import Communicator, Drivable, Readable, Module
 from secop.params import Command, Parameter
-from secop.poller import BasicPoller
+from secop.rwhandler import ReadHandler, WriteHandler, nopoll
+from secop.lib import generalConfig


 class DispatcherStub:
@ -52,9 +53,10 @@ class DispatcherStub:


 class LoggerStub:
-    def debug(self, *args):
-        print(*args)
-    info = warning = exception = debug
+    def debug(self, fmt, *args):
+        print(fmt % args)
+    info = warning = exception = error = debug
+    handlers = []


 logger = LoggerStub()
@ -65,13 +67,21 @@ class ServerStub:
        self.dispatcher = DispatcherStub(updates)


+class DummyMultiEvent(threading.Event):
+    def get_trigger(self):
+        def trigger(event=self):
+            event.set()
+            sys.exit()
+        return trigger
+
+
 def test_Communicator():
-    o = Communicator('communicator', LoggerStub(), {'.description':''}, ServerStub({}))
+    o = Communicator('communicator', LoggerStub(), {'.description': ''}, ServerStub({}))
    o.earlyInit()
    o.initModule()
-    event = threading.Event()
-    o.startModule(event.set)
-    assert event.is_set() # event should be set immediately
+    event = DummyMultiEvent()
+    o.startModule(event)
+    assert event.is_set()  # event should be set immediately


 def test_ModuleMagic():
@ -87,14 +97,13 @@ def test_ModuleMagic():
        a1 = Parameter('a1', datatype=BoolType(), default=False)
        a2 = Parameter('a2', datatype=BoolType(), default=True)
        value = Parameter(datatype=StringType(), default='first')
+        target = Parameter(datatype=StringType(), default='')

        @Command(argument=BoolType(), result=BoolType())
        def cmd2(self, arg):
            """another stuff"""
            return not arg

-        pollerClass = BasicPoller
-
        def read_param1(self):
            return True

@ -104,12 +113,16 @@ def test_ModuleMagic():
        def read_a1(self):
            return True

+        @nopoll
        def read_a2(self):
            return True

        def read_value(self):
            return 'second'

+        def read_status(self):
+            return 'IDLE', 'ok'
+
    with pytest.raises(ProgrammingError):
        class Mod1(Module):  # pylint: disable=unused-variable
            def do_this(self):  # old style command
@ -132,9 +145,12 @@ def test_ModuleMagic():
            return arg

        value = Parameter(datatype=FloatRange(unit='deg'))
+        target = Parameter(datatype=FloatRange(), default=0)
        a1 = Parameter(datatype=FloatRange(unit='$/s'), readonly=False)
+        # remark: it might be a programming error to override the datatype
+        # and not overriding the read_* method. This is not checked!
        b2 = Parameter('<b2>', datatype=BoolType(), default=True,
-                       poll=True, readonly=False, initwrite=True)
+                       readonly=False, initwrite=True)

        def write_a1(self, value):
            self._a1_written = value
@ -170,30 +186,33 @@ def test_ModuleMagic():

    # check for inital updates working properly
    o1 = Newclass1('o1', logger, {'.description':''}, srv)
-    expectedBeforeStart = {'target': 0.0, 'status': (Drivable.Status.IDLE, ''),
+    expectedBeforeStart = {'target': '', 'status': (Drivable.Status.IDLE, ''),
            'param1': False, 'param2': 1.0, 'a1': 0.0, 'a2': True, 'pollinterval': 5.0,
            'value': 'first'}
    assert updates.pop('o1') == expectedBeforeStart
    o1.earlyInit()
-    event = threading.Event()
-    o1.startModule(event.set)
+    event = DummyMultiEvent()
+    o1.startModule(event)
    event.wait()
    # should contain polled values
-    expectedAfterStart = {'status': (Drivable.Status.IDLE, ''),
-            'value': 'second'}
+    expectedAfterStart = {
+        'status': (Drivable.Status.IDLE, 'ok'), 'value': 'second',
+        'param1': True, 'param2': 0.0, 'a1': True}
    assert updates.pop('o1') == expectedAfterStart

