diff --git a/.gitignore b/.gitignore
index 058cd6d3b..40156f55a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -23,3 +23,6 @@ coverage/
 
 tmp/
 syskit-0.1.gem
+
+lib/syskit/telemetry/agent/*_pb.rb
+.test-results/
diff --git a/.rubocop-version b/.rubocop-version
new file mode 100644
index 000000000..65ee09598
--- /dev/null
+++ b/.rubocop-version
@@ -0,0 +1 @@
+1.67.0
diff --git a/.rubocop.yml b/.rubocop.yml
index 50471bf76..5f665c26d 100644
--- a/.rubocop.yml
+++ b/.rubocop.yml
@@ -10,6 +10,9 @@ inherit_mode:
 
 AllCops:
   TargetRubyVersion: "2.5"
+  NewCops: enable
+  Exclude:
+  - lib/syskit/telemetry/agent/*_pb.rb
 
 Style/MultilineMemoization:
     EnforcedStyle: braces
@@ -39,12 +42,13 @@ Naming/MethodParameterName:
   AllowedNames:
   - as
   - fd
+  - kw
 
 Security/MarshalLoad:
   Exclude:
-  - lib/syskit/roby_app/remote_processes/server.rb
-  - lib/syskit/roby_app/remote_processes/client.rb
+  - 'lib/syskit/process_managers/remote/manager.rb'
+  - 'lib/syskit/process_managers/remote/server/server.rb'
 
 Style/MultilineBlockChain:
   Exclude:
-  - test/**/test_*.rb
\ No newline at end of file
+  - test/**/test_*.rb
diff --git a/.rubocop_todo.yml b/.rubocop_todo.yml
index 470141000..2a5e34f0e 100644
--- a/.rubocop_todo.yml
+++ b/.rubocop_todo.yml
@@ -1,22 +1,18 @@
 # This configuration was generated by
-# `rubocop --auto-gen-config --auto-gen-only-exclude --exclude-limit 99999`
-# on 2020-04-09 10:05:22 -0300 using RuboCop version 0.80.1.
+# `rubocop --auto-gen-config --auto-gen-only-exclude --no-exclude-limit`
+# on 2024-10-16 14:52:55 UTC using RuboCop version 1.67.0.
 # The point is for the user to remove these configuration records
 # one by one as the offenses are removed from the code base.
 # Note that changes in the inspected code, or installation of new
 # versions of RuboCop, may require this file to be generated again.
 
-# Need to disable this until the corresponding cops have been fixed
-Lint/RedundantCopDisableDirective:
-  Exclude:
-    - 'lib/syskit/gui/batch_manager.rb'
-
-# Offense count: 2077
-# Cop supports --auto-correct.
-# Configuration parameters: AutoCorrect, Max, AllowHeredoc, AllowURI, URISchemes, IgnoreCopDirectives, IgnoredPatterns.
+# Offense count: 1892
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: Max, AllowHeredoc, AllowURI, URISchemes, IgnoreCopDirectives, AllowedPatterns.
 # URISchemes: http, https
 Layout/LineLength:
   Exclude:
+    - 'bin/syskit'
     - 'lib/syskit/actions/action_model.rb'
     - 'lib/syskit/actions/profile.rb'
     - 'lib/syskit/composition.rb'
@@ -33,6 +29,7 @@ Layout/LineLength:
     - 'lib/syskit/coordination/plan_extension.rb'
     - 'lib/syskit/coordination/port_handling.rb'
     - 'lib/syskit/data_flow.rb'
+    - 'lib/syskit/dependency_injection.rb'
     - 'lib/syskit/dependency_injection_context.rb'
     - 'lib/syskit/deployment.rb'
     - 'lib/syskit/droby/v5/droby_dump.rb'
@@ -55,11 +52,15 @@ Layout/LineLength:
     - 'lib/syskit/gui/page_extension.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/gui/state_label.rb'
+    - 'lib/syskit/gui/testing.rb'
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/instance_selection.rb'
     - 'lib/syskit/models/base.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/models/composition.rb'
     - 'lib/syskit/models/composition_child.rb'
     - 'lib/syskit/models/composition_specialization.rb'
+    - 'lib/syskit/models/data_service.rb'
     - 'lib/syskit/models/deployment.rb'
     - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/dynamic_data_service.rb'
@@ -75,16 +76,17 @@ Layout/LineLength:
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
     - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
+    - 'lib/syskit/network_generation/system_network_deployer.rb'
     - 'lib/syskit/network_generation/system_network_generator.rb'
     - 'lib/syskit/orogen_namespace.rb'
     - 'lib/syskit/properties.rb'
-    - 'lib/syskit/remote_state_getter.rb'
+    - 'lib/syskit/queries/port_matcher.rb'
+    - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/robot/robot_definition.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/logging_configuration.rb'
     - 'lib/syskit/roby_app/logging_group.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/ros/node.rb'
@@ -95,17 +97,26 @@ Layout/LineLength:
     - 'lib/syskit/scripts/browse.rb'
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/scripts/connection_log.rb'
-    - 'lib/syskit/scripts/doc.rb'
     - 'lib/syskit/scripts/ide.rb'
     - 'lib/syskit/scripts/instanciate.rb'
     - 'lib/syskit/scripts/instanciate_gui.rb'
-    - 'lib/syskit/shell_interface.rb'
     - 'lib/syskit/task_configuration_manager.rb'
+    - 'lib/syskit/telemetry/ui/app_start_dialog.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/expanded_job_status.rb'
+    - 'lib/syskit/telemetry/ui/global_state_label.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration_item.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/telemetry/ui/state_label.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/base.rb'
+    - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/test/profile_assertions.rb'
     - 'lib/syskit/test/profile_test.rb'
     - 'lib/syskit/test/ruby_task_context_test.rb'
     - 'lib/yard-syskit.rb'
-    - 'syskit.gemspec'
     - 'test/actions/test_action_model.rb'
     - 'test/actions/test_interface_model_extension.rb'
     - 'test/cli/test_gen_main.rb'
@@ -134,6 +145,7 @@ Layout/LineLength:
     - 'test/models/test_specialization_manager.rb'
     - 'test/models/test_task_context.rb'
     - 'test/network_generation/test_async.rb'
+    - 'test/network_generation/test_dataflow_computation.rb'
     - 'test/network_generation/test_dataflow_dynamics.rb'
     - 'test/network_generation/test_engine.rb'
     - 'test/network_generation/test_logger.rb'
@@ -152,8 +164,7 @@ Layout/LineLength:
     - 'test/ros/test_task_context.rb'
     - 'test/runtime/test_apply_requirement_modifications.rb'
     - 'test/runtime/test_connection_management.rb'
-    - 'test/runtime/test_update_deployment_state.rb'
-    - 'test/runtime/test_update_task_states.rb'
+    - 'test/test/test_execution_expectations.rb'
     - 'test/test/test_network_manipulation.rb'
     - 'test/test/test_spec.rb'
     - 'test/test_bound_data_service.rb'
@@ -172,12 +183,11 @@ Layout/LineLength:
     - 'test/test_properties.rb'
     - 'test/test_property.rb'
     - 'test/test_remote_state_getter.rb'
-    - 'test/test_shell_interface.rb'
     - 'test/test_task_configuration_manager.rb'
     - 'test/test_task_context.rb'
 
-# Offense count: 20
-# Cop supports --auto-correct.
+# Offense count: 13
+# This cop supports safe autocorrection (--autocorrect).
 # Configuration parameters: EnforcedStyle, IndentationWidth.
 # SupportedStyles: aligned, indented
 Layout/MultilineOperationIndentation:
@@ -187,21 +197,22 @@ Layout/MultilineOperationIndentation:
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/models/deployment.rb'
     - 'lib/syskit/models/port.rb'
-    - 'lib/syskit/models/task_context.rb'
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/runtime/exceptions.rb'
     - 'lib/syskit/task_configuration_manager.rb'
 
-# Offense count: 12
+# Offense count: 11
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: AllowedMethods, AllowedPatterns.
 Lint/AmbiguousBlockAssociation:
   Exclude:
-    - 'test/models/test_component.rb'
     - 'test/network_generation/test_engine.rb'
     - 'test/network_generation/test_system_network_deployer.rb'
     - 'test/test_task_context.rb'
 
-# Offense count: 23
+# Offense count: 19
+# This cop supports safe autocorrection (--autocorrect).
 Lint/AmbiguousRegexpLiteral:
   Exclude:
     - 'test/cli/test_gen_main.rb'
@@ -209,12 +220,11 @@ Lint/AmbiguousRegexpLiteral:
     - 'test/models/test_component.rb'
     - 'test/robot/test_device.rb'
     - 'test/roby_app/test_logging_group.rb'
-    - 'test/test_component.rb'
     - 'test/test_data_service.rb'
     - 'test/test_remote_state_getter.rb'
-    - 'test/test_shell_interface.rb'
 
-# Offense count: 114
+# Offense count: 85
+# This cop supports unsafe autocorrection (--autocorrect-all).
 # Configuration parameters: AllowSafeAssignment.
 Lint/AssignmentInCondition:
   Exclude:
@@ -239,7 +249,6 @@ Lint/AssignmentInCondition:
     - 'lib/syskit/models/composition_child.rb'
     - 'lib/syskit/models/composition_specialization.rb'
     - 'lib/syskit/models/faceted_access.rb'
-    - 'lib/syskit/models/orogen_base.rb'
     - 'lib/syskit/models/placeholder.rb'
     - 'lib/syskit/models/port_access.rb'
     - 'lib/syskit/models/specialization_manager.rb'
@@ -250,35 +259,142 @@ Lint/AssignmentInCondition:
     - 'lib/syskit/network_generation/system_network_generator.rb'
     - 'lib/syskit/port_access.rb'
     - 'lib/syskit/properties.rb'
-    - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/logging_configuration.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/runtime/connection_management.rb'
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/task_configuration_manager.rb'
-    - 'test/test/test_execution_expectations.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/state_label.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'test/test_remote_state_getter.rb'
 
-# Offense count: 23
+# Offense count: 1
+Lint/BinaryOperatorWithIdenticalOperands:
+  Exclude:
+    - 'lib/syskit/models/specialization_manager.rb'
+
+# Offense count: 6
+# Configuration parameters: AllowedMethods.
+# AllowedMethods: enums
+Lint/ConstantDefinitionInBlock:
+  Exclude:
+    - 'lib/syskit/roby_app/rest_api.rb'
+    - 'test/coordination/test_data_monitor.rb'
+    - 'test/process_managers/test_remote.rb'
+    - 'test/telemetry/agent/test_client_server.rb'
+    - 'test/test/test_spec.rb'
+
+# Offense count: 18
+# Configuration parameters: IgnoreLiteralBranches, IgnoreConstantBranches.
+Lint/DuplicateBranch:
+  Exclude:
+    - 'lib/syskit/dependency_injection.rb'
+    - 'lib/syskit/gui/batch_manager.rb'
+    - 'lib/syskit/gui/job_status_display.rb'
+    - 'lib/syskit/gui/runtime_state.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/models/deployment_group.rb'
+    - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/network_generation/logger.rb'
+    - 'lib/syskit/roby_app/logging_group.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+
+# Offense count: 29
+# Configuration parameters: AllowComments, AllowEmptyLambdas.
+Lint/EmptyBlock:
+  Exclude:
+    - 'lib/syskit/logger_service.rb'
+    - 'test/actions/test_action_model.rb'
+    - 'test/actions/test_profile.rb'
+    - 'test/coordination/test_data_monitoring_table.rb'
+    - 'test/models/test_component.rb'
+    - 'test/models/test_dynamic_data_service.rb'
+    - 'test/models/test_specialization_manager.rb'
+    - 'test/robot/test_master_device_instance.rb'
+    - 'test/roby_app/test_logging_configuration.rb'
+    - 'test/telemetry/agent/test_client_server.rb'
+    - 'test/test/test_network_manipulation.rb'
+    - 'test/test/test_profile_assertions.rb'
+    - 'test/test/test_stubs.rb'
+    - 'test/test_task_context.rb'
+
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AutoCorrect, AllowComments.
+Lint/EmptyConditionalBody:
+  Exclude:
+    - 'lib/syskit/deployment.rb'
+
+# Offense count: 2
+# Configuration parameters: AllowComments.
+Lint/EmptyFile:
+  Exclude:
+    - 'lib/syskit/ros/roby_app/plugin.rb'
+    - 'lib/syskit/spec.rb'
+
+# Offense count: 2
+Lint/HashCompareByIdentity:
+  Exclude:
+    - 'lib/syskit/gui/testing.rb'
+
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Lint/InterpolationCheck:
+  Exclude:
+    - 'lib/syskit/dependency_injection.rb'
+
+# Offense count: 30
+# Configuration parameters: AllowedParentClasses.
+Lint/MissingSuper:
+  Exclude:
+    - 'lib/syskit/exceptions.rb'
+    - 'lib/syskit/models/composition_child.rb'
+    - 'lib/syskit/robot/master_device_instance.rb'
+    - 'lib/syskit/robot/slave_device_instance.rb'
+    - 'lib/syskit/telemetry/agent/server.rb'
+    - 'lib/syskit/telemetry/ui/name_service.rb'
+    - 'lib/syskit/test/stub_network.rb'
+
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Lint/NonAtomicFileOperation:
+  Exclude:
+    - 'lib/syskit/process_managers/remote/server/server.rb'
+    - 'lib/syskit/roby_app/plugin.rb'
+
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AllowedMethods.
+# AllowedMethods: instance_of?, kind_of?, is_a?, eql?, respond_to?, equal?
+Lint/RedundantSafeNavigation:
+  Exclude:
+    - 'lib/syskit/data_service.rb'
+
+# Offense count: 15
 Lint/RescueException:
   Exclude:
     - 'lib/syskit/droby/v5/droby_dump.rb'
-    - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/instanciate.rb'
     - 'lib/syskit/network_generation/async.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/logging_group.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/runtime/connection_management.rb'
     - 'lib/syskit/runtime/update_deployment_states.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
     - 'lib/syskit/test/base.rb'
 
-# Offense count: 11
+# Offense count: 1
+Lint/SelfAssignment:
+  Exclude:
+    - 'lib/syskit/task_context.rb'
+
+# Offense count: 10
 Lint/ShadowingOuterLocalVariable:
   Exclude:
     - 'lib/syskit/connection_graphs.rb'
@@ -288,27 +404,36 @@ Lint/ShadowingOuterLocalVariable:
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/models/deployment.rb'
     - 'lib/syskit/models/specialization_manager.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
     - 'test/models/test_specialization_manager.rb'
 
-# Offense count: 16
-# Configuration parameters: AllowComments.
+# Offense count: 12
+# Configuration parameters: AllowComments, AllowNil.
 Lint/SuppressedException:
   Exclude:
-    - 'lib/syskit/deployment.rb'
     - 'lib/syskit/droby/v5/droby_dump.rb'
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/page_extension.rb'
     - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/scripts/common.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
     - 'test/coordination/test_task_script.rb'
     - 'test/models/test_composition.rb'
     - 'test/models/test_data_services.rb'
     - 'test/models/test_deployment.rb'
 
-# Offense count: 60
-# Cop supports --auto-correct.
-# Configuration parameters: IgnoreEmptyBlocks, AllowUnusedKeywordArguments.
+# Offense count: 3
+# Configuration parameters: AllowedPatterns.
+# AllowedPatterns: (?-mix:(exactly|at_least|at_most)\(\d+\)\.times)
+Lint/UnreachableLoop:
+  Exclude:
+    - 'lib/syskit/data_flow.rb'
+    - 'lib/syskit/port.rb'
+
+# Offense count: 51
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: AutoCorrect, IgnoreEmptyBlocks, AllowUnusedKeywordArguments.
 Lint/UnusedBlockArgument:
   Exclude:
     - 'lib/syskit/coordination/plan_extension.rb'
@@ -330,20 +455,21 @@ Lint/UnusedBlockArgument:
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/ros/node.rb'
     - 'lib/syskit/runtime/connection_management.rb'
-    - 'lib/syskit/shell_interface.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'test/coordination/test_data_monitoring_table.rb'
     - 'test/coordination/test_models_task_extension.rb'
     - 'test/models/test_specialization_manager.rb'
     - 'test/test_task_context.rb'
 
-# Offense count: 53
-# Cop supports --auto-correct.
-# Configuration parameters: AllowUnusedKeywordArguments, IgnoreEmptyMethods.
+# Offense count: 32
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: AutoCorrect, AllowUnusedKeywordArguments, IgnoreEmptyMethods, IgnoreNotImplementedMethods.
 Lint/UnusedMethodArgument:
   Exclude:
     - 'lib/syskit/actions/profile.rb'
     - 'lib/syskit/data_flow.rb'
-    - 'lib/syskit/deployment.rb'
     - 'lib/syskit/exceptions.rb'
     - 'lib/syskit/graphviz.rb'
     - 'lib/syskit/gui/expanded_job_status.rb'
@@ -351,39 +477,36 @@ Lint/UnusedMethodArgument:
     - 'lib/syskit/models/configured_deployment.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
-    - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/port_access.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/ros/node.rb'
+    - 'lib/syskit/telemetry/ui/expanded_job_status.rb'
     - 'lib/syskit/test/base.rb'
     - 'lib/syskit/test/execution_expectations.rb'
     - 'lib/syskit/test/network_manipulation.rb'
-    - 'test/test_deployment.rb'
 
-# Offense count: 184
+# Offense count: 176
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: AutoCorrect.
 Lint/UselessAssignment:
   Exclude:
     - 'bin/syskit'
     - 'lib/syskit/connection_graphs.rb'
     - 'lib/syskit/coordination/models/fault_response_table_extension.rb'
-    - 'lib/syskit/deployment.rb'
     - 'lib/syskit/gui/ide.rb'
     - 'lib/syskit/gui/state_label.rb'
-    - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/runtime/update_deployment_states.rb'
     - 'lib/syskit/scripts/browse.rb'
     - 'lib/syskit/scripts/common.rb'
-    - 'lib/syskit/scripts/doc.rb'
     - 'lib/syskit/scripts/ide.rb'
     - 'lib/syskit/scripts/instanciate.rb'
     - 'lib/syskit/scripts/instanciate_gui.rb'
-    - 'test/actions/test_interface_model_extension.rb'
+    - 'lib/syskit/telemetry/ui/state_label.rb'
     - 'test/coordination/test_data_monitoring_table.rb'
     - 'test/coordination/test_task_script.rb'
-    - 'test/droby/test_droby_dump.rb'
     - 'test/models/test_bound_data_service.rb'
     - 'test/models/test_component.rb'
     - 'test/models/test_composition.rb'
@@ -406,8 +529,16 @@ Lint/UselessAssignment:
     - 'test/test_dependency_injection_context.rb'
     - 'test/test_properties.rb'
 
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AutoCorrect.
+Lint/UselessMethodDefinition:
+  Exclude:
+    - 'lib/syskit/models/task_context.rb'
+    - 'test/network_generation/test_logger.rb'
+
 # Offense count: 380
-# Configuration parameters: Max.
+# Configuration parameters: AllowedMethods, AllowedPatterns, CountRepeatedAttributes, Max.
 Metrics/AbcSize:
   Exclude:
     - 'lib/syskit/actions/profile.rb'
@@ -452,12 +583,14 @@ Metrics/AbcSize:
     - 'lib/syskit/gui/widget_list.rb'
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/instance_selection.rb'
+    - 'lib/syskit/interface/commands.rb'
     - 'lib/syskit/models/base.rb'
     - 'lib/syskit/models/bound_data_service.rb'
     - 'lib/syskit/models/component.rb'
     - 'lib/syskit/models/composition.rb'
     - 'lib/syskit/models/composition_child.rb'
     - 'lib/syskit/models/data_service.rb'
+    - 'lib/syskit/models/deployment.rb'
     - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/dynamic_data_service.rb'
     - 'lib/syskit/models/faceted_access.rb'
@@ -475,43 +608,46 @@ Metrics/AbcSize:
     - 'lib/syskit/network_generation/system_network_generator.rb'
     - 'lib/syskit/orogen_namespace.rb'
     - 'lib/syskit/port.rb'
+    - 'lib/syskit/process_managers/remote/manager.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
     - 'lib/syskit/properties.rb'
     - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/robot/robot_definition.rb'
     - 'lib/syskit/roby_app/configuration.rb'
-    - 'lib/syskit/roby_app/logging_group.rb'
     - 'lib/syskit/roby_app/log_transfer_server/spawn_server.rb'
-    - 'lib/syskit/roby_app/remote_processes/client.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
+    - 'lib/syskit/roby_app/logging_group.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
-    - 'lib/syskit/roby_app/unmanaged_process.rb'
     - 'lib/syskit/runtime/apply_requirement_modifications.rb'
     - 'lib/syskit/runtime/connection_management.rb'
     - 'lib/syskit/runtime/exceptions.rb'
     - 'lib/syskit/runtime/update_deployment_states.rb'
-    - 'lib/syskit/runtime/update_task_states.rb'
     - 'lib/syskit/scripts/common.rb'
-    - 'lib/syskit/scripts/doc.rb'
-    - 'lib/syskit/shell_interface.rb'
     - 'lib/syskit/task_context.rb'
+    - 'lib/syskit/telemetry/ui/app_start_dialog.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/job_state_label.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration.rb'
+    - 'lib/syskit/telemetry/ui/logging_groups_item.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/network_manipulation.rb'
     - 'lib/syskit/test/profile_assertions.rb'
     - 'lib/syskit/test/self.rb'
     - 'lib/syskit/test/spec.rb'
-    - 'lib/syskit/test/stubs.rb'
     - 'lib/syskit/test/stub_network.rb'
+    - 'lib/syskit/test/stubs.rb'
     - 'lib/syskit/test/task_context_test.rb'
     - 'lib/yard-syskit.rb'
     - 'test/fixtures/simple_composition_model.rb'
     - 'test/gui/test_logging_configuration.rb'
+    - 'test/live/test_blocking_hooks.rb'
     - 'test/models/test_bound_data_service.rb'
     - 'test/models/test_data_services.rb'
     - 'test/models/test_deployment.rb'
-    - 'test/models/test_ruby_task_context.rb'
     - 'test/models/test_task_context.rb'
     - 'test/network_generation/test_engine.rb'
     - 'test/runtime/test_connection_management.rb'
@@ -521,15 +657,13 @@ Metrics/AbcSize:
     - 'test/test_remote_state_getter.rb'
     - 'test/test_task_context.rb'
 
-# Offense count: 412
-# Configuration parameters: CountComments, Max, ExcludedMethods.
-# ExcludedMethods: refine
+# Offense count: 25
+# Configuration parameters: CountComments, Max, CountAsOne, AllowedMethods, AllowedPatterns.
+# AllowedMethods: refine
 Metrics/BlockLength:
   Exclude:
-    - '**/*.gemspec'
     - 'lib/syskit/data_flow.rb'
     - 'lib/syskit/dependency_injection.rb'
-    - 'lib/syskit/deployment.rb'
     - 'lib/syskit/exceptions.rb'
     - 'lib/syskit/gui/instanciate.rb'
     - 'lib/syskit/instance_selection.rb'
@@ -540,22 +674,20 @@ Metrics/BlockLength:
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
     - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/network_generation/logger.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/runtime/connection_management.rb'
     - 'lib/syskit/scripts/instanciate.rb'
     - 'lib/syskit/task_context.rb'
     - 'lib/syskit/test/network_manipulation.rb'
 
-# Offense count: 4
-# Configuration parameters: CountBlocks, Max.
+# Offense count: 1
+# Configuration parameters: CountBlocks, CountModifierForms, Max.
 Metrics/BlockNesting:
   Exclude:
-    - 'lib/syskit/dependency_injection.rb'
     - 'lib/yard-syskit.rb'
 
-# Offense count: 6
-# Configuration parameters: CountComments, Max.
+# Offense count: 7
+# Configuration parameters: CountComments, Max, CountAsOne.
 Metrics/ClassLength:
   Exclude:
     - 'lib/syskit/dependency_injection.rb'
@@ -564,17 +696,20 @@ Metrics/ClassLength:
     - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/runtime/connection_management.rb'
     - 'lib/syskit/task_context.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
 
-# Offense count: 105
-# Configuration parameters: Max.
+# Offense count: 122
+# Configuration parameters: AllowedMethods, AllowedPatterns, Max.
 Metrics/CyclomaticComplexity:
   Exclude:
+    - 'lib/syskit/cli/main.rb'
     - 'lib/syskit/composition.rb'
     - 'lib/syskit/connection_graphs.rb'
     - 'lib/syskit/data_service.rb'
     - 'lib/syskit/dependency_injection.rb'
     - 'lib/syskit/deployment.rb'
     - 'lib/syskit/droby/v5/droby_dump.rb'
+    - 'lib/syskit/exceptions.rb'
     - 'lib/syskit/graphviz.rb'
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/component_network_base_view.rb'
@@ -582,59 +717,67 @@ Metrics/CyclomaticComplexity:
     - 'lib/syskit/gui/ide.rb'
     - 'lib/syskit/gui/instanciate.rb'
     - 'lib/syskit/gui/job_status_display.rb'
+    - 'lib/syskit/gui/model_views/composition.rb'
     - 'lib/syskit/gui/model_views/data_service.rb'
     - 'lib/syskit/gui/model_views/profile.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/gui/testing.rb'
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/instance_selection.rb'
+    - 'lib/syskit/models/base.rb'
     - 'lib/syskit/models/bound_data_service.rb'
     - 'lib/syskit/models/component.rb'
     - 'lib/syskit/models/composition.rb'
+    - 'lib/syskit/models/configured_deployment.rb'
     - 'lib/syskit/models/data_service.rb'
     - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/placeholder.rb'
-    - 'lib/syskit/models/port.rb'
     - 'lib/syskit/models/specialization_manager.rb'
     - 'lib/syskit/models/task_context.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
+    - 'lib/syskit/network_generation/dataflow_dynamics.rb'
     - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
-    - 'lib/syskit/port.rb'
-    - 'lib/syskit/remote_state_getter.rb'
+    - 'lib/syskit/network_generation/system_network_deployer.rb'
+    - 'lib/syskit/network_generation/system_network_generator.rb'
+    - 'lib/syskit/process_managers/remote/manager.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/robot/robot_definition.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/logging_group.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
-    - 'lib/syskit/roby_app/remote_processes/client.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
+    - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/runtime/apply_requirement_modifications.rb'
     - 'lib/syskit/runtime/connection_management.rb'
-    - 'lib/syskit/runtime/update_task_states.rb'
+    - 'lib/syskit/runtime/update_deployment_states.rb'
     - 'lib/syskit/scripts/common.rb'
-    - 'lib/syskit/scripts/doc.rb'
     - 'lib/syskit/task_context.rb'
+    - 'lib/syskit/telemetry/agent/server_peer.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/test/base.rb'
     - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/test/profile_assertions.rb'
+    - 'lib/syskit/test/stub_network.rb'
     - 'lib/yard-syskit.rb'
 
 # Offense count: 7
-# Configuration parameters: CountComments, Max, ExcludedMethods.
+# Configuration parameters: CountComments, Max, CountAsOne, AllowedMethods, AllowedPatterns.
 Metrics/MethodLength:
   Exclude:
     - 'lib/syskit/graphviz.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/models/composition.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
-    - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/network_generation/logger.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
-    - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
 
-# Offense count: 9
-# Configuration parameters: CountComments, Max.
+# Offense count: 4
+# Configuration parameters: CountComments, Max, CountAsOne.
 Metrics/ModuleLength:
   Exclude:
     - 'lib/syskit/models/component.rb'
@@ -642,8 +785,8 @@ Metrics/ModuleLength:
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/test/network_manipulation.rb'
 
-# Offense count: 24
-# Configuration parameters: Max, CountKeywordArgs.
+# Offense count: 31
+# Configuration parameters: Max, CountKeywordArgs, MaxOptionalParameters.
 Metrics/ParameterLists:
   Exclude:
     - 'lib/syskit/deployment.rb'
@@ -654,21 +797,20 @@ Metrics/ParameterLists:
     - 'lib/syskit/gui/instanciate.rb'
     - 'lib/syskit/gui/page_extension.rb'
     - 'lib/syskit/gui/testing.rb'
-    - 'lib/syskit/models/data_service.rb'
+    - 'lib/syskit/instance_selection.rb'
     - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/dynamic_data_service.rb'
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
     - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/process_managers/remote/manager.rb'
     - 'lib/syskit/robot/communication_bus.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/log_transfer_server/spawn_server.rb'
-    - 'lib/syskit/roby_app/remote_processes/client.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
     - 'lib/syskit/runtime/connection_management.rb'
 
-# Offense count: 99
-# Configuration parameters: Max.
+# Offense count: 119
+# Configuration parameters: AllowedMethods, AllowedPatterns, Max.
 Metrics/PerceivedComplexity:
   Exclude:
     - 'lib/syskit/composition.rb'
@@ -676,21 +818,25 @@ Metrics/PerceivedComplexity:
     - 'lib/syskit/data_service.rb'
     - 'lib/syskit/dependency_injection.rb'
     - 'lib/syskit/deployment.rb'
-    - 'lib/syskit/droby/v5/droby_dump.rb'
+    - 'lib/syskit/exceptions.rb'
     - 'lib/syskit/graphviz.rb'
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/component_network_base_view.rb'
     - 'lib/syskit/gui/component_network_view.rb'
     - 'lib/syskit/gui/ide.rb'
+    - 'lib/syskit/gui/instanciate.rb'
+    - 'lib/syskit/gui/model_views/composition.rb'
     - 'lib/syskit/gui/model_views/data_service.rb'
     - 'lib/syskit/gui/model_views/profile.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/gui/testing.rb'
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/instance_selection.rb'
+    - 'lib/syskit/models/base.rb'
     - 'lib/syskit/models/bound_data_service.rb'
     - 'lib/syskit/models/component.rb'
     - 'lib/syskit/models/composition.rb'
+    - 'lib/syskit/models/configured_deployment.rb'
     - 'lib/syskit/models/data_service.rb'
     - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/placeholder.rb'
@@ -698,31 +844,36 @@ Metrics/PerceivedComplexity:
     - 'lib/syskit/models/specialization_manager.rb'
     - 'lib/syskit/models/task_context.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
+    - 'lib/syskit/network_generation/dataflow_dynamics.rb'
     - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
+    - 'lib/syskit/network_generation/system_network_deployer.rb'
+    - 'lib/syskit/network_generation/system_network_generator.rb'
     - 'lib/syskit/port.rb'
+    - 'lib/syskit/process_managers/remote/manager.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
     - 'lib/syskit/properties.rb'
-    - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/robot/robot_definition.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/logging_group.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
-    - 'lib/syskit/roby_app/remote_processes/client.rb'
-    - 'lib/syskit/roby_app/remote_processes/server.rb'
     - 'lib/syskit/roby_app/rest_deployment_manager.rb'
     - 'lib/syskit/runtime/apply_requirement_modifications.rb'
     - 'lib/syskit/runtime/connection_management.rb'
-    - 'lib/syskit/runtime/update_task_states.rb'
-    - 'lib/syskit/scripts/common.rb'
-    - 'lib/syskit/scripts/doc.rb'
+    - 'lib/syskit/runtime/update_deployment_states.rb'
     - 'lib/syskit/task_context.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
     - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/test/profile_assertions.rb'
+    - 'lib/syskit/test/stub_network.rb'
     - 'lib/yard-syskit.rb'
 
 # Offense count: 7
+# Configuration parameters: AllowedNames.
+# AllowedNames: module_parent
 Naming/ClassAndModuleCamelCase:
   Exclude:
     - 'lib/syskit/roby_app/rest_api.rb'
@@ -733,16 +884,16 @@ Naming/ClassAndModuleCamelCase:
     - 'test/test_component.rb'
     - 'test/test_dependency_injection.rb'
 
-# Offense count: 2
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
 # Configuration parameters: EnforcedStyleForLeadingUnderscores.
 # SupportedStylesForLeadingUnderscores: disallowed, required, optional
 Naming/MemoizedInstanceVariableName:
   Exclude:
     - 'lib/syskit/roby_app/rest_api.rb'
-    - 'lib/syskit/shell_interface.rb'
 
-# Offense count: 21
-# Configuration parameters: EnforcedStyle, IgnoredPatterns.
+# Offense count: 34
+# Configuration parameters: EnforcedStyle, AllowedPatterns.
 # SupportedStyles: snake_case, camelCase
 Naming/MethodName:
   Exclude:
@@ -755,12 +906,17 @@ Naming/MethodName:
     - 'lib/syskit/gui/ruby_item.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/gui/widget_list.rb'
-    - 'lib/syskit/network_generation/logger.rb'
+    - 'lib/syskit/telemetry/ui/expanded_job_status.rb'
+    - 'lib/syskit/telemetry/ui/global_state_label.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/ruby_item.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/profile_assertions.rb'
 
-# Offense count: 135
+# Offense count: 89
 # Configuration parameters: MinNameLength, AllowNamesEndingInNumbers, AllowedNames, ForbiddenNames.
-# AllowedNames: io, id, to, by, on, in, at, ip, db, os, pp
+# AllowedNames: as, at, by, cc, db, id, if, in, io, ip, of, on, os, pp, to
 Naming/MethodParameterName:
   Exclude:
     - 'lib/syskit/actions/action.rb'
@@ -784,7 +940,6 @@ Naming/MethodParameterName:
     - 'lib/syskit/models/bound_data_service.rb'
     - 'lib/syskit/models/composition.rb'
     - 'lib/syskit/models/data_service.rb'
-    - 'lib/syskit/models/dynamic_data_service.rb'
     - 'lib/syskit/models/faceted_access.rb'
     - 'lib/syskit/models/placeholder.rb'
     - 'lib/syskit/models/port.rb'
@@ -797,19 +952,33 @@ Naming/MethodParameterName:
     - 'lib/syskit/queries/abstract_component_base.rb'
     - 'lib/syskit/robot/master_device_instance.rb'
     - 'lib/syskit/robot/robot_definition.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/roby_app/single_file_dsl.rb'
     - 'lib/syskit/runtime/connection_management.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/action_interface_test.rb'
-    - 'lib/syskit/test/network_manipulation.rb'
     - 'lib/syskit/test/profile_test.rb'
     - 'test/models/test_ruby_task_context.rb'
     - 'test/models/test_task_context.rb'
 
+# Offense count: 1
+Security/CompoundHash:
+  Exclude:
+    - 'lib/syskit/port.rb'
+
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: MinBranchesCount.
+Style/CaseLikeIf:
+  Exclude:
+    - 'lib/syskit/models/task_context.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
+
 # Offense count: 7
-# Cop supports --auto-correct.
-# Configuration parameters: AutoCorrect, EnforcedStyle.
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: EnforcedStyle.
 # SupportedStyles: nested, compact
 Style/ClassAndModuleChildren:
   Exclude:
@@ -821,19 +990,46 @@ Style/ClassAndModuleChildren:
     - 'lib/syskit/gui/model_views/task_context_base.rb'
     - 'lib/syskit/gui/model_views/type.rb'
 
-# Offense count: 14
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AllowedMethods, AllowedPatterns.
+# AllowedMethods: ==, equal?, eql?
+Style/ClassEqualityComparison:
+  Exclude:
+    - 'lib/syskit/test.rb'
+
+# Offense count: 12
 Style/ClassVars:
   Exclude:
     - 'lib/syskit/deployment.rb'
     - 'lib/syskit/network_generation/engine.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
-    - 'lib/syskit/test/network_manipulation.rb'
 
-# Offense count: 135
+# Offense count: 5
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/CombinableLoops:
+  Exclude:
+    - 'lib/syskit/deployment.rb'
+    - 'lib/syskit/exceptions.rb'
+    - 'lib/syskit/models/deployment_group.rb'
+    - 'lib/syskit/network_generation/dataflow_dynamics.rb'
+    - 'lib/syskit/runtime/connection_management.rb'
+
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/ConcatArrayLiterals:
+  Exclude:
+    - 'lib/syskit/graphviz.rb'
+
+# Offense count: 1
+Style/DocumentDynamicEvalDefinition:
+  Exclude:
+    - 'lib/syskit/instance_requirements.rb'
+
+# Offense count: 129
+# Configuration parameters: AllowedConstants.
 Style/Documentation:
   Exclude:
-    - 'spec/**/*'
-    - 'test/**/*'
     - 'lib/syskit/abstract_component.rb'
     - 'lib/syskit/actions/profile.rb'
     - 'lib/syskit/base.rb'
@@ -859,7 +1055,6 @@ Style/Documentation:
     - 'lib/syskit/graphviz.rb'
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/composer.rb'
-    - 'lib/syskit/gui/html_page.rb'
     - 'lib/syskit/gui/ide.rb'
     - 'lib/syskit/gui/instanciate.rb'
     - 'lib/syskit/gui/job_status_display.rb'
@@ -871,7 +1066,6 @@ Style/Documentation:
     - 'lib/syskit/gui/model_views/task_context.rb'
     - 'lib/syskit/gui/model_views/task_context_base.rb'
     - 'lib/syskit/gui/model_views/type.rb'
-    - 'lib/syskit/gui/page.rb'
     - 'lib/syskit/gui/page_extension.rb'
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/gui/testing.rb'
@@ -893,58 +1087,47 @@ Style/Documentation:
     - 'lib/syskit/queries/abstract_component_base.rb'
     - 'lib/syskit/roby_app.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/toplevel.rb'
     - 'lib/syskit/ros/node.rb'
     - 'lib/syskit/ros/roby_app/configuration.rb'
-    - 'lib/syskit/ruby_task_context.rb'
     - 'lib/syskit/runtime/apply_requirement_modifications.rb'
     - 'lib/syskit/runtime/exceptions.rb'
     - 'lib/syskit/runtime/update_deployment_states.rb'
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/scripts/connection_log.rb'
-    - 'lib/syskit/scripts/doc.rb'
-    - 'lib/syskit/shell_interface.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test.rb'
     - 'lib/syskit/test/base.rb'
     - 'lib/syskit/test/component_test.rb'
-    - 'lib/syskit/test/execution_expectations.rb'
     - 'lib/syskit/test/flexmock_extension.rb'
     - 'lib/syskit/test/network_manipulation.rb'
     - 'lib/syskit/test/ruby_task_context_test.rb'
     - 'lib/syskit/test/spec.rb'
     - 'lib/yard-syskit.rb'
 
-# Offense count: 26
+# Offense count: 4
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: EnforcedStyle.
+# SupportedStyles: allowed_in_returns, forbidden
 Style/DoubleNegation:
   Exclude:
-    - 'lib/syskit/actions/profile.rb'
-    - 'lib/syskit/coordination/models/port_handling.rb'
-    - 'lib/syskit/coordination/port_handling.rb'
-    - 'lib/syskit/data_flow.rb'
-    - 'lib/syskit/exceptions.rb'
-    - 'lib/syskit/instance_requirements.rb'
-    - 'lib/syskit/instance_requirements_task.rb'
-    - 'lib/syskit/models/orogen_base.rb'
-    - 'lib/syskit/models/specialization_manager.rb'
-    - 'lib/syskit/port_access.rb'
-    - 'lib/syskit/robot/master_device_instance.rb'
-    - 'lib/syskit/roby_app/configuration.rb'
-    - 'lib/syskit/task_configuration_manager.rb'
-    - 'lib/syskit/test/action_interface_test.rb'
     - 'test/gui/test_logging_configuration.rb'
     - 'test/roby_app/app/config/robots/reload_orogen.rb'
     - 'test/roby_app/app/config/robots/reload_ruby_task.rb'
     - 'test/roby_app/app/config/robots/reload_unmanaged_task.rb'
 
 # Offense count: 8
-# Configuration parameters: EnforcedStyle.
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: EnforcedStyle, MaxUnannotatedPlaceholdersAllowed, AllowedMethods, AllowedPatterns.
 # SupportedStyles: annotated, template, unannotated
 Style/FormatStringToken:
   Exclude:
     - 'lib/syskit/gui/ide.rb'
     - 'lib/syskit/gui/runtime_state.rb'
-    - 'lib/syskit/scripts/common.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
 
 # Offense count: 4
 # Configuration parameters: AllowedVariables.
@@ -954,21 +1137,16 @@ Style/GlobalVars:
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/scripts/ide.rb'
 
-# Offense count: 180
-# Configuration parameters: MinBodyLength.
+# Offense count: 105
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: MinBodyLength, AllowConsecutiveConditionals.
 Style/GuardClause:
   Exclude:
     - 'lib/syskit/actions/profile.rb'
-    - 'lib/syskit/connection_graphs.rb'
     - 'lib/syskit/coordination/data_monitor.rb'
-    - 'lib/syskit/coordination/models/data_monitor.rb'
-    - 'lib/syskit/coordination/models/data_monitoring_table.rb'
-    - 'lib/syskit/coordination/models/fault_response_table_extension.rb'
-    - 'lib/syskit/coordination/models/port_handling.rb'
     - 'lib/syskit/coordination/port_handling.rb'
     - 'lib/syskit/data_flow.rb'
     - 'lib/syskit/dependency_injection_context.rb'
-    - 'lib/syskit/droby/v5/droby_dump.rb'
     - 'lib/syskit/exceptions.rb'
     - 'lib/syskit/gui/app_start_dialog.rb'
     - 'lib/syskit/gui/global_state_label.rb'
@@ -980,18 +1158,13 @@ Style/GuardClause:
     - 'lib/syskit/gui/model_views/composition.rb'
     - 'lib/syskit/gui/model_views/task_context_base.rb'
     - 'lib/syskit/gui/runtime_state.rb'
-    - 'lib/syskit/gui/state_label.rb'
     - 'lib/syskit/gui/widget_list.rb'
     - 'lib/syskit/instance_requirements.rb'
-    - 'lib/syskit/instance_selection.rb'
-    - 'lib/syskit/models/base.rb'
     - 'lib/syskit/models/bound_dynamic_data_service.rb'
     - 'lib/syskit/models/composition_child.rb'
     - 'lib/syskit/models/composition_specialization.rb'
     - 'lib/syskit/models/deployment.rb'
-    - 'lib/syskit/models/deployment_group.rb'
     - 'lib/syskit/models/faceted_access.rb'
-    - 'lib/syskit/models/orogen_base.rb'
     - 'lib/syskit/models/placeholder.rb'
     - 'lib/syskit/models/port.rb'
     - 'lib/syskit/models/port_access.rb'
@@ -999,12 +1172,8 @@ Style/GuardClause:
     - 'lib/syskit/models/task_context.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
-    - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
-    - 'lib/syskit/network_generation/system_network_generator.rb'
     - 'lib/syskit/port_access.rb'
-    - 'lib/syskit/properties.rb'
-    - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/logging_configuration.rb'
     - 'lib/syskit/roby_app/plugin.rb'
@@ -1014,18 +1183,93 @@ Style/GuardClause:
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/scripts/connection_log.rb'
     - 'lib/syskit/task_configuration_manager.rb'
-    - 'lib/syskit/test/action_interface_test.rb'
-    - 'lib/syskit/test/action_test.rb'
-    - 'lib/syskit/test/component_test.rb'
-    - 'lib/syskit/test/profile_test.rb'
+    - 'lib/syskit/telemetry/ui/app_start_dialog.rb'
+    - 'lib/syskit/telemetry/ui/global_state_label.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration_item_base.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/task_context_test.rb'
     - 'lib/yard-syskit.rb'
     - 'test/runtime/test_connection_management.rb'
 
-# Offense count: 77
-# Cop supports --auto-correct.
-# Configuration parameters: EnforcedStyle, UseHashRocketsWithSymbolValues, PreferHashRocketsForNonAlnumEndingSymbols.
+# Offense count: 268
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AllowSplatArgument.
+Style/HashConversion:
+  Exclude:
+    - 'lib/syskit/graphviz.rb'
+    - 'lib/syskit/gui/component_network_view.rb'
+    - 'lib/syskit/gui/job_status_display.rb'
+    - 'lib/syskit/gui/model_views/component.rb'
+    - 'lib/syskit/gui/model_views/composition.rb'
+    - 'lib/syskit/gui/state_label.rb'
+    - 'lib/syskit/gui/testing.rb'
+    - 'lib/syskit/interface/v2/protocol.rb'
+    - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/network_generation/logger.rb'
+    - 'lib/syskit/roby_app/plugin.rb'
+    - 'lib/syskit/roby_app/rest_api.rb'
+    - 'lib/syskit/ros/roby_app/configuration.rb'
+    - 'lib/syskit/runtime/connection_management.rb'
+    - 'lib/syskit/scripts/process_server.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/state_label.rb'
+    - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/test/stubs.rb'
+    - 'test/actions/test_action_model.rb'
+    - 'test/actions/test_interface_model_extension.rb'
+    - 'test/coordination/test_models_task_extension.rb'
+    - 'test/models/test_component.rb'
+    - 'test/models/test_composition.rb'
+    - 'test/models/test_composition_child.rb'
+    - 'test/models/test_composition_specialization.rb'
+    - 'test/models/test_data_services.rb'
+    - 'test/models/test_deployment_group.rb'
+    - 'test/models/test_specialization_manager.rb'
+    - 'test/models/test_task_context.rb'
+    - 'test/network_generation/test_engine.rb'
+    - 'test/network_generation/test_logger.rb'
+    - 'test/network_generation/test_system_network_deployer.rb'
+    - 'test/network_generation/test_system_network_generator.rb'
+    - 'test/process_managers/test_remote.rb'
+    - 'test/roby_app/test_plugin.rb'
+    - 'test/roby_app/test_rest_api.rb'
+    - 'test/runtime/test_connection_management.rb'
+    - 'test/test_component.rb'
+    - 'test/test_connection_graph.rb'
+    - 'test/test_data_flow.rb'
+    - 'test/test_dependency_injection.rb'
+    - 'test/test_deployment.rb'
+    - 'test/test_instance_requirements.rb'
+    - 'test/test_instance_selection.rb'
+    - 'test/test_port.rb'
+    - 'test/test_task_context.rb'
+
+# Offense count: 22
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AllowedReceivers.
+# AllowedReceivers: Thread.current
+Style/HashEachMethods:
+  Exclude:
+    - 'lib/syskit/actions/profile.rb'
+    - 'lib/syskit/cli/doc/gen.rb'
+    - 'lib/syskit/component.rb'
+    - 'lib/syskit/coordination/plan_extension.rb'
+    - 'lib/syskit/data_flow.rb'
+    - 'lib/syskit/gui/logging_groups_item.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/models/composition.rb'
+    - 'lib/syskit/models/deployment_group.rb'
+    - 'lib/syskit/models/specialization_manager.rb'
+    - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/robot/robot_definition.rb'
+    - 'lib/syskit/telemetry/ui/logging_groups_item.rb'
+
+# Offense count: 42
+# This cop supports safe autocorrection (--autocorrect).
+# Configuration parameters: EnforcedStyle, EnforcedShorthandSyntax, UseHashRocketsWithSymbolValues, PreferHashRocketsForNonAlnumEndingSymbols.
 # SupportedStyles: ruby19, hash_rockets, no_mixed_keys, ruby19_no_mixed_keys
+# SupportedShorthandSyntax: always, never, either, consistent, either_consistent
 Style/HashSyntax:
   Exclude:
     - 'lib/syskit/coordination/data_monitoring_table.rb'
@@ -1038,36 +1282,37 @@ Style/HashSyntax:
     - 'lib/syskit/roby_app/plugin.rb'
     - 'lib/syskit/ros/roby_app/configuration.rb'
     - 'lib/syskit/scripts/autodetect_interfaces.rb'
-    - 'lib/syskit/scripts/common.rb'
-    - 'lib/syskit/scripts/doc.rb'
-    - 'lib/syskit/shell_interface.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration.rb'
     - 'test/models/test_composition_specialization.rb'
     - 'test/models/test_deployment_group.rb'
     - 'test/models/test_specialization_manager.rb'
-    - 'test/network_generation/test_merge_solver.rb'
     - 'test/runtime/test_connection_management.rb'
     - 'test/test_connection_graphs.rb'
     - 'test/test_deployment.rb'
     - 'test/test_instance_selection.rb'
 
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/HashTransformValues:
+  Exclude:
+    - 'lib/syskit/component.rb'
+
 # Offense count: 6
+# This cop supports unsafe autocorrection (--autocorrect-all).
 Style/IdenticalConditionalBranches:
   Exclude:
     - 'lib/syskit/gui/model_views/task_context.rb'
     - 'lib/syskit/instance_requirements.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
 
-# Offense count: 182
-# Cop supports --auto-correct.
+# Offense count: 149
+# This cop supports safe autocorrection (--autocorrect).
 Style/IfUnlessModifier:
   Exclude:
-    - 'bin/syskit'
-    - 'lib/syskit/actions/action_model.rb'
     - 'lib/syskit/actions/profile.rb'
     - 'lib/syskit/connection_graph.rb'
     - 'lib/syskit/connection_graphs.rb'
     - 'lib/syskit/coordination/data_monitor.rb'
-    - 'lib/syskit/coordination/models/data_monitor.rb'
     - 'lib/syskit/coordination/plan_extension.rb'
     - 'lib/syskit/coordination/task_script_extension.rb'
     - 'lib/syskit/data_flow.rb'
@@ -1096,12 +1341,10 @@ Style/IfUnlessModifier:
     - 'lib/syskit/models/specialization_manager.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/network_generation/dataflow_dynamics.rb'
-    - 'lib/syskit/network_generation/logger.rb'
     - 'lib/syskit/network_generation/merge_solver.rb'
     - 'lib/syskit/remote_state_getter.rb'
     - 'lib/syskit/roby_app/configuration.rb'
     - 'lib/syskit/roby_app/plugin.rb'
-    - 'lib/syskit/roby_app/process_server.rb'
     - 'lib/syskit/roby_app/single_file_dsl.rb'
     - 'lib/syskit/ros/roby_app/configuration.rb'
     - 'lib/syskit/runtime/connection_management.rb'
@@ -1109,8 +1352,11 @@ Style/IfUnlessModifier:
     - 'lib/syskit/scripts/browse.rb'
     - 'lib/syskit/scripts/common.rb'
     - 'lib/syskit/scripts/instanciate.rb'
-    - 'lib/syskit/shell_interface.rb'
     - 'lib/syskit/task_configuration_manager.rb'
+    - 'lib/syskit/telemetry/ui/app_start_dialog.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/job_status_display.rb'
+    - 'lib/syskit/telemetry/ui/widget_list.rb'
     - 'lib/syskit/test/base.rb'
     - 'lib/syskit/test/flexmock_extension.rb'
     - 'lib/yard-syskit.rb'
@@ -1118,35 +1364,64 @@ Style/IfUnlessModifier:
     - 'test/network_generation/test_engine.rb'
     - 'test/runtime/test_connection_management.rb'
     - 'test/test_deployment.rb'
-    - 'test/test_remote_state_getter.rb'
-    - 'test/test_shell_interface.rb'
     - 'test/test_task_context.rb'
 
-# Offense count: 3
-Style/MethodMissingSuper:
+# Offense count: 11
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/MapToSet:
   Exclude:
-    - 'lib/syskit/gui/batch_manager.rb'
-    - 'lib/syskit/models/specialization_manager.rb'
-    - 'lib/syskit/properties.rb'
+    - 'lib/syskit/actions/profile.rb'
+    - 'lib/syskit/cli/doc/gen.rb'
+    - 'lib/syskit/graphviz.rb'
+    - 'lib/syskit/network_generation/dataflow_dynamics.rb'
+    - 'lib/syskit/roby_app/plugin.rb'
+    - 'lib/syskit/task_context.rb'
+    - 'test/cli/doc/test_each_model_file.rb'
+    - 'test/process_managers/test_remote.rb'
 
-# Offense count: 3
+# Offense count: 1
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/MinMaxComparison:
+  Exclude:
+    - 'lib/syskit/test/stubs.rb'
+
+# Offense count: 4
 Style/MissingRespondToMissing:
   Exclude:
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/properties.rb'
     - 'lib/syskit/roby_app/single_file_dsl.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
 
-# Offense count: 18
+# Offense count: 1
 Style/MultilineBlockChain:
   Exclude:
     - 'lib/syskit/deployment.rb'
-    - 'test/network_generation/test_engine.rb'
-    - 'test/runtime/test_connection_management.rb'
-    - 'test/test_deployment.rb'
-    - 'test/test_shell_interface.rb'
 
-# Offense count: 15
-# Cop supports --auto-correct.
+# Offense count: 20
+# Configuration parameters: AllowedMethods.
+# AllowedMethods: respond_to_missing?
+Style/OptionalBooleanParameter:
+  Exclude:
+    - 'lib/syskit/gui/component_network_base_view.rb'
+    - 'lib/syskit/gui/instanciate.rb'
+    - 'lib/syskit/gui/logging_configuration_item_base.rb'
+    - 'lib/syskit/gui/model_views/data_service.rb'
+    - 'lib/syskit/gui/model_views/profile.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/models/dynamic_port_binding.rb'
+    - 'lib/syskit/models/port_access.rb'
+    - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/port_access.rb'
+    - 'lib/syskit/process_managers/status.rb'
+    - 'lib/syskit/remote_state_getter.rb'
+    - 'lib/syskit/roby_app/logging_group.rb'
+    - 'lib/syskit/scripts/common.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration_item_base.rb'
+    - 'test/gui/test_logging_configuration.rb'
+
+# Offense count: 14
+# This cop supports safe autocorrection (--autocorrect).
 # Configuration parameters: PreferredDelimiters.
 Style/PercentLiteralDelimiters:
   Exclude:
@@ -1154,40 +1429,101 @@ Style/PercentLiteralDelimiters:
     - 'lib/syskit/gui/runtime_state.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/scripts/common.rb'
-    - 'test/test_component.rb'
     - 'test/test_dependency_injection.rb'
     - 'test/test_instance_requirements.rb'
 
-# Offense count: 21
-# Cop supports --auto-correct.
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: Methods.
+Style/RedundantArgument:
+  Exclude:
+    - 'lib/syskit/gui/instanciate.rb'
+    - 'lib/syskit/gui/testing.rb'
+
+# Offense count: 16
+# This cop supports safe autocorrection (--autocorrect).
 Style/RedundantBegin:
   Exclude:
     - 'lib/syskit/actions/profile.rb'
     - 'lib/syskit/coordination/port_handling.rb'
-    - 'lib/syskit/deployment.rb'
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/gui/logging_configuration.rb'
     - 'lib/syskit/network_generation/dataflow_computation.rb'
     - 'lib/syskit/port.rb'
     - 'lib/syskit/roby_app/rest_api.rb'
     - 'lib/syskit/runtime/connection_management.rb'
-    - 'lib/syskit/shell_interface.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
+    - 'lib/syskit/telemetry/ui/logging_configuration.rb'
     - 'test/coordination/test_task_script.rb'
     - 'test/models/test_composition.rb'
     - 'test/test/test_task_context_test.rb'
 
-# Offense count: 4
-# Cop supports --auto-correct.
+# Offense count: 6
+# This cop supports unsafe autocorrection (--autocorrect-all).
+Style/RedundantEach:
+  Exclude:
+    - 'lib/syskit/gui/ide.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/models/configured_deployment.rb'
+    - 'lib/syskit/process_managers/in_process/process.rb'
+
+# Offense count: 16
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: AllowedMethods, AllowedPatterns.
+Style/ReturnNilInPredicateMethodDefinition:
+  Exclude:
+    - 'lib/syskit/component.rb'
+    - 'lib/syskit/gui/runtime_state.rb'
+    - 'lib/syskit/models/component.rb'
+    - 'lib/syskit/network_generation/engine.rb'
+    - 'lib/syskit/process_managers/remote/server/process.rb'
+    - 'lib/syskit/roby_app/plugin.rb'
+    - 'lib/syskit/runtime/update_task_states.rb'
+    - 'lib/syskit/task_context.rb'
+    - 'lib/syskit/telemetry/ui/runtime_state.rb'
+    - 'lib/syskit/test/instance_requirement_planning_handler.rb'
+
+# Offense count: 18
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: Mode.
+Style/StringConcatenation:
+  Exclude:
+    - 'Rakefile'
+    - 'lib/syskit/droby/v5/droby_dump.rb'
+    - 'lib/syskit/graphviz.rb'
+    - 'lib/syskit/gui/model_views/profile.rb'
+    - 'lib/syskit/gui/page_extension.rb'
+    - 'lib/syskit/gui/testing.rb'
+    - 'lib/syskit/models/composition_specialization.rb'
+    - 'lib/syskit/network_generation/dataflow_dynamics.rb'
+    - 'lib/syskit/network_generation/merge_solver.rb'
+    - 'lib/syskit/process_managers/remote/server/server.rb'
+    - 'lib/syskit/roby_app/rest_api.rb'
+    - 'lib/syskit/test/execution_expectations.rb'
+    - 'lib/syskit/test/network_manipulation.rb'
+    - 'lib/syskit/test/spec.rb'
+
+# Offense count: 6
+# This cop supports safe autocorrection (--autocorrect).
 # Configuration parameters: ExactNameMatch, AllowPredicates, AllowDSLWriters, IgnoreClassMethods, AllowedMethods.
 # AllowedMethods: to_ary, to_a, to_c, to_enum, to_h, to_hash, to_i, to_int, to_io, to_open, to_path, to_proc, to_r, to_regexp, to_str, to_s, to_sym
 Style/TrivialAccessors:
   Exclude:
     - 'lib/syskit/gui/batch_manager.rb'
     - 'lib/syskit/roby_app/configuration.rb'
+    - 'lib/syskit/telemetry/ui/batch_manager.rb'
 
-# Offense count: 2
-# Cop supports --auto-correct.
+# Offense count: 1
+# This cop supports safe autocorrection (--autocorrect).
 Style/WhileUntilModifier:
   Exclude:
     - 'test/ros/test_task_context.rb'
-    - 'test/test_remote_state_getter.rb'
+
+# Offense count: 2
+# This cop supports unsafe autocorrection (--autocorrect-all).
+# Configuration parameters: EnforcedStyle.
+# SupportedStyles: forbid_for_all_comparison_operators, forbid_for_equality_operators_only, require_for_all_comparison_operators, require_for_equality_operators_only
+Style/YodaCondition:
+  Exclude:
+    - 'lib/syskit/gui/app_start_dialog.rb'
+    - 'lib/syskit/telemetry/ui/app_start_dialog.rb'
diff --git a/.vscode/launch.json b/.vscode/launch.json
new file mode 100644
index 000000000..d8e65a6ba
--- /dev/null
+++ b/.vscode/launch.json
@@ -0,0 +1,14 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "(syskit) debug current file",
+            "type": "Ruby",
+            "request": "launch",
+            "program": "${file}"
+        }
+    ]
+}
diff --git a/Rakefile b/Rakefile
index 4b929efdd..ad3d5f956 100644
--- a/Rakefile
+++ b/Rakefile
@@ -1,15 +1,13 @@
 # frozen_string_literal: true
 
-require "bundler/gem_tasks"
 require "rake/testtask"
 
 task :default
 
 TESTOPTS = ENV.delete("TESTOPTS") || ""
 
-RUBOCOP_REQUIRED = (ENV["RUBOCOP"] == "1")
-USE_RUBOCOP = (ENV["RUBOCOP"] != "0")
 USE_JUNIT = (ENV["JUNIT"] == "1")
+USE_GRPC = (ENV["SYSKIT_HAS_GRPC"] != "0")
 REPORT_DIR = ENV["REPORT_DIR"] || File.expand_path("test_reports", __dir__)
 
 def minitest_set_options(test_task, name)
@@ -61,27 +59,24 @@ end
 
 task "test" => ["test:gui", "test:core", "test:live"]
 
-if USE_RUBOCOP
-    begin
-        require "rubocop/rake_task"
-        RuboCop::RakeTask.new do |t|
-            if USE_JUNIT
-                t.formatters << "junit"
-                t.options << "-o" << "#{REPORT_DIR}/rubocop.junit.xml"
-            end
-        end
-        task "test" => "rubocop"
-    rescue LoadError
-        raise if RUBOCOP_REQUIRED
-    end
+task "rubocop" do
+    raise "rubocop failed" unless system(ENV["RUBOCOP_CMD"] || "rubocop")
 end
+task "test" => "rubocop" if ENV["RUBOCOP"] != "0"
 
-begin
-    require "coveralls/rake/task"
-    Coveralls::RakeTask.new
-    task "test:coveralls" => ["test", "coveralls:push"]
-rescue LoadError # rubocop:disable Lint/SuppressedException
-end
+protogen =
+    file "lib/syskit/telemetry/agent/agent_pb.rb" =>
+        ["lib/syskit/telemetry/agent/agent.proto"] do
+        success = system(
+            "grpc_tools_ruby_protoc",
+            "syskit/telemetry/agent/agent.proto",
+            "--ruby_out=.",
+            "--grpc_out=.",
+            chdir: "lib"
+        )
+        raise "grpc_tools_ruby_protoc call failed" unless success
+    end
+task "default" => protogen if USE_GRPC
 
 # For backward compatibility with some scripts that expected hoe
 task "gem" => "build"
diff --git a/bin/syskit b/bin/syskit
index 349e87338..952b731ab 100755
--- a/bin/syskit
+++ b/bin/syskit
@@ -17,20 +17,23 @@ end
 
 require "syskit/cli/main"
 
+def thor_command?(name)
+    Syskit::CLI::Main.all_commands.key?(name.tr("-", "_"))
+end
+
 # Transform 'syskit help <mode>' to 'syskit <mode> --help' if mode is not
 # handled by thor
 if ARGV[0] == "help"
-    if (command_name = ARGV[1])
-        unless Syskit::CLI::Main.all_commands.key?(command_name)
-            ARGV.shift
-            ARGV << "--help"
-        end
+    if (command_name = ARGV[1]) && !thor_command?(command_name)
+        ARGV.shift
+        ARGV << "--help"
     end
 # Transform 'syskit <mode> --help' to 'syskit help <mode>' if mode is handled
 # by thor
 elsif ["-h", "--help"].include?(ARGV[1])
-    STDERR.puts "WARN: syskit <mode> --help is deprecated, use syskit help <mode> instead"
-    if Syskit::CLI::Main.all_commands.key?(ARGV[0])
+    $stderr.puts "WARN: syskit <mode> --help is deprecated, use syskit help <mode> instead"
+    if thor_command?(ARGV[0])
+        ARGV.delete_at(1)
         ARGV.unshift "help"
     end
 end
@@ -43,7 +46,7 @@ if ARGV.first
             Syskit::CLI::Main.start(ARGV)
             exit 0
         rescue Roby::CLI::CLIException => e
-            STDERR.puts Roby.color(e.message, :red)
+            $stderr.puts Roby.color(e.message, :red)
             exit 1
         end
     end
@@ -52,7 +55,7 @@ end
 ORIGINAL_ARGV = ARGV.dup
 mode = ARGV.shift
 
-SYSKIT_MODES = %w[ide process_server].freeze
+SYSKIT_MODES = %w[ide process_server log_runtime_archive].freeze
 ROBY_MODES = %w[run shell test gen quit restart].freeze
 if [nil, "--help", "-h", "help"].include?(mode)
     thor_modes = Syskit::CLI::Main
@@ -75,7 +78,7 @@ else
         begin
             require "roby/app/scripts/#{mode}"
         rescue LoadError
-            STDERR.puts "unknown mode '#{mode}'"
+            $stderr.puts "unknown mode '#{mode}'"
             exit(1)
         end
     end
diff --git a/lib/syskit.rb b/lib/syskit.rb
index b258989e4..08a8c1b43 100644
--- a/lib/syskit.rb
+++ b/lib/syskit.rb
@@ -23,6 +23,37 @@
 require "syskit/instance_requirements"
 
 require "syskit/orogen_namespace"
+
+module Syskit
+    # @api private
+    #
+    # Definition of Syskit's built-in process managers
+    #
+    # Process managers are the facility that allow to execute components. {Deployment}
+    # is agnostic w.r.t the way the deployment is executed. The impedance layer is
+    # the process manager (which creates the actual deployments) and the process object
+    # (created by its manager) that manages the state of a running deployment.
+    module ProcessManagers
+        extend Logger::Hierarchy
+        include Logger::Hierarchy
+    end
+end
+
+require "syskit/roby_app/log_transfer_server"
+require "syskit/process_managers/process_base"
+require "syskit/process_managers/status"
+require "syskit/process_managers/remote/server/log_upload_state"
+require "syskit/process_managers/remote/protocol"
+require "syskit/process_managers/remote/loader"
+require "syskit/process_managers/remote/manager"
+require "syskit/process_managers/remote/process"
+require "syskit/process_managers/in_process/manager"
+require "syskit/process_managers/in_process/process"
+require "syskit/process_managers/ruby_tasks/manager"
+require "syskit/process_managers/ruby_tasks/process"
+require "syskit/process_managers/unmanaged/manager"
+require "syskit/process_managers/unmanaged/process"
+
 require "syskit/roby_app"
 
 # Models
diff --git a/lib/syskit/actions/action.rb b/lib/syskit/actions/action.rb
index d4d19f4f4..8103ea0e1 100644
--- a/lib/syskit/actions/action.rb
+++ b/lib/syskit/actions/action.rb
@@ -8,7 +8,7 @@ class Action < Roby::Actions::Action
             #
             # @return [InstanceRequirements]
             def to_instance_requirements
-                model.to_instance_requirements(arguments)
+                model.to_instance_requirements(**arguments)
             end
 
             # Create a new action with the same arguments but the requirements
@@ -28,7 +28,8 @@ def respond_to_missing?(m, include_private)
             def method_missing(m, *args, &block)
                 if model.requirements.respond_to?(m)
                     Action.new(model.public_send(m, *args, &block), arguments)
-                else super
+                else
+                    super
                 end
             end
         end
diff --git a/lib/syskit/actions/action_model.rb b/lib/syskit/actions/action_model.rb
index 09d79a6c6..bc252dd01 100644
--- a/lib/syskit/actions/action_model.rb
+++ b/lib/syskit/actions/action_model.rb
@@ -134,7 +134,8 @@ def method_missing(m, *args, **kw, &block)
                         req = requirements.dup
                         req.send(m, *args, **kw, &block)
                         Actions::Models::Action.new(req, doc)
-                    else super
+                    else
+                        super
                     end
                 end
             end
diff --git a/lib/syskit/actions/interface_model_extension.rb b/lib/syskit/actions/interface_model_extension.rb
index d042c6f24..46480fa45 100644
--- a/lib/syskit/actions/interface_model_extension.rb
+++ b/lib/syskit/actions/interface_model_extension.rb
@@ -16,7 +16,7 @@ def profile(name = nil, &block)
 
                 if block
                     Roby.warn_deprecated(
-                        "calling profile do ... end in an action interface is "\
+                        "calling profile do ... end in an action interface is " \
                         "deprecated, call use_profile do .. end instead"
                     )
                     use_profile(&block)
@@ -142,7 +142,7 @@ def use_profile(
                 elsif block
                     unless tag_selection.empty?
                         raise ArgumentError,
-                              "cannot provide a tag selection and a block "\
+                              "cannot provide a tag selection and a block " \
                               "at the same time"
                     end
 
@@ -223,13 +223,13 @@ def profile
 
             def has_through_method_missing?(name)
                 MetaRuby::DSLs.has_through_method_missing?(
-                    profile, m, "_tag" => :has_tag?
+                    profile, name, "_tag" => :has_tag?
                 ) || super
             end
 
             def find_through_method_missing(name, args)
                 MetaRuby::DSLs.find_through_method_missing(
-                    profile, m, args, "_tag" => :find_tag
+                    profile, name, args, "_tag" => :find_tag
                 ) || super
             end
 
diff --git a/lib/syskit/actions/profile.rb b/lib/syskit/actions/profile.rb
index ef82199a2..e1669460f 100644
--- a/lib/syskit/actions/profile.rb
+++ b/lib/syskit/actions/profile.rb
@@ -53,6 +53,10 @@ def to_action_model(profile = self.profile, doc = self.doc)
                     action_model.advanced = advanced?
                     action_model
                 end
+
+                def to_s
+                    "#{profile}.#{name}_def"
+                end
             end
 
             class Definition < ProfileInstanceRequirements
@@ -108,6 +112,7 @@ def each_submodel; end
             # The profile name
             # @return [String]
             attr_reader :name
+
             # The profile's basename
             def basename
                 name.gsub(/.*::/, "")
@@ -265,7 +270,7 @@ def resolved_dependency_injection
             end
 
             def to_s
-                "profile:#{name}"
+                name
             end
 
             # Promote requirements taken from another profile to this profile
@@ -295,7 +300,8 @@ def resolve_tag_selection(profile, tags)
                 tags.transform_keys do |key|
                     if key.respond_to?(:to_str)
                         profile.send("#{key.gsub(/_tag$/, '')}_tag")
-                    else key
+                    else
+                        key
                     end
                 end
             end
@@ -324,7 +330,11 @@ def each_used_profile(&block)
             #
             # @param [Profile] profile
             # @return [void]
-            def use_profile(profile, tags = {}, transform_names: ->(k) { k })
+            def use_profile(
+                profile, tags = {},
+                transform_names: ->(k) { k },
+                prefer_deployed_tasks: nil
+            )
                 invalidate_dependency_injection
                 tags = resolve_tag_selection(profile, tags)
                 used_profiles.push([profile, tags])
@@ -337,6 +347,9 @@ def use_profile(profile, tags = {}, transform_names: ->(k) { k })
                     name = transform_names.call(name)
                     req = promote_requirements(profile, req, tags)
                     definition = register_definition(name, req, doc: req.doc)
+                    if prefer_deployed_tasks
+                        definition.prefer_deployed_tasks(prefer_deployed_tasks)
+                    end
                     new_definitions << definition
                 end
                 new_definitions.concat(robot.use_robot(profile.robot))
diff --git a/lib/syskit/actual_data_flow_graph.rb b/lib/syskit/actual_data_flow_graph.rb
index 598a9af8d..1519db59c 100644
--- a/lib/syskit/actual_data_flow_graph.rb
+++ b/lib/syskit/actual_data_flow_graph.rb
@@ -46,8 +46,8 @@ def add_connections(source_task, sink_task, mappings) # :nodoc:
             mappings.each do |(source_port, sink_port), info|
                 if info.size != 3
                     raise ArgumentError,
-                          "ActualDataFlowGraph#add_connections expects "\
-                          "the mappings to be of the form (source_port,sink_port) "\
+                          "ActualDataFlowGraph#add_connections expects " \
+                          "the mappings to be of the form (source_port,sink_port) " \
                           "=> [policy, source_static, sink_static]"
                 end
 
diff --git a/lib/syskit/bound_data_service.rb b/lib/syskit/bound_data_service.rb
index 380264021..bb5bd55ba 100644
--- a/lib/syskit/bound_data_service.rb
+++ b/lib/syskit/bound_data_service.rb
@@ -25,6 +25,7 @@ class BoundDataService
         # @return [Models::BoundDataService]
         # @see service_model
         attr_reader :model
+
         # The data service name
         #
         # @return [String]
diff --git a/lib/syskit/cli/doc/gen.rb b/lib/syskit/cli/doc/gen.rb
index 127134ffc..71c8914d5 100644
--- a/lib/syskit/cli/doc/gen.rb
+++ b/lib/syskit/cli/doc/gen.rb
@@ -31,7 +31,7 @@ def self.generate(app, required_paths, target_path)
             #
             # @param [Pathname] target_path the root of the documentation output path
             # @param model the model to export
-            def self.save_model(target_path, model) # rubocop:disable Metrics/CyclomaticComplexity
+            def self.save_model(target_path, model)
                 puts "Saving model #{model} in #{target_path}"
 
                 case model
@@ -82,7 +82,7 @@ def self.save_profile_definition(target_path, profile_def)
                         save_profile_definition_graphs(target_path, task, profile_def)
                         .map(&:to_s)
                 rescue StandardError => e
-                    Roby.warn "could not generate profile definition graph for "\
+                    Roby.warn "could not generate profile definition graph for " \
                               "#{profile_def.name}"
                     Roby.log_exception_with_backtrace(e, Roby, :warn)
                     # Make dataflow a different object than hierarchy, or psych
@@ -131,7 +131,7 @@ def self.save_composition_model(target_path, composition_m)
                         save_composition_graphs(target_path, composition_m)
                         .map(&:to_s)
                 rescue StandardError => e
-                    Roby.warn "could not generate composition model graph for "\
+                    Roby.warn "could not generate composition model graph for " \
                               "#{composition_m.name}"
                     Roby.log_exception_with_backtrace(e, Roby, :warn)
                     hierarchy = { "error" => e.message }
@@ -379,11 +379,9 @@ def self.render_plan(
 
                 # Fixup a mixup in dot's SVG output. The URIs that contain < and >
                 # are not properly escaped to &lt; and &gt;
-                svg = svg.gsub(/xlink:href="[^"]+"/) do |match|
+                svg.gsub(/xlink:href="[^"]+"/) do |match|
                     match.gsub("<", "&lt;").gsub(">", "&gt;")
                 end
-
-                svg
             end
         end
     end
diff --git a/lib/syskit/cli/doc_main.rb b/lib/syskit/cli/doc_main.rb
index a0217e90d..7d75d2698 100644
--- a/lib/syskit/cli/doc_main.rb
+++ b/lib/syskit/cli/doc_main.rb
@@ -19,6 +19,9 @@ class DocMain < Thor
             option :exclude,
                    type: :array, default: [],
                    desc: "list of path patterns to exclude from documentation"
+            option :set,
+                   type: :string, repeatable: true,
+                   desc: "set some configuration parameters"
             def gen(target_path)
                 MetaRuby.keep_definition_location = true
                 roby_app_configure
@@ -40,6 +43,8 @@ def roby_app
                 end
 
                 def roby_app_configure
+                    apply_set_options(roby_app)
+
                     roby_app.require_app_dir
                     roby_app.using "syskit"
                     roby_app.development_mode = false
@@ -49,6 +54,13 @@ def roby_app_configure
                     roby_app.setup_for_minimal_tooling
                 end
 
+                def apply_set_options(app)
+                    (options[:set] || []).each do |kv|
+                        app.argv_set << kv
+                        Roby::Application.apply_conf_from_argv(kv)
+                    end
+                end
+
                 def roby_autoload_orogen_projects
                     (models_path / "orogen").glob("*.rb").each do |extension_file|
                         project_name = extension_file.sub_ext("").basename.to_s
diff --git a/lib/syskit/cli/gen/syskit_app/config/init.rb b/lib/syskit/cli/gen/syskit_app/config/init.rb
index 33248f19b..c82375e34 100644
--- a/lib/syskit/cli/gen/syskit_app/config/init.rb
+++ b/lib/syskit/cli/gen/syskit_app/config/init.rb
@@ -20,6 +20,9 @@
 
 # Set to false to disable old-style task model export (using constants)
 OroGen.syskit_model_constant_registration = true
+# Whether Syskit's internal ruby task should be registered on the CORBA naming
+# service.
+Syskit.conf.register_self_on_name_server = false
 
 # Set the module's name. It is normally inferred from the app name, and the app
 # name is inferred from the base directory name (e.g. an app located in
diff --git a/lib/syskit/cli/gen/syskit_app/config/orogen/.gitignore b/lib/syskit/cli/gen/syskit_app/config/orogen/.gitignore
new file mode 100644
index 000000000..1998c294f
--- /dev/null
+++ b/lib/syskit/cli/gen/syskit_app/config/orogen/.gitignore
@@ -0,0 +1 @@
+.cache
\ No newline at end of file
diff --git a/lib/syskit/cli/gen_main.rb b/lib/syskit/cli/gen_main.rb
index cda9bc006..09857a1f2 100644
--- a/lib/syskit/cli/gen_main.rb
+++ b/lib/syskit/cli/gen_main.rb
@@ -171,7 +171,7 @@ def profile(name)
                 gen_common("profile", name, "profiles", "Profiles")
             end
 
-            desc "orogen PROJECT_NAME", "generate an extension file for the tasks "\
+            desc "orogen PROJECT_NAME", "generate an extension file for the tasks " \
                                         "of an oroGen project"
             long_desc <<~OROGEN_DESCRIPTION
                 Generates a new extension file for an oroGen project. It must be given the name
@@ -188,7 +188,6 @@ def profile(name)
             def orogen(project_name)
                 Roby.app.require_app_dir(needs_current: true)
                 Roby.app.single = true
-                Roby.app.base_setup
                 Syskit.conf.only_load_models = true
                 Roby.app.setup
 