    # check in addition if parameters are written
    o2 = Newclass2('o2', logger, {'.description':'', 'a1': 2.7}, srv)
    # no update for b2, as this has to be written
    expectedBeforeStart['a1'] = 2.7
+    expectedBeforeStart['target'] = 0.0
    assert updates.pop('o2') == expectedBeforeStart
    o2.earlyInit()
-    event = threading.Event()
-    o2.startModule(event.set)
+    event = DummyMultiEvent()
+    o2.startModule(event)
    event.wait()
    # value has changed type, b2 and a1 are written
-    expectedAfterStart.update(value=0, b2=True, a1=2.7)
+    expectedAfterStart.update(value=0, b2=True, a1=True)
+    # ramerk: a1=True: this behaviour is a Porgamming error
    assert updates.pop('o2') == expectedAfterStart
    assert o2._a1_written == 2.7
    assert o2._b2_written is True
@ -210,13 +229,15 @@ def test_ModuleMagic():
    # check '$' in unit works properly
    assert o2.parameters['a1'].datatype.unit == 'mm/s'
    cfg = Newclass2.configurables
-    assert set(cfg.keys()) == {'export', 'group', 'description',
+    assert set(cfg.keys()) == {
+        'export', 'group', 'description', 'disable_value_range_check',
        'meaning', 'visibility', 'implementation', 'interface_classes', 'target', 'stop',
-        'status', 'param1', 'param2', 'cmd', 'a2', 'pollinterval', 'b2', 'cmd2', 'value',
-        'a1'}
-    assert set(cfg['value'].keys()) == {'group', 'export', 'relative_resolution',
+        'status', 'param1', 'param2', 'cmd', 'a2', 'pollinterval', 'slowinterval', 'b2',
+        'cmd2', 'value', 'a1'}
+    assert set(cfg['value'].keys()) == {
+        'group', 'export', 'relative_resolution',
        'visibility', 'unit', 'default', 'datatype', 'fmtstr',
-        'absolute_resolution', 'poll', 'max', 'min', 'readonly', 'constant',
+        'absolute_resolution', 'max', 'min', 'readonly', 'constant',
        'description', 'needscfg'}