@@ -210,7 +209,6 @@ def orogen(project_name)
                          )
             ensure
                 Roby.app.cleanup
-                Roby.app.base_cleanup
             end
 
             no_commands do
@@ -271,8 +269,8 @@ def orogenconf(model_name)
                 rescue RuntimeError
                     unless section
                         raise Roby::CLI::CLICommandFailed,
-                              "failed to start a component of model "\
-                              "#{task_model.orogen_model.name}, cannot create "\
+                              "failed to start a component of model " \
+                              "#{task_model.orogen_model.name}, cannot create " \
                               "a configuration file with default values"
                     end
                 end
diff --git a/lib/syskit/cli/log_runtime_archive.rb b/lib/syskit/cli/log_runtime_archive.rb
new file mode 100644
index 000000000..66e01a84e
--- /dev/null
+++ b/lib/syskit/cli/log_runtime_archive.rb
@@ -0,0 +1,412 @@
+# frozen_string_literal: true
+
+require "archive/tar/minitar"
+require "sys/filesystem"
+
+module Syskit
+    module CLI
+        # Exception raised when the zstd subprocess returns an error
+        class CompressionFailed < RuntimeError; end
+
+        # Implementation of the `syskit log-runtime-archive` tool
+        #
+        # The tool archives Syskit log directories into tar archives in realtime,
+        # compressing files using zstd
+        #
+        # It depends on the syskit instance using log rotation
+        class LogRuntimeArchive
+            DEFAULT_MAX_ARCHIVE_SIZE = 10_000_000_000 # 10G
+
+            def initialize(
+                root_dir, target_dir,
+                logger: LogRuntimeArchive.null_logger,
+                max_archive_size: DEFAULT_MAX_ARCHIVE_SIZE
+            )
+                @last_archive_index = {}
+                @logger = logger
+                @root_dir = root_dir
+                @target_dir = target_dir
+                @max_archive_size = max_archive_size
+            end
+
+            # Iterate over all datasets in a Roby log root folder and archive them
+            #
+            # The method assumes the last dataset is the current one (i.e. the running
+            # one), and will only archive already rotated files.
+            #
+            # @param [Pathname] root_dir the log root folder
+            # @param [Pathname] target_dir the folder in which to save the
+            #   archived datasets
+            def process_root_folder
+                candidates = self.class.find_all_dataset_folders(@root_dir)
+                running = candidates.last
+                candidates.each do |child|
+                    process_dataset(child, full: child != running)
+                end
+            end
+
+            # Manages folder available space
+            #
+            # The method will check if there is enough space to save more log files
+            # according to pre-established threshold.
+            #
+            # @param [integer] free_space_low_limit: required free space threshold in
+            #   bytes, at which the archiver starts deleting the oldest log files
+            # @param [integer] free_space_delete_until: post-deletion free space in bytes,
+            #   at which the archiver stops deleting the oldest log files
+            def ensure_free_space(free_space_low_limit, free_space_delete_until)
+                if free_space_low_limit > free_space_delete_until
+                    raise ArgumentError,
+                          "cannot erase files: freed limit is smaller than " \
+                          "low limit space."
+                end
+
+                stat = Sys::Filesystem.stat(@target_dir)
+                available_space = stat.bytes_available
+
+                return if available_space > free_space_low_limit
+
+                until available_space >= free_space_delete_until
+                    files = @target_dir.each_child.select(&:file?)
+                    if files.empty?
+                        Roby.warn "Cannot erase files: the folder is empty but the " \
+                                  "available space is smaller than the threshold."
+                        break
+                    end
+
+                    removed_file = files.min
+                    size_removed_file = removed_file.size
+                    removed_file.unlink
+                    available_space += size_removed_file
+                end
+            end
+
+            def process_dataset(child, full:)
+                use_existing = true
+                loop do
+                    open_archive_for(
+                        child.basename.to_s, use_existing: use_existing
+                    ) do |io|
+                        if io.tell > @max_archive_size
+                            use_existing = false
+                            break
+                        end
+
+                        dataset_complete = self.class.archive_dataset(
+                            io, child,
+                            logger: @logger, full: full,
+                            max_size: @max_archive_size
+                        )
+                        return if dataset_complete
+                    end
+
+                    use_existing = false
+                end
+            end
+
+            # Create or open an archive
+            #
+            # The method will find an archive to open or create, do it and
+            # yield the corresponding IO. The archives are named #{basename}.${INDEX}.tar
+            #
+            # @param [Boolean] use_existing if false, always create a new
+            #   archive. If true, reuse the last archive that was created, if
+            #   present, or create ${basename}.0.tar otherwise.
+            def open_archive_for(basename, use_existing: true)
+                last_index = find_last_archive_index(basename)
+
+                index, mode =
+                    if !last_index
+                        [0, "w"]
+                    elsif use_existing
+                        [last_index, "r+"]
+                    else
+                        [last_index + 1, "w"]
+                    end
+
+                archive_path = @target_dir / "#{basename}.#{index}.tar"
+                archive_path.open(mode) do |io|
+                    io.seek(0, IO::SEEK_END)
+                    yield(io)
+                end
+            end
+
+            # Find the last archive index used for a given basename
+            #
+            # @param [String] basename the archive basename
+            def find_last_archive_index(basename)
+                i = @last_archive_index[basename] || 0
+                last_i = nil
+                loop do
+                    candidate = @target_dir / "#{basename}.#{i}.tar"
+                    return last_i unless candidate.exist?
+
+                    @last_archive_index[basename] = last_i
+                    last_i = i
+                    i += 1
+                end
+            end
+
+            # Find all dataset-looking folders within a root log folder
+            def self.find_all_dataset_folders(root_dir)
+                candidates = root_dir.enum_for(:each_entry).map do |child|
+                    next unless /^\d{8}-\d{4}(\.\d+)?$/.match?(child.basename.to_s)
+
+                    child = (root_dir / child)
+                    next unless child.directory?
+
+                    child if (child / "info.yml").file?
+                end
+
+                candidates.compact.sort_by { _1.basename.to_s }
+            end
+
+            # Safely add an entry into an archive, compressing it with zstd
+            #
+            # @return [Boolean] true if the file was added successfully, false otherwise
+            def self.add_to_archive(archive_io, child_path, logger: null_logger)
+                logger.info "adding #{child_path}"
+                stat = child_path.stat
+
+                start_pos = archive_io.tell
+                write_initial_header(archive_io, child_path, stat)
+                data_pos = archive_io.tell
+                exit_status = write_compressed_data(child_path, archive_io)
+
+                unless exit_status.success?
+                    raise CompressionFailed, "compression failed for #{child_path}"
+                end
+
+                add_to_archive_commit(
+                    archive_io, child_path, start_pos, data_pos, stat
+                )
+                child_path.unlink
+            rescue Exception => e # rubocop:disable Lint/RescueException
+                Roby.display_exception($stdout, e)
+                if start_pos
+                    add_to_archive_rollback(archive_io, start_pos, logger: logger)
+                end
+                raise
+            end
+
+            # Finalize appending a file in the archive
+            def self.add_to_archive_commit(
+                archive_io, child_path, start_pos, data_pos, stat
+            )
+                data_size = archive_io.tell - data_pos
+                write_padding(data_size, archive_io)
+
+                # Update header
+                archive_io.seek(start_pos, IO::SEEK_SET)
+                write_final_header(archive_io, child_path, stat, data_size)
+                archive_io.seek(0, IO::SEEK_END)
+            end
+
+            # Revert the addition of a file in the archive, after an error
+            def self.add_to_archive_rollback(archive_io, start_pos, logger:)
+                logger.warn "failed addition to archive, rolling back to known-good state"
+                archive_io.truncate(start_pos)
+                archive_io.seek(start_pos, IO::SEEK_SET)
+            end
+
+            # Write a tar block header without the data size
+            def self.write_initial_header(archive_io, child_path, stat)
+                write_header(
+                    archive_io,
+                    "#{child_path.basename}.zst",
+                    { mode: 0o644, uid: stat.uid, gid: stat.gid,
+                      mtime: stat.mtime, size: 0 }
+                )
+            end
+
+            # Write the final tar block header at the given position
+            def self.write_final_header(archive_io, child_path, stat, size)
+                write_header(
+                    archive_io,
+                    "#{child_path.basename}.zst",
+                    { mode: 0o644, uid: stat.uid, gid: stat.gid,
+                      mtime: stat.mtime, size: size }
+                )
+            end
+
+            # Compress data and append it to the archive
+            def self.write_compressed_data(child_path, archive_io)
+                _, exit_status = child_path.open("r") do |io|
+                    zstd_transfer_r, zstd_transfer_w = IO.pipe
+                    pid = Process.spawn("zstd", "--stdout", in: io, out: zstd_transfer_w)
+                    zstd_transfer_w.close
+                    IO.copy_stream(zstd_transfer_r, archive_io)
+                    Process.waitpid2(pid)
+                end
+                exit_status
+            end
+
+            # Write necessary padding (tar requires multiples of 512 bytes)
+            def self.write_padding(size, io)
+                # Move to end, compute actual size, pad to 512 bytes blocks
+                remainder = ((size + 511) / 512 * 512) - size
+                io.write("\0" * remainder)
+            end
+
+            # Create a logger that will display nothing
+            def self.null_logger
+                logger = Logger.new($stdout)
+                logger.level = Logger::FATAL + 1
+                logger
+            end
+
+            # Archive the given dataset
+            #
+            # @param [IO] archive_io the IO of the target archive
+            # @param [Pathname] path path to the dataset folder
+            # @param [Boolean] full whether we're arching the complete dataset (true),
+            #   or only the files that we know are not being written to (for log
+            #   directories of running Syskit instances)
+            # @return [Boolean] true if we're done processing this dataset. False
+            #   if processing was interrupted by e.g. an archive that reached the
+            #   max_archive_size limit
+            def self.archive_dataset(
+                archive_io, path,
+                full:, logger: null_logger, max_size: DEFAULT_MAX_ARCHIVE_SIZE
+            )
+                logger.info(
+                    "Archiving dataset #{path} in #{full ? 'full' : 'partial'} mode"
+                )
+                candidates = each_file_from_path(path).to_a
+                complete, candidates =
+                    if full
+                        archive_filter_candidates_full(candidates)
+                    else
+                        archive_filter_candidates_partial(candidates)
+                    end
+
+                candidates.each_with_index do |child_path, i|
+                    add_to_archive(archive_io, child_path, logger: logger)
+
+                    if archive_io.tell > max_size
+                        return complete && (i == candidates.size - 1)
+                    end
+                end
+
+                complete
+            end
+
+            # Enumerate the children of a path that are files
+            #
+            # @yieldparam [Pathname] file_path the full path to the file
+            def self.each_file_from_path(path)
+                return enum_for(:each_file_from_path, path) unless block_given?
+
+                path.each_entry do |child_path|
+                    full = path / child_path
+                    yield(full) if full.file?
+                end
+            end
+
+            # Filters all candidates for archiving to return the ones that should
+            # be archived in `full` mode at this point in time
+            #
+            # The method either returns the remaining rotated logs, or if there
+            # are none, the non-rotated files. This ensures that the archiver groups
+            # all non-rotated files in a single archive.
+            #
+            # @param [Array<Pathname>] candidates
+            # @return [(Boolean,Array<Pathname>)] a flag that tell whether the candidate
+            #   array is complete or not, and the files that should be archived. If
+            #   the flag is true, the assumption is that after having archived the files
+            #   that were returned, the archiving loop should try archiving again.
+            def self.archive_filter_candidates_full(candidates)
+                per_file_and_idx = filter_and_group_pocolog_files(candidates)
+                rotated_logs = per_file_and_idx.each_value.flat_map(&:values)
+                unless rotated_logs.empty?
+                    return [(candidates - rotated_logs).empty?, rotated_logs]
+                end
+
+                [true, candidates]
+            end
+
+            # Filters all candidates for archiving to return the ones that should
+            # be archived in `partial` mode at this point in time
+            #
+            # The method returns the rotated logs that are known to be complete.
+            #
+            # @param [Array<Pathname>] candidates
+            # @return [(true,Array<Pathname>)] files that should be archived. The
+            #   boolean is here for consistency with {.archive_filter_candidates_full}
+            def self.archive_filter_candidates_partial(candidates)
+                per_file_and_idx =
+                    filter_and_group_pocolog_files(candidates)
+                    .each_value { |logs| logs.delete(logs.keys.max) }
+
+                complete_log_files = per_file_and_idx.flat_map do |_, logs|
+                    logs.keys.sort.map { |i| logs[i] }
+                end
+
+                [true, complete_log_files]
+            end
+
+            # Filter the pocolog files from the given candidates and sort them
+            # by basename and log index
+            #
+            # @param [Array<Pathname>] candidates
+            # @return [{String=>{Integer=>Pathname}}]
+            def self.filter_and_group_pocolog_files(candidates)
+                candidates.each_with_object({}) do |path, h|
+                    name = path.basename.to_s
+                    if (m = /\.(\d+)\.log$/.match(name))
+                        per_file = (h[m.pre_match] ||= {})
+                        per_file[Integer(m[1])] = path
+                    end
+                end
+            end
+
+            extend Archive::Tar::Minitar::ByteSize
+
+            # Copy a tar header (copied from minitar)
+            def self.write_header(io, long_name, header)
+                short_name, prefix, needs_long_name = split_name(long_name)
+
+                if needs_long_name
+                    long_name_header = {
+                        prefix: "",
+                        name: Archive::Tar::Minitar::PosixHeader::GNU_EXT_LONG_LINK,
+                        typeflag: "L",
+                        size: long_name.length,
+                        mode: 0
+                    }
+                    io.write(Archive::Tar::Minitar::PosixHeader.new(long_name_header))
+                    io.write(long_name)
+                    io.write("\0" * (512 - (long_name.length % 512)))
+                end
+
+                new_header = header.merge({ name: short_name, prefix: prefix })
+                io.write(Archive::Tar::Minitar::PosixHeader.new(new_header))
+            end
+
+            # Process a file name to determine whether it should use the GNU
+            # long file extension. Copied from minitar
+            def self.split_name(name) # rubocop:disable Metrics/AbcSize
+                if bytesize(name) <= 100
+                    prefix = ""
+                else
+                    parts = name.split(%r{/})
+                    newname = parts.pop
+
+                    nxt = ""
+
+                    loop do
+                        nxt = parts.pop || ""
+                        break if bytesize(newname) + 1 + bytesize(nxt) >= 100
+
+                        newname = "#{nxt}/#{newname}"
+                    end
+
+                    prefix = (parts + [nxt]).join("/")
+                    name = newname
+                end
+
+                [name, prefix, bytesize(name) > 100 || bytesize(prefix) > 155]
+            end
+        end
+    end
+end
diff --git a/lib/syskit/cli/log_runtime_archive_main.rb b/lib/syskit/cli/log_runtime_archive_main.rb
new file mode 100644
index 000000000..aa536b575
--- /dev/null
+++ b/lib/syskit/cli/log_runtime_archive_main.rb
@@ -0,0 +1,86 @@
+# frozen_string_literal: true
+
+# NOTE: this is NOT integrated in the Thor-based CLI to make it more independent
+# (i.e. not depending on actually having Syskit installed)
+
+require "pathname"
+require "thor"
+require "syskit/cli/log_runtime_archive"
+
+module Syskit
+    module CLI
+        # Command-line definition for the cli-archive-main syskit subcommand
+        class LogRuntimeArchiveMain < Thor
+            def self.exit_on_failure?
+                true
+            end
+
+            desc "watch", "watch a dataset root folder and call archiver"
+
+            option :period,
+                   type: :numeric, default: 600, desc: "polling period in seconds"
+            option :max_size,
+                   type: :numeric, default: 10_000, desc: "max log size in MB"
+            option :free_space_low_limit,
+                   type: :numeric, default: 5_000, desc: "start deleting files if \
+                    available space is below this threshold (threshold in MB)"
+            option :free_space_freed_limit,
+                   type: :numeric, default: 25_000, desc: "stop deleting files if \
+                    available space is above this threshold (threshold in MB)"
+            default_task def watch(root_dir, target_dir)
+                loop do
+                    begin
+                        archive(root_dir, target_dir)
+                    rescue Errno::ENOSPC
+                        next
+                    end
+
+                    puts "Archived pending logs, sleeping #{options[:period]}s"
+                    sleep options[:period]
+                end
+            end
+
+            desc "archive", "archive the datasets and manages disk space"
+            option :max_size,
+                   type: :numeric, default: 10_000, desc: "max log size in MB"
+            option :free_space_low_limit,
+                   type: :numeric, default: 5_000, desc: "start deleting files if \
+                    available space is below this threshold (threshold in MB)"
+            option :free_space_freed_limit,
+                   type: :numeric, default: 25_000, desc: "stop deleting files if \
+                    available space is above this threshold (threshold in MB)"
+            def archive(root_dir, target_dir)
+                root_dir = validate_directory_exists(root_dir)
+                target_dir = validate_directory_exists(target_dir)
+                archiver = make_archiver(root_dir, target_dir)
+
+                archiver.ensure_free_space(
+                    options[:free_space_low_limit] * 1_000_000,
+                    options[:free_space_freed_limit] * 1_000_000
+                )
+                archiver.process_root_folder
+            end
+
+            no_commands do
+                def validate_directory_exists(dir)
+                    dir = Pathname.new(dir)
+                    unless dir.directory?
+                        raise ArgumentError, "#{dir} does not exist, or is not a " \
+                                             "directory"
+                    end
+
+                    dir
+                end
+
+                def make_archiver(root_dir, target_dir)
+                    logger = Logger.new($stdout)
+
+                    Syskit::CLI::LogRuntimeArchive.new(
+                        root_dir, target_dir,
+                        logger: logger, max_archive_size: options[:max_size] * (1024**2)
+                    )
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/cli/main.rb b/lib/syskit/cli/main.rb
index aadb4213d..47b5f8ed3 100644
--- a/lib/syskit/cli/main.rb
+++ b/lib/syskit/cli/main.rb
@@ -3,6 +3,7 @@
 require "roby/cli/main"
 require "syskit/cli/gen_main"
 require "syskit/cli/doc_main"
+require "syskit/telemetry/cli"
 
 module Syskit
     module CLI
@@ -18,6 +19,7 @@ class Main < Roby::CLI::Main
             option :workdir, type: :string, default: nil
             option :logs, type: :string, default: nil
             option :logs_base, type: :string, default: nil
+            option :log, type: :string, repeatable: true, default: []
             def orogen_test(*args)
                 syskit_path = File.expand_path("../../../bin/syskit", __dir__)
                 minitest_args, files = args.partition { |p| p.start_with?("-") }
@@ -28,11 +30,16 @@ def orogen_test(*args)
                 extra_args = ["--keep-logs"]
                 extra_args << "--logs" << options[:logs] if options[:logs]
                 extra_args << "--logs-base" << options[:logs_base] if options[:logs_base]
+                extra_args.concat(options[:log].map { |l| "--log=#{l}" })
 
                 system(syskit_path, "gen", "app", workdir) unless File.directory?(workdir)
                 Process.exec(syskit_path, "test", "--live", *extra_args, *files, "--",
                              *minitest_args, chdir: workdir)
             end
+
+            desc "telemetry",
+                 "commands related to monitoring and commanding a running Syskit system"
+            subcommand "telemetry", Telemetry::CLI
         end
     end
 end
diff --git a/lib/syskit/component.rb b/lib/syskit/component.rb
index d19816bb9..b66cf72ef 100644
--- a/lib/syskit/component.rb
+++ b/lib/syskit/component.rb
@@ -53,12 +53,7 @@ def initialize(**arguments)
             super
             @requirements = InstanceRequirements.new
 
-            @registered_data_writers =
-                instanciate_data_accessors(model.each_data_writer)
-            @registered_data_readers =
-                instanciate_data_accessors(model.each_data_reader)
-            @data_readers = @registered_data_readers.values
-            @data_writers = @registered_data_writers.values
+            setup_data_accessors
         end
 
         def initialize_copy(source)
@@ -66,6 +61,16 @@ def initialize_copy(source)
             @requirements = @requirements.dup
             specialize if source.specialized_model?
             duplicate_missing_services_from(source)
+            setup_data_accessors
+        end
+
+        def setup_data_accessors
+            @registered_data_writers =
+                instanciate_data_accessors(model.each_data_writer)
+            @registered_data_readers =
+                instanciate_data_accessors(model.each_data_reader)
+            @data_readers = @registered_data_readers.values
+            @data_writers = @registered_data_writers.values
         end
 
         def create_fresh_copy
@@ -177,8 +182,8 @@ def meets_configurationg_precedence_constraints?
 
             if waiting_precedence_relation
                 debug do
-                    "#{self} not ready for setup: "\
-                    "waiting on #{waiting_precedence_relation}"
+                    "#{self} not ready for setup: " \
+                        "waiting on #{waiting_precedence_relation}"
                 end
             end
 
@@ -190,8 +195,8 @@ def meets_configurationg_precedence_constraints?
         def ready_for_setup? # :nodoc:
             if garbage?
                 debug do
-                    "#{self} not ready for setup: "\
-                    "garbage collected but not yet finalized"
+                    "#{self} not ready for setup: " \
+                        "garbage collected but not yet finalized"
                 end
                 return false
             elsif failed_to_start?
@@ -268,7 +273,7 @@ def setup_failed!(exception)
                 start_event.emit_failed(exception)
             else
                 Roby.execution_engine.add_framework_error(
-                    e, "#{self} got finalized before the setting_up! "\
+                    e, "#{self} got finalized before the setting_up! " \
                        "error handler was called"
                 )
             end
@@ -387,7 +392,7 @@ def duplicate_missing_services_from(task)
             missing_services.each do |_, srv|
                 unless srv.respond_to?(:dynamic_service)
                     raise InternalError,
-                          "attempting to duplicate static service "\
+                          "attempting to duplicate static service " \
                           "#{srv.name} from #{task} to #{self}"
                 end
 
@@ -534,7 +539,7 @@ def data_writer(port, *args, as: nil, **policy)
             if port.respond_to?(:to_str)
                 if as
                     raise ArgumentError,
-                          "cannot provide the 'as' option to the deprecated "\
+                          "cannot provide the 'as' option to the deprecated " \
                           "string-based call to #data_writer"
                 end
 
@@ -561,6 +566,13 @@ def register_data_writer(writer, as: nil)
             writer.update
         end
 
+        # Deregister a data writer register
+        #
+        # @param [String] register writer name
+        def deregister_data_writer(name)
+            @registered_data_writers.delete(name)
+        end
+
         # Set of {DynamicPortBinding::BoundOutputReader} registered on self
         #
         # They are added on creation from {Models::Component#data_readers}, or
@@ -630,7 +642,7 @@ def data_reader(port, *args, as: nil, pull: true, **policy)
             if port.respond_to?(:to_str)
                 if as
                     raise ArgumentError,
-                          "cannot provide the 'as' option to the deprecated "\
+                          "cannot provide the 'as' option to the deprecated " \
                           "string-based call to #data_reader"
                 end
 
@@ -659,6 +671,13 @@ def register_data_reader(reader, as: nil)
             reader.update
         end
 
+        # Deregister a data reader register
+        #
+        # @param [String] register reader name
+        def deregister_data_reader(name)
+            @registered_data_readers.delete(name)
+        end
+
         on :start do |_event|
             @data_readers.each do |reader|
                 reader.attach_to_task(self) if reader.respond_to?(:attach_to_task)
diff --git a/lib/syskit/composition.rb b/lib/syskit/composition.rb
index 2ac7b1418..0732054ff 100644
--- a/lib/syskit/composition.rb
+++ b/lib/syskit/composition.rb
@@ -51,8 +51,8 @@ def conf(names)
 
             if names.size != 1
                 raise ArgumentError,
-                      "unlike with ConfigurationManager, only one configuration can "\
-                      "be selected on compositions. Attempted to select #{names} on "\
+                      "unlike with ConfigurationManager, only one configuration can " \
+                      "be selected on compositions. Attempted to select #{names} on " \
                       "#{self}"
             end
 
@@ -66,13 +66,13 @@ def conf(names)
             unless found_something
                 if names == ["default"]
                     ConfigurationManager.info \
-                        "required default configuration on composition #{task}, "\
-                        "but #{task.model.short_name} has no registered "\
+                        "required default configuration on composition #{task}, " \
+                        "but #{task.model.short_name} has no registered " \
                         "default configurations"
                     return {}
                 else
-                    raise ArgumentError, "#{self} has no declared configuration "\
-                                            "called #{names.join(', ')}"
+                    raise ArgumentError, "#{self} has no declared configuration " \
+                                         "called #{names.join(', ')}"
                 end
             end
             result
@@ -98,7 +98,8 @@ def resolve_port(port_name)
             actual_port_name = child_selection[child_name].port_mappings[export.name]
             if child.respond_to?(:resolve_port)
                 child.resolve_port(actual_port_name)
-            else child.find_port(actual_port_name)
+            else
+                child.find_port(actual_port_name)
             end
         end
 
@@ -167,7 +168,8 @@ def find_required_composition_child_from_role(role, from_model = model)
 
                 if task.model <= selected_srv.component_model
                     selected_srv
-                else selected_srv.as_real_model
+                else
+                    selected_srv.as_real_model
                 end
             end
             selected_service_m.bind(task).as(target_srv.model)
@@ -180,7 +182,7 @@ def find_required_composition_child_from_role(role, from_model = model)
         def required_composition_child_from_role(role)
             selected = find_required_composition_child_from_role(role)
             unless selected
-                raise ArgumentError, "#{role} does not seem to be a proper child "\
+                raise ArgumentError, "#{role} does not seem to be a proper child " \
                                      "of this composition"
             end
             selected
@@ -327,7 +329,6 @@ def respond_to_missing?(m, include_private)
                 (m =~ /_port$/) || super
             end
 
-            # rubocop:disable Style/MethodMissingSuper
             def method_missing(m, *args, &block)
                 unless (matched_port = /_port$/.match(m))
                     return @child_task.send(m, *args, &block)
@@ -340,13 +341,12 @@ def method_missing(m, *args, &block)
                        @child_task.find_output_port(mapped_port_name)
 
                 unless port
-                    raise NoMethodError, "task #{@child_task}, child #{@child_name} "\
-                                            "of #{@composition_task}, has no port "\
-                                            "called #{port_name}"
+                    raise NoMethodError, "task #{@child_task}, child #{@child_name} " \
+                                         "of #{@composition_task}, has no port " \
+                                         "called #{port_name}"
                 end
                 port
             end
-            # rubocop:enable Style/MethodMissingSuper
         end
     end
 end
diff --git a/lib/syskit/connection_graphs.rb b/lib/syskit/connection_graphs.rb
index 2f174f5c5..ab185dac6 100644
--- a/lib/syskit/connection_graphs.rb
+++ b/lib/syskit/connection_graphs.rb
@@ -113,12 +113,10 @@ def self.resolve_connections(output_ports, input_ports)
         # input only if it is a multiplexing port
         outputs_per_input = {}
         result.each do |out_port, in_port|
-            if outputs_per_input[in_port]
-                unless in_port.multiplexes?
-                    candidates = result.map { |o, i| o if i == in_port }
-                                       .compact
-                    raise AmbiguousAutoConnection.new(in_port, candidates)
-                end
+            if outputs_per_input[in_port] && !in_port.multiplexes?
+                candidates = result.map { |o, i| o if i == in_port }
+                                   .compact
+                raise AmbiguousAutoConnection.new(in_port, candidates)
             end
             outputs_per_input[in_port] = out_port
         end
@@ -155,12 +153,14 @@ def self.connect(source, sink, policy)
         output_ports =
             if source.respond_to?(:each_output_port)
                 source.each_output_port.to_a
-            else [source]
+            else
+                [source]
             end
         input_ports =
             if sink.respond_to?(:each_input_port)
                 sink.each_input_port.to_a
-            else [sink]
+            else
+                [sink]
             end
 
         connections = resolve_connections(output_ports, input_ports)
diff --git a/lib/syskit/coordination/data_monitor.rb b/lib/syskit/coordination/data_monitor.rb
index dbc79a9d9..e821cc0ba 100644
--- a/lib/syskit/coordination/data_monitor.rb
+++ b/lib/syskit/coordination/data_monitor.rb
@@ -20,6 +20,7 @@ class DataMonitor
             # @return [Array<Roby::Coordination::Event>] the set of events that
             #   should be emitted when this monitor triggers
             attr_reader :emitted_events
+
             # @return [Boolean] whether this monitor should generate a
             #   {DataMonitoringError} when it triggers
             attr_predicate :raises?, true
diff --git a/lib/syskit/coordination/data_monitoring_error.rb b/lib/syskit/coordination/data_monitoring_error.rb
index 163907e46..63f79d596 100644
--- a/lib/syskit/coordination/data_monitoring_error.rb
+++ b/lib/syskit/coordination/data_monitoring_error.rb
@@ -5,9 +5,7 @@ module Coordination
         # Exception issued by the data monitors in {DataMonitor#poll} when
         # predicate#finalize returns true
         class DataMonitoringError < Roby::LocalizedError
-            attr_reader :monitor
-            attr_reader :time
-            attr_reader :samples
+            attr_reader :monitor, :time, :samples
 
             def initialize(task, monitor, time, samples)
                 super(task)
diff --git a/lib/syskit/coordination/data_monitoring_table.rb b/lib/syskit/coordination/data_monitoring_table.rb
index 647cd0a97..af37b7e3b 100644
--- a/lib/syskit/coordination/data_monitoring_table.rb
+++ b/lib/syskit/coordination/data_monitoring_table.rb
@@ -55,7 +55,7 @@ class DataMonitoringTable < Roby::Coordination::Base
 
             # (see Roby::Coordination::Base)
             def initialize(root_task, arguments = {}, options = {})
-                super(root_task, arguments, options)
+                super
                 options, = Kernel.filter_options options, :on_replace => :drop
                 @poll_id = root_task.poll(options) do
                     poll
diff --git a/lib/syskit/coordination/fault_response_table_extension.rb b/lib/syskit/coordination/fault_response_table_extension.rb
index c25313a89..9ce2a2cc2 100644
--- a/lib/syskit/coordination/fault_response_table_extension.rb
+++ b/lib/syskit/coordination/fault_response_table_extension.rb
@@ -34,7 +34,8 @@ def attach_to(plan)
                     data_args = tbl.arguments.transform_values do |fault_arg|
                         if fault_arg.kind_of?(Roby::Coordination::Models::Variable)
                             arguments[fault_arg.name]
-                        else fault_arg
+                        else
+                            fault_arg
                         end
                     end
                     data_monitoring_tables << plan.use_data_monitoring_table(tbl.table, data_args)
diff --git a/lib/syskit/coordination/models/data_monitor.rb b/lib/syskit/coordination/models/data_monitor.rb
index 8e1147630..73967790c 100644
--- a/lib/syskit/coordination/models/data_monitor.rb
+++ b/lib/syskit/coordination/models/data_monitor.rb
@@ -19,6 +19,7 @@ class DataMonitor
                 #   return an object that matches the description of
                 #   {Coordination::DataMonitor#predicate}
                 attr_reader :predicate
+
                 # @return [Boolean] whether instances of this model should
                 #   generate a {DataMonitoringError} when it triggers
                 # @see #raise_exception
diff --git a/lib/syskit/coordination/models/data_monitor_predicate_from_block.rb b/lib/syskit/coordination/models/data_monitor_predicate_from_block.rb
index a4140aa09..fc767cf19 100644
--- a/lib/syskit/coordination/models/data_monitor_predicate_from_block.rb
+++ b/lib/syskit/coordination/models/data_monitor_predicate_from_block.rb
@@ -16,6 +16,7 @@ class DataMonitorPredicateFromBlock
                 #   from a reader model to the index in the list of samples
                 #   (and, therefore, in the block's argument list)
                 attr_reader :stream_to_index
+
                 # @return [Boolean] indicates whether #call has been received
                 #   with a new sample since the last call to #finalize
                 def has_new_sample?
diff --git a/lib/syskit/coordination/models/data_monitoring_table.rb b/lib/syskit/coordination/models/data_monitoring_table.rb
index 4418f1cf9..a18bf38ce 100644
--- a/lib/syskit/coordination/models/data_monitoring_table.rb
+++ b/lib/syskit/coordination/models/data_monitoring_table.rb
@@ -50,7 +50,8 @@ def monitor(name, *data_streams)
                             obj.reader
                         elsif obj.respond_to?(:port)
                             obj
-                        else raise ArgumentError, "#{obj} does not seem to be a valid data source. Expected a port or a data reader"
+                        else
+                            raise ArgumentError, "#{obj} does not seem to be a valid data source. Expected a port or a data reader"
                         end
                     end
 
diff --git a/lib/syskit/coordination/task_script_extension.rb b/lib/syskit/coordination/task_script_extension.rb
index adf1a101b..929eb0efd 100644
--- a/lib/syskit/coordination/task_script_extension.rb
+++ b/lib/syskit/coordination/task_script_extension.rb
@@ -15,14 +15,16 @@ def wait_until_ready(writer)
             def respond_to_missing?(m, include_private)
                 if m.to_s =~ /_port$/
                     instance_for(model.root).respond_to?(m)
-                else super
+                else
+                    super
                 end
             end
 
             def method_missing(m, *args, &block)
                 if m.to_s =~ /_port$/
                     instance_for(model.root).send(m, *args, &block)
-                else super
+                else
+                    super
                 end
             end
         end
diff --git a/lib/syskit/data_service.rb b/lib/syskit/data_service.rb
index c17616d1e..d294ab886 100644
--- a/lib/syskit/data_service.rb
+++ b/lib/syskit/data_service.rb
@@ -72,13 +72,14 @@ def find_device_attached_to(service = nil)
                 unless (service = find_data_service(service))
                     known_services = each_data_service.map(&:name).sort.join(", ")
                     raise ArgumentError,
-                          "#{service} is not a known service of #{self}, "\
+                          "#{service} is not a known service of #{self}, " \
                           "known services are: #{known_services}"
                 end
             elsif !service || service.kind_of?(Syskit::Models::DataServiceModel)
                 driver_services =
                     if service then model.find_all_data_services_from_type(service)
-                    else model.each_master_driver_service.to_a
+                    else
+                        model.each_master_driver_service.to_a
                     end
                 if driver_services.empty?
                     raise ArgumentError, "#{self} is not attached to any device"
@@ -87,7 +88,7 @@ def find_device_attached_to(service = nil)
                 if driver_services.size > 1
                     driver_service_names = driver_services.map(&:name).sort.join(", ")
                     raise ArgumentError,
-                          "#{self} handles more than one device, you must "\
+                          "#{self} handles more than one device, you must " \
                           "specify one of #{driver_service_names} explicitely"
                 end
 
@@ -152,13 +153,11 @@ def each_com_bus_device
         # @yieldparam device [DeviceInstance] a device that is using self as
         #   a communication bus
         # @see each_attached_device
-        def each_declared_attached_device
+        def each_declared_attached_device(&block)
             return enum_for(:each_declared_attached_device) unless block_given?
 
             each_com_bus_device do |combus|
-                combus.each_attached_device do |dev|
-                    yield(dev)
-                end
+                combus.each_attached_device(&block)
             end
         end
 
@@ -191,15 +190,15 @@ def attach(task)
                     client_in_srv  = dev.combus_client_in_srv
                     client_out_srv = dev.combus_client_out_srv
 
-                    if !combus_m.lazy_dispatch?
+                    if combus_m.lazy_dispatch?
+                        bus_srv = combus.require_dynamic_service_for_device(self, dev)
+                    else
                         unless (bus_srv = find_data_service(dev.name))
                             raise ArgumentError,
-                                  "combus task #{self} was expected to have "\
-                                  "a service named #{dev.name} to connect "\
+                                  "combus task #{self} was expected to have " \
+                                  "a service named #{dev.name} to connect " \
                                   "to the device of the same name, but has none"
                         end
-                    else
-                        bus_srv = combus.require_dynamic_service_for_device(self, dev)
                     end
 
                     client_out_srv.bind(task).connect_to bus_srv if dev.client_to_bus?
diff --git a/lib/syskit/dependency_injection.rb b/lib/syskit/dependency_injection.rb
index cebc58be3..7240ff629 100644
--- a/lib/syskit/dependency_injection.rb
+++ b/lib/syskit/dependency_injection.rb
@@ -6,8 +6,7 @@ class DependencyInjection
         extend Logger::Hierarchy
         extend Logger::Forward
 
-        attr_reader :explicit
-        attr_reader :defaults
+        attr_reader :explicit, :defaults, :resolved
 
         def hash
             [explicit, defaults].hash
@@ -33,8 +32,6 @@ def initialize(*base)
             add(*base) unless base.empty?
         end
 
-        attr_reader :resolved
-
         def initialize_copy(from)
             super
             @explicit = from.explicit.dup
@@ -142,7 +139,8 @@ def add_explicit(mappings)
                 # However, when this happens, we can simply ignore the
                 # identity selection
                 if v2 == k then v1
-                else v2
+                else
+                    v2
                 end
             end
 
@@ -190,7 +188,7 @@ def self.normalize_selection(selection)
                    (!key.kind_of?(Class) || !(key <= Component))
 
                     raise ArgumentError,
-                          'found #{value} as a selection key, but only names, '\
+                          'found #{value} as a selection key, but only names, ' \
                           "component models and data service models are allowed"
                 end
 
@@ -204,13 +202,11 @@ def self.normalize_selection(selection)
                     next
                 end
 
-                if value.respond_to?(:fullfills?)
-                    unless value.fullfills?(key)
-                        raise ArgumentError,
-                              "found #{value.name}(of class #{value.class}) "\
-                              "as a selection for #{key.name}, but "\
-                              "#{value.name} does not fullfill #{key.name}"
-                    end
+                if value.respond_to?(:fullfills?) && !value.fullfills?(key)
+                    raise ArgumentError,
+                          "found #{value.name}(of class #{value.class}) " \
+                          "as a selection for #{key.name}, but " \
+                          "#{value.name} does not fullfill #{key.name}"
                 end
 
                 if key <= Component
@@ -338,8 +334,8 @@ def selection_for(name, requirements)
                     selected_instance ||= sel_task
                     if selected_instance != sel_task
                         raise ArgumentError,
-                              "task instances #{selected_instance} and #{sel_m} "\
-                              "are both selected for #{required_m || requirements}, "\
+                              "task instances #{selected_instance} and #{sel_m} " \
+                              "are both selected for #{required_m || requirements}, " \
                               "but they are not compatible"
                     end
                 end
@@ -368,7 +364,7 @@ def selection_for(name, requirements)
                 selected_instance.fullfills?(requirements, requirements.arguments)
             unless valid_selected_instance
                 raise ArgumentError,
-                      "explicitly selected #{selected_instance}, "\
+                      "explicitly selected #{selected_instance}, " \
                       "but it does not fullfill the required #{requirements}"
             end
 
@@ -444,17 +440,19 @@ def resolve_names(mapping = {})
                 if v.respond_to?(:to_str)
                     result = DependencyInjection
                              .find_name_resolution(v, mapping)
-                    if !result
+                    if result
+                        result
+                    else
                         unresolved << v
                         v
-                    else result
                     end
 
                 elsif v.respond_to?(:resolve_names)
                     # The value is e.g. an InstanceRequirements
                     unresolved |= v.resolve_names(mapping)
                     v
-                else v
+                else
+                    v
                 end
             end
             unresolved
@@ -470,7 +468,8 @@ def remove_unresolved
             map! do |value|
                 if value.respond_to?(:to_str)
                     nil
-                else value
+                else
+                    value
                 end
             end
         end
@@ -490,7 +489,7 @@ def map(&block)
         # This method yields the [selection_key, selected_instance] pairs to
         # a block that must return a new value for the for
         # +selected_instance+. It modifies +self+
-        def map!
+        def map!(&block)
             # Invalidate the @resolved cached
             @resolved = nil
             changed = false
@@ -504,9 +503,7 @@ def map!
                             .resolve_recursive_selection_mapping(explicit)
             end
 
-            @defaults.map! do |v|
-                yield(v)
-            end
+            @defaults.map!(&block)
             self
         end
 
@@ -562,10 +559,8 @@ def self.resolve_selection_recursively(value, spec)
 
                     component_model = value.component_model
                     if (selected = spec[component_model]) &&
-                       !selected.respond_to?(:to_str)
-                        if selected != component_model
-                            new_value = selected.selected_for(value).selected_model
-                        end
+                       !selected.respond_to?(:to_str) && selected != (component_model)
+                        new_value = selected.selected_for(value).selected_model
                     end
                 when Module
                     new_value = spec[value]
@@ -587,7 +582,7 @@ def self.resolve_selection_recursively(value, spec)
         def self.normalize_selected_object(value, key = nil)
             unless value
                 raise ArgumentError,
-                      "found nil as selection for #{key}, "\
+                      "found nil as selection for #{key}, " \
                       "but it is not an acceptable selection value anymore"
             end
 