    # check on the level of classes
@ -459,3 +480,177 @@ def test_command_none():

    assert 'stop' in Mod('o', logger, {'description': ''}, srv).accessibles
    assert 'stop' not in Mod2('o', logger, {'description': ''}, srv).accessibles
+
+
+def test_bad_method():
+    class Mod0(Drivable):  # pylint: disable=unused-variable
+        def write_target(self, value):
+            pass
+
+    with pytest.raises(ProgrammingError):
+        class Mod1(Drivable):  # pylint: disable=unused-variable
+            def write_taget(self, value):
+                pass
+
+    class Mod2(Drivable):  # pylint: disable=unused-variable
+        def read_value(self, value):
+            pass
+
+    with pytest.raises(ProgrammingError):
+        class Mod3(Drivable):  # pylint: disable=unused-variable
+            def read_valu(self, value):
+                pass
+
+
+def test_generic_access():
+    class Mod(Module):
+        param = Parameter('handled param', StringType(), readonly=False)
+        unhandled = Parameter('unhandled param', StringType(), default='', readonly=False)
+        data = {'param': ''}
+
+        @ReadHandler(['param'])
+        def read_handler(self, pname):
+            value = self.data[pname]
+            setattr(self, pname, value)
+            return value
+
+        @WriteHandler(['param'])
+        def write_handler(self, pname, value):
+            value = value.lower()
+            self.data[pname] = value
+            setattr(self, pname, value)
+            return value
+
+    updates = {}
+    srv = ServerStub(updates)
+
+    obj = Mod('obj', logger, {'description': '', 'param': 'initial value'}, srv)
+    assert obj.param == 'initial value'
+    assert obj.write_param('Cheese') == 'cheese'
+    assert obj.write_unhandled('Cheese') == 'Cheese'
+    assert updates == {'obj': {'param': 'cheese', 'unhandled': 'Cheese'}}
+    updates.clear()
+    assert obj.write_param('Potato') == 'potato'
+    assert updates == {'obj': {'param': 'potato'}}
+    updates.clear()
+    assert obj.read_param() == 'potato'
+    assert obj.read_unhandled()
+    assert updates == {'obj': {'param': 'potato'}}
+    updates.clear()
+    assert updates == {}
+
+
+def test_duplicate_handler_name():
+    with pytest.raises(ProgrammingError):
+        class Mod(Module):  # pylint: disable=unused-variable
+            param = Parameter('handled param', StringType(), readonly=False)
+
+            @ReadHandler(['param'])
+            def handler(self, pname):
+                pass
+
+            @WriteHandler(['param'])
+            def handler(self, pname, value):  # pylint: disable=function-redefined
+                pass
+
+
+def test_handler_overwrites_method():
+    with pytest.raises(RuntimeError):
+        class Mod1(Module):  # pylint: disable=unused-variable
+            param = Parameter('handled param', StringType(), readonly=False)
+
+            @ReadHandler(['param'])
+            def read_handler(self, pname):
+                pass
+
+            def read_param(self):
+                pass
+
+    with pytest.raises(RuntimeError):
+        class Mod2(Module):  # pylint: disable=unused-variable
+            param = Parameter('handled param', StringType(), readonly=False)
+
+            @WriteHandler(['param'])
+            def write_handler(self, pname, value):
+                pass
+
+            def write_param(self, value):
+                pass
+
+
+def test_no_read_write():
+    class Mod(Module):
+        param = Parameter('test param', StringType(), readonly=False)
+
+    updates = {}
+    srv = ServerStub(updates)
+
+    obj = Mod('obj', logger, {'description': '', 'param': 'cheese'}, srv)
+    assert obj.param == 'cheese'
+    assert obj.read_param() == 'cheese'
+    assert updates == {'obj': {'param': 'cheese'}}
+    assert obj.write_param('egg') == 'egg'
+    assert obj.param == 'egg'
+    assert updates == {'obj': {'param': 'egg'}}
+
+
+def test_incompatible_value_target():
+    class Mod1(Drivable):
+        value = Parameter('', FloatRange(0, 10), default=0)
+        target = Parameter('', FloatRange(0, 11), default=0)
+
+    class Mod2(Drivable):
+        value = Parameter('', FloatRange(), default=0)
+        target = Parameter('', StringType(), default='')
+
+    class Mod3(Drivable):
+        value = Parameter('', FloatRange(), default=0)
+        target = Parameter('', ScaledInteger(1, 0, 10), default=0)
+
+    srv = ServerStub({})
+
+    with pytest.raises(ConfigError):
+        obj = Mod1('obj', logger, {'description': ''}, srv)  # pylint: disable=unused-variable
+
+    with pytest.raises(ProgrammingError):
+        obj = Mod2('obj', logger, {'description': ''}, srv)
+
+    obj = Mod3('obj', logger, {'description': ''}, srv)
+
+
+def test_problematic_value_range():
+    class Mod(Drivable):
+        value = Parameter('', FloatRange(0, 10), default=0)
+        target = Parameter('', FloatRange(0, 10), default=0)
+
+    srv = ServerStub({})
+
+    obj = Mod('obj', logger, {'description': '', 'value.max': 10.1}, srv)  # pylint: disable=unused-variable
+
+    with pytest.raises(ConfigError):
+        obj = Mod('obj', logger, {'description': ''}, srv)
+
+    class Mod2(Drivable):
+        value = Parameter('', FloatRange(), default=0)
+        target = Parameter('', FloatRange(), default=0)
+
+    obj = Mod2('obj', logger, {'description': ''}, srv)
+    obj = Mod2('obj', logger, {'description': '', 'target.min': 0, 'target.max': 10}, srv)
+
+    with pytest.raises(ConfigError):
+        obj = Mod('obj', logger, {
+            'value.min': 0, 'value.max': 10,
+            'target.min': 0, 'target.max': 10, 'description': ''}, srv)
+
+    obj = Mod('obj', logger, {'disable_value_range_check': True,
+        'value.min': 0, 'value.max': 10,
+        'target.min': 0, 'target.max': 10, 'description': ''}, srv)
+
+    generalConfig.defaults['disable_value_range_check'] = True
+
+    class Mod4(Drivable):
+        value = Parameter('', FloatRange(0, 10), default=0)
+        target = Parameter('', FloatRange(0, 10), default=0)
+    obj = Mod4('obj', logger, {
+        'value.min': 0, 'value.max': 10,
+        'target.min': 0, 'target.max': 10, 'description': ''}, srv)
--- a/test/test_multievent.py
+++ b/test/test_multievent.py
@ -0,0 +1,60 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+import time
+from secop.lib.multievent import MultiEvent
+
+
+def test_without_timeout():
+    m = MultiEvent()
+    s1 = m.get_trigger(name='s1')
+    s2 = m.get_trigger(name='s2')
+    assert not m.wait(0)
+    assert m.deadline() is None
+    assert m.waiting_for() == {'s1', 's2'}
+    s2()
+    assert m.waiting_for() == {'s1'}
+    assert not m.wait(0)
+    s1()
+    assert not m.waiting_for()
+    assert m.wait(0)
+
+
+def test_with_timeout(monkeypatch):
+    current_time = 1000
+    monkeypatch.setattr(time, 'monotonic', lambda: current_time)
+    m = MultiEvent()
+    assert m.deadline() == 0
+    m.name = 's1'
+    s1 = m.get_trigger(10)
+    assert m.deadline() == 1010
+    m.name = 's2'
+    s2 = m.get_trigger(20)
+    assert m.deadline() == 1020
+    current_time += 21
+    assert not m.wait(0)
+    assert m.waiting_for() == {'s1', 's2'}
+    s1()
+    assert m.waiting_for() == {'s2'}
+    s2()
+    assert not m.waiting_for()
+    assert m.wait(0)
--- a/test/test_poller.py
+++ b/test/test_poller.py
@ -21,18 +21,20 @@
 # *****************************************************************************
 """test poller."""