@@ -607,15 +602,15 @@ def self.normalize_selected_object(value, key = nil)
                     value = value.to_instance_requirements
                 elsif key
                     raise ArgumentError,
-                          "found #{value}(of class #{value.class}) as a selection "\
-                          "for #{key}, but only names, component models, "\
-                          "components, data service models and bound data services "\
+                          "found #{value}(of class #{value.class}) as a selection " \
+                          "for #{key}, but only names, component models, " \
+                          "components, data service models and bound data services " \
                           "are allowed"
                 else
                     raise ArgumentError,
-                          "found #{value}(of class #{value.class}) as a selection, "\
-                          "for #{key}, but only names, component models, "\
-                          "components, data service models and bound data services "\
+                          "found #{value}(of class #{value.class}) as a selection, " \
+                          "for #{key}, but only names, component models, " \
+                          "components, data service models and bound data services " \
                           "are allowed"
                 end
             end
@@ -654,11 +649,11 @@ def self.resolve_default_selections(using_spec, default_selections)
                     next if IGNORED_MODELS.include?(m)
 
                     if selection.respond_to?(:find_all_data_services_from_type) &&
-                       m.kind_of?(Models::DataServiceModel)
+                       m.kind_of?(Models::DataServiceModel) && selection.find_all_data_services_from_type(m).size != (1)
                         # Ignore if it is provided multiple times by the
                         # selection
 
-                        next if selection.find_all_data_services_from_type(m).size != 1
+                        next
                     end
 
                     if using_spec[m]
diff --git a/lib/syskit/dependency_injection_context.rb b/lib/syskit/dependency_injection_context.rb
index bdcf2445d..eab12a2d6 100644
--- a/lib/syskit/dependency_injection_context.rb
+++ b/lib/syskit/dependency_injection_context.rb
@@ -55,7 +55,7 @@ def initialize(base = nil)
                 nil
             else
                 raise ArgumentError,
-                      "expected either a selection hash or a DependencyInjection "\
+                      "expected either a selection hash or a DependencyInjection " \
                       "object as base selection, got #{base}"
             end
         end
@@ -100,15 +100,15 @@ def concat(context)
         #   when the execution quits the block
         # @return [void]
         def save
-            if !block_given?
-                @savepoints << stack.size
-            else
+            if block_given?
                 save
                 begin
                     yield
                 ensure
                     restore
                 end
+            else
+                @savepoints << stack.size
             end
         end
 
diff --git a/lib/syskit/deployment.rb b/lib/syskit/deployment.rb
index 15ddeead3..d830a1337 100644
--- a/lib/syskit/deployment.rb
+++ b/lib/syskit/deployment.rb
@@ -33,6 +33,8 @@ class Deployment < ::Roby::Task # rubocop:disable Metrics/ClassLength
         argument :ready_polling_period, default: 0.1
         argument :logger_task, default: nil
         argument :logger_name, default: nil
+        argument :logging_enabled, default: nil
+        argument :register_on_name_server, default: nil
         argument :read_only, default: nil
 
         # The underlying process object
@@ -153,17 +155,13 @@ def deployed_orogen_model_by_name(name)
                 mappings = name_mappings
                            .map { |k, v| "#{k} => #{v}" }.join(", ")
                 raise ArgumentError,
-                      "no task called #{name} in "\
-                      "#{self.class.deployment_name}, available tasks are "\
+                      "no task called #{name} in " \
+                      "#{self.class.deployment_name}, available tasks are " \
                       "#{available} using name mappings #{mappings}"
             end
             orogen_task_deployment
         end
 
-        def deployed_model_by_orogen_model(orogen_model)
-            TaskContext.model_for(orogen_model.task_model)
-        end
-
         # @api private
         #
         # Create and add a task model supported by this deployment
@@ -188,34 +186,32 @@ def create_deployed_task(
             syskit_task_model, scheduler_task, auto_conf: false
         )
             mapped_name = name_mappings[orogen_task_deployment_model.name]
-            if ready?
-                unless (remote_handles = remote_task_handles[mapped_name])
-                    raise InternalError,
-                          "no remote handle describing #{mapped_name} in #{self}"\
-                          "(got #{remote_task_handles.keys.sort.join(', ')})"
-                end
+            if ready? && !(remote_handles = remote_task_handles[mapped_name])
+                raise InternalError,
+                      "no remote handle describing #{mapped_name} in #{self}" \
+                      "(got #{remote_task_handles.keys.sort.join(', ')})"
             end
 
             if task_context_in_fatal?(mapped_name)
                 raise TaskContextInFatal.new(self, mapped_name),
-                      "trying to create task for FATAL_ERROR component #{mapped_name} "\
+                      "trying to create task for FATAL_ERROR component #{mapped_name} " \
                       "from #{self}"
             end
 
-            base_syskit_task_model = deployed_model_by_orogen_model(
+            base_syskit_task_model = model.resolve_syskit_model_for_deployed_task(
                 orogen_task_deployment_model
             )
             syskit_task_model ||= base_syskit_task_model
             unless syskit_task_model <= base_syskit_task_model
                 raise ArgumentError,
-                      "incompatible explicit selection of task model "\
-                      "#{syskit_task_model} for the model of #{mapped_name} in #{self}, "\
+                      "incompatible explicit selection of task model " \
+                      "#{syskit_task_model} for the model of #{mapped_name} in #{self}, " \
                       "expected #{base_syskit_task_model} or one of its subclasses"
             end
 
-            is_read_only_task = read_only.include?(mapped_name)
-            plan.add(task = syskit_task_model
-                            .new(orocos_name: mapped_name, read_only: is_read_only_task))
+            task = syskit_task_model
+                   .new(orocos_name: mapped_name, read_only: read_only?(mapped_name))
+            plan.add(task)
             task.executed_by self
             if scheduler_task
                 task.depends_on scheduler_task, role: "scheduler"
@@ -228,6 +224,10 @@ def create_deployed_task(
             task
         end
 
+        def read_only?(mapped_name)
+            read_only.include?(mapped_name)
+        end
+
         # Returns an task instance that represents the given task in this
         # deployment.
         #
@@ -239,7 +239,7 @@ def create_deployed_task(
         def task(name, syskit_task_model = nil)
             if finishing? || finished?
                 raise InvalidState,
-                      "#{self} is either finishing or already "\
+                      "#{self} is either finishing or already " \
                       "finished, you cannot call #task"
             end
 
@@ -289,20 +289,14 @@ def task(name, syskit_task_model = nil)
 
             spawn_options = spawn_options.merge(
                 output: "%m-%p.txt",
-                wait: false,
-                cmdline_args: options
+                cmdline_args: options,
+                register_on_name_server: register_on_name_server?
             )
 
-            if log_dir
-                spawn_options = spawn_options.merge(working_directory: log_dir)
-            else
-                spawn_options.delete(:working_directory)
-            end
-
             Deployment.info do
-                "starting deployment #{process_name} using "\
-                "#{model.deployment_name} on #{arguments[:on]} with "\
-                "#{spawn_options} and mappings #{name_mappings}"
+                "starting deployment #{process_name} using " \
+                    "#{model.deployment_name} on #{arguments[:on]} with " \
+                    "#{spawn_options} and mappings #{name_mappings}"
             end
 
             @orocos_process = process_server_config.client.start(
@@ -365,10 +359,11 @@ def logger_name
         # @return [TaskContext,nil] either the logging task, or nil if this
         #   deployment has none
         def logger_task
+            return unless logging_enabled?
+
             if arguments[:logger_task]
                 @logger_task = arguments[:logger_task]
             elsif @logger_task&.reusable?
-                @logger_task
             elsif (logger_name = self.logger_name)
                 logger_task = each_executed_task
                               .find { |t| t.orocos_name == logger_name }
@@ -380,8 +375,9 @@ def logger_task
                     end
 
                 @logger_task&.default_logger = true
-                @logger_task
             end
+
+            @logger_task ||= process_server_config.default_logger_task(plan)
         end
 
         # Instanciates a new default logger
@@ -395,7 +391,7 @@ def instanciate_default_logger_task(logger_name)
                 return
             end
 
-            syskit_model = deployed_model_by_orogen_model(orogen_model)
+            syskit_model = model.resolve_syskit_model_for_deployed_task(orogen_model)
             return unless syskit_model.fullfills?(LoggerService)
 
             # Automatic setup by
@@ -468,16 +464,6 @@ def log_port?(port)
             end
         end
 
-        on :start do |_event|
-            handles_from_plan = {}
-            each_parent_object(Roby::TaskStructure::ExecutionAgent) do |task|
-                if orocos_task = task.orocos_task
-                    handles_from_plan[task.orocos_name] = orocos_task
-                end
-            end
-            schedule_ready_event_monitor(handles_from_plan)
-        end
-
         # @api private
         #
         # Event used to quit the ready monitor started by
@@ -487,49 +473,58 @@ def log_port?(port)
         attr_reader :quit_ready_event_monitor
 
         # @api private
-        #
-        # Schedule a promise to resolve the task handles
-        #
-        # It will reschedule itself until the process is ready, and will
-        # emit the ready event when it happens
-        def schedule_ready_event_monitor(
-            handles_from_plan, ready_polling_period: self.ready_polling_period
-        )
-            distance_to_syskit = self.distance_to_syskit
-            promise = execution_engine.promise(description: "#{self}:ready_event_monitor") do
-                resolve_remote_task_handles(handles_from_plan)
+        # This schedules an asynchronous process to connect to the tasks before
+        # ready is emitted. I.e. the process is not ready after the method returns.
+        #
+        # @param [{String=>String}] ior_mappings the mappings of the form
+        #   { task_name => ior }. This is necessary because the Syskit remote process has
+        #   no information about the IORs until now.
+        def update_remote_tasks(ior_mappings)
+            orocos_process.define_ior_mappings(ior_mappings)
+            begin
+                remote_tasks = orocos_process.resolve_all_tasks
+            rescue StandardError => e
+                ready_event.emit_failed(e)
+                return
             end
-            promise.on_success(description: "#{self}#schedule_ready_event_monitor#emit") do |remote_tasks|
-                if running? && !finishing? && remote_tasks
-                    @remote_task_handles = remote_tasks
+
+            promise = execution_engine.promise(
+                description: "#{self}#update_remote_tasks#resolve handles"
+            ) do
+                resolve_remote_task_handles(remote_tasks)
+            end
+            promise.on_success(
+                description: "#{self}#update_remote_tasks#success"
+            ) do |remote_task_handles|
+                if running? && !finishing?
+                    @remote_task_handles = remote_task_handles
                     ready_event.emit
                 end
             end
             promise.on_error(description: "#{self}#emit_failed") do |reason|
-                ready_event.emit_failed(reason) if !finishing? || !finished?
+                ready_event.emit_failed(reason) unless finishing? || finished?
             end
+            ready_event.pending([])
             ready_event.achieve_asynchronously(
                 promise, emit_on_success: false, on_failure: :nothing
             )
         end
 
-        def resolve_remote_task_handles(
-            handles_from_plan, ready_polling_period: self.ready_polling_period
-        )
-            until (handles = orocos_process.resolve_all_tasks(handles_from_plan))
-                return if quit_ready_event_monitor.set?
+        def resolve_remote_task_handles(remote_tasks)
+            return if quit_ready_event_monitor.set?
 
-                sleep ready_polling_period
-            end
-
-            handles.transform_values do |remote_task|
-                state_reader, state_getter = create_state_access(remote_task, distance: distance_to_syskit)
+            remote_tasks.transform_values do |remote_task|
+                state_reader, state_getter =
+                    create_state_access(remote_task, distance: distance_to_syskit)
                 properties = remote_task.property_names.map do |p_name|
                     p = remote_task.raw_property(p_name)
                     [p, p.raw_read.freeze]
                 end
                 current_configuration = CurrentTaskConfiguration.new(nil, [], Set.new)
-                RemoteTaskHandles.new(remote_task, state_reader, state_getter, properties, false, current_configuration)
+                RemoteTaskHandles.new(
+                    remote_task, state_reader, state_getter,
+                    properties, false, current_configuration
+                )
             end
         end
 
@@ -709,12 +704,12 @@ def mark_changed_configuration_as_not_reusable(changed)
         # @api private
         def setup_task_handles(remote_tasks)
             model.each_orogen_deployed_task_context_model do |act|
-                name = orocos_process.get_mapped_name(act.name)
+                name = orocos_process.mapped_name_of(act.name)
                 unless remote_tasks.key?(name)
                     raise InternalError,
-                          "expected #{orocos_process}'s reported tasks to "\
-                          "include '#{name}' (mapped from '#{act.name}'), "\
-                          "but got handles only for "\
+                          "expected #{orocos_process}'s reported tasks to " \
+                          "include '#{name}' (mapped from '#{act.name}'), " \
+                          "but got handles only for " \
                           "#{remote_tasks.keys.sort.join(' ')}"
                 end
             end
@@ -728,8 +723,8 @@ def setup_task_handles(remote_tasks)
                     task.initialize_remote_handles(remote_handles)
                 else
                     root_exception = InternalError.exception(
-                        "#{task} is supported by #{self} but there does "\
-                        "not seem to be any task called #{task.orocos_name} "\
+                        "#{task} is supported by #{self} but there does " \
+                        "not seem to be any task called #{task.orocos_name} " \
                         "on this deployment"
                     )
                     task.failed_to_start!(
@@ -819,7 +814,9 @@ def stop_prepare
 
         def stop_cleanly(promise, remote_task_handles)
             promise.then(description: "#{self}.stop_event - cleaning RTT tasks") do
-                remote_task_handles.each_value do |remote_task|
+                remote_task_handles.each do |mapped_name, remote_task|
+                    next if read_only?(mapped_name)
+
                     begin
                         if remote_task.handle.rtt_state == :STOPPED
                             remote_task.handle.cleanup(false)
@@ -841,7 +838,7 @@ def stop_kill(promise, remote_task_handles, hard: true)
             end.on_success(description: "#{self}#stop_event - kill") do
                 ready_to_die!
                 begin
-                    orocos_process.kill(false, cleanup: false, hard: hard)
+                    orocos_process.kill(hard: hard)
                 rescue Orocos::ComError
                     # The underlying process server cannot be reached. Just emit
                     # failed ourselves
@@ -924,5 +921,21 @@ def opportunistic_recovery_from_quarantine
             # cleaned up, but stopped). Kill the process to avoid further damage
             kill! if running?
         end
+
+        def logging_enabled?
+            if logging_enabled.nil?
+                process_server_config.logging_enabled?
+            else
+                logging_enabled
+            end
+        end
+
+        def register_on_name_server?
+            if register_on_name_server.nil?
+                process_server_config.register_on_name_server?
+            else
+                register_on_name_server
+            end
+        end
     end
 end
diff --git a/lib/syskit/droby/v5/droby_dump.rb b/lib/syskit/droby/v5/droby_dump.rb
index 487b1312a..b648ce95d 100644
--- a/lib/syskit/droby/v5/droby_dump.rb
+++ b/lib/syskit/droby/v5/droby_dump.rb
@@ -89,7 +89,7 @@ def use_global_loader=(flag)
                         return if flag == @use_global_loader
 
                         raise ArgumentError,
-                              "cannot change use_global_loader after the loader has "\
+                              "cannot change use_global_loader after the loader has " \
                               "been created"
                     end
 
@@ -171,8 +171,7 @@ module ComBusDumper
                 include Roby::DRoby::V5::ModelDumper
 
                 class DRoby < Roby::DRoby::V5::DRobyModel
-                    attr_reader :message_type
-                    attr_reader :lazy_dispatch
+                    attr_reader :message_type, :lazy_dispatch
 
                     def initialize(message_type, lazy_dispatch, *args)
                         @message_type = message_type
@@ -220,8 +219,8 @@ def droby_dump(peer)
             module TypelibTypeDumper
                 # Marshalling representation of a typelib value
                 class DRoby
-                    attr_reader :byte_array
-                    attr_reader :type
+                    attr_reader :byte_array, :type
+
                     def initialize(byte_array, type)
                         @byte_array = byte_array
                         @type = type
@@ -242,6 +241,7 @@ module TypelibTypeModelDumper
                 # Class used to transfer the definition of a type
                 class DRoby
                     attr_reader :name, :xml
+
                     def initialize(name, xml)
                         @name = name
                         @xml = xml
diff --git a/lib/syskit/dynamic_port_binding.rb b/lib/syskit/dynamic_port_binding.rb
index 35c4151e5..5b00430c6 100644
--- a/lib/syskit/dynamic_port_binding.rb
+++ b/lib/syskit/dynamic_port_binding.rb
@@ -99,6 +99,10 @@ def attach_to_task(task)
         #   the port was updated, and false otherwise. The tuple's second element
         #   is the new resolved port which may be nil if no ports can be found
         def update
+            if @resolved_port && @port_resolver&.current_selection_valid?(@resolved_port)
+                return false, @resolved_port
+            end
+
             port = @port_resolver&.update
             return false, @resolved_port if @resolved_port == port
 
@@ -209,7 +213,7 @@ def create_accessor(port)
             # @return [nil,Typelib::Type] nil if there is has never been any data, or if
             #    there are no underlying port. A data sample otherwise.
             def read(sample = nil)
-                return unless (sample = @resolved_accessor&.read(sample))
+                return if (sample = @resolved_accessor&.read(sample)).nil?
 
                 @value_resolver.__resolve(sample)
             end
@@ -221,7 +225,7 @@ def read(sample = nil)
             # @return [nil,Typelib::Type] nil if there is no new data or if there are
             #    no underlying port. A data sample otherwise.
             def read_new(sample = nil)
-                return unless (sample = @resolved_accessor&.read_new(sample))
+                return if (sample = @resolved_accessor&.read_new(sample)).nil?
 
                 @value_resolver.__resolve(sample)
             end
@@ -294,6 +298,10 @@ def initialize(plan, matcher)
                 @last_provider_task = nil
             end
 
+            def current_selection_valid?(port)
+                @matcher === port
+            end
+
             def update
                 port = @matcher.each_in_plan(@plan).first
                 port&.to_actual_port
diff --git a/lib/syskit/exceptions.rb b/lib/syskit/exceptions.rb
index 68410dded..25085e706 100644
--- a/lib/syskit/exceptions.rb
+++ b/lib/syskit/exceptions.rb
@@ -23,9 +23,7 @@ class InvalidState < RuntimeError; end
     # Raised when a provides declaration does not match the underlying task
     # interface
     class InvalidProvides < SpecError
-        attr_reader :original_error
-        attr_reader :model
-        attr_reader :required_service
+        attr_reader :original_error, :model, :required_service
 
         def initialize(model, required_service, original_error = nil)
             @model = model
@@ -87,10 +85,7 @@ def pretty_print(pp)
     # Exception raised during instanciation if there is an ambiguity for a
     # composition child
     class AmbiguousIndirectCompositionSelection < Ambiguous
-        attr_reader :composition_model
-        attr_reader :child_name
-        attr_reader :selection
-        attr_reader :candidates
+        attr_reader :composition_model, :child_name, :selection, :candidates
 
         def initialize(composition_model, child_name, selection, candidates)
             @composition_model = composition_model
@@ -185,8 +180,7 @@ def pretty_print(pp)
     # Refinement of NoMatchingService for a composition child. It adds the
     # information of the composition / child name
     class NoMatchingServiceForCompositionChild < NoMatchingService
-        attr_reader :composition_model
-        attr_reader :child_name
+        attr_reader :composition_model, :child_name
 
         def initialize(composition_model, child_name, task_model, required_service)
             @composition_model = composition_model
@@ -238,8 +232,7 @@ def pretty_print(pp)
     # Exception raised in composition instanciations if a selected component
     # model provides multipe services that fullfills a child's model
     class AmbiguousServiceMapping < AmbiguousServiceSelection
-        attr_reader :composition_model
-        attr_reader :child_name
+        attr_reader :composition_model, :child_name
 
         def initialize(composition_model, child_name, task_model, required_service, candidates)
             super(task_model, required_service, candidates)
@@ -257,9 +250,7 @@ def pretty_print(pp)
     # Exception raised during the merge steps, if a merge is possible (i.e.
     # a task provides the required service), but ambiguous
     class AmbiguousImplicitServiceSelection < AmbiguousServiceSelection
-        attr_reader :task
-        attr_reader :merged_task
-        attr_reader :compositions
+        attr_reader :task, :merged_task, :compositions
 
         def initialize(task, merged_task, required_service, candidates)
             super(task.model, required_service, candidates)
@@ -333,7 +324,7 @@ def pretty_print(pp)
 
             abstract_tasks.each do |task, (parents, candidates)|
                 pp.breakable
-                pp.text task.to_s.gsub(/Syskit::/, "").to_s
+                pp.text task.to_s.gsub("Syskit::", "").to_s
                 pp.nest(2) do
                     pp.breakable
                     if candidates
@@ -352,7 +343,7 @@ def pretty_print(pp)
                     pp.breakable
                     pp.seplist(parents) do |parent|
                         role, parent = parent
-                        pp.text "child #{role.to_a.first} of #{parent.to_s.gsub(/Syskit::/, '')}"
+                        pp.text "child #{role.to_a.first} of #{parent.to_s.gsub('Syskit::', '')}"
                     end
                 end
             end
@@ -415,13 +406,13 @@ def pretty_print(pp)
                 candidates = self.candidates[task]
 
                 pp.breakable
-                pp.text "for #{task.to_s.gsub(/Syskit::/, '')}"
+                pp.text "for #{task.to_s.gsub('Syskit::', '')}"
                 pp.nest(2) do
                     unless parents.empty?
                         pp.breakable
                         pp.seplist(parents) do |parent|
                             role, parent = parent
-                            pp.text "child #{role.to_a.first} of #{parent.to_s.gsub(/Syskit::/, '')}"
+                            pp.text "child #{role.to_a.first} of #{parent.to_s.gsub('Syskit::', '')}"
                         end
                     end
 
@@ -446,46 +437,48 @@ def pretty_print(pp)
     end
 
     class ConflictingDeviceAllocation < SpecError
-        attr_reader :device
-        attr_reader :tasks
-        attr_reader :inputs
+        attr_reader :device, :tasks, :inputs
 
         def can_merge?
             !!@can_merge
         end
 
-        def initialize(device, task0, task1)
+        def initialize(device, task0, task1, toplevel_tasks_to_requirements = {})
             @device = device
             @tasks = [task0, task1]
-            @can_merge = task0.can_merge?(task1) || task1.can_merge?(task0)
-            if can_merge?
-                # Mismatching inputs ... gather more info
-                @inputs = []
-                @inputs[0] = task0.each_concrete_input_connection.to_a
-                @inputs[1] = task1.each_concrete_input_connection.to_a
+
+            solver = NetworkGeneration::MergeSolver.new(task0.plan)
+            @merge_result = solver.resolve_merge(task0, task1, {})
+            @involved_definitions = @tasks.map do |t|
+                find_all_related_syskit_actions(t, toplevel_tasks_to_requirements)
             end
         end
 
+        def find_all_related_syskit_actions(task, toplevel_tasks_to_requirements)
+            result = []
+            while task
+                result.concat(toplevel_tasks_to_requirements[task] || [])
+                task = task.each_parent_task.first
+            end
+            result
+        end
+
         def pretty_print(pp)
-            pp.text "device #{device.name} is assigned to two tasks"
-            if can_merge?
-                pp.text " that have mismatching inputs"
-                tasks.each_with_index do |t, i|
-                    pp.breakable
-                    t.pretty_print(pp)
-                    pp.breakable
-                    pp.text "#{inputs[i].size} input(s):"
-                    inputs[i].each do |source_task, source_port, sink_port|
+            pp.text "device '#{device.name}' of type #{device.model} is assigned "
+            pp.text "to two tasks that cannot be merged"
+            pp.breakable
+            @merge_result.pretty_print_failure(pp)
+            @involved_definitions.each_with_index do |defs, i|
+                next if defs.empty?
+
+                pp.breakable
+                pp.text "Chain #{i + 1} is needed by the following definitions:"
+                pp.nest(2) do
+                    defs.each do |d|
                         pp.breakable
-                        pp.text "  #{source_task}.#{source_port} -> #{sink_port}"
+                        pp.text d.to_s
                     end
                 end
-            else
-                pp.text " that cannot be merged"
-                tasks.each do |t|
-                    pp.breakable
-                    t.pretty_print(pp)
-                end
             end
         end
     end
@@ -559,8 +552,8 @@ def pretty_print(pp)
                         orogen_model = deployed_task.configured_deployment
                                                     .orogen_model
                         pp.text(
-                            "task #{deployed_task.mapped_task_name} from deployment "\
-                            "#{orogen_model.name} defined in "\
+                            "task #{deployed_task.mapped_task_name} from deployment " \
+                            "#{orogen_model.name} defined in " \
                             "#{orogen_model.project.name} on #{process_server_name}"
                         )
                         pp.nest(2) do
@@ -579,6 +572,27 @@ def pretty_print(pp)
         end
     end
 
+    # Exception raised at the end of #resolve if some tasks are referring to non-existing
+    # configurations
+    class MissingConfigurationSection < SpecError
+        # Association of tasks and the sections that are missing
+        attr_reader :missing_sections_by_task
+
+        def initialize(missing_sections_by_task)
+            @missing_sections_by_task = missing_sections_by_task
+        end
+
+        def pretty_print(pp)
+            pp.text "the following configuration sections are used but do not exist"
+            @missing_sections_by_task.each do |task, sections|
+                pp.breakable
+                pp.text "'#{sections.join('\', \'')}', in use by:"
+                pp.breakable
+                pp.text "  #{task} (#{task.orogen_model.name})"
+            end
+        end
+    end
+
     class InstanciationError < SpecError
         # The instanciation chain, i.e. an array of composition models that
         # were being instanciated
@@ -665,10 +679,10 @@ class NameResolutionError < InstanciationError
         def initialize(missing_names)
             super()
             @missing_names =
-                if !missing_names.respond_to?(:each)
-                    [missing_names]
-                else
+                if missing_names.respond_to?(:each)
                     missing_names.to_a
+                else
+                    [missing_names]
                 end
         end
 
@@ -685,6 +699,7 @@ def pretty_print(pp)
     # could be found
     class InvalidAutoConnection < RuntimeError
         attr_reader :source, :sink
+
         def initialize(source, sink)
             @source = source
             @sink = sink
@@ -784,7 +799,8 @@ def pretty_print(pp)
                         value = value.each_required_model
                         value = value.map do |v|
                             if v.respond_to?(:short_name) then v.short_name
-                            else v.to_s
+                            else
+                                v.to_s
                             end
                         end
 
@@ -807,8 +823,7 @@ def pretty_print(pp)
     #
     # See Models.merge_model_lists
     class IncompatibleComponentModels < RuntimeError
-        attr_reader :model_a
-        attr_reader :model_b
+        attr_reader :model_a, :model_b
 
         def initialize(model_a, model_b)
             @model_a = model_a
@@ -824,6 +839,7 @@ def pretty_print(pp)
     # port directions
     class WrongPortConnectionDirection < RuntimeError
         attr_reader :source, :sink
+
         def initialize(source, sink)
             @source = source
             @sink = sink
@@ -838,13 +854,14 @@ def pretty_print(pp)
     # port types
     class WrongPortConnectionDataTypes < RuntimeError
         attr_reader :source, :sink
+
         def initialize(source, sink)
             @source = source
             @sink = sink
         end
 
         def pretty_print(pp)
-            pp.text "cannot connect output port #{source} to input port #{sink}: "\
+            pp.text "cannot connect output port #{source} to input port #{sink}: " \
                     "data types mismatch (resp. #{source.type} and #{sink.type})"
         end
     end
@@ -861,6 +878,7 @@ class UnsupportedConnectionType < RuntimeError
     # of the same component
     class SelfConnection < RuntimeError
         attr_reader :source, :sink
+
         def initialize(source, sink)
             @source = source
             @sink = sink
@@ -874,9 +892,8 @@ def pretty_print(pp)
     # Exception raised when port mappings cannot be computed because two
     # source ports have the same name
     class AmbiguousPortMappings < Ambiguous
-        attr_reader :model_a
-        attr_reader :model_b
-        attr_reader :port_name
+        attr_reader :model_a, :model_b, :port_name
+
         def initialize(model_a, model_b, port_name)
             @model_a = model_a
             @model_b = model_b
@@ -916,6 +933,7 @@ def pretty_print(pp)
     # The reason is in the exception message
     class InvalidDynamicServiceBlock < RuntimeError
         attr_reader :dynamic_service
+
         def initialize(dynamic_service)
             @dynamic_service = dynamic_service
         end
@@ -927,6 +945,7 @@ def initialize(dynamic_service)
     # services have ports with that name
     class AmbiguousPortOnCompositeModel < Ambiguous
         attr_reader :model, :models, :port_name, :candidates
+
         def initialize(model, models, port_name, candidates)
             @model = model
             @models = models
@@ -983,6 +1002,7 @@ def pretty_print(pp)
     # been called on a port that is being modified
     class ModifyingFinalizedPortInfo < ArgumentError
         attr_reader :task, :port_name, :done_at
+
         def initialize(task, port_name, done_at, propagation_class_name)
             @task = task
             @port_name = port_name
@@ -1011,6 +1031,7 @@ def pretty_print(pp)
 
     class DataflowPropagationError < Roby::ExceptionBase
         attr_reader :task, :port_name
+
         def initialize(exception, task, port_name)
             @task = task
             @port_name = port_name
diff --git a/lib/syskit/graphviz.rb b/lib/syskit/graphviz.rb
index f64eaffd7..bf50a327f 100644
--- a/lib/syskit/graphviz.rb
+++ b/lib/syskit/graphviz.rb
@@ -6,6 +6,7 @@
 module Syskit
     # Used by the to_dot* methods for color allocation
     attr_reader :current_color
+
     # A set of colors to be used in graphiz graphs
     COLOR_PALETTE = %w[#FF9955 #FF0000 #bb9c21 #37c637
                        #62816e #2A7FFF #AA00D4 #D40055 #0000FF].freeze
@@ -104,12 +105,12 @@ def uri_for(type)
         end
 
         def escape_dot_uri(string)
-            string.gsub(/</, "&lt;")
-                  .gsub(/>/, "&gt;")
+            string.gsub("<", "&lt;")
+                  .gsub(">", "&gt;")
         end
 
         def escape_dot(string)
-            escape_dot_uri(string).gsub(/[^\[\]&;:\w\. ]/, "_")
+            escape_dot_uri(string).gsub(/[^\[\]&;:\w. ]/, "_")
         end
 
         def annotate_tasks(annotations)
@@ -220,7 +221,7 @@ def to_file(kind, format, output_io, graphviz_tool: "dot", **display_options)
                     pattern = "syskit_graphviz_%i.dot"
                     i += 1 while File.file?(format(pattern, i))
                     path = format(pattern, i)
-                    File.open(path, "w") { |io| io.write send(kind, display_options) }
+                    File.write(path, send(kind, display_options))
                     "saved graphviz input in #{path}"
                 end
                 raise DotFailedError, "dot reported an error generating the graph"
@@ -277,7 +278,7 @@ def relation_to_dot(accessor:, dot_edge_mark: "->",
                         label << "#{key}=#{format_edge_info(edge_info[key])}"
                     end
                     all_tasks << child_task
-                    result << "  #{task.dot_id} #{dot_edge_mark} "\
+                    result << "  #{task.dot_id} #{dot_edge_mark} " \
                               "#{child_task.dot_id} [label=\"#{label.join('\n')}\"];"
                 end
             end
@@ -285,8 +286,8 @@ def relation_to_dot(accessor:, dot_edge_mark: "->",
             all_tasks.each do |task|
                 attributes = []
                 task_label = format_task_label(task)
-                label = format('  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1" '\
-                               'CELLBORDER="0" CELLSPACING="0">'\
+                label = format('  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1" ' \
+                               'CELLBORDER="0" CELLSPACING="0">' \
                                "%<task_label>s</TABLE>", task_label: task_label)
                 attributes << "label=<#{label}>"
                 attributes << "href=\"plan://syskit/#{task.dot_id}\"" if make_links?
@@ -542,8 +543,8 @@ def dataflow(remove_compositions: false,
                 if deployment
                     result << "  subgraph cluster_#{deployment.dot_id} {"
                     task_label, = format_task_label(deployment, task_colors)
-                    label = '  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1"'\
-                            ' CELLBORDER="0" CELLSPACING="0">'\
+                    label = '  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1" ' \
+                            'CELLBORDER="0" CELLSPACING="0">' \
                             "#{task_label}</TABLE>"
                     result << "      label=< #{label} >;"
                 end
@@ -605,7 +606,7 @@ def dot_id(object, context = nil)
                 end
 
                 raise ArgumentError,
-                      "don't know how to generate a dot ID for #{object} "\
+                      "don't know how to generate a dot ID for #{object} " \
                       "in context #{context}"
             end
         end
@@ -634,10 +635,10 @@ def render_task(task, input_ports, output_ports, style = nil)
             end
 
             task_label, = format_task_label(task)
-            task_label = '  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1" '\
-                         'CELLBORDER="0" CELLSPACING="0">'\
+            task_label = '  <TABLE ALIGN="LEFT" COLOR="white" BORDER="1" ' \
+                         'CELLBORDER="0" CELLSPACING="0">' \
                          "#{task_label}</TABLE>"
-            result << "    label#{task.dot_id} [#{task_link},shape=none,"\
+            result << "    label#{task.dot_id} [#{task_link},shape=none," \
                       "label=< #{task_label} >];"
 
             unless input_ports.empty?
@@ -691,8 +692,8 @@ def format_annotations(annotations, key = nil, include_empty: false)
                 values = values.map { |v| v.tr("<>", "[]") }
                 values = values.map { |v| v.tr("{}", "[]") }
 
-                "<TR><TD ROWSPAN=\"#{values.size}\" VALIGN=\"TOP\" "\
-                "ALIGN=\"RIGHT\">#{category}</TD><TD ALIGN=\"LEFT\">"\
+                "<TR><TD ROWSPAN=\"#{values.size}\" VALIGN=\"TOP\" " \
+                "ALIGN=\"RIGHT\">#{category}</TD><TD ALIGN=\"LEFT\">" \
                 "#{values.first}</TD></TR>\n" +
                 values[1..-1].map { |v| "<TR><TD ALIGN=\"LEFT\">#{v}</TD></TR>" }.join("\n")
             end.flatten
diff --git a/lib/syskit/gui/app_start_dialog.rb b/lib/syskit/gui/app_start_dialog.rb
index 7ec772fa4..0d1f2128f 100644
--- a/lib/syskit/gui/app_start_dialog.rb
+++ b/lib/syskit/gui/app_start_dialog.rb
@@ -15,6 +15,12 @@ class AppStartDialog < Qt::Dialog
             # @return [Qt::CheckBox]
             attr_reader :start_controller
 
+            # The checkbox allowing to choose whether Roby app should be run
+            # on single mode. For more information, check [Roby::Application#single]
+            #
+            # @return [Qt::CheckBox]
+            attr_reader :single
+
             # Text used to allow the user to not load any robot configuration
             NO_ROBOT = " -- None -- "
 
@@ -37,6 +43,9 @@ def initialize(names, parent = nil, default_robot_name: "default")
                 layout.add_widget(@start_controller = Qt::CheckBox.new("Start controller"))
                 start_controller.checked = true
 
+                layout.add_widget(@single = Qt::CheckBox.new("Run on single mode"))
+                single.checked = false
+
                 button_box = Qt::DialogButtonBox.new(
                     Qt::DialogButtonBox::Ok | Qt::DialogButtonBox::Cancel
                 )
@@ -51,9 +60,10 @@ def initialize(names, parent = nil, default_robot_name: "default")
             #   configuration should be loaded
             def selected_name
                 txt = robot_names.current_text
-                if txt != NO_ROBOT
+                if txt == NO_ROBOT
+                    ""
+                else
                     txt
-                else ""
                 end
             end
 
@@ -64,6 +74,13 @@ def start_controller?
                 start_controller.checked?
             end
 
+            # Whether Roby app should be run on single mode
+            #
+            # @return [Boolean]
+            def single?
+                single.checked?
+            end
+
             # Executes a {AppStartDialog} in a modal way and returns the result
             #
             # @return [nil,(String,Boolean)] either nil if the dialog was
@@ -74,7 +91,7 @@ def start_controller?
             def self.exec(names, parent = nil, default_robot_name: "default")
                 dialog = new(names, parent, default_robot_name: default_robot_name)
                 if Qt::Dialog::Accepted == dialog.exec
-                    [dialog.selected_name, dialog.start_controller?]
+                    [dialog.selected_name, dialog.start_controller?, dialog.single?]
                 end
             end
         end
diff --git a/lib/syskit/gui/batch_manager.rb b/lib/syskit/gui/batch_manager.rb
index 0a3017a1b..2e3f7d20b 100644
--- a/lib/syskit/gui/batch_manager.rb
+++ b/lib/syskit/gui/batch_manager.rb
@@ -43,11 +43,11 @@ def process
                 begin
                     batch.__process
                 rescue Exception => e # rubocop:disable Lint/RescueException
-                    Roby.display_exception(STDOUT, e)
+                    Roby.display_exception($stdout, e)
 
                     Qt::MessageBox.critical(
                         self, "Syskit Process Batch",
-                        "failed to process batch: #{e.message}, "\
+                        "failed to process batch: #{e.message}, " \
                         "see console output for more details"
                     )
                 end
@@ -96,7 +96,7 @@ def start_job(action_name, action_arguments)
             def create_new_job(action_name, arguments = {})
                 action_model = @syskit.actions.find { |m| m.name == action_name }
                 unless action_model
-                    raise ArgumentError, "no action named #{action_name} found"
+                    ::Kernel.raise ArgumentError, "no action named #{action_name} found"
                 end
 
                 if action_model.arguments.empty?
@@ -137,7 +137,8 @@ def create_new_job(action_name, arguments = {})
                         action_name, action_options = dialog.result
                         start_job(action_name, action_options)
                         true
-                    else false
+                    else
+                        false
                     end
                 end
             end
@@ -159,7 +160,7 @@ def self.convert(obj)
                             if parser.instance_eval(as_string) == obj
                                 as_string
                             end
-                        rescue Exception
+                        rescue StandardError
                         end
                     end
                 end
@@ -189,7 +190,7 @@ def initialize(parent = nil, text = "")
                             @error_message.hide
                             @result = Parser.parse(self.text)
                             accept
-                        rescue Exception => e
+                        rescue StandardError => e
                             @error_message.text = e.message
                             @error_message.show
                         end
diff --git a/lib/syskit/gui/component_network_base_view.rb b/lib/syskit/gui/component_network_base_view.rb
index 32e76c452..75fcf2375 100644
--- a/lib/syskit/gui/component_network_base_view.rb
+++ b/lib/syskit/gui/component_network_base_view.rb
@@ -335,9 +335,7 @@ def save_svg(id)
                     )
                     next unless file_name
 