+import sys
+import threading
 import time
-from collections import OrderedDict
+import logging

 import pytest

-from secop.modules import Drivable
-from secop.poller import DYNAMIC, REGULAR, SLOW, Poller
+from secop.core import Module, Parameter, FloatRange, Readable, ReadHandler, nopoll
+from secop.lib.multievent import MultiEvent

-Status = Drivable.Status

 class Time:
-    STARTTIME = 1000 # artificial time zero
+    STARTTIME = 1000  # artificial time zero
+
    def __init__(self):
        self.reset()
        self.finish = float('inf')
@ -61,187 +63,103 @@ class Time:
        self.seconds += seconds
        self.busytime += seconds

+
 artime = Time() # artificial test time

-@pytest.fixture(autouse=True)
-def patch_time(monkeypatch):
-    monkeypatch.setattr(time, 'time', artime.time)
+
+class Event(threading.Event):
+    def wait(self, timeout=None):
+        artime.sleep(max(0, timeout))


-class Event:
-    def __init__(self):
-        self.flag = False
+class DispatcherStub:
+    maxcycles = 10

-    def wait(self, timeout):
-        artime.sleep(max(0,timeout))
-
-    def set(self):
-        self.flag = True
-
-    def clear(self):
-        self.flag = False
-
-    def is_set(self):
-        return self.flag
-
-
-class Parameter:
-    def __init__(self, name, readonly, poll, polltype, interval):
-        self.poll = poll
-        self.polltype = polltype # used for check only
-        self.export = name
-        self.readonly = readonly
-        self.interval = interval
-        self.timestamp = 0
-        self.handler = None
-        self.reset()
-
-    def reset(self):
-        self.cnt = 0
-        self.span = 0
-        self.maxspan = 0
-
-    def rfunc(self):
-        artime.busy(artime.commtime)
+    def announce_update(self, modulename, pname, pobj):
        now = artime.time()
-        self.span = now - self.timestamp
-        self.maxspan = max(self.maxspan, self.span)
-        self.timestamp = now
-        self.cnt += 1
-        return True
-
-    def __repr__(self):
-        return 'Parameter(%s)' % ", ".join("%s=%r" % item for item in self.__dict__.items())
-
-
-class Module:
-    properties = {}
-    pollerClass = Poller
-    iodev = 'common_iodev'
-    def __init__(self, name, pollinterval=5, fastfactor=0.25, slowfactor=4, busy=False,
-                 counts=(), auto=None):
-        '''create a dummy module
-
-        nauto, ndynamic, nregular, nslow are the number of parameters of each polltype
-        '''
-        self.pollinterval = pollinterval
-        self.fast_pollfactor = fastfactor
-        self.slow_pollfactor = slowfactor
-        self.parameters = OrderedDict()
-        self.name = name
-        self.is_busy = busy
-        if auto is not None:
-            self.pvalue = self.addPar('value', True, auto or DYNAMIC, DYNAMIC)
-            # readonly = False should not matter:
-            self.pstatus = self.addPar('status', False, auto or DYNAMIC, DYNAMIC)
-            self.pregular = self.addPar('regular', True, auto or REGULAR, REGULAR)
-            self.pslow = self.addPar('slow', False, auto or SLOW, SLOW)
-            self.addPar('notpolled', True, False, 0)
-            self.counts = 'auto'
+        if hasattr(pobj, 'stat'):
+            pobj.stat.append(now)
        else:
-            ndynamic, nregular, nslow = counts
-            for i in range(ndynamic):
-                self.addPar('%s:d%d' % (name, i), True, DYNAMIC, DYNAMIC)
-            for i in range(nregular):
-                self.addPar('%s:r%d' % (name, i), True, REGULAR, REGULAR)
-            for i in range(nslow):
-                self.addPar('%s:s%d' % (name, i), False, SLOW, SLOW)
-            self.counts = counts
+            pobj.stat = [now]
+        self.maxcycles -= 1
+        if self.maxcycles <= 0:
+            self.finish_event.set()
+            sys.exit()  # stop thread

-    def addPar(self, name, readonly, poll, expected_polltype):
-        # self.count[polltype] += 1
-        expected_interval = self.pollinterval
-        if expected_polltype == SLOW:
-            expected_interval *= self.slow_pollfactor
-        elif expected_polltype == DYNAMIC and self.is_busy:
-            expected_interval *= self.fast_pollfactor
-        pobj = Parameter(name, readonly, poll, expected_polltype, expected_interval)
-        setattr(self, 'read_' + pobj.export, pobj.rfunc)
-        self.parameters[pobj.export] = pobj
-        return pobj

-    def isBusy(self):
-        return self.is_busy
+class ServerStub:
+    def __init__(self):
+        self.dispatcher = DispatcherStub()

-    def pollOneParam(self, pname):
-        getattr(self, 'read_' + pname)()

-    def writeInitParams(self):
-        pass
+class Base(Module):
+    def __init__(self):
+        srv = ServerStub()
+        super().__init__('mod', logging.getLogger('dummy'), dict(description=''), srv)
+        self.dispatcher = srv.dispatcher
+        self.nextPollEvent = Event()

-    def __repr__(self):
-        rdict = self.__dict__.copy()
-        rdict.pop('parameters')
-        return 'Module(%r, counts=%r, f=%r, pollinterval=%g, is_busy=%r)' % (self.name,
-            self.counts, (self.fast_pollfactor, self.slow_pollfactor, 1),
-            self.pollinterval, self.is_busy)
+    def run(self, maxcycles):
+        self.dispatcher.maxcycles = maxcycles
+        self.dispatcher.finish_event = threading.Event()
+        self.startModule(MultiEvent())
+        self.dispatcher.finish_event.wait(1)