-                    File.open(file_name, "w") do |file|
-                        file.write f.html
-                    end
+                    File.write(file_name, f.html)
                 end
             end
 
diff --git a/lib/syskit/gui/ide.rb b/lib/syskit/gui/ide.rb
index cf5dfadcc..245763475 100644
--- a/lib/syskit/gui/ide.rb
+++ b/lib/syskit/gui/ide.rb
@@ -12,13 +12,7 @@ module Syskit
     module GUI
         # The main Syskit IDE window
         class IDE < Qt::Widget
-            attr_reader :layout
-            attr_reader :btn_reload_models
-            attr_reader :tab_widget
-            attr_reader :model_browser
-            attr_reader :runtime_state
-            attr_reader :connection_state
-            attr_reader :testing
+            attr_reader :layout, :btn_reload_models, :tab_widget, :model_browser, :runtime_state, :connection_state, :testing
 
             def initialize(parent = nil,
                 runtime_only: false,
diff --git a/lib/syskit/gui/instanciate.rb b/lib/syskit/gui/instanciate.rb
index cc4254c7d..0f8ebab2e 100644
--- a/lib/syskit/gui/instanciate.rb
+++ b/lib/syskit/gui/instanciate.rb
@@ -9,16 +9,7 @@
 module Syskit
     module GUI
         class Instanciate < Qt::Widget
-            attr_reader :apply_btn
-            attr_reader :instance_txt
-
-            attr_reader :display
-            attr_reader :page
-            attr_reader :rendering
-
-            attr_reader :exception_view
-
-            attr_reader :permanent
+            attr_reader :apply_btn, :instance_txt, :display, :page, :rendering, :exception_view, :permanent
 
             def plan
                 rendering.plan
diff --git a/lib/syskit/gui/job_status_display.rb b/lib/syskit/gui/job_status_display.rb
index ea8817514..b23368bc9 100644
--- a/lib/syskit/gui/job_status_display.rb
+++ b/lib/syskit/gui/job_status_display.rb
@@ -4,17 +4,7 @@
 module Syskit
     module GUI
         class JobStatusDisplay < Qt::Widget
-            attr_reader :job
-
-            attr_reader :ui_job_actions
-            attr_reader :ui_start
-            attr_reader :ui_restart
-            attr_reader :ui_drop
-            attr_reader :ui_clear
-            attr_reader :ui_state
-            attr_reader :exceptions
-            attr_reader :notifications
-            attr_reader :ui_notifications
+            attr_reader :job, :ui_job_actions, :ui_start, :ui_restart, :ui_drop, :ui_clear, :ui_state, :exceptions, :notifications, :ui_notifications
 
             attr_predicate :show_actions?, true
 
@@ -39,7 +29,7 @@ def initialize(job, batch_manager)
             ].freeze
 
             def label
-                "##{job.job_id} #{job.action_name}"
+                "##{job.job_id} #{job.job_name}"
             end
 
             def create_ui
@@ -144,21 +134,21 @@ def connect_to_hooks
                         @batch_manager.process
                     end
                 end
-                ui_restart.connect(SIGNAL("clicked()")) do
-                    arguments = job.action_arguments.dup
-                    arguments.delete(:job_id)
-                    if @batch_manager.create_new_job(job.action_name, arguments)
-                        @batch_manager.drop_job(self)
-                        if @actions_immediate
-                            @batch_manager.process
+                if job.action_name
+                    ui_restart.connect(SIGNAL("clicked()")) do
+                        arguments = job.action_arguments.dup
+                        arguments.delete(:job_id)
+                        if @batch_manager.create_new_job(job.action_name, arguments)
+                            @batch_manager.drop_job(self)
+                            if @actions_immediate
+                                @batch_manager.process
+                            end
                         end
                     end
-                end
-                ui_start.connect(SIGNAL("clicked()")) do
-                    arguments = job.action_arguments.dup
-                    arguments.delete(:job_id)
-                    if @batch_manager.create_new_job(job.action_name, arguments)
-                        if @actions_immediate
+                    ui_start.connect(SIGNAL("clicked()")) do
+                        arguments = job.action_arguments.dup
+                        arguments.delete(:job_id)
+                        if @batch_manager.create_new_job(job.action_name, arguments) && @actions_immediate
                             @batch_manager.process
                         end
                     end
diff --git a/lib/syskit/gui/logging_configuration.rb b/lib/syskit/gui/logging_configuration.rb
index 4642121a8..29bd46adc 100644
--- a/lib/syskit/gui/logging_configuration.rb
+++ b/lib/syskit/gui/logging_configuration.rb
@@ -4,7 +4,7 @@
 require "vizkit/vizkit_items"
 require "vizkit/tree_view"
 require "Qt4"
-require "syskit/shell_interface"
+require "syskit/interface"
 require "syskit/gui/logging_configuration_item"
 require "roby/interface/exceptions"
 
@@ -14,6 +14,7 @@ module GUI
         # manage basic Syskit's logging configuration
         class LoggingConfiguration < Qt::Widget
             attr_reader :model, :tree_view, :syskit, :item_name, :item_value, :pending_call
+
             def initialize(syskit, parent = nil)
                 super(parent)
                 main_layout = Qt::VBoxLayout.new(self)
diff --git a/lib/syskit/gui/logging_configuration_item.rb b/lib/syskit/gui/logging_configuration_item.rb
index 40c000d1a..5664aa611 100644
--- a/lib/syskit/gui/logging_configuration_item.rb
+++ b/lib/syskit/gui/logging_configuration_item.rb
@@ -10,13 +10,8 @@ module GUI
         # A QStandardItem that displays a Sysit::ShellInterface::LoggingConfiguration
         # in a tree view
         class LoggingConfigurationItem < LoggingConfigurationItemBase
-            attr_reader :options
-            attr_reader :conf_logs_item_name
-            attr_reader :conf_logs_item_value
-            attr_reader :port_logs_item_name
-            attr_reader :port_logs_item_value
-            attr_reader :groups_item_name
-            attr_reader :groups_item_value
+            attr_reader :options, :conf_logs_item_name, :conf_logs_item_value, :port_logs_item_name, :port_logs_item_value, :groups_item_name, :groups_item_value
+
             def initialize(logging_configuration, options = {})
                 super(logging_configuration)
                 @options = options
diff --git a/lib/syskit/gui/logging_configuration_item_base.rb b/lib/syskit/gui/logging_configuration_item_base.rb
index 76b07d050..0012034d9 100644
--- a/lib/syskit/gui/logging_configuration_item_base.rb
+++ b/lib/syskit/gui/logging_configuration_item_base.rb
@@ -9,8 +9,8 @@ module GUI
         # Base class for most items in the LoggingConfiguration widget with
         # common functionality
         class LoggingConfigurationItemBase < Vizkit::VizkitItem
-            attr_reader :current_model
-            attr_reader :editing_model
+            attr_reader :current_model, :editing_model
+
             def initialize(model)
                 super()
                 @current_model = deep_copy(model)
@@ -33,7 +33,7 @@ def add_conf_item(label, accessor = nil)
                     end
 
                     item2.setter do |value|
-                        @editing_model.method("#{accessor}=".to_sym).call value
+                        @editing_model.method(:"#{accessor}=").call value
                     end
                 end
 
diff --git a/lib/syskit/gui/logging_groups_item.rb b/lib/syskit/gui/logging_groups_item.rb
index b7182378a..9f1e7d926 100644
--- a/lib/syskit/gui/logging_groups_item.rb
+++ b/lib/syskit/gui/logging_groups_item.rb
@@ -10,6 +10,7 @@ module GUI
         # in a tree view
         class LoggingGroupsItem < LoggingConfigurationItemBase
             attr_reader :items_name, :items_value
+
             def initialize(logging_groups, label = "")
                 super(logging_groups)
 
diff --git a/lib/syskit/gui/model_browser.rb b/lib/syskit/gui/model_browser.rb
index b06208dd5..fc81c2a45 100644
--- a/lib/syskit/gui/model_browser.rb
+++ b/lib/syskit/gui/model_browser.rb
@@ -48,7 +48,7 @@ def split_name(model)
                 def each_submodel(model)
                     if model == Syskit::TaskContext
                         model.each_submodel do |m|
-                            excluded = (!m.name || m.private_specialization?)
+                            excluded = !m.name || m.private_specialization?
                             yield(m, excluded)
                         end
                     end
diff --git a/lib/syskit/gui/model_views/composition.rb b/lib/syskit/gui/model_views/composition.rb
index 2489ce759..9f04c623b 100644
--- a/lib/syskit/gui/model_views/composition.rb
+++ b/lib/syskit/gui/model_views/composition.rb
@@ -11,11 +11,10 @@ module ModelViews
         # In addition to the plain component network, it visualizes the
         # specializations and allows to select them dynamically
         class Composition < ComponentNetworkView
-            attr_reader :specializations
-            attr_reader :task_model_view
+            attr_reader :specializations, :task_model_view
 
             def initialize(page)
-                super(page)
+                super
                 @specializations = {}
                 @task_model_view = Roby::GUI::ModelViews::Task.new(page)
             end
diff --git a/lib/syskit/gui/model_views/data_service.rb b/lib/syskit/gui/model_views/data_service.rb
index b24e20418..2d94cf238 100644
--- a/lib/syskit/gui/model_views/data_service.rb
+++ b/lib/syskit/gui/model_views/data_service.rb
@@ -4,7 +4,7 @@ module Syskit::GUI
     module ModelViews
         class DataService < Component
             def initialize(page)
-                super(page)
+                super
                 buttons = []
                 buttons.concat(self.class.common_graph_buttons("interface"))
                 interface_options[:buttons] = buttons
diff --git a/lib/syskit/gui/model_views/profile.rb b/lib/syskit/gui/model_views/profile.rb
index 8ad308ede..9947158f8 100644
--- a/lib/syskit/gui/model_views/profile.rb
+++ b/lib/syskit/gui/model_views/profile.rb
@@ -157,7 +157,7 @@ class Profile < MetaRuby::GUI::HTML::Collection
             attr_accessor :instanciation_method
 
             def initialize(page)
-                super(page)
+                super
                 @instanciation_method = :compute_system_network
 
                 register_type Syskit::InstanceRequirements, ProfileElementView.new(page)
diff --git a/lib/syskit/gui/model_views/task_context_base.rb b/lib/syskit/gui/model_views/task_context_base.rb
index 7443abe41..d7975555d 100644
--- a/lib/syskit/gui/model_views/task_context_base.rb
+++ b/lib/syskit/gui/model_views/task_context_base.rb
@@ -3,11 +3,10 @@
 module Syskit::GUI
     module ModelViews
         class TaskContextBase < Component
-            attr_reader :orogen_rendering
-            attr_reader :task_model_view
+            attr_reader :orogen_rendering, :task_model_view
 
             def initialize(page)
-                super(page)
+                super
                 @task_model_view = Roby::GUI::ModelViews::Task.new(page)
                 @orogen_rendering = OroGen::HTML::TaskContext.new(page)
                 buttons = []
diff --git a/lib/syskit/gui/model_views/type.rb b/lib/syskit/gui/model_views/type.rb
index 851064d37..a7ce4f5e8 100644
--- a/lib/syskit/gui/model_views/type.rb
+++ b/lib/syskit/gui/model_views/type.rb
@@ -4,8 +4,7 @@
 module Syskit::GUI
     module ModelViews
         class Type < Qt::Object
-            attr_reader :page
-            attr_reader :type_rendering
+            attr_reader :page, :type_rendering
 
             def initialize(page)
                 super()
diff --git a/lib/syskit/gui/page_extension.rb b/lib/syskit/gui/page_extension.rb
index 968051731..8bbd90701 100644
--- a/lib/syskit/gui/page_extension.rb
+++ b/lib/syskit/gui/page_extension.rb
@@ -54,18 +54,16 @@ def push_plan(title, kind, plan, buttons: [],
                 svg = svg.gsub(/xlink:href="[^"]+"/) { |match| match.gsub("<", "&lt;").gsub(">", "&gt;") }
 
                 begin
-                    if match = /svg width=\"(\d+)(\w+)\" height=\"(\d+)(\w+)\"/.match(svg)
+                    if match = /svg width="(\d+)(\w+)" height="(\d+)(\w+)"/.match(svg)
                         width, w_unit, height, h_unit = *match.captures
-                        svg = match.pre_match + "svg width=\"#{(Float(width) * zoom * 0.6)}#{w_unit}\" height=\"#{(Float(height) * zoom * 0.6)}#{h_unit}\"" + match.post_match
+                        svg = match.pre_match + "svg width=\"#{Float(width) * zoom * 0.6}#{w_unit}\" height=\"#{Float(height) * zoom * 0.6}#{h_unit}\"" + match.post_match
                     end
                 rescue ArgumentError
                 end
 
                 if pattern = external_objects
-                    file = pattern % kind + ".svg"
-                    File.open(file, "w") do |io|
-                        io.write(svg)
-                    end
+                    file = (pattern % kind) + ".svg"
+                    File.write(file, svg)
                     push(title, "<object data=\"#{file}\" type=\"image/svg+xml\"></object>",
                          id: id, buttons: buttons)
                 else
diff --git a/lib/syskit/gui/runtime_state.rb b/lib/syskit/gui/runtime_state.rb
index 8144c57cf..0f9220244 100644
--- a/lib/syskit/gui/runtime_state.rb
+++ b/lib/syskit/gui/runtime_state.rb
@@ -68,7 +68,7 @@ class RuntimeState < Qt::Widget
 
             # Checkboxes to select widgets options
             attr_reader :ui_hide_loggers
-            attr_reader :ui_show_expanded_job
+            attr_reader :ui_show_expanded_job, :syskit_poll
 
             define_hooks :on_connection_state_changed
             define_hooks :on_progress
@@ -81,8 +81,8 @@ def sizeHint(option, index)
                     main = index.data.toString
                     doc = index.data(Qt::UserRole).to_string || ""
                     Qt::Size.new(
-                        [fm.width(main), fm.width(doc)].max + 2 * OUTER_MARGIN,
-                        fm.height * 2 + OUTER_MARGIN * 2 + INTERLINE
+                        [fm.width(main), fm.width(doc)].max + (2 * OUTER_MARGIN),
+                        (fm.height * 2) + (OUTER_MARGIN * 2) + INTERLINE
                     )
                 end
 
@@ -100,7 +100,7 @@ def paint(painter, option, index)
 
                     fm = option.font_metrics
                     painter.draw_text(
-                        Qt::Rect.new(option.rect.x + OUTER_MARGIN, option.rect.y + OUTER_MARGIN, option.rect.width - 2 * OUTER_MARGIN, fm.height),
+                        Qt::Rect.new(option.rect.x + OUTER_MARGIN, option.rect.y + OUTER_MARGIN, option.rect.width - (2 * OUTER_MARGIN), fm.height),
                         Qt::AlignLeft, main, text_bounds
                     )
 
@@ -108,7 +108,7 @@ def paint(painter, option, index)
                     font.italic = true
                     painter.font = font
                     painter.draw_text(
-                        Qt::Rect.new(option.rect.x + OUTER_MARGIN, text_bounds.bottom + INTERLINE, option.rect.width - 2 * OUTER_MARGIN, fm.height),
+                        Qt::Rect.new(option.rect.x + OUTER_MARGIN, text_bounds.bottom + INTERLINE, option.rect.width - (2 * OUTER_MARGIN), fm.height),
                         Qt::AlignLeft, doc, text_bounds
                     )
                 ensure
@@ -287,7 +287,7 @@ def remote_name
             end
 
             def app_start(robot_name: "default", port: nil)
-                robot_name, start_controller = AppStartDialog.exec(
+                robot_name, start_controller, single = AppStartDialog.exec(
                     Roby.app.robots.names, self, default_robot_name: robot_name
                 )
                 return unless robot_name
@@ -296,6 +296,7 @@ def app_start(robot_name: "default", port: nil)
                 extra_args << "-r" << robot_name unless robot_name.empty?
                 extra_args << "-c" if start_controller
                 extra_args << "--port=#{port}" if port
+                extra_args << "--single" if single
                 extra_args.concat(
                     Roby.app.argv_set.flat_map { |arg| ["--set", arg] }
                 )
@@ -324,7 +325,7 @@ def logger_task?(t)
 
                 @logger_m ||= Syskit::TaskContext
                               .find_model_from_orogen_name("logger::Logger") || false
-                t.kind_of?(@logger_m)
+                t.kind_of?(@logger_m) if @logger_m
             end
 
             def update_tasks_info
@@ -334,7 +335,7 @@ def update_tasks_info
                                                 .first
                     return unless job_task
 
-                    placeholder_task = job_task.planned_task
+                    placeholder_task = job_task.planned_task || job_task
                     return unless placeholder_task
 
                     dependency = placeholder_task.relation_graph_for(Roby::TaskStructure::Dependency)
@@ -360,16 +361,16 @@ def update_tasks_info
                         elsif logger_task?(t)
                             @known_loggers << t
                             false
-                        else true
+                        else
+                            true
                         end
                     end
                 end
                 all_tasks.merge(tasks)
                 tasks.each do |job|
                     if job.kind_of?(Roby::Interface::Job)
-                        if placeholder_task = job.planned_task
-                            all_job_info[placeholder_task] = job
-                        end
+                        placeholder_task = job.planned_task || job
+                        all_job_info[placeholder_task] = job
                     end
                 end
                 update_orocos_tasks
@@ -431,7 +432,8 @@ def create_ui
                 job_summary_layout.add_widget(@batch_manager)
                 @batch_manager.connect(SIGNAL("active(bool)")) do |active|
                     if active then @batch_manager.show
-                    else @batch_manager.hide
+                    else
+                        @batch_manager.hide
                     end
                 end
                 @batch_manager.hide
@@ -474,7 +476,7 @@ def create_ui
                 @ui_hide_loggers.checked = false
                 @ui_hide_loggers.connect SIGNAL("toggled(bool)") do |checked|
                     @known_loggers = nil
-                    update_tasks_info
+                    update_tasks_info if syskit_log_stream
                 end
                 @ui_show_expanded_job.checked = true
                 @ui_show_expanded_job.connect SIGNAL("toggled(bool)") do |checked|
@@ -587,8 +589,6 @@ def create_ui_new_job
                 new_job_layout
             end
 
-            attr_reader :syskit_poll
-
             # @api private
             #
             # Sets up polling on a given syskit interface
diff --git a/lib/syskit/gui/state_label.rb b/lib/syskit/gui/state_label.rb
index a66e85ed3..ac32934ac 100644
--- a/lib/syskit/gui/state_label.rb
+++ b/lib/syskit/gui/state_label.rb
@@ -194,7 +194,8 @@ def update_text(text = current_text)
                 @current_text = text
                 self.text =
                     if name then format(TEXT_WITH_NAME, name, text)
-                    else format(TEXT_WITHOUT_NAME, text)
+                    else
+                        format(TEXT_WITHOUT_NAME, text)
                     end
             end
 
diff --git a/lib/syskit/gui/testing.rb b/lib/syskit/gui/testing.rb
index 18cfe2361..6c7f4c1bb 100644
--- a/lib/syskit/gui/testing.rb
+++ b/lib/syskit/gui/testing.rb
@@ -35,10 +35,8 @@ class Testing < Qt::Widget
 
             # The item model that represents the subprocess state
             attr_reader :item_model
-            attr_reader :test_list_ui
-            attr_reader :test_result_ui
-            attr_reader :test_result_page
-            attr_reader :exception_rendering
+            attr_reader :test_list_ui, :test_result_ui, :test_result_page,
+                        :exception_rendering
 
             # The timer used to call {#manager}.poll periodically
             attr_reader :poll_timer
@@ -151,7 +149,8 @@ def create_status_bar_ui
                 start_stop_button.connect(SIGNAL("clicked()")) do
                     if running?
                         stop
-                    else start
+                    else
+                        start
                     end
                 end
 
@@ -215,7 +214,7 @@ def display_item_details(item)
                     )
                     items << ["", link]
 
-                    models = (item.slave.name[:models] || [])
+                    models = item.slave.name[:models] || []
                     unless models.empty?
                         items << %w[title Models]
                         models.sort.each do |model_name|
@@ -257,21 +256,22 @@ def display_item_details(item)
                 item.each_test_result do |r|
                     name = "#{r.test_case_name}::#{r.test_name}"
                     info = format(
-                        "#{r.skip_count} skips, #{r.failure_count} failures "\
+                        "#{r.skip_count} skips, #{r.failure_count} failures " \
                         "and #{r.assertions} assertions executed in %<duration>.3fs",
                         duration: r.time
                     )
 
                     color = if r.failure_count > 0 then :red
                             elsif r.skip_count > 0 then :orange
-                            else :green
+                            else
+                                :green
                             end
                     color = SubprocessItem.html_color(color)
                     style = "padding: .1em; background-color: #{color}"
                     test_result_page.push(
-                        nil, "<div class=\"test_result\" style=\"#{style}\">"\
-                             "#{MetaRuby::GUI::HTML.escape_html(name)}: "\
-                             "#{MetaRuby::GUI::HTML.escape_html(info)}"\
+                        nil, "<div class=\"test_result\" style=\"#{style}\">" \
+                             "#{MetaRuby::GUI::HTML.escape_html(name)}: " \
+                             "#{MetaRuby::GUI::HTML.escape_html(info)}" \
                              "</div>"
                     )
                     all_exceptions = r.failures.flat_map do |e|
@@ -349,13 +349,14 @@ def stats
             def update_status_label(status_label)
                 stats = self.stats
                 state_name = if running? then "RUNNING"
-                             else "STOPPED"
+                             else
+                                 "STOPPED"
                              end
                 status_label.update_state(
                     state_name,
-                    text: "#{stats.executed_count} of #{stats.test_count} test files "\
-                          "executed, #{stats.run_count} runs, #{stats.skip_count} "\
-                          "skips, #{stats.failure_count} failures and "\
+                    text: "#{stats.executed_count} of #{stats.test_count} test files " \
+                          "executed, #{stats.run_count} runs, #{stats.skip_count} " \
+                          "skips, #{stats.failure_count} failures and " \
                           "#{stats.assertions_count} assertions"
                 )
             end
@@ -400,19 +401,8 @@ def self.html_color(name)
                     :failure_count, :failures, :assertions, :time
                 )
 
-                attr_reader :slave
-                attr_reader :name
-                attr_reader :test_results
-                attr_reader :exceptions
-
-                attr_reader :start_time
-                attr_reader :assertions_count
-                attr_reader :failure_count
-                attr_reader :skip_count
-
-                attr_reader :slave_exit_status
-
-                attr_reader :total_run_count
+                attr_reader :slave, :name, :test_results, :exceptions, :start_time,
+                            :assertions_count, :failure_count, :skip_count, :slave_exit_status, :total_run_count
 
                 # The count of exceptions
                 def exception_count
@@ -428,7 +418,7 @@ def initialize(app, slave)
                     @executed = false
                     @slave = slave
                     @total_run_count = 0
-                    name = (slave.name[:path] || "Robot: #{app.robot_name}")
+                    name = slave.name[:path] || "Robot: #{app.robot_name}"
                     if (base_path = app.find_base_path_for(name))
                         base_path = base_path.to_s
                         name = File.basename(base_path) + ":" +
@@ -465,7 +455,7 @@ def executed?
                 end
 
                 def finished?
-                    !!@runtime # rubocop:disable Style/DoubleNegation
+                    !!@runtime
                 end
 
                 def start
@@ -507,19 +497,19 @@ def finished(slave_exit_status)
                 def status_text
                     text = []
                     if has_tested?
-                        text << "#{test_results.size} runs, #{exception_count} "\
-                                "exceptions, #{failure_count} failures and "\
+                        text << "#{test_results.size} runs, #{exception_count} " \
+                                "exceptions, #{failure_count} failures and " \
                                 "#{assertions_count} assertions"
                     end
 
                     return text unless slave_exit_status && !slave_exit_status.success?
 
                     if slave_exit_status.signaled?
-                        text << "Test process terminated with signal "\
+                        text << "Test process terminated with signal " \
                                 "#{slave_exit_status.termsig}"
                     elsif slave_exit_status.exitstatus != 1 || !has_tested? ||
                           (exception_count == 0 && failure_count == 0)
-                        text << "Test process finished with exit code "\
+                        text << "Test process finished with exit code " \
                                 "#{slave_exit_status.exitstatus}"
                     end
                     text
@@ -568,7 +558,8 @@ def add_test_result(
                     failures.each do |e|
                         if e.kind_of?(Minitest::Skip)
                             skip_count += 1
-                        else failure_count += 1
+                        else
+                            failure_count += 1
                         end
                     end
                     @skip_count += skip_count
diff --git a/lib/syskit/gui/widget_list.rb b/lib/syskit/gui/widget_list.rb
index f71223a41..ef722ce9d 100644
--- a/lib/syskit/gui/widget_list.rb
+++ b/lib/syskit/gui/widget_list.rb
@@ -48,7 +48,8 @@ def add_before(widget, before, permanent: false)
                 if i = @widgets.index { |w| w.widget == before }
                     @main_layout.insert_widget(i, widget)
                     @widgets.insert(i, ListItem.new(widget, permanent))
-                else Kernel.raise ArgumentError, "#{before} is not part of #{self}"
+                else
+                    Kernel.raise ArgumentError, "#{before} is not part of #{self}"
                 end
             end
 
@@ -60,7 +61,8 @@ def add_after(widget, after, permanent: false)
                 if i = @widgets.index { |w| w.widget == after }
                     @main_layout.insert_widget(i + 1, widget)
                     @widgets.insert(i + 1, ListItem.new(widget, permanent))
-                else Kernel.raise ArgumentError, "#{after} is not part of #{self}"
+                else
+                    Kernel.raise ArgumentError, "#{after} is not part of #{self}"
                 end
             end
 
@@ -77,7 +79,8 @@ def children_size_updated
                 s = size
                 new_height = @widgets.inject(0) do |h, w|
                     h + if w.widget.hidden? then 0
-                        else w.widget.contents_height
+                        else
+                            w.widget.contents_height
                         end
                 end
                 if new_height != s.height
diff --git a/lib/syskit/instance_requirements.rb b/lib/syskit/instance_requirements.rb
index 4c894d3ec..8a0ec184a 100644
--- a/lib/syskit/instance_requirements.rb
+++ b/lib/syskit/instance_requirements.rb
@@ -184,13 +184,9 @@ class TemplatePlan < Roby::TemplatePlan
         # @yieldparam selection the selected model/task in the use flag
         # @yieldreturn the value that should replaces selection
         # @return [self]
-        def map_use_selections!
-            selections.map! do |value|
-                yield(value)
-            end
-            pushed_selections.map! do |value|
-                yield(value)
-            end
+        def map_use_selections!(&block)
+            selections.map!(&block)
+            pushed_selections.map!(&block)
             invalidate_dependency_injection
             invalidate_template
             self
@@ -206,15 +202,15 @@ def to_component_model
 
         # @deprecated use {#bind} instead
         def resolve(object)
-            Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                "InstanceRequirements#bind instead"
+            Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                 "InstanceRequirements#bind instead"
             bind(object)
         end
 
         # @deprecated use {#try_bind} instead
         def try_resolve(task)
-            Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                "InstanceRequirements#try_bind instead"
+            Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                 "InstanceRequirements#try_bind instead"
             try_bind(task)
         end
 
@@ -237,7 +233,8 @@ def component_model
             model = self.model.to_component_model
             if model.placeholder?
                 model.proxied_component_model
-            else model
+            else
+                model
             end
         end
 
@@ -428,7 +425,8 @@ def find_port(name)
         def port_by_name(name)
             if p = find_port(name)
                 p
-            else raise ArgumentError, "#{self} has no port called #{name}, known ports are: #{each_port.map(&:name).sort.join(', ')}"
+            else
+                raise ArgumentError, "#{self} has no port called #{name}, known ports are: #{each_port.map(&:name).sort.join(', ')}"
             end
         end
 
@@ -630,7 +628,8 @@ def use(*mappings)
         def simplest_model_representation
             if plain?
                 model
-            else self
+            else
+                self
             end
         end
 
@@ -694,8 +693,8 @@ def with_arguments(deprecated_arguments = nil, **arguments)
             deprecated_from_kw ||= Roby.sanitize_keywords(arguments)
             if deprecated_arguments || !deprecated_from_kw.empty?
                 Roby.warn_deprecated(
-                    "InstanceRequirements#with_arguments: providing arguments using "\
-                    "a string is not supported anymore use key: value instead of "\
+                    "InstanceRequirements#with_arguments: providing arguments using " \
+                    "a string is not supported anymore use key: value instead of " \
                     "'key' => value"
                 )
                 deprecated_arguments&.each { |key, arg| arguments[key.to_sym] = arg }
@@ -975,7 +974,8 @@ def post_instanciation_setup(task)
                     !sel.kind_of?(DependencyInjection::SpecialDIValue)
 
                     sel.to_instance_requirements
-                else sel
+                else
+                    sel
                 end
             end
             task.update_requirements(task_requirements,
@@ -1037,10 +1037,10 @@ def to_s
         end
 
         def pretty_print(pp)
-            if model != base_model
-                pp.text "#{model}(from #{base_model})"
-            else
+            if model == base_model
                 pp.text model.to_s
+            else
+                pp.text "#{model}(from #{base_model})"
             end
             pp.nest(2) do
                 unless pushed_selections.empty?
@@ -1063,7 +1063,7 @@ def each_child
             return enum_for(__method__) unless block_given?
 
             unless composition_model?
-                raise "cannot call #each_child on #{self} as it does not "\
+                raise "cannot call #each_child on #{self} as it does not " \
                       "represent a composition model"
             end
 
@@ -1112,19 +1112,18 @@ def each_required_service_model
             end
         end
 
-        def each_required_model
+        def each_required_model(&block)
             return enum_for(:each_required_model) unless block_given?
 
-            model.each_required_model do |m|
-                yield(m)
-            end
+            model.each_required_model(&block)
         end
 
         # Tests if these requirements explicitly point to a component model
         def component_model?
             if model.placeholder?
                 model.proxied_component_model != Syskit::Component
-            else true
+            else
+                true
             end
         end
 
@@ -1196,7 +1195,8 @@ def instanciate(_plan, variables = {})
                 arguments = @requirements.arguments.transform_values do |value|
                     if value.respond_to?(:evaluate)
                         value.evaluate(variables)
-                    else value
+                    else
+                        value
                     end
                 end
                 @requirements.as_plan(**arguments)
@@ -1239,7 +1239,7 @@ def to_action_model(doc = self.doc)
                 if optional
                     action_model.optional_arg(arg_name, arg.doc || "#{arg_name} argument of #{task_model.name}", default_argument)
                 else
-                    action_model.required_arg(arg_name, arg.doc || "#{arg_name} argument of #{task_model.name}")
+                    action_model.required_arg(arg_name, arg.doc || "#{arg_name} argument of #{task_model.name}", example: arg.example)
                 end
             end
             action_model
diff --git a/lib/syskit/instance_selection.rb b/lib/syskit/instance_selection.rb
index f3c92ac42..2222a83ca 100644
--- a/lib/syskit/instance_selection.rb
+++ b/lib/syskit/instance_selection.rb
@@ -68,10 +68,12 @@ def autoselect_service_if_needed(selected, required, mappings)
                     else
                         selected.find_data_service_from_type(required_srv)
                     end
-                else selected.dup
+                else
+                    selected.dup
                 end
 
-            else selected.dup
+            else
+                selected.dup
             end
         end
 
@@ -145,14 +147,15 @@ def port_mappings
             mappings = {}
             service_selection.each do |req_m, sel_m|
                 mappings.merge!(sel_m.port_mappings_for(req_m)) do |req_name, sel_name1, sel_name2|
-                    if sel_name1 != sel_name2
+                    if sel_name1 == sel_name2
+                        sel_name1
+                    else
                         # need to find who has the same port ...
                         service_selection.each_key do |other_m|
                             if req_m.has_port?(req_name)
                                 raise AmbiguousPortMappings.new(other_m, req_m, req_name)
                             end
                         end
-                    else sel_name1
                     end
                 end
             end
@@ -168,7 +171,8 @@ def instanciate(plan, context = Syskit::DependencyInjectionContext.new, **option
                 component = plan[self.component]
                 if selected_service = selected.service
                     selected_service.bind(component)
-                else component
+                else
+                    component
                 end
             else
                 selected.instanciate(plan, context, **options)
diff --git a/lib/syskit/interface.rb b/lib/syskit/interface.rb
new file mode 100644
index 000000000..3135af052
--- /dev/null
+++ b/lib/syskit/interface.rb
@@ -0,0 +1,3 @@
+# frozen_string_literal: true
+
+require "syskit/interface/commands"
diff --git a/lib/syskit/interface/commands.rb b/lib/syskit/interface/commands.rb
new file mode 100644
index 000000000..b39f6c983
--- /dev/null
+++ b/lib/syskit/interface/commands.rb
@@ -0,0 +1,262 @@
+# frozen_string_literal: true
+
+require "roby/interface/core"
+require "roby/robot"
+
+module Syskit
+    module Interface
+        # Definition of the syskit-specific interface commands
+        class Commands < Roby::Interface::CommandLibrary
+            # Return information about deployments
+            #
+            # @return [Protocol::Deployment]
+            def deployments
+                plan.find_tasks(Syskit::Deployment).to_a
+            end
+            command :deployments,
+                    "returns information about running deployments"
+
+            # Save the configuration of all running tasks of the given model to disk
+            #
+            # @param [String,nil] name the section name for the new configuration.
+            #   If nil, the task's orocos name will be used
+            # @param [String] path the directory in which the files should be saved
+            # @return [nil]
+            def dump_task_config(task_model, path, name = nil)
+                FileUtils.mkdir_p(path)
+                plan.find_tasks(task_model)
+                    .each do |t|
+                        Orocos.conf.save(t.orocos_task, path, name || t.orocos_task.name)
+                    end
+                nil
+            end
+            command(
+                :dump_task_config,
+                "saves configuration from running tasks into yaml files",
+                model: "the model of the tasks that should be saved",
+                path: "the directory in which the configuration files should be saved",
+                name: "(optional) if given, the name of the section for the new " \
+                      "configuration. Defaults to the orocos task names"
+            )
+
+            # Saves the configuration of all running tasks to disk
+            #
+            # @param [String] name the section name for the new configuration
+            # @param [String] path the directory in which the files should be saved
+            # @return [nil]
+            def dump_all_config(path, name = nil)
+                dump_task_config(Syskit::TaskContext, path, name)
+                nil
+            end
+            command(
+                :dump_all_config,
+                "saves the configuration of all running tasks into yaml files",
+                path: "the directory in which the configuration files should be saved",
+                name: "(optional) if given, the name of the section for the new " \
+                      "configuration. Defaults to the orocos task names"
+            )
+
+            # Task used to tell the engine that we want the deployments restarted without
+            # killing the dependent networks
+            class ShellDeploymentRestart < Roby::Task
+                event :start, controlable: true
+
+                poll do
+                    if redeploy_event.pending? && !plan.syskit_has_async_resolution?
+                        redeploy_event.emit
+                    end
+                end
+
+                event :redeploy do |_context|
+                    Runtime.apply_requirement_modifications(plan, force: true)
+                end
+
+                forward redeploy: :stop
+            end
+
+            # Stops deployment processes
+            #
+            # @param [Array<Model<Deployment>>] models if non-empty, only the
+            #   deployments matching this model will be stopped, otherwise all
+            #   deployments are stopped.
+            def stop_deployments(*models)
+                models << Syskit::Deployment if models.empty?
+                models.each do |m|
+                    plan.find_tasks(m)
+                        .each do |task|
+                            if task.kind_of?(Syskit::TaskContext)
+                                task.execution_agent.stop!
+                            else
+                                task.stop!
+                            end
+                        end
+                end
+            end
+            command :stop_deployments, "stops deployment processes",
+                    models: "(optional) if given, a list of task or deployment models " \
+                            "pointing to what should be stopped. If not given, all " \
+                            "deployments are stopped"
+
+            # Restarts deployment processes
+            #
+            # @param [Array<Model<Deployment>,Model<TaskContext>>] models if
+            #   non-empty, only the deployments matching this model or the deployments
+            #   supporting tasks matching the models will be restarted, otherwise all
+            #   deployments are restarted.
+            def restart_deployments(*models)
+                models << Syskit::Deployment if models.empty?
+                deployments = restart_discover_deployment_tasks(models)
+                protection = restart_setup_protection(deployments)
+
+                done = Roby::AndGenerator.new
+                done.signals protection.redeploy_event
+                deployments.each do |task|
+                    done << task.stop_event
+                    task.stop!
+                end
+                nil
+            end
+            command :restart_deployments, "restarts deployment processes",
+                    models: "(optional) if given, a list of task or deployment models " \
+                            "pointing to what should be restarted. If not given, all " \
+                            "deployments are restarted"
+
+            # @api private
+            #
+            # Helper for {#restart_deployments} that lists the deployment tasks which
+            #   should be restarted
+            def restart_discover_deployment_tasks(models)
+                tasks = models.flat_map do |m|
+                    plan.find_tasks(m).map do |task|
+                        if task.kind_of?(Syskit::TaskContext)
+                            task.execution_agent
+                        else
+                            task
+                        end
+                    end
+                end
+                tasks.uniq
+            end
+
+            # @api private
+            #
+            # Helper for {#restart_deployments} that sets up a error handler to avoid
+            # killing tasks while we restart the deployments
+            def restart_setup_protection(deployment_tasks)
+                protection = ShellDeploymentRestart.new
+                plan.add(protection)
+                protection.start!
+
+                deployment_tasks.each do |task|
+                    task.each_executed_task do |executed_task|
+                        executed_task.stop_event.handle_with(protection)
+                    end
+                end
+                protection
+            end
+
+            # (see Application#syskit_reload_config)
+            def reload_config
+                app.syskit_reload_config
+            end
+            command :reload_config, "reloads YAML configuration files from disk",
+                    "You need to call the redeploy command to apply the new configuration"
+
+            # (see Application#syskit_pending_reloaded_configurations)
+            def pending_reloaded_configurations
+                app.syskit_pending_reloaded_configurations
+            end
+            command :pending_reloaded_configurations,
+                    "returns the list of TaskContext names " \
+                    "that are marked as needing reconfiguration",
+                    "They will be reconfigured on the next redeploy or system transition"
+
+            # Require the engine to redeploy the current network
+            #
+            # It must be called after {#reload_config} to apply the new
+            # configuration(s)
+            def redeploy
+                Runtime.apply_requirement_modifications(plan, force: true)
+                nil
+            end
+            command :redeploy, "redeploys the current network",
+                    "It is mostly used to apply the configuration " \
+                    "loaded with reload_config"
+
+            def enable_log_group(string)
+                Syskit.conf.logs.enable_log_group(string)
+                redeploy
+                nil
+            end
+            command :enable_logging_of, "enables a log group",
+                    name: "the log group name"
+
+            # @deprecated use enable_log_group instead
+            def enable_logging_of(string)
+                enable_log_group(string)
+            end
+
+            def disable_log_group(string)
+                Syskit.conf.logs.disable_log_group(string)
+                redeploy
+                nil
+            end
+            command :disable_log_group, "disables a log group",
+                    name: "the log group name"
+
+            # @deprecated use disable_log_group instead
+            def disable_logging_of(string)
+                disable_log_group(string)
+            end
+
+            LoggingGroup = Struct.new(:name, :enabled)
+            LoggingConfiguration =
+                Struct.new(:port_logs_enabled, :conf_logs_enabled, :groups)
+            def logging_conf
+                conf = LoggingConfiguration.new(false, false, {})
+                conf.port_logs_enabled = Syskit.conf.logs.port_logs_enabled?
+                conf.conf_logs_enabled = Syskit.conf.logs.conf_logs_enabled?
+                Syskit.conf.logs.groups.each_pair do |key, group|
+                    conf.groups[key] = LoggingGroup.new(key, group.enabled?)
+                end
+                conf
+            end
+            command :logging_conf, "gets the current logging configuration"
+
+            def update_logging_conf(conf)
+                logs_conf = Syskit.conf.logs
+                if conf.port_logs_enabled
+                    logs_conf.enable_port_logging
+                else
+                    logs_conf.disable_port_logging
+                end
+
+                if conf.conf_logs_enabled
+                    logs_conf.enable_conf_logging
+                else
+                    logs_conf.disable_conf_logging
+                end
+
+                conf.groups.each_pair do |name, group|
+                    logs_conf.group_by_name(name).enabled = group.enabled
+                rescue ArgumentError
+                    Syskit.warn "tried to update a group that does not exist: #{name}"
+                end
+                redeploy
+            end
+            command :update_logging_conf, "updates the current logging configuration",
+                    conf: "the new logging settings"
+        end
+    end
+end
+
+module Robot # :nodoc:
+    # Syskit subcommand for the shell
+    def self.syskit
+        @syskit_interface ||= Syskit::Interface::Commands.new(Roby.app) # rubocop:disable Naming/MemoizedInstanceVariableName
+    end
+end
+
+Roby::Interface::Interface.subcommand(
+    "syskit", Syskit::Interface::Commands, "Commands specific to Syskit"
+)
diff --git a/lib/syskit/interface/v2.rb b/lib/syskit/interface/v2.rb
new file mode 100644
index 000000000..0016a9c4f
--- /dev/null
+++ b/lib/syskit/interface/v2.rb
@@ -0,0 +1,4 @@
+# frozen_string_literal: true
+
+require "syskit/interface/v2/protocol"
+require "syskit/interface/commands"
diff --git a/lib/syskit/interface/v2/protocol.rb b/lib/syskit/interface/v2/protocol.rb
new file mode 100644
index 000000000..36a32bb8e
--- /dev/null
+++ b/lib/syskit/interface/v2/protocol.rb
@@ -0,0 +1,70 @@
+# frozen_string_literal: true
+
+require "roby/interface/v2"
+
+module Syskit
+    module Interface
+        module V2
+            # Syskit extensions to Roby's v2 interface wire protocol
+            module Protocol
+                ROBY_TASK_MEMBERS = Roby::Interface::V2::Protocol::Task.new.members
+
+                Deployment = Struct.new(
+                    *ROBY_TASK_MEMBERS,
+                    :pid, :ready_since, :deployed_tasks, keyword_init: true
+                ) do
+                    def pretty_print(pp)
+                        roby_task = ROBY_TASK_MEMBERS.map do |name|
+                            [name, self[name]]
+                        end
+                        Roby::Interface::V2::Protocol::Task
+                            .new(**Hash[roby_task])
+                            .pretty_print(pp)
+                        pp.breakable
+                        pp.text "PID: #{pid}"
+                        pp.breakable
+                        names = deployed_tasks.map(&:name)
+                        pp.text "Deployed tasks: #{names.join(', ')}"
+                    end
+                end
+
+                DeployedTask = Struct.new(
+                    :name, :ior, :orogen_model_name, keyword_init: true
+                )
+
+                def self.register_marshallers(protocol)
+                    protocol.add_marshaller(
+                        Syskit::Deployment, &method(:marshal_deployment_task)
+                    )
+                    protocol.allow_objects(
+                        Orocos::RubyTasks::TaskContext,
+                        Orocos::RubyTasks::StubTaskContext
+                    )
+                end
+
+                def self.marshal_remote_task_handle(name, remote_task_handle)
+                    ior = remote_task_handle.handle.ior
+                    model_name = remote_task_handle.handle.model.name
+                    DeployedTask.new(
+                        name: name, ior: ior, orogen_model_name: model_name
+                    )
+                end
+
+                def self.marshal_deployment_task(channel, task)
+                    deployed_tasks =
+                        task.remote_task_handles.map do |name, remote_task_handle|
+                            marshal_remote_task_handle(name, remote_task_handle)
+                        end
+
+                    roby_task = Roby::Interface::V2::Protocol.marshal_task(channel, task)
+                    Deployment.new(
+                        **roby_task.to_h,
+                        pid: task.pid,
+                        ready_since: task.ready_event.last&.time,
+                        deployed_tasks: deployed_tasks
+                    )
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/models/bound_data_service.rb b/lib/syskit/models/bound_data_service.rb
index df872ed0a..e5477a4a5 100644
--- a/lib/syskit/models/bound_data_service.rb
+++ b/lib/syskit/models/bound_data_service.rb
@@ -162,7 +162,7 @@ def attach(new_component_model, verify: true)
 
                 if verify && !new_component_model.fullfills?(component_model)
                     raise ArgumentError,
-                          "cannot attach #{self} on #{new_component_model}: "\
+                          "cannot attach #{self} on #{new_component_model}: " \
                           "does not fullfill #{component_model}"
                 end
 