-module_list = [
-        [Module('x', 3.0, 0.125, 10, False, auto=True),
-         Module('y', 3.0, 0.125, 10, False, auto=False)],
-        [Module('a', 1.0, 0.25, 4, True, (5, 5, 10)),
-         Module('b', 2.0, 0.25, 4, True, (5, 5, 50))],
-        [Module('c', 1.0, 0.25, 4, False, (5, 0, 0))],
-        [Module('d', 1.0, 0.25, 4, True, (0, 9, 0))],
-        [Module('e', 1.0, 0.25, 4, True, (0, 0, 9))],
-        [Module('f', 1.0, 0.25, 4, True, (0, 0, 0))],
-    ]
-@pytest.mark.parametrize('modules', module_list)
-def test_Poller(modules):
-    # check for proper timing

-    for overloaded in False, True:
-        artime.reset()
-        count = {DYNAMIC: 0, REGULAR: 0, SLOW: 0}
-        maxspan = {DYNAMIC: 0, REGULAR: 0, SLOW: 0}
-        pollTable = dict()
-        for module in modules:
-            Poller.add_to_table(pollTable, module)
-            for pobj in module.parameters.values():
-                if pobj.poll:
-                    maxspan[pobj.polltype] = max(maxspan[pobj.polltype], pobj.interval)
-                    count[pobj.polltype] += 1
-                    pobj.reset()
-        assert len(pollTable) == 1
-        poller = pollTable[(Poller, 'common_iodev')]
-        artime.stop = poller.stop
-        poller._event = Event() # patch Event.wait
+class Mod1(Base, Readable):
+    param1 = Parameter('', FloatRange())
+    param2 = Parameter('', FloatRange())
+    param3 = Parameter('', FloatRange())
+    param4 = Parameter('', FloatRange())

-        assert (sum(count.values()) > 0) == bool(poller)
+    @ReadHandler(('param1', 'param2', 'param3'))
+    def read_param(self, name):
+        artime.sleep(1.0)
+        return 0

-        def started_callback(modules=modules):
-            for module in modules:
-                for pobj in module.parameters.values():
-                    assert pobj.cnt == bool(pobj.poll) # all parameters have to be polled once
-                    pobj.reset() # set maxspan and cnt to 0
+    @nopoll
+    def read_param4(self):
+        return 0