@@ -315,7 +315,7 @@ def bind(task)
 
                 unless task.fullfills?(component_model)
                     raise ArgumentError,
-                          "cannot bind #{self} on #{task}: "\
+                          "cannot bind #{self} on #{task}: " \
                           "does not fullfill #{component_model}"
                 end
 
@@ -334,9 +334,9 @@ def bind(task)
                     resolved = task.find_data_service(name)
                     if !resolved || !resolved.model.same_service?(self)
                         raise InternalError,
-                              "#{component_model} is fullfilled by #{task}, "\
-                              "but is not inherited by its model #{task.model}. "\
-                              "I didn't manage to resolve this, either as a "\
+                              "#{component_model} is fullfilled by #{task}, " \
+                              "but is not inherited by its model #{task.model}. " \
+                              "I didn't manage to resolve this, either as a " \
                               "task-to-placeholder mapping, or as a dynamic service"
                     end
 
@@ -347,7 +347,7 @@ def bind(task)
             # @deprecated use {#bind} instead
             def resolve(task)
                 Roby.warn_deprecated(
-                    "#{__method__} is deprecated, use "\
+                    "#{__method__} is deprecated, use " \
                     "BoundDataService#bind instead"
                 )
                 bind(task)
diff --git a/lib/syskit/models/component.rb b/lib/syskit/models/component.rb
index 00e3aa9ba..fba9db145 100644
--- a/lib/syskit/models/component.rb
+++ b/lib/syskit/models/component.rb
@@ -41,7 +41,7 @@ def clear_model
                 super
                 data_services.clear
                 dynamic_services.clear
-                # Note: the placeholder_models cache is cleared separately. The
+                # NOTE: the placeholder_models cache is cleared separately. The
                 # reason is that we need to clear it on permanent and
                 # non-permanent models alike, including component models that
                 # are defined in syskit. The normal procedure is to call
@@ -109,7 +109,7 @@ def find_matching_service(target_model, pattern = nil)
                 pattern_msg += " matching name hint #{pattern}" if pattern
                 raise AmbiguousServiceSelection.new(
                     self, target_model, master_matching_services
-                ), "there is more than one service of type #{target_model.name} "\
+                ), "there is more than one service of type #{target_model.name} " \
                    "in #{name}#{pattern_msg}"
             end
 
@@ -355,11 +355,11 @@ def normalize_port_mappings_argument(service_model, srv_to_self)
 
                     if !srv_name.respond_to?(:to_str)
                         raise ArgumentError,
-                              "unexpected value given in port mapping: #{srv_name}, "\
+                              "unexpected value given in port mapping: #{srv_name}, " \
                               "expected a string"
                     elsif !self_name.respond_to?(:to_str)
                         raise ArgumentError,
-                              "unexpected value given in port mapping: #{self_name}, "\
+                              "unexpected value given in port mapping: #{self_name}, " \
                               "expected a string"
                     elsif !service_model.find_port(srv_name)
                         raise InvalidPortMapping,
@@ -380,7 +380,7 @@ def compute_output_port_mappings(service_model, given_srv_to_self)
                     )
                     unless self_port_name
                         raise InvalidPortMapping,
-                              "cannot find an equivalent output port for "\
+                              "cannot find an equivalent output port for " \
                               "#{srv_port.name}[#{srv_port.type_name}] on #{short_name}"
                     end
 
@@ -395,7 +395,7 @@ def compute_input_port_mappings(service_model, given_srv_to_self)
                     )
                     unless self_port_name
                         raise InvalidPortMapping,
-                              "cannot find an equivalent input port for "\
+                              "cannot find an equivalent input port for " \
                               "#{srv_port.name}[#{srv_port.type_name}] on #{short_name}"
                     end
 
@@ -419,10 +419,10 @@ def check_collisions_in_computed_port_mappings(
                         .join(", ")
 
                     raise InvalidPortMapping,
-                          "automatic port mapping would map multiple service ports "\
-                          "#{srv_port_names.sort.join(', ')} to the same component port "\
-                          "#{self_port_name}. This is possible, but must be specified "\
-                          "explicitly by passing this mapping: "\
+                          "automatic port mapping would map multiple service ports " \
+                          "#{srv_port_names.sort.join(', ')} to the same component port " \
+                          "#{self_port_name}. This is possible, but must be specified " \
+                          "explicitly by passing this mapping: " \
                           "#{explicit_mapping_s} explicitly"
                 end
             end
@@ -464,15 +464,15 @@ def find_directional_port_mapping_by_name(
 
                 if self_port
                     raise InvalidPortMapping,
-                          "invalid port mapping provided from #{srv_port} to "\
+                          "invalid port mapping provided from #{srv_port} to " \
                           "#{self_port}: type mismatch"
                 else
                     known_ports = send("each_#{direction}_port")
                                   .map { |p| "#{p.name}[#{p.type.name}]" }
                     raise InvalidPortMapping,
-                          "invalid port mapping \"#{srv_port.name}\" => "\
-                          "\"#{self_port_name}\": #{self_port_name} is not a "\
-                          "#{direction} port in #{short_name}. "\
+                          "invalid port mapping \"#{srv_port.name}\" => " \
+                          "\"#{self_port_name}\": #{self_port_name} is not a " \
+                          "#{direction} port in #{short_name}. " \
                           "Known #{direction} ports are #{known_ports.sort.join(', ')}"
                 end
             end
@@ -487,8 +487,8 @@ def find_directional_port_mapping_by_type(direction, srv_port)
                 return srv_port_name if candidates.any? { |p| p.name == srv_port_name }
 
                 raise InvalidPortMapping,
-                      "there are multiple candidates to map "\
-                      "#{srv_port.name}[#{srv_port.type.name}]: "\
+                      "there are multiple candidates to map " \
+                      "#{srv_port.name}[#{srv_port.type.name}]: " \
                       "#{candidates.map(&:name).sort.join(', ')}"
             end
 
@@ -563,24 +563,24 @@ def promote_dynamic_service(_name, dyn)
             #         # setup the task to create the required service
             #       end
             #     end
-            def dynamic_service( # rubocop:disable Metrics/ParameterLists
+            def dynamic_service(
                 model, as: nil,
                 addition_requires_reconfiguration: true,
                 remove_when_unused: true, **backward, &block
             )
                 if !as
                     raise ArgumentError,
-                          "no name given to the dynamic service, "\
+                          "no name given to the dynamic service, " \
                           "please provide one with the :as option"
                 elsif !block_given?
                     raise ArgumentError,
-                          "no block given to #dynamic_service, "\
+                          "no block given to #dynamic_service, " \
                           "one must be provided and must call provides()"
                 end
 
                 if backward.key?(:dynamic)
-                    Roby.warn_deprecated "the dynamic argument to #dynamic_service has "\
-                                         "been renamed into "\
+                    Roby.warn_deprecated "the dynamic argument to #dynamic_service has " \
+                                         "been renamed into " \
                                          "addition_requires_reconfiguration"
                     addition_requires_reconfiguration = !backward[:dynamic]
                 end
@@ -630,9 +630,9 @@ def require_dynamic_service(dynamic_service_name, as:, **dyn_options)
                     return srv if srv.fullfills?(dyn.service_model)
 
                     raise ArgumentError,
-                          "there is already a service #{service_name}, but it is "\
-                          "of type #{srv.model.short_name} while the dynamic "\
-                          "service #{dynamic_service_name} expects "\
+                          "there is already a service #{service_name}, but it is " \
+                          "of type #{srv.model.short_name} while the dynamic " \
+                          "service #{dynamic_service_name} expects " \
                           "#{dyn.service_model.short_name}"
                 end
                 dyn.instanciate(service_name, **dyn_options)
@@ -646,8 +646,8 @@ def dynamic_service_by_name(name)
                     each_dynamic_service.map { |n, _| n }.sort.join(", ")
 
                 raise ArgumentError,
-                      "#{short_name} has no dynamic service called "\
-                      "#{name}, available dynamic services "\
+                      "#{short_name} has no dynamic service called " \
+                      "#{name}, available dynamic services " \
                       "are: #{dynamic_service_list}"
             end
 
@@ -742,7 +742,7 @@ def provides_for_task_service?(model, as: nil)
 
                 unless model.kind_of?(Roby::Models::TaskServiceModel)
                     raise ArgumentError,
-                          "expected either a task service model or a data service model "\
+                          "expected either a task service model or a data service model " \
                           "as argument, and got #{model}"
                 end
 
@@ -756,7 +756,7 @@ def provides_for_task_service?(model, as: nil)
             def provides_resolve_name(as:, slave_of: nil)
                 unless as
                     raise ArgumentError,
-                          "#provides requires a name to be provided through "\
+                          "#provides requires a name to be provided through " \
                           "the 'as' option"
                 end
 
@@ -767,7 +767,7 @@ def provides_resolve_name(as:, slave_of: nil)
                     master_srv = find_data_service(slave_of)
                     unless master_srv
                         raise ArgumentError,
-                              "master data service #{slave_of} is not "\
+                              "master data service #{slave_of} is not " \
                               "registered on #{self}"
                     end
 
@@ -782,7 +782,7 @@ def provides_validate_possible_overload(model, full_name)
                 # Get the source name and the source model
                 if data_services[full_name]
                     raise ArgumentError,
-                          "there is already a data service named '#{full_name}' "\
+                          "there is already a data service named '#{full_name}' " \
                           "defined on '#{short_name}'"
                 end
 
@@ -792,7 +792,7 @@ def provides_validate_possible_overload(model, full_name)
 
                 unless model <= parent_type
                     raise ArgumentError,
-                          "#{self} has a data service named #{full_name} of type "\
+                          "#{self} has a data service named #{full_name} of type " \
                           "#{parent_type}, which is not a parent type of #{model}"
                 end
 
@@ -819,7 +819,7 @@ def provides_compute_port_mappings(service, given_srv_to_self = {})
                 )
             rescue InvalidPortMapping => e
                 raise InvalidProvides.new(self, service_m, e),
-                      "#{short_name} does not provide the '#{service_m.name}' "\
+                      "#{short_name} does not provide the '#{service_m.name}' " \
                       "service's interface. #{e.message}", e.backtrace
             end
 
@@ -910,7 +910,8 @@ def implicit_fullfilled_model
             def ensure_model_is_specialized
                 if private_specialization?
                     self
-                else specialize
+                else
+                    specialize
                 end
             end
 
@@ -967,15 +968,15 @@ def bind(object)
 
             # @deprecated use {#bind} instead
             def resolve(task)
-                Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                    "Models::Component#bind instead"
+                Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                     "Models::Component#bind instead"
                 bind(task)
             end
 
             # @deprecated use {#try_bind} instead
             def try_resolve(task)
-                Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                    "Models::Component#try_bind instead"
+                Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                     "Models::Component#try_bind instead"
                 try_bind(task)
             end
 
@@ -1039,14 +1040,14 @@ def deregister_submodels(set)
 
             # @deprecated use {Models::Placeholder.create_for} instead
             def create_proxy_task_model(service_models, as: nil, extension: Placeholder)
-                Roby.warn_deprecated "Component.create_proxy_task_model is deprecated, "\
+                Roby.warn_deprecated "Component.create_proxy_task_model is deprecated, " \
                                      "use Syskit::Models::Placeholder.create_for instead"
                 extension.create_for(service_models, component_model: self, as: as)
             end
 
             # @deprecated use {Models::Placeholder.for} instead
             def proxy_task_model(service_models, as: nil, extension: Placeholder)
-                Roby.warn_deprecated "Component.proxy_task_model is deprecated, "\
+                Roby.warn_deprecated "Component.proxy_task_model is deprecated, " \
                                      "use Syskit::Models::Placeholder.for instead"
                 extension.for(service_models, component_model: self, as: as)
             end
@@ -1114,7 +1115,8 @@ def fullfills?(object)
                 object_real_model =
                     if object.respond_to?(:concrete_model)
                         object.concrete_model
-                    else object
+                    else
+                        object
                     end
 
                 return super if self_real_model == self
@@ -1156,10 +1158,10 @@ def can_merge?(target_model)
             def can_merge_service?(self_srv, target_srv)
                 if target_srv.model != self_srv.model
                     NetworkGeneration::MergeSolver.debug do
-                        "rejecting #{self_srv}.merge(#{target_srv}): dynamic "\
-                        "service #{self_srv.name} is of model "\
-                        "#{self_srv.model.short_name} on self and of "\
-                        "model #{target_srv.model.short_name} on the candidate task"
+                        "rejecting #{self_srv}.merge(#{target_srv}): dynamic " \
+                            "service #{self_srv.name} is of model " \
+                            "#{self_srv.model.short_name} on self and of " \
+                            "model #{target_srv.model.short_name} on the candidate task"
                     end
                     false
                 elsif target_srv.dynamic? && self_srv.dynamic?
@@ -1169,19 +1171,19 @@ def can_merge_service?(self_srv, target_srv)
                         true
                     else
                         NetworkGeneration::MergeSolver.debug do
-                            "rejecting #{self_srv}.merge(#{target_srv}): dynamic "\
-                            "service #{self_srv.name} has options "\
-                            "#{target_srv.dynamic_service_options} on self and "\
-                            "#{self_srv.dynamic_service_options} "\
-                            "on the candidate task"
+                            "rejecting #{self_srv}.merge(#{target_srv}): dynamic " \
+                                "service #{self_srv.name} has options " \
+                                "#{target_srv.dynamic_service_options} on self and " \
+                                "#{self_srv.dynamic_service_options} " \
+                                "on the candidate task"
                         end
                         false
                     end
                 elsif target_srv.dynamic? || self_srv.dynamic?
                     NetworkGeneration::MergeSolver.debug do
-                        "rejecting #{self_srv}.merge(#{target_srv}): "\
-                        "#{self_srv.name} is a dynamic service on self, "\
-                        "but a static one on the candidate task"
+                        "rejecting #{self_srv}.merge(#{target_srv}): " \
+                            "#{self_srv.name} is a dynamic service on self, " \
+                            "but a static one on the candidate task"
                     end
                     false
                 else
@@ -1194,14 +1196,17 @@ def apply_missing_dynamic_services_from(from, specialize_if_needed = true)
                     !find_data_service(srv.full_name)
                 end
 
-                if !missing_services.empty?
+                if missing_services.empty?
+                    self
+                else
                     # We really really need to specialize self. The reason is
                     # that self.model, even though it has private
                     # specializations, might be a reusable model from the system
                     # designer's point of view. With the singleton class, we
                     # know that it is not
                     base_model = if specialize_if_needed then specialize
-                                 else self
+                                 else
+                                     self
                                  end
                     missing_services.each do |_, srv|
                         dynamic_service_options =
@@ -1211,7 +1216,6 @@ def apply_missing_dynamic_services_from(from, specialize_if_needed = true)
                         )
                     end
                     base_model
-                else self
                 end
             end
 
@@ -1240,7 +1244,7 @@ def merge(other_model)
 
                 else
                     raise IncompatibleComponentModels.new(self, other_model),
-                          "models #{short_name} and #{other_model.short_name} "\
+                          "models #{short_name} and #{other_model.short_name} " \
                           "are not compatible"
                 end
             end
@@ -1265,7 +1269,7 @@ def merge_service_model(service_model, port_mappings)
                               "#{self} cannot dynamically create ports"
                     elsif p.type != self_p.type
                         raise InvalidPortMapping,
-                              "#{self} already has a port named #{self_name} of type "\
+                              "#{self} already has a port named #{self_name} of type " \
                               "#{self_p.type}, cannot dynamically map #{p} onto it"
                     end
                 end
@@ -1278,7 +1282,7 @@ def merge_service_model(service_model, port_mappings)
                               "#{self} cannot dynamically create ports"
                     elsif p.type != self_p.type
                         raise InvalidPortMapping,
-                              "#{self} already has a port named #{self_name} of "\
+                              "#{self} already has a port named #{self_name} of " \
                               "type #{self_p.type}, cannot dynamically map #{p} onto it"
                     end
                 end
@@ -1310,15 +1314,30 @@ def match
             # @example create a data reader for a composition child
             #    data_reader some_child.out_port, as: 'pose'
             #
+            # @example inject another class to act as the output reader
+            #   class Foo < Syskit::DynamicPortBinding::BoundOutputReader
+            #       def read_new
+            #           return unless (sample = super)
+            #
+            #           sample + 42
+            #       end
+            #   end
+            #
+            #   data_reader some_child.out_port, as: "pose", klass: Foo
+            #
             # @return [DynamicPortBinding::BoundOutputReader]
-            def data_reader(port, as:)
+            def data_reader(
+                port, as:, klass: Syskit::DynamicPortBinding::BoundOutputReader, **policy
+            )
                 port = DynamicPortBinding.create(port)
                 unless port.output?
                     raise ArgumentError,
                           "expected an output port, but #{port} seems to be an input"
                 end
 
-                data_readers[as] = port.to_bound_data_accessor(as, self)
+                data_readers[as] = DynamicPortBinding::BoundOutputReader.new(
+                    as, self, port, klass: klass, **policy
+                )
             end
 
             # The data writers defined on this task, as a mapping from the writer's
@@ -1344,14 +1363,14 @@ def data_reader(port, as:)
             #    data_reader some_child.cmd_in_port, as: 'cmd_in'
             #
             # @return [DynamicPortBinding::BoundInputWriter]
-            def data_writer(port, as:)
+            def data_writer(port, as:, **policy)
                 port = DynamicPortBinding.create(port)
                 if port.output?
                     raise ArgumentError,
                           "expected an input port, but #{port} seems to be an output"
                 end
 
-                data_writers[as] = port.to_bound_data_accessor(as, self)
+                data_writers[as] = port.to_bound_data_accessor(as, self, **policy)
             end
 
             def has_through_method_missing?(name)
@@ -1377,7 +1396,7 @@ def find_through_method_missing(name, args)
             ruby2_keywords def method_missing(name, *args, &block) # rubocop:disable Style/MissingRespondToMissing
                 if name == :orogen_model
                     raise NoMethodError,
-                          "tried to use a method to access an oroGen model, "\
+                          "tried to use a method to access an oroGen model, " \
                           "but none exists on #{self}"
                 end
 
diff --git a/lib/syskit/models/composition.rb b/lib/syskit/models/composition.rb
index 6c43ed527..e1b61233d 100644
--- a/lib/syskit/models/composition.rb
+++ b/lib/syskit/models/composition.rb
@@ -54,18 +54,20 @@ def promote_explicit_connection(connections)
                 mappings_out =
                     if (child_out = children[child_out_name])
                         child_out.port_mappings
-                    else {}
+                    else
+                        {}
                     end
                 mappings_in =
                     if (child_in = children[child_in_name])
                         child_in.port_mappings
-                    else {}
+                    else
+                        {}
                     end
 
                 mapped = {}
                 mappings.each do |(port_name_out, port_name_in), options|
-                    port_name_out = (mappings_out[port_name_out] || port_name_out)
-                    port_name_in  = (mappings_in[port_name_in]   || port_name_in)
+                    port_name_out = mappings_out[port_name_out] || port_name_out
+                    port_name_in  = mappings_in[port_name_in]   || port_name_in
                     mapped[[port_name_out, port_name_in]] = options
                 end
                 [[child_out_name, child_in_name], mapped]
@@ -124,8 +126,8 @@ def specialize(options = {}, &block)
 
                 options = options.transform_keys do |key|
                     if key.respond_to?(:to_str) || key.respond_to?(:to_sym)
-                        Roby.warn_deprecated "calling #specialize with child names "\
-                                             "is deprecated, use _child accessors "\
+                        Roby.warn_deprecated "calling #specialize with child names " \
+                                             "is deprecated, use _child accessors " \
                                              "instead (i.e. #{key}_child here)", 5
                         key
                     elsif key.respond_to?(:child_name)
@@ -213,13 +215,15 @@ def add_child(name, child_models, dependency_options)
                 @exported_outputs = exported_outputs.transform_values do |port|
                     if port.component_model.child_name == name
                         child_model.find_port(port.name)
-                    else port
+                    else
+                        port
                     end
                 end
                 @exported_inputs = exported_inputs.transform_values do |port|
                     if port.component_model.child_name == name
                         child_model.find_port(port.name)
-                    else port
+                    else
+                        port
                     end
                 end
 
@@ -238,7 +242,7 @@ def add_child(name, child_models, dependency_options)
             def overload(child, model, **options)
                 child = child.child_name if child.respond_to?(:child_name)
                 unless find_child(child)
-                    raise ArgumentError, "#{child} is not an existing child "\
+                    raise ArgumentError, "#{child} is not an existing child " \
                                          "of #{short_name}"
                 end
 
@@ -306,7 +310,7 @@ def add(models, as: nil, **dependency_options)
                     end
 
                 unless as
-                    raise ArgumentError, "you must provide an explicit name with "\
+                    raise ArgumentError, "you must provide an explicit name with " \
                                          "the :as option"
                 end
 
@@ -451,15 +455,15 @@ def export(port, as: port.name)
                 existing = find_exported_input(name) || find_exported_output(name)
                 if existing
                     if port.to_component_port != existing
-                        raise ArgumentError, "#{port} is already exported as #{name} "\
-                                             "on #{short_name}, cannot override "\
+                        raise ArgumentError, "#{port} is already exported as #{name} " \
+                                             "on #{short_name}, cannot override " \
                                              "with #{port}."
                     end
                     return
                 end
 
                 unless child_port?(port)
-                    raise ArgumentError, "#{port} is not a port of one of "\
+                    raise ArgumentError, "#{port} is not a port of one of " \
                                          "#{self}'s children"
                 end
 
@@ -469,7 +473,7 @@ def export(port, as: port.name)
                 when OutputPort
                     exported_outputs[name] = port.to_component_port
                 else
-                    raise TypeError, "invalid attempt to export port #{port} "\
+                    raise TypeError, "invalid attempt to export port #{port} " \
                                      "of type #{port.class}"
                 end
                 find_port(name)
@@ -581,7 +585,8 @@ def require_dynamic_service(dynamic_service_name,
                     def respond_to_missing?(m, include_private)
                         if m.to_s =~ /_port$/
                             @child.respond_to?(m)
-                        else super
+                        else
+                            super
                         end
                     end
 
@@ -625,7 +630,8 @@ def overload(*args, **options, &block)
                 def respond_to_missing?(m, include_private)
                     if m =~ /_child$/
                         component_model.respond_to?(m)
-                    else super
+                    else
+                        super
                     end
                 end
 
@@ -896,7 +902,8 @@ def try_resolve_child_references_in_use_flags(self_task, selected_child)
                         return unless task # rubocop:disable Lint/NonLocalExitFromIterator
 
                         task
-                    else sel
+                    else
+                        sel
                     end
                 end
                 true
@@ -1009,7 +1016,8 @@ def instanciate(plan, context = DependencyInjectionContext.new,
                 plan.add(self_task = new(**task_arguments))
                 conf = if self_task.has_argument?(:conf)
                            self_task.conf(self_task.arguments[:conf])
-                       else {}
+                       else
+                           {}
                        end
 
                 # This is the part of the context that is directly associated
@@ -1086,7 +1094,7 @@ def instanciate(plan, context = DependencyInjectionContext.new,
                     if remaining_children_models.size == current_size
                         remaining_children_names = remaining_children_models
                                                    .map(&:first).sort.join(", ")
-                        raise InternalError, "cannot resolve children "\
+                        raise InternalError, "cannot resolve children " \
                                              "#{remaining_children_names}"
                     end
                 end
@@ -1105,7 +1113,7 @@ def to_dot(io)
 
                 connections.each do |(source, sink), mappings|
                     mappings.each do |(source_port, sink_port), _policy|
-                        io << "C#{id}#{source}:#{source_port} -> "\
+                        io << "C#{id}#{source}:#{source_port} -> " \
                               "C#{id}#{sink}:#{sink_port};"
                     end
                 end
@@ -1118,8 +1126,8 @@ def to_dot(io)
                         specialized_model.parent_models.each do |parent_compositions|
                             parent_id = parent_compositions.object_id
                             specialized_id = specialized_model.object_id
-                            io << "C#{parent_id} -> C#{specialized_id} "\
-                                  "[ltail=cluster_#{parent_id} "\
+                            io << "C#{parent_id} -> C#{specialized_id} " \
+                                  "[ltail=cluster_#{parent_id} " \
                                   "lhead=cluster_#{specialized_id} weight=2];"
                         end
                     end
@@ -1136,15 +1144,15 @@ def to_dot(io)
                     io << "  Cinterface#{id} [label=\"#{label}\",color=blue,fontsize=15];"
 
                     exported_outputs.each do |exported_name, port|
-                        io << "C#{id}#{port.component_model.child_name}:"\
-                              "#{port.port.name} -> "\
-                              "Cinterface#{id}:#{exported_name} "\
+                        io << "C#{id}#{port.component_model.child_name}:" \
+                              "#{port.port.name} -> " \
+                              "Cinterface#{id}:#{exported_name} " \
                               "[style=dashed];"
                     end
                     exported_inputs.each do |exported_name, port|
-                        io << "Cinterface#{id}:#{exported_name} -> "\
-                              "C#{id}#{port.component_model.child_name}:"\
-                              "#{port.port.name} "\
+                        io << "Cinterface#{id}:#{exported_name} -> " \
+                              "C#{id}#{port.component_model.child_name}:" \
+                              "#{port.port.name} " \
                               "[style=dashed];"
                     end
                 end
@@ -1174,7 +1182,7 @@ def to_dot(io)
                     if child_model.any? { |m| !m.fullfills?(Component) || m.abstract? }
                         color = ', color="red"'
                     end
-                    io << "  C#{id}#{child_name} "\
+                    io << "  C#{id}#{child_name} " \
                           "[label=\"#{label}\"#{color},fontsize=15];"
                 end
                 io << "}"
@@ -1310,9 +1318,9 @@ def conf(name, mappings = {})
                 mappings = mappings.transform_keys do |child|
                     if child.respond_to?(:to_str)
                         conf = mappings[child]
-                        Roby.warn_deprecated "providing the child as string in #conf "\
-                            "is deprecated, use the _child accessors "\
-                            "instead (here #{child}_child => [#{conf.join(', ')}])"
+                        Roby.warn_deprecated "providing the child as string in #conf " \
+                                             "is deprecated, use the _child accessors " \
+                                             "instead (here #{child}_child => [#{conf.join(', ')}])"
                         child
                     else
                         child.child_name
@@ -1331,7 +1339,7 @@ def merge(other_model)
                 end
 
                 if needed_specializations.empty?
-                    super(other_model)
+                    super
                 else
                     base_model = root_model.merge(other_model)
                     # If base_model is a placeholder model, we apply the
@@ -1367,7 +1375,7 @@ def fullfills?(models)
                         other_model
                     end
                 end
-                super(models)
+                super
             end
         end
     end
diff --git a/lib/syskit/models/composition_child.rb b/lib/syskit/models/composition_child.rb
index d0c1dddf9..8a5f21ef3 100644
--- a/lib/syskit/models/composition_child.rb
+++ b/lib/syskit/models/composition_child.rb
@@ -14,6 +14,7 @@ class CompositionChild < InstanceRequirements
             # Set which contains at most one Component model and any number
             # of data service models
             attr_accessor :dependency_options
+
             # [InstanceSelection] information needed to update the composition's
             # parent models about the child (mainly port mappings)
             def overload_info
@@ -55,22 +56,22 @@ def eql?(other)
 
             # @deprecated use {#try_resolve_and_bind_child} instead
             def try_resolve_child(task)
-                Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                    "CompositionChild#try_resolve_and_bind_child instead"
+                Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                     "CompositionChild#try_resolve_and_bind_child instead"
                 try_resolve_and_bind_child(task)
             end
 
             # @deprecated use {#try_resolve_and_bind_child_recursive} instead
             def try_resolve_child_recursive(root)
-                Roby.warn_deprecated "#{__method__} is deprecated, use "\
-                    "CompositionChild#try_resolve_and_bind_child_recursive instead"
+                Roby.warn_deprecated "#{__method__} is deprecated, use " \
+                                     "CompositionChild#try_resolve_and_bind_child_recursive instead"
                 try_resolve_and_bind_child_recursive(root)
             end
 
             # @deprecated use {#resolve_and_bind_child} instead
             def resolve_child(task)
-                Roby.warn_deprecated "#{__method__} is deprecated, "\
-                    "use #resolve_and_bind_child instead"
+                Roby.warn_deprecated "#{__method__} is deprecated, " \
+                                     "use #resolve_and_bind_child instead"
                 resolve_and_bind_child(task)
             end
 
@@ -171,7 +172,7 @@ def bind(component_or_service)
                     # "right" child, and that it is actually compatible with
                     # the child model
                     bind_resolve_parent(component_or_service.component)
-                    super(component_or_service)
+                    super
                 else
                     parent = bind_resolve_parent(component_or_service)
                     resolve_and_bind_child(composition_model.bind(parent))
@@ -192,12 +193,12 @@ def bind_resolve_parent(component)
 
                 if compositions.empty?
                     raise ArgumentError,
-                          "cannot bind #{self} to #{component}: it is not the child "\
+                          "cannot bind #{self} to #{component}: it is not the child " \
                           "of any #{composition_model} composition"
                 else
                     raise ArgumentError,
-                          "cannot bind #{self} to #{component}: it is the child of "\
-                          "one or more #{composition_model} compositions, but not "\
+                          "cannot bind #{self} to #{component}: it is the child of " \
+                          "one or more #{composition_model} compositions, but not " \
                           "with the role '#{child_name}'"
                 end
             end
@@ -308,10 +309,7 @@ def to_instance_requirements
         end
 
         class InvalidCompositionChildPort < RuntimeError
-            attr_reader :composition_model
-            attr_reader :child_name
-            attr_reader :port_name
-            attr_reader :existing_ports
+            attr_reader :composition_model, :child_name, :port_name, :existing_ports
 
             def initialize(composition_model, child_name, port_name)
                 @composition_model = composition_model
diff --git a/lib/syskit/models/composition_specialization.rb b/lib/syskit/models/composition_specialization.rb
index e77c26833..3afea9f06 100644
--- a/lib/syskit/models/composition_specialization.rb
+++ b/lib/syskit/models/composition_specialization.rb
@@ -13,6 +13,7 @@ def is_specialization?
 
                 # The root composition model in the specialization chain
                 attr_accessor :root_model
+
                 # The set of definition blocks that have been applied on +self+ in
                 # the process of specializing +root_model+
                 attribute(:definition_blocks) { [] }
@@ -134,12 +135,8 @@ def compatible_with?(spec)
             end
 
             def find_specialization(child_name, model)
-                if selected_models = specialized_children[child_name]
-                    if matches = selected_models.find_all { |m| m.fullfills?(model) }
-                        unless matches.empty?
-                            matches
-                        end
-                    end
+                if (selected_models = specialized_children[child_name]) && (matches = selected_models.find_all { |m| m.fullfills?(model) }) && !matches.empty?
+                    matches
                 end
             end
 
@@ -211,7 +208,8 @@ def weak_match?(selection)
                     if this_selection = selection[child_name]
                         has_match = true
                         this_selection.fullfills?(child_models)
-                    else true
+                    else
+                        true
                     end
                 end
                 has_match && result
diff --git a/lib/syskit/models/configured_deployment.rb b/lib/syskit/models/configured_deployment.rb
index 6658a0e7f..7823ca84c 100644
--- a/lib/syskit/models/configured_deployment.rb
+++ b/lib/syskit/models/configured_deployment.rb
@@ -24,8 +24,7 @@ class ConfiguredDeployment
             # @return [String] the name of the logger to override the default logger name.
             attr_reader :logger_name
 
-            # rubocop: disable Metrics/ParameterLists
-            def initialize(
+            def initialize( # rubocop: disable Metrics/ParameterLists
                 process_server_name, model, name_mappings = {},
                 process_name = model.name, spawn_options = {}, read_only: false,
                 logger_name: nil, **spawn_options_kw
@@ -42,10 +41,13 @@ def initialize(
                 @name_mappings       = default_mappings.merge(name_mappings)
                 @process_name        = process_name
                 @spawn_options       = spawn_options.merge(spawn_options_kw)
-                @read_only           = resolve_read_only(read_only, @name_mappings)
+                @read_only           = resolve_read_only(read_only, non_logger_task_names)
                 @logger_name         = logger_name
             end
-            # rubocop: enable Metrics/ParameterLists
+
+            def non_logger_task_names
+                @name_mappings.values.grep_v(/_Logger$/)
+            end
 
             # @api private
             #
@@ -53,19 +55,19 @@ def initialize(
             # read_only.
             #
             # @return [Array<String>]
-            def resolve_read_only(read_only, mappings)
-                non_logger_names = mappings.values.reject { |name| /_Logger$/ === name }
-                return non_logger_names if read_only == true
+            def resolve_read_only(read_only, task_names)
                 return [] unless read_only
 
-                read_only = [read_only] unless read_only.kind_of?(Array)
-                selection = non_logger_names.select do |task_name|
-                    read_only.any? { |task_name_pattern| task_name_pattern === task_name }
+                return task_names if read_only == true
+
+                read_only = Array(read_only)
+                selection = task_names.select do |task_name|
+                    read_only.any? { |pattern| pattern === task_name }
                 end
                 if selection.empty? && !read_only.empty?
                     raise ArgumentError,
-                          "#{read_only} is not a valid deployed task name or pattern. "\
-                          "The valid deployed task names are #{non_logger_names}."
+                          "#{read_only} is not a valid deployed task name or pattern. " \
+                          "The valid deployed task names are #{task_names}."
                 end
                 selection
             end
@@ -75,7 +77,7 @@ def resolve_read_only(read_only, mappings)
             # Filters out options that are part of the spawn options but not of
             # the command-line generation options
             def filter_command_line_options(
-                oro_logfile: nil, wait: nil, output: nil,
+                oro_logfile: nil, output: nil,
                 **command_line_options
             )
                 command_line_options
@@ -158,7 +160,7 @@ def new(**options)
                 model.new(**options)
             end
 
-            # rubocop:disable Metrics/CyclomaticComplexity, Metrics/PerceivedComplexity, Metrics/AbcSize
+            # rubocop:disable Metrics/CyclomaticComplexity, Metrics/AbcSize
             def ==(other)
                 return unless other.kind_of?(ConfiguredDeployment)
 
@@ -170,7 +172,7 @@ def ==(other)
                     read_only == other.read_only &&
                     logger_name == other.logger_name
             end
-            # rubocop:enable Metrics/CyclomaticComplexity, Metrics/PerceivedComplexity, Metrics/AbcSize
+            # rubocop:enable Metrics/CyclomaticComplexity, Metrics/AbcSize
 
             def hash
                 [process_name, model].hash
diff --git a/lib/syskit/models/data_service.rb b/lib/syskit/models/data_service.rb
index dad423058..fdc07dec4 100644
--- a/lib/syskit/models/data_service.rb
+++ b/lib/syskit/models/data_service.rb
@@ -36,7 +36,7 @@ def match
             end
 
             def clear_model
-                super()
+                super
                 @orogen_model = OroGen::Spec::TaskContext.new(@orogen_model.project)
                 port_mappings.clear
             end
@@ -104,6 +104,7 @@ def each_required_model
             # DataServiceModel#apply_block
             class BlockInstanciator < BasicObject
                 attr_reader :name
+
                 def initialize(model, name = nil)
                     unless model.orogen_model
                         raise InternalError, "no interface for #{model.short_name}"
@@ -119,7 +120,7 @@ def respond_to_missing?(m, _include_private)
                         @model.respond_to?(m)
                 end
 
-                ruby2_keywords def method_missing(m, *args, &block) # rubocop:disable Style/MethodMissingSuper, Style/MissingRespondToMissing
+                ruby2_keywords def method_missing(m, *args, &block)
                     if @orogen_model.respond_to?(m)
                         @orogen_model.public_send(m, *args, &block)
                     else
@@ -154,7 +155,7 @@ def apply_block(name = nil, &block)
             # @raise [ArgumentError] if self does not provide service_type
             def port_mappings_for(service_type)
                 unless (result = port_mappings[service_type])
-                    raise ArgumentError, "#{service_type.short_name} is not "\
+                    raise ArgumentError, "#{service_type.short_name} is not " \
                                          "provided by #{short_name}"
                 end
 
@@ -185,9 +186,9 @@ def provides(service_model, new_port_mappings = {})
                 # can be provided
                 unless kind_of?(service_model.class)
                     raise ArgumentError,
-                          "a #{self.class.name} cannot provide a "\
-                          "#{service_model.class.name}. If this is really "\
-                          "what you mean, declare #{name} as a "\
+                          "a #{self.class.name} cannot provide a " \
+                          "#{service_model.class.name}. If this is really " \
+                          "what you mean, declare #{name} as a " \
                           "#{service_model.class.name} first"
                 end
 
@@ -200,10 +201,10 @@ def provides(service_model, new_port_mappings = {})
                 service_model.each_port do |p|
                     if find_port(p.name) && !new_port_mappings[p.name]
                         raise SpecError,
-                              "port collision: #{self} and #{service_model} both "\
-                              "have a port named #{p.name}. If you mean to tell "\
-                              "syskit that this is the same port, you must provide "\
-                              "the mapping explicitely by adding "\
+                              "port collision: #{self} and #{service_model} both " \
+                              "have a port named #{p.name}. If you mean to tell " \
+                              "syskit that this is the same port, you must provide " \
+                              "the mapping explicitely by adding " \
                               "'#{p.name}' => '#{p.name}' to the provides statement"
                     end
                 end
@@ -211,7 +212,7 @@ def provides(service_model, new_port_mappings = {})
                 new_port_mappings.each do |service_name, self_name|
                     unless (source_port = service_model.find_port(service_name))
                         raise SpecError,
-                              "#{service_name} is not a port of "\
+                              "#{service_name} is not a port of " \
                               "#{service_model.name}"
                     end
                     unless (target_port = find_port(self_name))
@@ -220,20 +221,20 @@ def provides(service_model, new_port_mappings = {})
                     end
                     if target_port.type != source_port.type
                         raise SpecError,
-                              "invalid port mapping #{service_name} => #{self_name} in "\
-                              "#{name}.provides("\
-                              "#{service_model.name}): port #{source_port.name} "\
-                              "on #{name} is of type "\
-                              "#{source_port.type.name} and #{target_port.name} on "\
-                              "#{service_model.name} is of type "\
+                              "invalid port mapping #{service_name} => #{self_name} in " \
+                              "#{name}.provides(" \
+                              "#{service_model.name}): port #{source_port.name} " \
+                              "on #{name} is of type " \
+                              "#{source_port.type.name} and #{target_port.name} on " \
+                              "#{service_model.name} is of type " \
                               "#{target_port.type.name}"
                     elsif source_port.class != target_port.class
                         raise SpecError,
-                              "invalid port mapping #{service_name} => #{self_name} in "\
-                              "#{name}.provides("\
-                              "#{service_model.name}): port #{source_port.name} "\
-                              "on #{name} is a #{target_port.class.name} "\
-                              "and #{target_port.name} on #{service_model.name} "\
+                              "invalid port mapping #{service_name} => #{self_name} in " \
+                              "#{name}.provides(" \
+                              "#{service_model.name}): port #{source_port.name} " \
+                              "on #{name} is a #{target_port.class.name} " \
+                              "and #{target_port.name} on #{service_model.name} " \
                               "is of a #{source_port.class.name}"
                     end
                 end
@@ -280,14 +281,14 @@ def provides(service_model, new_port_mappings = {})
 
             # @deprecated use {#placeholder_model} instead
             def proxy_task_model
-                Roby.warn_deprecated "DataService.proxy_task_model is deprecated, "\
+                Roby.warn_deprecated "DataService.proxy_task_model is deprecated, " \
                                      "use .placeholder_model instead"
                 placeholder_model
             end
 
             # @deprecated use {#create_placeholder_task} instead
             def create_proxy_task
-                Roby.warn_deprecated "DataService.create_proxy_task is deprecated, "\
+                Roby.warn_deprecated "DataService.create_proxy_task is deprecated, " \
                                      "use .create_placeholder_task instead"
                 create_placeholder_task
             end
@@ -391,7 +392,7 @@ def to_dot(io)
                     parent_id = parent_m.object_id.abs
                     (parent_m.each_input_port.to_a + parent_m.each_output_port.to_a)
                         .each do |parent_p|
-                            io << "  C#{parent_id}:#{parent_p.name} -> "\
+                            io << "  C#{parent_id}:#{parent_p.name} -> " \
                                   "C#{id}:#{port_mappings_for(parent_m)[parent_p.name]};"
                         end
                 end
@@ -507,14 +508,8 @@ def bus_to_client?
                 client_in_srv
             end
 
-            attr_reader :bus_base_srv
-            attr_reader :bus_in_srv
-            attr_reader :bus_out_srv
-            attr_reader :bus_srv
-
-            attr_reader :client_in_srv
-            attr_reader :client_out_srv
-            attr_reader :client_srv
+            attr_reader :bus_base_srv, :bus_in_srv, :bus_out_srv, :bus_srv,
+                        :client_in_srv, :client_out_srv, :client_srv
 
             attr_predicate :lazy_dispatch?, true
 
@@ -554,13 +549,13 @@ def setup_submodel(
                 model.override_policy = override_policy
                 if !message_type && !model.message_type
                     raise ArgumentError,
-                          "com bus types must either have a message_type or provide "\
+                          "com bus types must either have a message_type or provide " \
                           "another com bus type that does"
                 elsif message_type && model.message_type
                     if message_type != model.message_type
                         raise ArgumentError,
-                              "cannot override message types. The current message type "\
-                              "of #{model.name} is #{model.message_type}, which "\
+                              "cannot override message types. The current message type " \
+                              "of #{model.name} is #{model.message_type}, which " \
                               "might come from another provided com bus"
                     end
                 elsif !model.message_type
@@ -611,8 +606,8 @@ def included(mod)
                         client_to_bus = options.fetch(:client_to_bus)
                         bus_to_client = options.fetch(:bus_to_client)
                     rescue KeyError
-                        raise ArgumentError, "you must provide both the client_to_bus "\
-                                             "and bus_to_client option when "\
+                        raise ArgumentError, "you must provide both the client_to_bus " \
+                                             "and bus_to_client option when " \
                                              "instanciating a com bus dynamic service"
                     end
 
@@ -630,21 +625,19 @@ def included(mod)
                     elsif bus_to_client
                         provides combus_m.bus_out_srv, "from_bus" => out_name
                     else
-                        raise ArgumentError, "at least one of bus_to_client or "\
+                        raise ArgumentError, "at least one of bus_to_client or " \
                                              "client_to_bus must be true"
                     end
                 end
             end
 
             def provides(service_model, new_port_mappings = {})
-                if service_model.respond_to?(:message_type)
-                    if message_type && service_model.message_type &&
-                       (message_type != service_model.message_type)
-                        raise ArgumentError,
-                              "#{name} cannot provide #{service_model.name} "\
-                              "as their message type differs (resp. #{message_type} "\
-                              "and #{service_model.message_type}"
-                    end
+                if service_model.respond_to?(:message_type) && (message_type && service_model.message_type &&
+                       (message_type != service_model.message_type))
+                    raise ArgumentError,
+                          "#{name} cannot provide #{service_model.name} " \
+                          "as their message type differs (resp. #{message_type} " \
+                          "and #{service_model.message_type}"
                 end
 
                 super
diff --git a/lib/syskit/models/deployment.rb b/lib/syskit/models/deployment.rb
index 9a9e0fb02..e48c7acef 100644
--- a/lib/syskit/models/deployment.rb
+++ b/lib/syskit/models/deployment.rb
@@ -42,6 +42,40 @@ def instanciate(plan, arguments = {})
                 task
             end
 
+            # @api private
+            #
+            # Context object used to evaluate the block given to new_submodel
+            class OroGenEvaluationContext < BasicObject
+                attr_reader :task_name_to_syskit_model
+
+                def initialize(task_m)
+                    @task_m = task_m
+                    @orogen_model = task_m.orogen_model
+                    @task_name_to_syskit_model = {}
+                end
+
+                def task(name, model)
+                    if model.respond_to?(:orogen_model)
+                        deployed_task = @orogen_model.task(name, model.orogen_model)
+                        @task_name_to_syskit_model[name] = model
+                    else
+                        deployed_task = @orogen_model.task(name, model)
+                        @task_name_to_syskit_model[name] =
+                            ::Syskit::TaskContext.model_for(deployed_task.task_model)
+                    end
+
+                    deployed_task
+                end
+
+                def respond_to_missing?(name, _private = false)
+                    @orogen_model.respond_to?(name)
+                end
+
+                def method_missing(name, *args, **kw)
+                    @orogen_model.send(name, *args, **kw)
+                end
+            end
+
             # Creates a new deployment model
             #
             # @option options [OroGen::Spec::Deployment] orogen_model the oroGen
@@ -54,8 +88,17 @@ def new_submodel(name: nil, orogen_model: nil, **options, &block)
                 klass = super(name: name, **options) do
                     self.orogen_model = orogen_model ||
                         Models.create_orogen_deployment_model(name)
+
+                    @task_name_to_syskit_model = {}
+                    self.orogen_model.task_activities.each do |act|
+                        @task_name_to_syskit_model[act.name] =
+                            ::Syskit::TaskContext.model_for(act.task_model)
+                    end
+
                     if block
-                        self.orogen_model.instance_eval(&block)
+                        ctxt = OroGenEvaluationContext.new(self)
+                        ctxt.instance_eval(&block)
+                        @task_name_to_syskit_model.merge!(ctxt.task_name_to_syskit_model)
                     end
                 end
                 klass.each_deployed_task_name do |name|
@@ -91,7 +134,7 @@ def tasks
                 orogen_model.task_activities
             end
 
-            # Enumerate the names of the tasks deployed by self
+            # Enumerate the unmapped names of the tasks deployed by self
             def each_deployed_task_name
                 return enum_for(__method__) unless block_given?
 
@@ -100,15 +143,36 @@ def each_deployed_task_name
                 end
             end
 
+            # @api private
+            #
+            # Resolve the Syskit task model for one of this deployment's tasks
+            def resolve_syskit_model_for_deployed_task(deployed_task)
+                task_name = deployed_task.name
+                if (registered = @task_name_to_syskit_model[task_name])
+                    return registered
+                end
+
+                # If this happens, it is most probably because the caller modified
+                # the underlying orogen model directly. Warn about that
+                Roby.warn_deprecated(
+                    "Modifying the orogen model of a deployment is deprecated. Define " \
+                    "the orogen model before the syskit model creation, or use " \
+                    "Deployment.define_deployed_task"
+                )
+
+                @task_name_to_syskit_model[task_name] =
+                    ::Syskit::TaskContext.model_for(deployed_task.task_model)
+            end
+
             # Enumerate the tasks that are deployed in self
             #
-            # @yieldparam [String] name the task name
+            # @yieldparam [String] name the unmapped task name
             # @yieldparam [Models::TaskContext] model the deployed task model
             def each_deployed_task_model
                 return enum_for(__method__) unless block_given?
 
                 each_orogen_deployed_task_context_model do |deployed_task|
-                    task_model = Syskit::TaskContext.model_for(deployed_task.task_model)
+                    task_model = resolve_syskit_model_for_deployed_task(deployed_task)
                     yield(deployed_task.name, task_model)
                 end
             end
diff --git a/lib/syskit/models/deployment_group.rb b/lib/syskit/models/deployment_group.rb
index 5b72cf278..058469340 100644
--- a/lib/syskit/models/deployment_group.rb
+++ b/lib/syskit/models/deployment_group.rb
@@ -75,7 +75,7 @@ def use_group(other)
                     .merge(other.deployed_tasks) do |task_name, self_d, other_d|
                         if self_d != other_d
                             raise TaskNameAlreadyInUse.new(task_name, self_d, other_d),
-                                  "there is already a deployment that "\
+                                  "there is already a deployment that " \
                                   "provides #{task_name}"
                         end
                         self_d
@@ -226,11 +226,11 @@ def register_configured_deployment(configured_deployment)
             # Enumerates all the deployments registered on self
             #
             # @yieldparam [ConfiguredDeployment]
-            def each_configured_deployment
+            def each_configured_deployment(&block)
                 return enum_for(__method__) unless block_given?
 
                 deployments.each_value do |set|
-                    set.each { |c| yield(c) }
+                    set.each(&block)
                 end
             end
 
@@ -310,6 +310,102 @@ def use_ruby_tasks(
                 end
             end
 
+            # Deploy oroGen-generated tasks within the Syskit process itself
+            #
+            # Valid values for the `activity` parameter:
+            # * type: "periodic", period: PERIOD_IN_SECONDS
+            # * type: "triggered"
+            # * type: "slave"
+            # * type: "fd_driven"
+            #
+            # @param [Hash] model_to_name mapping of an syskit task context model to
+            #   the desired task name, e.g. `OroGen.orogen_syskit_tests.Task => "task"`
+            # @param [Hash] activity specification of an activity if the task's default
+            #   activity needs to be overriden.
+            # @param [String] on the name of the process manager that should
+            #   be used
+            # @param process_managers the object that maintains the set of
+            #   process managers
+            # @param [Boolean|#===|Array<#===>] read_only set the deployment or some of
+            #   the deployed tasks as read only. To set the whole deployment as read only,
+            #   one should pass read_only: true. To set some tasks, pass a regex that
+            #   matches the deployed task names. Defaults to false.
+            # @return [[ConfiguredDeployment]]
+            def use_in_process_tasks(
+                model_to_name = {}, on: "in_process_tasks",
+                activity: {}, read_only: false, **model_to_name_kw
+            )
+                unless model_to_name.respond_to?(:each_key)
+                    raise ArgumentError, "mappings should be given as model => name"
+                end
+
+                model_to_name = model_to_name.merge(model_to_name_kw)
+                model_to_name.each_key do |task_model|
+                    validate_task_model_is_plain(task_model)
+                end
+
+                model_to_name.map do |task_model, name|
+                    task_name, deployment_m = in_process_tasks_create_deployment_model(
+                        task_model, activity
+                    )
+
+                    configured_deployment =
+                        Models::ConfiguredDeployment
+                        .new(on, deployment_m, { task_name => name }, name,
+                             read_only: read_only)
+                    register_configured_deployment(configured_deployment)
+                    configured_deployment
+                end
+            end
+
+            # @api private
+            #
+            # oroGen spec for a task model's default deployment
+            #
+            # @param [Class<Syskit::TaskContext>] task_model the task model of interest
+            # @param [OroGen::Loaders::Base] loader the orogen loader used to resolve
+            #   the model
+            # @return [OroGen::Spec::TaskDeployment] the task model's default deployment
+            def in_process_tasks_create_deployment_model(
+                task_model, activity
+            )
+                default_deployment_name =
+                    OroGen::Spec::Project
+                    .default_deployment_name(task_model.orogen_model.name)
+
+                deployed_task = nil
+                syskit_deployment_m = Syskit::Deployment.new_submodel do
+                    deployed_task = task(default_deployment_name, task_model)
+                end
+                in_process_tasks_override_activity(deployed_task, activity)
+                [default_deployment_name, syskit_deployment_m]
+            end
+
+            # @api private
+            #
+            # Update a deployed task's activity based on {#use_in_process_tasks}'
+            # activity parameter
+            #
+            # @param [OroGen::Spec::TaskDeployment] deployed_task_model the orogen
+            #   specification for the deployed task
+            # @param [Hash] activity
+            def in_process_tasks_override_activity(deployed_task_model, activity)
+                return if activity.empty?
+
+                case activity[:type].to_sym
+                when :periodic
+                    deployed_task_model.periodic(activity.fetch(:period))
+                when :triggered
+                    deployed_task_model.triggered
+                when :fd_driven
+                    deployed_task_model.fd_driven
+                when :slave
+                    deployed_task_model.slave
+                else
+                    raise ArgumentError, "invalid activity type #{activity}"
+                end
+            end
+
             # Declare tasks that are going to be started by some other process,
             # but whose tasks are going to be integrated in the syskit network
             #
@@ -325,8 +421,8 @@ def use_unmanaged_task(mappings,
                 model_to_name = mappings.map do |task_model, name|
                     if task_model.respond_to?(:to_str)
                         Roby.warn_deprecated(
-                            "specifying the task model as string "\
-                            "is deprecated. Load the task library and use Syskit's "\
+                            "specifying the task model as string " \
+                            "is deprecated. Load the task library and use Syskit's " \
                             "task class"
                         )
                         task_model_name = task_model
@@ -341,15 +437,7 @@ def use_unmanaged_task(mappings,
                 end
 
                 model_to_name.each do |task_model, _name|
-                    is_pure_task_context_model =
-                        task_model.kind_of?(Class) &&
-                        (task_model <= Syskit::TaskContext) &&
-                        !(task_model <= Syskit::RubyTaskContext)
-                    unless is_pure_task_context_model
-                        raise ArgumentError,
-                              "expected a mapping from a task context "\
-                              "model to a name, but got #{task_model}"
-                    end
+                    validate_task_model_is_plain(task_model)
                 end
 
                 model_to_name.map do |task_model, name|
@@ -369,6 +457,26 @@ def use_unmanaged_task(mappings,
                 end
             end
 
+            # Raise if a given task model is not a "plain" orogen-generated task context
+            def validate_task_model_is_plain(task_m)
+                return if plain_task_context_model?(task_m)
+
+                raise ArgumentError,
+                      "expected a mapping from a task context " \
+                      "model to a name, but got #{task_m}"
+            end
+
+            # Tests whether a given task model is a "plain" orogen-generated task context
+            def plain_task_context_model?(model)
+                model.kind_of?(Class) &&
+                    (model <= Syskit::TaskContext) &&
+                    !(model <= Syskit::RubyTaskContext)
+            end
+
+            def deployment_model?(model)
+                model.kind_of?(Class) && model <= Syskit::Deployment
+            end
+
             # @api private
             #
             # Helper to {#use_deployment} and {#use_deployments_from} to resolve
@@ -412,6 +520,7 @@ def use_deployment(
                 process_managers: Syskit.conf,
                 read_only: false,
                 logger_name: nil,
+                execution_mode: nil,
                 **run_options
             )
                 deployment_spec = {}
@@ -433,8 +542,8 @@ def use_deployment(
                                   "only deployment models can be given without a name"
                         elsif n <= Syskit::TaskContext && !(n <= Syskit::RubyTaskContext)
                             raise TaskNameRequired,
-                                  "you must provide a task name when starting a "\
-                                  "component by type, as e.g. use_deployment "\
+                                  "you must provide a task name when starting a " \
+                                  "component by type, as e.g. use_deployment " \
                                   "OroGen.xsens_imu.Task => 'imu'"
                         elsif !(n <= Syskit::Deployment)
                             raise ArgumentError,
@@ -442,20 +551,17 @@ def use_deployment(
                         end
                         deployments_by_name[n.orogen_model.name] = n
                         n.orogen_model
-                    else n
+                    else
+                        n
                     end
                 end
                 deployment_spec = deployment_spec.transform_keys do |k|
                     if k.respond_to?(:to_str)
                         k
                     else
-                        is_valid =
-                            k.kind_of?(Class) &&
-                            (k <= Syskit::TaskContext || k <= Syskit::Deployment) &&
-                            !(k <= Syskit::RubyTaskContext)
-                        unless is_valid
+                        unless plain_task_context_model?(k) || deployment_model?(k)
                             raise ArgumentError,
-                                  "only deployment and task context "\
+                                  "only deployment and task context " \
                                   "models can be deployed by use_deployment, got #{k}"
                         end
                         deployments_by_name[k.orogen_model.name] = k
@@ -467,6 +573,13 @@ def use_deployment(
                     *names, deployment_spec, loader: loader, **run_options
                 )
                 new_deployments.map do |deployment_name, name_mappings, name, spawn_options|
+                    # Workaround until we get rid of parse_run_options
+                    #
+                    # In Syskit's case, both log dir and working directory are controlled
+                    # by the process server config
+                    spawn_options.delete(:working_directory)
+                    spawn_options.delete(:wait)
+                    spawn_options[:execution_mode] = execution_mode if execution_mode
                     unless (model = deployments_by_name[deployment_name])
                         orogen_model = loader.deployment_model_from_name(deployment_name)
                         model = Syskit::Deployment.find_model_by_orogen(orogen_model)
diff --git a/lib/syskit/models/dynamic_data_service.rb b/lib/syskit/models/dynamic_data_service.rb
index 9d46e29ff..10d290d6d 100644
--- a/lib/syskit/models/dynamic_data_service.rb
+++ b/lib/syskit/models/dynamic_data_service.rb
@@ -13,6 +13,7 @@ class DynamicDataService
             attr_reader :service_model
             # The service definition block
             attr_reader :block
+
             # Whether this service can be dynamically added to a
             # configured/running task
             attr_predicate :addition_requires_reconfiguration?
@@ -98,21 +99,21 @@ def driver_for(device_model, port_mappings = {}, **options)
                 def provides(service_model, port_mappings = {}, as: nil, **arguments)
                     if service
                         raise ArgumentError,
-                              "this dynamic service instantiation block already "\
+                              "this dynamic service instantiation block already " \
                               "created one new service"
                     end
 
                     unless service_model.fullfills?(dynamic_service.service_model)
                         raise ArgumentError,
-                              "#{service_model.short_name} does not fullfill the "\
-                              "model for the dynamic service #{dynamic_service.name}, "\
+                              "#{service_model.short_name} does not fullfill the " \
+                              "model for the dynamic service #{dynamic_service.name}, " \
                               "#{dynamic_service.service_model.short_name}"
                     end
 
                     if as && as != name
                         raise ArgumentError,
-                              "the as: argument was given (with value #{as}) but it "\
-                              "is required to be #{name}. Note that it can be omitted "\
+                              "the as: argument was given (with value #{as}) but it " \
+                              "is required to be #{name}. Note that it can be omitted " \
                               "in a dynamic service block"
                     end
 
diff --git a/lib/syskit/models/dynamic_port_binding.rb b/lib/syskit/models/dynamic_port_binding.rb
index 4c5b54868..b1c74941e 100644
--- a/lib/syskit/models/dynamic_port_binding.rb
+++ b/lib/syskit/models/dynamic_port_binding.rb
@@ -12,7 +12,7 @@ class DynamicPortBinding
             # This resolver's data type
             attr_reader :type
 
-            def initialize(port_model, type, output: port_model.output?, port_resolver:)
+            def initialize(port_model, type, port_resolver:, output: port_model.output?)
                 @port_model = port_model
                 @type = type
                 @output = output
@@ -85,21 +85,19 @@ def self.create_from_matcher(matcher, direction: :auto)
 
                 unless %i[auto input output].include?(direction)
                     raise ArgumentError,
-                          "'#{direction}' is not a valid value for the 'direction' "\
+                          "'#{direction}' is not a valid value for the 'direction' " \
                           "option. Should be one of :auto, :input or :output"
                 end
 
-                if direction == :auto
-                    unless (direction = matcher.try_resolve_direction)
-                        raise ArgumentError,
-                              "cannot create a dynamic data source from a matcher "\
-                              "whose direction cannot be inferred"
-                    end
+                if direction == :auto && !(direction = matcher.try_resolve_direction)
+                    raise ArgumentError,
+                          "cannot create a dynamic data source from a matcher " \
+                          "whose direction cannot be inferred"
                 end
 
                 unless (type = matcher.try_resolve_type)
                     raise ArgumentError,
-                          "cannot create a dynamic data source from a matcher "\
+                          "cannot create a dynamic data source from a matcher " \
                           "whose type cannot be inferred"
                 end
 
@@ -164,7 +162,7 @@ def respond_to_missing?(name, _)
                     @root_resolver.respond_to?(name)
                 end
 
-                def method_missing(name, *args, **keywords) # rubocop:disable Style/MethodMissingSuper
+                def method_missing(name, *args, **keywords)
                     @root_resolver.__send__(name, *args, **keywords)
                 end
 
@@ -197,9 +195,18 @@ def initialize(name, component_model, *arguments, **kw_arguments)
             class BoundOutputReader < OutputReader
                 include BoundAccessor
 
+                def initialize(
+                    name, component_model, *arguments,
+                    klass: Syskit::DynamicPortBinding::BoundOutputReader, **kw_arguments
+                )
+                    super(name, component_model, *arguments, **kw_arguments)
+
+                    @klass = klass
+                end
+
                 def instanciate(component, value_resolver: IdentityValueResolver.new)
                     port_binding = @port_binding.instanciate
-                    Syskit::DynamicPortBinding::BoundOutputReader.new(
+                    @klass.new(
                         name, component, port_binding,
                         value_resolver: value_resolver, **policy
                     )
@@ -338,7 +345,7 @@ def __array_access(args)
 
                     if @type.length <= args.first
                         ::Kernel.raise ::ArgumentError,
-                                       "element #{args.first} out of bound in "\
+                                       "element #{args.first} out of bound in " \
                                        "an array of #{@type.length}"
                     end
 
@@ -365,7 +372,7 @@ def __indexed_access(args)
                 def __compound_access(name, args)
                     unless args.empty?
                         ::Kernel.raise ::ArgumentError,
-                                       "expected zero arguments to `#{name}`, "\
+                                       "expected zero arguments to `#{name}`, " \
                                        "got #{args.size}"
                     end
 
diff --git a/lib/syskit/models/faceted_access.rb b/lib/syskit/models/faceted_access.rb
index 532d68b19..22eda3fb9 100644
--- a/lib/syskit/models/faceted_access.rb
+++ b/lib/syskit/models/faceted_access.rb
@@ -45,10 +45,10 @@ def find_data_service(name)
 
             def find_data_service_from_type(type)
                 srv = required.find_data_service_from_type(type)
-                if !required.each_required_model.to_a.include?(srv.model)
-                    find_data_service(srv.name)
-                else
+                if required.each_required_model.to_a.include?(srv.model)
                     srv
+                else
+                    find_data_service(srv.name)
                 end
             end
 
@@ -107,20 +107,16 @@ def each_port_helper(each_method)
                 end
             end
 
-            def each_input_port
+            def each_input_port(&block)
                 return enum_for(:each_input_port) unless block_given?
 
-                each_port_helper :each_input_port do |p|
-                    yield(p)
-                end
+                each_port_helper :each_input_port, &block
             end
 
-            def each_output_port
+            def each_output_port(&block)
                 return enum_for(:each_output_port) unless block_given?
 
-                each_port_helper :each_output_port do |p|
-                    yield(p)
-                end
+                each_port_helper :each_output_port, &block
             end
 
             def each_port
diff --git a/lib/syskit/models/orogen_base.rb b/lib/syskit/models/orogen_base.rb
index 71e5112c3..f23cc0c7f 100644
--- a/lib/syskit/models/orogen_base.rb
+++ b/lib/syskit/models/orogen_base.rb
@@ -20,6 +20,18 @@ def find_model_from_orogen_name(name)
                 nil
             end
 
+            # Return all syskit models subclasses of self that represent the
+            # given oroGen model
+            #
+            # @param orogen_model the oroGen model
+            # @return [Array<Syskit::TaskContext,Syskit::Deployment>] the
+            #   corresponding syskit model, or nil if there are none registered
+            def find_all_models_by_orogen(orogen_model)
+                each_submodel.find_all do |syskit_model|
+                    syskit_model.orogen_model == orogen_model
+                end
+            end
+
             # Return the syskit model that represents the given oroGen model
             #
             # @param orogen_model the oroGen model
@@ -34,13 +46,34 @@ def find_model_by_orogen(orogen_model)
                 nil
             end
 
-            # Returns the syskit model for the given oroGen model
+            # Returns the syskit model subclass of self for the given oroGen model
             #
             # @raise ArgumentError if no syskit model exists
+            # @raise ArgumentError if more than one matching syskit model exists,
+            #   and Conf.syskit.strict_model_for is set to true
             def model_for(orogen_model)
-                if m = find_model_by_orogen(orogen_model)
+                if Syskit.conf.strict_model_for?
+                    strict_model_for(orogen_model)
+                elsif (m = find_model_by_orogen(orogen_model))
                     m
-                else raise ArgumentError, "there is no syskit model for #{orogen_model.name}"
+                else
+                    raise ArgumentError, "there is no Syskit model for #{orogen_model.name}"
+                end
+            end
+
+            # @api private
+            #
+            # Implementation of {#model_for} when Syskit.conf.strict_model_for is set
+            def strict_model_for(orogen_model)
+                matches = find_all_models_by_orogen(orogen_model)
+                if matches.size == 1
+                    matches.first
+                elsif matches.empty?
+                    raise ArgumentError,
+                          "there is no Syskit model for #{orogen_model.name}"
+                else
+                    raise ArgumentError,
+                          "more than one Syskit model matches #{orogen_model.name}"
                 end
             end
         end
diff --git a/lib/syskit/models/placeholder.rb b/lib/syskit/models/placeholder.rb
index 54cd2b621..dffcc4dec 100644
--- a/lib/syskit/models/placeholder.rb
+++ b/lib/syskit/models/placeholder.rb
@@ -48,15 +48,13 @@ def fullfilled_model
                 result
             end
 
-            def each_required_model
+            def each_required_model(&block)
                 return enum_for(:each_required_model) unless block_given?
 
                 if component_model?
                     yield(proxied_component_model)
                 end
-                proxied_data_service_models.each do |m|
-                    yield(m)
-                end
+                proxied_data_service_models.each(&block)
             end
 
             def merge(other_model)
@@ -87,27 +85,27 @@ def merge(other_model)
                 Placeholder.for(model_list, component_model: task_model)
             end
 
-            def each_output_port
+            def each_output_port(&block)
                 return enum_for(:each_output_port) unless block_given?
 
                 @output_port_models.each_value do |list|
-                    list.each { |p| yield(p) }
+                    list.each(&block)
                 end
             end
 
-            def each_input_port
+            def each_input_port(&block)
                 return enum_for(:each_input_port) unless block_given?
 
                 @input_port_models.each_value do |list|
-                    list.each { |p| yield(p) }
+                    list.each(&block)
                 end
             end
 
-            def each_port
+            def each_port(&block)
                 return enum_for(:each_port) unless block_given?
 
-                each_output_port { |p| yield(p) }
-                each_input_port { |p| yield(p) }
+                each_output_port(&block)
+                each_input_port(&block)
             end
 
             def find_output_port(name)
@@ -138,7 +136,7 @@ def update_proxy_mappings
                     m.each_output_port do |port|
                         (@output_port_models[port.name] ||= []) << port.attach(self)
                     end
-                    m.each_input_port  do |port|
+                    m.each_input_port do |port|
                         (@input_port_models[port.name] ||= []) << port.attach(self)
                     end
                 end
@@ -265,7 +263,8 @@ def for(models, component_model: nil, as: nil)
 
                     if service
                         service.attach(proxy_component_model)
-                    else proxy_component_model
+                    else
+                        proxy_component_model
                     end
                 end
 
@@ -308,7 +307,8 @@ def resolve_models_argument(models, component_model: nil)
 
                             service = m
                             m.component_model
-                        else m
+                        else
+                            m
                         end
                     end
                     task_models, service_models = models.partition { |t| t <= Syskit::Component }
diff --git a/lib/syskit/models/port.rb b/lib/syskit/models/port.rb
index df34b582d..959907074 100644
--- a/lib/syskit/models/port.rb
+++ b/lib/syskit/models/port.rb
@@ -78,7 +78,8 @@ def attach(model)
             def try_to_component_port
                 if component_model.respond_to?(:self_port_to_component_port)
                     component_model.self_port_to_component_port(self)
-                else self
+                else
+                    self
                 end
             end
 
@@ -92,7 +93,8 @@ def try_to_component_port
             def to_component_port
                 if component_model.respond_to?(:self_port_to_component_port)
                     component_model.self_port_to_component_port(self)
-                else raise ArgumentError, "cannot resolve a port of #{component_model.short_name} into a component port"
+                else
+                    raise ArgumentError, "cannot resolve a port of #{component_model.short_name} into a component port"
                 end
             end
 
@@ -152,7 +154,8 @@ def can_connect_to?(sink_port)
             def respond_to_missing?(m, include_private)
                 if !OROGEN_MODEL_EXCLUDED_FORWARDINGS.include?(m) && orogen_model.respond_to?(m)
                     true
-                else super
+                else
+                    super
                 end
             end
 
@@ -161,7 +164,8 @@ def respond_to_missing?(m, include_private)
             def method_missing(m, *args, &block)
                 if !OROGEN_MODEL_EXCLUDED_FORWARDINGS.include?(m) && orogen_model.respond_to?(m)
                     orogen_model.public_send(m, *args, &block)
-                else super
+                else
+                    super
                 end
             end
 
@@ -271,8 +275,7 @@ def input?
         end
 
         class OutputReader
-            attr_reader :port
-            attr_reader :policy
+            attr_reader :port, :policy
 
             def initialize(port, policy = {})
                 @port = port
@@ -307,8 +310,7 @@ def ==(other)
         end
 
         class InputWriter
-            attr_reader :port
-            attr_reader :policy
+            attr_reader :port, :policy
 
             def initialize(port, policy = {})
                 @port = port
diff --git a/lib/syskit/models/port_access.rb b/lib/syskit/models/port_access.rb
index f4af5e695..3521b6514 100644
--- a/lib/syskit/models/port_access.rb
+++ b/lib/syskit/models/port_access.rb
@@ -31,7 +31,8 @@ def find_port(name)
             def port_by_name(name)
                 if p = find_port(name)
                     p
-                else raise ArgumentError, "#{self} has no port called #{name}, known ports are: #{each_port.map(&:name).sort.join(', ')}"
+                else
+                    raise ArgumentError, "#{self} has no port called #{name}, known ports are: #{each_port.map(&:name).sort.join(', ')}"
                 end
             end
 
diff --git a/lib/syskit/models/ruby_task_context.rb b/lib/syskit/models/ruby_task_context.rb
index 33ad69419..4b9b99a0b 100644
--- a/lib/syskit/models/ruby_task_context.rb
+++ b/lib/syskit/models/ruby_task_context.rb
@@ -27,11 +27,11 @@ def deployed_as(name, **options)
             #
             # The deployment is created with a single task named 'task'
             def deployment_model
-                orogen_model = self.orogen_model
                 deployment_name = "Deployments::RubyTasks::#{name}"
+                task_model = self
                 @deployment_model ||=
                     Syskit::Deployment.new_submodel(name: deployment_name) do
-                        task "task", orogen_model
+                        task "task", task_model
                     end
             end
         end
diff --git a/lib/syskit/models/specialization_manager.rb b/lib/syskit/models/specialization_manager.rb
index 6d79c1a84..169091d46 100644
--- a/lib/syskit/models/specialization_manager.rb
+++ b/lib/syskit/models/specialization_manager.rb
@@ -54,12 +54,10 @@ def empty?
             # Enumerates all specializations defined on {#composition_model}
             #
             # @yield [CompositionSpecialization]
-            def each_specialization
+            def each_specialization(&block)
                 return enum_for(:each_specialization) unless block_given?
 
-                specializations.each_value do |spec|
-                    yield(spec)
-                end
+                specializations.each_value(&block)
             end
 
             # Specifies a modification that should be applied on
@@ -348,7 +346,8 @@ def instanciated_specializations
                 root = composition_model.root_model
                 if root == composition_model
                     (@instanciated_specializations ||= {})
-                else root.specializations.instanciated_specializations
+                else
+                    root.specializations.instanciated_specializations
                 end
             end
 
@@ -411,7 +410,7 @@ def child_name
                 def initialize(model, reference_model)
                     @model = model
                     @reference_model = reference_model
-                    @overload_info = ::Hash.new
+                    @overload_info = {}
                 end
 
                 def apply_block(block)
@@ -425,12 +424,12 @@ def respond_to_missing?(symbol, include_private)
                     model.respond_to?(symbol) || super
                 end
 
-                ruby2_keywords def method_missing(m, *args, &block) # rubocop:disable Style/MissingRespondToMissing
+                ruby2_keywords def method_missing(m, *args, &block)
                     unless m =~ /_child$/
                         return model.send(m, *args, &block)
                     end
 
-                    child_name = $`
+                    child_name = ::Regexp.last_match.pre_match
                     if (info = overload_info[child_name])
                         return info
                     end
@@ -646,7 +645,7 @@ def matching_specialized_model(
                 specialized_model = specialized_model(*candidates.first)
                 Models.debug do
                     if specialized_model != composition_model
-                        Models.debug "using specialization #{specialized_model.short_name} "\
+                        Models.debug "using specialization #{specialized_model.short_name} " \
                                      "of #{composition_model.short_name}"
                     end
                     break
diff --git a/lib/syskit/models/task_context.rb b/lib/syskit/models/task_context.rb
index f79d77b93..2f2cad387 100644
--- a/lib/syskit/models/task_context.rb
+++ b/lib/syskit/models/task_context.rb
@@ -93,25 +93,26 @@ def make_state_events
             # Creates a subclass of TaskContext that represents the given task
             # specification. The class is registered as
             # Roby::Orogen::ProjectName::ClassName.
-            def define_from_orogen(orogen_model, register: false)
-                if model = find_model_by_orogen(orogen_model) # already defined, probably because of dependencies
+            def define_from_orogen(orogen_model, supermodel: nil, register: false, **kw)
+                # Already defined, probably because of dependencies
+                if (model = find_model_by_orogen(orogen_model))
                     return model
                 end
 
-                superclass = orogen_model.superclass
-                supermodel =
-                    if superclass # we are defining a root model
-                        find_model_by_orogen(superclass) ||
-                            define_from_orogen(superclass, register: register)
-                    else
-                        self
-                    end
-                klass = supermodel.new_submodel(orogen_model: orogen_model)
-
+                supermodel ||= supermodel_from_orogen(orogen_model)
+                klass = supermodel.new_submodel(orogen_model: orogen_model, **kw)
                 klass.register_model if register && orogen_model.name
                 klass
             end
 
+            def supermodel_from_orogen(orogen_model, register: false)
+                superclass = orogen_model.superclass
+                return self unless superclass # we are defining a root model
+
+                find_model_by_orogen(superclass) ||
+                    define_from_orogen(superclass, register: register)
+            end
+
             def register_model
                 OroGen.syskit_model_toplevel_constant_registration =
                     Roby.app.backward_compatible_naming?
@@ -232,11 +233,11 @@ def each_event_port(&block)
             # @return [TaskConfigurationManager]
             def configuration_manager
                 unless @configuration_manager
-                    if !concrete_model?
-                        manager = concrete_model.configuration_manager
-                    else
+                    if concrete_model?
                         manager = TaskConfigurationManager.new(Roby.app, self)
                         manager.reload
+                    else
+                        manager = concrete_model.configuration_manager
                     end
                     @configuration_manager = manager
                 end
diff --git a/lib/syskit/network_generation/async.rb b/lib/syskit/network_generation/async.rb
index f776fcc00..106f5fbf1 100644
--- a/lib/syskit/network_generation/async.rb
+++ b/lib/syskit/network_generation/async.rb
@@ -42,9 +42,7 @@ def transaction_committed?
 