-        if overloaded:
-            # overloaded scenario
-            artime.commtime = 1.0
-            ncycles = 10
-            if count[SLOW] > 0:
-                cycletime = (count[REGULAR] + 1) * count[SLOW] * 2
-            else:
-                cycletime = max(count[REGULAR], count[DYNAMIC]) * 2
-            artime.reset(cycletime * ncycles * 1.01)  # poller will quit given time
-            poller.run(started_callback)
-            total = artime.time() - artime.STARTTIME
-            for module in modules:
-                for pobj in module.parameters.values():
-                    if pobj.poll:
-                        # average_span = total / (pobj.cnt + 1)
-                        assert total / (pobj.cnt + 1) <= max(cycletime, pobj.interval * 1.1)
-        else:
-            # normal scenario
-            artime.commtime = 0.001
-            artime.reset(max(maxspan.values()) * 5) # poller will quit given time
-            poller.run(started_callback)
-            total = artime.time() - artime.STARTTIME
-            for module in modules:
-                for pobj in module.parameters.values():
-                    if pobj.poll:
-                        assert pobj.cnt > 0
-                        assert pobj.maxspan <= maxspan[pobj.polltype] * 1.1
-                        assert (pobj.cnt + 1) * pobj.interval >= total * 0.99
-                        assert abs(pobj.span - pobj.interval) < 0.01
-                        pobj.reset()
+    def read_status(self):
+        artime.sleep(1.0)
+        return 0
+
+    def read_value(self):
+        artime.sleep(1.0)
+        return 0
+
+
+@pytest.mark.parametrize(
+    'ncycles, pollinterval, slowinterval, mspan, pspan',
+    [  # normal case:                    5+-1     15+-1
+     (    60,            5,          15, (4, 6), (14, 16)),
+     # pollinterval faster then reading: mspan max 3 s (polls of value, status and ONE other parameter)
+     (    60,            1,           5, (1, 3), (5, 16)),
+    ])
+def test_poll(ncycles, pollinterval, slowinterval, mspan, pspan, monkeypatch):
+    monkeypatch.setattr(time, 'time', artime.time)
+    artime.reset()
+    m = Mod1()
+    m.pollinterval = pollinterval
+    m.slowInterval = slowinterval
+    m.run(ncycles)
+    assert not hasattr(m.parameters['param4'], 'stat')
+    for pname in ['value', 'status']:
+        pobj = m.parameters[pname]
+        lowcnt = 0
+        for t1, t2 in zip(pobj.stat[1:], pobj.stat[2:-1]):
+            if t2 - t1 < mspan[0]:
+                print(t2 - t1)
+                lowcnt += 1
+            assert t2 - t1 <= mspan[1]
+        assert lowcnt <= 1
+    for pname in ['param1', 'param2', 'param3']:
+        pobj = m.parameters[pname]
+        lowcnt = 0
+        for t1, t2 in zip(pobj.stat[1:], pobj.stat[2:-1]):
+            if t2 - t1 < pspan[0]:
+                print(pname, t2 - t1)
+                lowcnt += 1
+            assert t2 - t1 <= pspan[1]
+        assert lowcnt <= 1
--- a/test/test_properties.py
+++ b/test/test_properties.py
@ -26,6 +26,7 @@ import pytest
 from secop.datatypes import FloatRange, IntRange, StringType, ValueType
 from secop.errors import BadValueError, ConfigError, ProgrammingError
 from secop.properties import HasProperties, Property
+from secop.core import Parameter


 def Prop(*args, name=None, **kwds):
@ -38,10 +39,10 @@ V_test_Property = [
    [Prop(StringType(), 'default', extname='extname', mandatory=False),
     dict(default='default', extname='extname', export=True, mandatory=False)
     ],
-    [Prop(IntRange(), '42', export=True, name='custom', mandatory=True),
+    [Prop(IntRange(), 42, export=True, name='custom', mandatory=True),
     dict(default=42, extname='_custom', export=True, mandatory=True),
     ],
-    [Prop(IntRange(), '42', export=True, name='name'),
+    [Prop(IntRange(), 42, export=True, name='name'),
     dict(default=42, extname='_name', export=True, mandatory=False)
     ],
    [Prop(IntRange(), 42, '_extname', mandatory=True),
@ -85,12 +86,12 @@ def test_Property_basic():
        Property('')
    with pytest.raises(ValueError):
        Property('', 1)
-    Property('', IntRange(), '42', 'extname', False, False)
+    Property('', IntRange(), 42, 'extname', False, False)


 def test_Properties():
    class Cls(HasProperties):
-        aa = Property('', IntRange(0, 99), '42', export=True)
+        aa = Property('', IntRange(0, 99), 42, export=True)
        bb = Property('', IntRange(), 0, export=False)

    assert Cls.aa.default == 42
@ -149,17 +150,25 @@ def test_Property_override():
    assert o2.a == 3

    with pytest.raises(ProgrammingError) as e:
-        class cx(c): # pylint: disable=unused-variable
+        class cx(c):  # pylint: disable=unused-variable
            def a(self):
                pass
    assert 'collides with' in str(e.value)

    with pytest.raises(ProgrammingError) as e:
-        class cz(c): # pylint: disable=unused-variable
+        class cy(c):  # pylint: disable=unused-variable
            a = 's'

    assert 'can not set' in str(e.value)

+    with pytest.raises(ProgrammingError) as e:
+        class cz(c):  # pylint: disable=unused-variable
+            a = 's'
+
+    class cp(c):  # pylint: disable=unused-variable
+        # overriding a Property with a Parameter is allowed
+        a = Parameter('x', IntRange())
+

 def test_Properties_mro():
    class Base(HasProperties):
--- a/test/test_statemachine.py
+++ b/test/test_statemachine.py
@ -0,0 +1,148 @@
+#  -*- coding: utf-8 -*-
+# *****************************************************************************
+#
+# This program is free software; you can redistribute it and/or modify it under
+# the terms of the GNU General Public License as published by the Free Software
+# Foundation; either version 2 of the License, or (at your option) any later
+# version.
+#
+# This program is distributed in the hope that it will be useful, but WITHOUT
+# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+# FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+# details.
+#
+# You should have received a copy of the GNU General Public License along with
+# this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#
+# Module authors:
+#   Markus Zolliker <markus.zolliker@psi.ch>
+#
+# *****************************************************************************
+
+
+from secop.lib.statemachine import StateMachine, Stop, Retry
+
+
+def rise(state):
+    state.step += 1
+    print('rise', state.step)
+    if state.init:
+        state.status = 'rise'
+    state.level += 1
+    if state.level > 3:
+        return turn
+    return Retry()
+
+
+def turn(state):
+    state.step += 1
+    if state.init:
+        state.status = 'turn'
+    state.direction += 1
+    if state.direction > 3:
+        return fall
+    return Retry()
+
+
+def fall(state):
+    state.step += 1
+    if state.init:
+        state.status = 'fall'
+    state.level -= 1
+    if state.level < 0:
+        raise ValueError('crash')
+    return Retry(0)  # retry until crash!
+
+
+def error_handler(state):
+    state.last_error_name = type(state.last_error).__name__
+
+
+class LoggerStub:
+    def debug(self, fmt, *args):
+        print(fmt % args)
+    info = warning = exception = error = debug
+    handlers = []
+
+
+class DummyThread:
+    def is_alive(self):
+        return True
+
+
+def test_fun():
+    s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
+    assert s.step == 0
+    assert s.status == ''
+    s.cycle()  # do nothing
+    assert s.step == 0
+    s.start(rise, level=0, direction=0)
+    s.cycle()
+    for i in range(1, 4):
+        assert s.status == 'rise'
+        assert s.step == i
+        assert s.level == i
+        assert s.direction == 0
+        s.cycle()
+    for i in range(5, 8):
+        assert s.status == 'turn'
+        assert s.step == i
+        assert s.level == 4
+        assert s.direction == i - 4
+        s.cycle()
+    s.cycle()  # -> crash
+    assert isinstance(s.last_error, ValueError)
+    assert str(s.last_error) == 'crash'
+    assert s.state is None
+
+
+def test_max_chain():
+    s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
+    s.start(fall, level=999+1, direction=0)
+    s.cycle()
+    assert isinstance(s.last_error, RuntimeError)
+    assert s.state is None
+
+
+def test_stop():
+    s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
+    s.start(rise, level=0, direction=0)
+    for _ in range(1, 3):
+        s.cycle()
+    s.stop()
+    s.cycle()
+    assert isinstance(s.last_error, Stop)
+    assert s.state is None
+
+
+def test_std_error_handling():
+    s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
+    s.start(rise, level=0, direction=0)
+    s.cycle()
+    s.level = None  # -> TypeError on next step
+    s.cycle()
+    assert s.state is None  # default error handler: stop machine
+    assert isinstance(s.last_error, TypeError)
+    assert not hasattr(s, 'last_error_name')
+
+
+def test_default_error_handling():
+    s = StateMachine(step=0, status='', cleanup=error_handler, threaded=False, logger=LoggerStub())
+    s.start(rise, level=0, direction=0)
+    s.cycle()
+    s.level = None
+    s.cycle()
+    assert s.state is None
+    assert s.last_error_name == 'TypeError'
+    assert isinstance(s.last_error, TypeError)
+
+
+def test_cleanup_on_restart():
+    s = StateMachine(step=0, status='', threaded=False, logger=LoggerStub())
+    s.start(rise, level=0, direction=0)
+    s.cycle()
+    s.start(turn)
+    s.cycle()
+    assert s.state is turn
+    assert s.last_error is None