             # @api private
             class Resolution < Concurrent::Future
-                attr_reader :plan
-                attr_reader :requirement_tasks
-                attr_reader :engine
+                attr_reader :plan, :requirement_tasks, :engine
 
                 def initialize(plan, event_logger, requirement_tasks, **options, &block)
                     @plan = plan
@@ -128,7 +126,7 @@ class InvalidState < RuntimeError; end
             def apply
                 unless future.complete?
                     raise InvalidState,
-                          "attempting to call Async#apply while processing "\
+                          "attempting to call Async#apply while processing " \
                           "is in progress"
                 end
 
diff --git a/lib/syskit/network_generation/dataflow_computation.rb b/lib/syskit/network_generation/dataflow_computation.rb
index 3af7909dd..2b0cf0c30 100644
--- a/lib/syskit/network_generation/dataflow_computation.rb
+++ b/lib/syskit/network_generation/dataflow_computation.rb
@@ -21,15 +21,7 @@ module NetworkGeneration
         # * triggering_inputs(task)
         # * propagate_task(task)
         class DataFlowComputation
-            attr_reader :result
-
-            attr_reader :triggering_connections
-
-            attr_reader :triggering_dependencies
-
-            attr_reader :missing_ports
-
-            attr_reader :done_ports
+            attr_reader :result, :triggering_connections, :triggering_dependencies, :missing_ports, :done_ports
 
             extend Logger::Hierarchy
             include Logger::Hierarchy
@@ -66,10 +58,8 @@ def task_info(task)
             #
             # @raise ArgumentError if there are no information stored for the given port
             def port_info(task, port_name)
-                if result.key?(task)
-                    if result[task].key?(port_name)
-                        return result[task][port_name]
-                    end
+                if result.key?(task) && result[task].key?(port_name)
+                    return result[task][port_name]
                 end
                 if port_name
                     raise ArgumentError, "no information currently available for #{task.orocos_name}.#{port_name}"
@@ -154,6 +144,20 @@ def pretty_print(pp)
                 end
             end
 
+            # @api private
+            #
+            # For testing purposes only
+            def changed?
+                @changed
+            end
+
+            # @api private
+            #
+            # For testing purposes only
+            def reset_changed
+                @changed = false
+            end
+
             def reset(tasks = [])
                 @result = Hash.new { |h, k| h[k] = {} }
                 # Internal variable that is used to detect whether an iteration
@@ -262,7 +266,9 @@ def propagate(tasks)
                     end
                 end
 
-                if !missing_ports.empty?
+                if missing_ports.empty?
+                    debug "done computing all required port information"
+                else
                     debug do
                         debug "found fixed point, breaking out of propagation loop with #{missing_ports.size} missing ports"
                         debug "removing partial port information"
@@ -287,18 +293,16 @@ def propagate(tasks)
                         end
                         port_info.empty?
                     end
-                else
-                    debug "done computing all required port information"
                 end
 
                 result
             end
 
             def set_port_info(task, port_name, info)
-                if !has_information_for_port?(task, port_name)
-                    add_port_info(task, port_name, info)
-                else
+                if has_information_for_port?(task, port_name)
                     @result[task][port_name] = info
+                else
+                    add_port_info(task, port_name, info)
                 end
             end
 
@@ -313,15 +317,15 @@ def add_port_info(task, port_name, info)
                     raise ModifyingFinalizedPortInfo.new(task, port_name, done_at, self.class.name), "trying to change port information for #{task}.#{port_name} after done_port_info has been called"
                 end
 
-                if !has_information_for_port?(task, port_name)
-                    @changed = true
-                    @result[task][port_name] = info
-                else
+                if has_information_for_port?(task, port_name)
                     begin
-                        @changed = @result[task][port_name].merge(info)
+                        @changed |= @result[task][port_name].merge(info)
                     rescue Exception => e
                         raise e, "while adding information to port #{port_name} on #{task}, #{e.message}", e.backtrace
                     end
+                else
+                    @changed = true
+                    @result[task][port_name] = info
                 end
             end
 
@@ -343,10 +347,8 @@ def done_port_info(task, port_name)
                 unless done_ports[task].include?(port_name)
                     @changed = true
 
-                    if has_information_for_port?(task, port_name)
-                        if port_info(task, port_name).empty?
-                            remove_port_info(task, port_name)
-                        end
+                    if has_information_for_port?(task, port_name) && port_info(task, port_name).empty?
+                        remove_port_info(task, port_name)
                     end
 
                     done_ports[task] << port_name
diff --git a/lib/syskit/network_generation/dataflow_dynamics.rb b/lib/syskit/network_generation/dataflow_dynamics.rb
index 51e1a0007..9ce1cfa88 100644
--- a/lib/syskit/network_generation/dataflow_dynamics.rb
+++ b/lib/syskit/network_generation/dataflow_dynamics.rb
@@ -20,7 +20,7 @@ class << self
             def buffer_size_margin=(value)
                 value = Float(value)
                 if value < 0
-                    raise ArgumentError, "only positive values can be used as "\
+                    raise ArgumentError, "only positive values can be used as " \
                                          "buffer_size_margin, got #{value}"
                 end
                 @buffer_size_margin = Float(value)
@@ -56,11 +56,7 @@ class PortDynamics
             attr_reader :triggers
 
             class Trigger
-                attr_reader :name
-                attr_reader :period
-                attr_reader :sample_count
-
-                attr_reader :hash
+                attr_reader :name, :period, :sample_count, :hash
 
                 def initialize(name, period, sample_count)
                     @name = name.to_str
@@ -95,8 +91,8 @@ def add_trigger(name, period, sample_count)
                 return if sample_count == 0
 
                 DataFlowDynamics.debug do
-                    "  [#{self.name}]: adding trigger from #{name} -"\
-                    " #{period} #{sample_count}"
+                    "  [#{self.name}]: adding trigger from #{name} - " \
+                        "#{period} #{sample_count}"
                 end
                 triggers << Trigger.new(name, period, sample_count)
             end
@@ -154,9 +150,7 @@ def pretty_print(pp)
         # default policies for each of the existing connections in +plan+. The
         # resulting information is stored in #dynamics
         class DataFlowDynamics < DataFlowComputation
-            attr_reader :plan
-
-            attr_reader :triggers
+            attr_reader :plan, :triggers
 
             # Mapping from a deployed task name to the corresponding Roby task object
             #
@@ -365,10 +359,8 @@ def initial_information(task)
             # Computes a task's slaves initial information
             def initial_slaves_information(task)
                 task.orogen_model.slaves.each do |orogen_slave_task|
-                    if slave_task = task_from_name[orogen_slave_task.name]
-                        unless has_information_for_task?(slave_task)
-                            initial_task_information(slave_task)
-                        end
+                    if (slave_task = task_from_name[orogen_slave_task.name]) && !has_information_for_task?(slave_task)
+                        initial_task_information(slave_task)
                     end
                 end
             end
@@ -478,9 +470,9 @@ def compute_info_for(task, port_name)
                         port_info(trigger_task, trigger_port)
                     else
                         DataFlowDynamics.debug do
-                            DataFlowDynamics.debug "  missing info on "\
-                                "#{trigger_task}.#{trigger_port} to compute "\
-                                "#{task}.#{port_name}"
+                            DataFlowDynamics.debug "  missing info on " \
+                                                   "#{trigger_task}.#{trigger_port} to compute " \
+                                                   "#{task}.#{port_name}"
                             break
                         end
                         return false
@@ -594,19 +586,19 @@ def policy_for(
 
                 unless source_port
                     raise InternalError,
-                          "#{source_port_name} is not an output port "\
+                          "#{source_port_name} is not an output port " \
                           "of #{source_task}"
                 end
 
                 unless sink_port
                     raise InternalError,
-                          "#{sink_port_name} is not an input port "\
+                          "#{sink_port_name} is not an input port " \
                           "of #{sink_task}"
                 end
 
                 DataFlowDynamics.debug do
-                    "   #{source_task}:#{source_port.name} => "\
-                    "#{sink_task}:#{sink_port.name}"
+                    "   #{source_task}:#{source_port.name} => " \
+                        "#{sink_task}:#{sink_port.name}"
                 end
 
                 sink_port_m = sink_port.model
@@ -624,8 +616,8 @@ def policy_for(
                     policy
                 else
                     raise UnsupportedConnectionType,
-                          "unknown required connection type "\
-                          "#{sink_port_m.required_connection_type} "\
+                          "unknown required connection type " \
+                          "#{sink_port_m.required_connection_type} " \
                           "on #{sink_port}"
                 end
             end
@@ -660,8 +652,8 @@ def handle_missing_connection_policy_input(
                     warn do
                         if has_source_dynamics
                             warn "#{sink_task} has no minimal period"
-                            warn "This is needed to compute the reading latency on "\
-                                    "#{sink_port.name}"
+                            warn "This is needed to compute the reading latency on " \
+                                 "#{sink_port.name}"
                             warn "Specified fallback policy #{fallback_policy} will be used"
                         else
                             warn "Cannot compute the period information for output port"
@@ -676,13 +668,13 @@ def handle_missing_connection_policy_input(
                     fallback_policy.dup
                 elsif !has_source_dynamics
                     raise SpecError,
-                          "period information for output port #{source_task}:"\
-                          "#{source_port.name} cannot be computed. This is needed "\
-                          "to compute the policy to connect to "\
+                          "period information for output port #{source_task}:" \
+                          "#{source_port.name} cannot be computed. This is needed " \
+                          "to compute the policy to connect to " \
                           "#{sink_task}:#{sink_port.name}"
                 else
                     raise SpecError,
-                          "#{sink_task} has no minimal period, needed to compute "\
+                          "#{sink_task} has no minimal period, needed to compute " \
                           "reading latency on #{sink_port.name}"
                 end
             end
@@ -705,12 +697,12 @@ def compute_buffer_policy(source_dynamics, reading_latency)
                        source_dynamics.queue_size(reading_latency)
 
                 debug do
-                    debug "     input_period:#{source_dynamics.minimal_period} => "\
-                            "reading_latency:#{reading_latency}"
+                    debug "     input_period:#{source_dynamics.minimal_period} => " \
+                          "reading_latency:#{reading_latency}"
                     debug "     sample_size:#{source_dynamics.sample_size}"
                     source_dynamics.triggers.each do |tr|
-                        debug "     trigger(#{tr.name}): period=#{tr.period} "\
-                                "count=#{tr.sample_count}"
+                        debug "     trigger(#{tr.name}): period=#{tr.period} " \
+                              "count=#{tr.sample_count}"
                     end
                     break
                 end
diff --git a/lib/syskit/network_generation/engine.rb b/lib/syskit/network_generation/engine.rb
index d969caa7d..4d294e535 100644
--- a/lib/syskit/network_generation/engine.rb
+++ b/lib/syskit/network_generation/engine.rb
@@ -137,6 +137,8 @@ def apply_deployed_network_to_plan
                         finalize_deployed_tasks
                     end
 
+                sever_old_plan_from_new_plan
+
                 if @dataflow_dynamics
                     @dataflow_dynamics.apply_merges(merge_solver)
                     log_timepoint "apply_merged_to_dataflow_dynamics"
@@ -147,6 +149,42 @@ def apply_deployed_network_to_plan
                 end
             end
 
+            # "Cut" relations between the "old" plan and the new one
+            #
+            # At this stage, old components (task contexts and compositions)
+            # that are not part of the new plan may still be child of bits of
+            # the new plan. This happens if they are added as children of other
+            # task contexts. The transformer does this to register dynamic
+            # transformation producers
+            #
+            # This pass looks for all proxies of compositions and task contexts
+            # that are not the target of a merge operation. When this happens,
+            # we know that the component is not being reused, and we remove all
+            # dependency relations where it is child and where the parent is
+            # "useful"
+            #
+            # Note that we do this only for relations between Syskit
+            # components. Relations with "plan" Roby tasks are updated because
+            # we replace toplevel tasks.
+            def sever_old_plan_from_new_plan
+                old_tasks =
+                    work_plan
+                    .find_local_tasks(Syskit::Component)
+                    .find_all(&:transaction_proxy?)
+
+                merge_leaves = merge_solver.each_merge_leaf.to_set
+                old_tasks.each do |old_task|
+                    next if merge_leaves.include?(old_task)
+
+                    parents =
+                        old_task
+                        .each_parent_task
+                        .find_all { |t| merge_leaves.include?(t) }
+
+                    parents.each { |t| t.remove_child(old_task) }
+                end
+            end
+
             class << self
                 # Set of blocks registered with
                 # register_instanciation_postprocessing
@@ -334,7 +372,7 @@ def finalize_deployed_tasks
 
                     if existing_deployment_tasks.size > 1
                         raise InternalError,
-                              "more than one task for #{process_name} "\
+                              "more than one task for #{process_name} " \
                               "present in the plan: #{existing_deployment_tasks}"
                     end
 
@@ -381,8 +419,8 @@ def finalize_deployed_tasks
             #   otherwise (can't have the same deployment running twice)
             def handle_required_deployment(required, usable, not_reusable)
                 debug do
-                    debug "  looking to reuse a deployment for "\
-                            "#{required.process_name} (#{required})"
+                    debug "  looking to reuse a deployment for " \
+                          "#{required.process_name} (#{required})"
                     debug "  candidate: #{usable}"
                     debug "  not reusable deployment: #{not_reusable}"
                     break
@@ -425,7 +463,7 @@ def validate_usable_deployment(required, usable, non_reusable)
                 return [nil, usable] unless non_reusable
 
                 raise InternalError,
-                      "non-nil non_reusable_deployment found in #{__method__} while "\
+                      "non-nil non_reusable_deployment found in #{__method__} while " \
                       "existing_deployment_needs_restart? returned true"
             end
 
@@ -492,10 +530,10 @@ def import_existing_tasks(used_tasks)
                                           t.find_input_port(sink_port)
                             !both_output && !both_input
                         end
-                        if !connections.empty?
-                            dataflow_graph.set_edge_info(source_t, t, connections)
-                        else
+                        if connections.empty?
                             dataflow_graph.remove_edge(source_t, t)
+                        else
+                            dataflow_graph.set_edge_info(source_t, t, connections)
                         end
                     end
                 end
@@ -545,8 +583,8 @@ def reconfigure_tasks_on_static_port_modification(deployed_tasks)
                     next unless t.transaction_modifies_static_ports?
 
                     debug do
-                        "#{t} was selected as deployment, but it would require "\
-                        "modifications on static ports, spawning a new task"
+                        "#{t} was selected as deployment, but it would require " \
+                            "modifications on static ports, spawning a new task"
                     end
 
                     new_task = t.execution_agent.task(t.orocos_name, t.concrete_model)
@@ -573,7 +611,7 @@ def find_current_deployed_task(deployed_tasks)
 
                 if tasks.size > 1
                     raise InternalError,
-                          "could not find the current task in "\
+                          "could not find the current task in " \
                           "#{deployed_tasks.map(&:to_s).sort.join(', ')}"
                 end
 
@@ -602,18 +640,16 @@ def adapt_existing_deployment(deployment_task, existing_deployment_task)
                 deployed_tasks.each do |task|
                     existing_tasks =
                         orocos_name_to_existing[task.orocos_name] || []
-                    unless existing_tasks.empty?
-                        existing_task = find_current_deployed_task(existing_tasks)
-                    end
+                    existing_task = find_current_deployed_task(existing_tasks)
 
                     if !existing_task || !task.can_be_deployed_by?(existing_task)
                         debug do
-                            if !existing_task
-                                "  task #{task.orocos_name} has not yet been deployed"
+                            if existing_task
+                                "  task #{task.orocos_name} has been deployed, but " \
+                                    "I can't merge with the existing deployment " \
+                                    "(#{existing_task})"
                             else
-                                "  task #{task.orocos_name} has been deployed, but "\
-                                "I can't merge with the existing deployment "\
-                                "(#{existing_task})"
+                                "  task #{task.orocos_name} has not yet been deployed"
                             end
                         end
 
@@ -625,18 +661,10 @@ def adapt_existing_deployment(deployment_task, existing_deployment_task)
 
                         existing_tasks.each do |previous_task|
                             debug do
-                                "  #{new_task} needs to wait for #{existing_task} "\
-                                "to finish before reconfiguring"
+                                "  #{new_task} needs to wait for #{existing_task} " \
+                                    "to finish before reconfiguring"
                             end
 
-                            parent_task_contexts =
-                                previous_task
-                                .each_parent_task
-                                .find_all { |t| t.kind_of?(Syskit::TaskContext) }
-
-                            parent_task_contexts.each do |t|
-                                t.remove_child(previous_task)
-                            end
                             new_task.should_configure_after(previous_task.stop_event)
                         end
                         existing_task = new_task
@@ -881,9 +909,9 @@ def handle_resolution_exception(e, on_error: :discard)
                         dataflow_path, hierarchy_path =
                             Engine.autosave_plan_to_dot(work_plan, Roby.app.log_dir)
                         fatal "the generated plan has been saved"
-                        fatal "use dot -Tsvg #{dataflow_path} > #{dataflow_path}.svg "\
+                        fatal "use dot -Tsvg #{dataflow_path} > #{dataflow_path}.svg " \
                               "to convert the dataflow to SVG"
-                        fatal "use dot -Tsvg #{hierarchy_path} > #{hierarchy_path}.svg "\
+                        fatal "use dot -Tsvg #{hierarchy_path} > #{hierarchy_path}.svg " \
                               "to convert to SVG"
                     rescue Exception => e # rubocop:disable Lint/RescueException
                         Roby.log_exception_with_backtrace(e, self, :fatal)
@@ -903,7 +931,7 @@ def validate_final_network(
                 required_instances.each do |_req_task, task|
                     if task.transaction_proxy?
                         raise InternalError,
-                              "instance definition #{instance} contains a transaction "\
+                              "instance definition #{instance} contains a transaction " \
                               "proxy: #{instance.task}"
                     elsif !task.plan
                         raise InternalError,
@@ -924,9 +952,7 @@ def self.autosave_plan_to_dot(
                                       dot_index, mode)
 
                     path = File.join(dir, basename)
-                    File.open(path, "w") do |io|
-                        io.write Graphviz.new(plan).send(mode, dot_options)
-                    end
+                    File.write(path, Graphviz.new(plan).send(mode, dot_options))
                     path
                 end
             end
diff --git a/lib/syskit/network_generation/logger.rb b/lib/syskit/network_generation/logger.rb
index c7f7ced2c..ac0b96c21 100644
--- a/lib/syskit/network_generation/logger.rb
+++ b/lib/syskit/network_generation/logger.rb
@@ -65,7 +65,7 @@ def create_logging_port(sink_port_name, logged_task, logged_port)
             def configure
                 super
 
-                each_input_connection do |source_task, source_port_name, sink_port_name, policy|
+                each_concrete_input_connection do |source_task, source_port_name, sink_port_name, policy|
                     source_port = source_task.find_output_port(source_port_name)
                     create_logging_port(sink_port_name, source_task, source_port)
                 end
@@ -76,11 +76,11 @@ def self.logger_dynamic_port_of(task_model)
                                   .find_all { |p| !p.type }
                 if ports.size > 1
                     raise InternalError,
-                          "valid logger task contexts should have only one catch-all "\
+                          "valid logger task contexts should have only one catch-all " \
                           "dynamic input port, #{task_model} got #{ports.size}"
                 elsif ports.empty?
                     raise InternalError,
-                          "valid logger task contexts should have one catch-all "\
+                          "valid logger task contexts should have one catch-all " \
                           "dynamic input port, and #{task_model} has none"
                 end
 
@@ -103,6 +103,7 @@ def self.add_logging_to_network(engine, work_plan)
                 required_loggers = []
                 engine.deployment_tasks.each do |deployment|
                     next unless deployment.plan
+                    next unless deployment.logging_enabled?
 
                     required_logging_ports = []
                     required_connections   = []
@@ -127,9 +128,9 @@ def self.add_logging_to_network(engine, work_plan)
                     end
 
                     unless (logger_task = deployment.logger_task)
-                        warn "deployment #{deployment.process_name} has no usable "\
-                             "logger (default logger name would be "\
-                             "#{deployment.process_name}_Logger))"
+                        warn "deployment #{deployment.process_name} has no usable " \
+                             "logger (default logger name would be " \
+                             "#{deployment.process_name}_Logger)"
                         next
                     end
                     logger_task = work_plan[deployment.logger_task]
diff --git a/lib/syskit/network_generation/merge_solver.rb b/lib/syskit/network_generation/merge_solver.rb
index e59b750e4..5040f4034 100644
--- a/lib/syskit/network_generation/merge_solver.rb
+++ b/lib/syskit/network_generation/merge_solver.rb
@@ -286,11 +286,9 @@ def merge_task_contexts
 
                     each_task_context_merge_candidate(task) do |merged_task|
                         # Try to resolve the merge
-                        can_merge, mappings =
-                            resolve_merge(merged_task, task, merged_task => task)
-
-                        if can_merge
-                            apply_merge_group(mappings)
+                        result = resolve_merge(merged_task, task, merged_task => task)
+                        if result.can_merge?
+                            apply_merge_group(result.mappings)
                         else
                             invalid_merges << [merged_task, task]
                         end
@@ -412,44 +410,126 @@ def merge_compositions
                 end
             end
 
+            # Representation of the result of {#resolve_merge}
+            MergeResolution = Struct.new(
+                :mappings, :merged_task, :task, :merged_failure_chain, :failure_chain
+            ) do
+                # Whether the merge resolution was successful
+                def can_merge?
+                    !failure_chain
+                end
+
+                def pretty_print_failure(pp)
+                    pp.text "Chain 1 cannot be merged in chain 2:"
+                    [[merged_task, merged_failure_chain], [task, failure_chain]]
+                        .each_with_index do |(task, chain), i|
+                            pp.breakable
+                            pp.text "Chain #{i + 1}:"
+                            pp.nest(2) do
+                                pp.breakable
+                                task.pretty_print(pp)
+                                chain.each do |connection|
+                                    pp.breakable
+                                    pp.text "sink #{connection.sink_port}_port connected "
+                                    pp.text "via policy #{connection.policy} to source "
+                                    pp.text "#{connection.source_port}_port of"
+                                    pp.breakable
+                                    connection.source_task.pretty_print(pp)
+                                end
+                            end
+                        end
+                end
+            end
+
+            Connection = Struct.new(
+                :source_task, :source_port, :policy, :sink_port, :sink_task
+            )
+
+            # Resolve merge between N tasks with the given tasks as seeds
+            #
+            # The method will cycle through the task's mismatching inputs (if
+            # there are any) and recursively resolve them, until it determines
+            # if the whole group can or cannot be merged
+            #
+            # @param [Syskit::TaskContext] merged_task task that is being considered
+            #   to be merged into 'task'
+            # @param [Syskit::TaskContext] task the task into which merged_task will
+            #   be merged. I.e. the operation is `task.merge(merged_task)``
+            # @param [{Syskit::TaskContext=>Syskit::TaskContext}] mappings hash
+            #   of "known good" merges that do not consider the dataflow (i.e. only
+            #   considering intrinsic properties of the tasks themselves)
+            #
+            # @return [MergeResolution]
             def resolve_merge(merged_task, task, mappings)
-                mismatched_inputs = log_nest(2) { resolve_input_matching(merged_task, task) }
+                unless may_merge_task_contexts?(merged_task, task)
+                    return MergeResolution.new(mappings, merged_task, task, [], [])
+                end
+
+                mismatched_inputs, failed_connections = log_nest(2) do
+                    resolve_input_matching(merged_task, task)
+                end
+
                 unless mismatched_inputs
-                    # Incompatible inputs
-                    return false, mappings
+                    return MergeResolution.new(
+                        mappings, merged_task, task,
+                        [failed_connections[0]], [failed_connections[1]]
+                    )
                 end
 
-                mismatched_inputs.each do |sink_port, merged_source_task, source_task|
-                    info do
-                        info "  looking to pair the inputs of port #{sink_port} of"
-                        info "    #{merged_source_task}"
-                        info "    -- and --"
-                        info "    #{source_task}"
-                        break
-                    end
+                mappings = mappings.merge({ merged_task => task })
+                mismatched_inputs.each do |connection, m_connection|
+                    next unless (result = process_port_mismatch(connection, m_connection, mappings))
+                    return result unless result.can_merge?
 
-                    if mappings[merged_source_task] == source_task
-                        info "  are already paired in the merge resolution: matching"
-                        next
-                    elsif !may_merge_task_contexts?(merged_source_task, source_task)
-                        info "  rejected: may not be merged"
-                        return false, mappings
-                    end
+                    mappings = result.mappings
+                end
 
-                    can_merge, mappings = log_nest(2) do
-                        resolve_merge(merged_source_task, source_task,
-                                      mappings.merge(merged_source_task => source_task))
-                    end
+                MergeResolution.new(mappings, merged_task, task)
+            end
 
-                    if can_merge
-                        info "  resolved"
-                    else
-                        info "  rejected: cannot find mapping to merge both tasks"
-                        return false, mappings
-                    end
+            # @api private
+            #
+            # Process the mismatch between two connections as returned by
+            # {#resolve_input_matching}
+            #
+            # @param [Connection] connection the mismatching connection on the
+            #   merge-target side
+            # @param [Connection] connection the mismatching connection on the
+            #   to-be-merged side
+            # @return [MergeResolution] merge result
+            def process_port_mismatch(connection, m_connection, mappings)
+                sink_port = connection.sink_port
+                merged_source_task = m_connection.source_task
+                source_task = connection.source_task
+
+                info do
+                    info "  looking to pair the inputs of port #{sink_port} of"
+                    info "    #{merged_source_task}"
+                    info "    -- and --"
+                    info "    #{source_task}"
+                    break
+                end
+
+                if mappings[merged_source_task] == source_task
+                    info "  are already paired in the merge resolution: matching"
+                    return
+                end
+
+                resolution = log_nest(2) do
+                    resolve_merge(merged_source_task, source_task, mappings)
                 end
 
-                [true, mappings]
+                if resolution.can_merge?
+                    info "  resolved"
+                    resolution
+                else
+                    info "  rejected: cannot find mapping to merge both tasks"
+                    MergeResolution.new(
+                        resolution.mappings, m_connection.sink_task, connection.sink_task,
+                        [connection] + resolution.failure_chain,
+                        [m_connection] + resolution.merged_failure_chain
+                    )
+                end
             end
 
             def compatible_policies?(policy, other_policy)
@@ -469,81 +549,86 @@ def compatible_policies?(policy, other_policy)
             #   Otherwise, the set of mismatching inputs is returned, in which
             #   each mismatch is a tuple (port_name,source_port,task_source,target_source).
             def resolve_input_matching(merged_task, task)
-                return [] if merged_task.equal?(task)
+                return [], nil if merged_task.equal?(task)
 
                 m_inputs = Hash.new { |h, k| h[k] = {} }
                 merged_task.each_concrete_input_connection do |m_source_task, m_source_port, sink_port, m_policy|
-                    m_inputs[sink_port][[m_source_task, m_source_port]] = m_policy
+                    m_inputs[sink_port][[m_source_task, m_source_port]] =
+                        Connection.new(m_source_task, m_source_port, m_policy,
+                                       sink_port, merged_task)
                 end
 
-                task.each_concrete_input_connection
-                    .filter_map do |source_task, source_port, sink_port, policy|
+                mismatched_inputs =
+                    task.each_concrete_input_connection
+                        .filter_map do |source_task, source_port, sink_port, policy|
                         # If merged_task has no connection on sink_port, the merge
                         # is always valid
                         next unless m_inputs.key?(sink_port)
 
+                        connection = Connection.new(
+                            source_task, source_port, policy, sink_port, task
+                        )
+
                         port_model = merged_task.model.find_input_port(sink_port)
-                        resolved =
+                        resolved, m_failed_connection =
                             if port_model&.multiplexes?
                                 resolve_multiplexing_input(
-                                    sink_port, source_task, source_port, policy,
-                                    m_inputs[sink_port]
+                                    connection, m_inputs[sink_port]
                                 )
                             else
-                                resolve_input(
-                                    sink_port, source_task, source_port, policy,
-                                    m_inputs[sink_port]
-                                )
+                                resolve_input(connection, m_inputs[sink_port])
                             end
 
-                        break unless resolved
+                        unless resolved
+                            return nil, [m_failed_connection, connection]
+                        end
 
                         resolved unless resolved.empty?
                     end
+
+                [mismatched_inputs, nil]
             end
 
-            def resolve_multiplexing_input(
-                sink_port, source_task, source_port, policy, m_inputs
-            )
-                return [] unless (m_policy = m_inputs[[source_task, source_port]])
+            def resolve_multiplexing_input(connection, m_inputs)
+                m_connection = m_inputs[[connection.source_task, connection.source_port]]
+                return [], nil unless m_connection
 
                 # Already connected to the same task and port, we
                 # just need to check whether the connections are
                 # compatible
-                return [] if compatible_policies?(policy, m_policy)
+                return [], nil if compatible_policies?(connection.policy, m_connection.policy)
 
                 debug do
                     "rejected: incompatible policies on #{sink_port}"
                 end
-                nil
+                [nil, m_connection]
             end
 
-            def resolve_input(
-                sink_port, source_task, source_port, policy, m_inputs
-            )
+            def resolve_input(connection, m_inputs)
                 # If we are not multiplexing, there can be only one source
                 # for merged_task
-                (m_source_task, m_source_port), m_policy = m_inputs.first
+                m_connection = m_inputs.first.last
 
-                if m_source_port != source_port
+                if m_connection.source_port != connection.source_port
                     debug do
-                        "rejected: sink #{sink_port} is connected to a port "\
-                        "named #{m_source_port}, expected #{source_port}"
+                        "rejected: sink #{sink_port} is connected to a port " \
+                            "named #{m_connection.source_port}, expected " \
+                            "#{connection.source_port}"
                     end
-                    return
+                    return nil, m_connection
                 end
 
-                unless compatible_policies?(policy, m_policy)
+                unless compatible_policies?(connection.policy, m_connection.policy)
                     debug do
-                        "rejected: incompatible policies on #{sink_port}"
+                        "rejected: incompatible policies on #{connection.sink_port}"
                     end
-                    return
+                    return nil, m_connection
                 end
 
-                if m_source_task == source_task
-                    []
+                if m_connection.source_task == connection.source_task
+                    [[], nil]
                 else
-                    [sink_port, m_source_task, source_task]
+                    [[connection, m_connection], nil]
                 end
             end
 
@@ -572,6 +657,14 @@ def display_merge_graph(title, merge_graph)
                     break
                 end
             end
+
+            def each_merge_leaf
+                return enum_for(__method__) unless block_given?
+
+                task_replacement_graph.each_vertex do |v|
+                    yield(v) if task_replacement_graph.leaf?(v)
+                end
+            end
         end
     end
 end
diff --git a/lib/syskit/network_generation/system_network_deployer.rb b/lib/syskit/network_generation/system_network_deployer.rb
index 7277ddfaf..f4c12f912 100644
--- a/lib/syskit/network_generation/system_network_deployer.rb
+++ b/lib/syskit/network_generation/system_network_deployer.rb
@@ -111,8 +111,8 @@ def find_suitable_deployment_for(task)
                 return candidates.first if candidates.size <= 1
 
                 debug do
-                    "#{candidates.size} deployments available for #{task} "\
-                    "(#{task.concrete_model}), trying to resolve"
+                    "#{candidates.size} deployments available for #{task} " \
+                        "(#{task.concrete_model}), trying to resolve"
                 end
                 selected = log_nest(2) do
                     resolve_deployment_ambiguity(candidates, task)
@@ -122,8 +122,8 @@ def find_suitable_deployment_for(task)
                     selected
                 else
                     debug do
-                        "  deployment of #{task} (#{task.concrete_model}) "\
-                        "is ambiguous"
+                        "  deployment of #{task} (#{task.concrete_model}) " \
+                            "is ambiguous"
                     end
                     nil
                 end
@@ -153,7 +153,7 @@ def select_deployments(tasks)
                     elsif used_deployments.include?(selected)
                         debug do
                             machine, configured_deployment, task_name = *selected
-                            "#{task} resolves to #{configured_deployment}.#{task_name} "\
+                            "#{task} resolves to #{configured_deployment}.#{task_name} " \
                                 "on #{machine} for its deployment, but it is already used"
                         end
                         missing_deployments << task
@@ -198,8 +198,11 @@ def apply_selected_deployments(selected_deployments)
             # is valid
             #
             # @raise [MissingDeployments] if some tasks could not be deployed
+            # @raise [MissingConfigurationSection] if some configuration sections are
+            #   used but do not exist
             def validate_deployed_network
                 verify_all_tasks_deployed
+                verify_all_configurations_exist
             end
 
             # Verifies that all tasks in the plan are deployed
@@ -228,10 +231,38 @@ def verify_all_tasks_deployed
                     tasks_with_candidates[task] = candidates
                 end
                 raise MissingDeployments.new(tasks_with_candidates),
-                      "there are tasks for which it exists no deployed equivalent: "\
+                      "there are tasks for which it exists no deployed equivalent: " \
                       "#{not_deployed.map { |m| "#{m}(#{m.orogen_model.name})" }}"
             end
 
+            # Verifies that all selected configuration sections exist
+            #
+            # @raise [MissingConfigurationSection]
+            def verify_all_configurations_exist
+                tasks = plan.find_local_tasks(TaskContext)
+                            .not_finished.not_abstract
+
+                missing_sections = tasks.map do |t|
+                    conf_manager = t.model.configuration_manager
+                    Array(t.conf).find_all do |name|
+                        # 'default' always exists
+                        next if name == "default"
+
+                        !conf_manager.sections[name.to_s]
+                    end
+                end
+
+                missing =
+                    tasks.zip(missing_sections).each_with_object({}) do |(t, sections), h|
+                        h[t] = sections unless sections.empty?
+                    end
+
+                return if missing.empty?
+
+                raise MissingConfigurationSection.new(missing),
+                      "some configuration sections are used but not defined"
+            end
+
             # Try to resolve a set of deployment candidates for a given task
             #
             # @param [Array<(String,Model<Deployment>,String)>] candidates set
@@ -273,8 +304,8 @@ def resolve_deployment_ambiguity(candidates, task)
                     candidates.each do |deployed_task|
                         deployment = deployed_task.configured_deployment
                         info do
-                            "  #{deployed_task.mapped_task_name} of #{deployment.model} "\
-                            "on #{deployment.process_server_name}"
+                            "  #{deployed_task.mapped_task_name} of #{deployment.model} " \
+                                "on #{deployment.process_server_name}"
                         end
                     end
                     break
diff --git a/lib/syskit/network_generation/system_network_generator.rb b/lib/syskit/network_generation/system_network_generator.rb
index 85273aaef..77b15e946 100644
--- a/lib/syskit/network_generation/system_network_generator.rb
+++ b/lib/syskit/network_generation/system_network_generator.rb
@@ -11,9 +11,7 @@ class SystemNetworkGenerator
             include Logger::Hierarchy
             include Roby::DRoby::EventLogging
 
-            attr_reader :plan
-            attr_reader :event_logger
-            attr_reader :merge_solver
+            attr_reader :plan, :event_logger, :merge_solver
 
             def initialize(plan,
                 event_logger: plan.event_logger,
@@ -97,6 +95,15 @@ def instanciate(instance_requirements)
                 log_timepoint "instanciate_requirements"
                 toplevel_tasks = instance_requirements.each_with_index.map do |requirements, i|
                     task = requirements.instanciate(plan).to_task
+                    debug do
+                        debug "Instanciated task "
+                        log_nest(2) do
+                            log_pp :debug, task
+                        end
+                        debug "for requirements "
+                        log_pp :debug, requirements
+                        nil
+                    end
                     # We add all these tasks as permanent tasks, to use
                     # #static_garbage_collect to cleanup #plan.
                     plan.add_permanent_task(task)
@@ -187,9 +194,10 @@ def self.remove_abstract_composition_optional_children(plan)
             def compute_system_network(instance_requirements, garbage_collect: true,
                 validate_abstract_network: true,
                 validate_generated_network: true)
-                toplevel_tasks = log_timepoint_group "instanciate" do
+                @toplevel_tasks = log_timepoint_group "instanciate" do
                     instanciate(instance_requirements)
                 end
+                @toplevel_instance_requirements = instance_requirements
 
                 merge_solver.merge_identical_tasks
                 log_timepoint "merge"
@@ -237,12 +245,20 @@ def compute_system_network(instance_requirements, garbage_collect: true,
                     self.validate_abstract_network
                     log_timepoint "validate_abstract_network"
                 end
+
                 if validate_generated_network
                     self.validate_generated_network
                     log_timepoint "validate_generated_network"
                 end
 
-                toplevel_tasks
+                @toplevel_tasks
+            end
+
+            def toplevel_tasks_to_requirements
+                (@toplevel_tasks || [])
+                    .map { |t| merge_solver.replacement_for(t) }
+                    .zip(@toplevel_instance_requirements || [])
+                    .each_with_object({}) { |(t, ir), h| (h[t] ||= []) << ir }
             end
 
             # Verifies that the task allocation is complete
@@ -257,7 +273,7 @@ def self.verify_task_allocation(
                 return if still_abstract.empty?
 
                 raise TaskAllocationFailed.new(self, still_abstract),
-                      "could not find implementation for the following abstract "\
+                      "could not find implementation for the following abstract " \
                       "tasks: #{still_abstract}"
             end
 
@@ -278,9 +294,9 @@ def self.verify_no_multiplexing_connections(plan)
                         if seen[sink_port]
                             seen_task, seen_port = seen[sink_port]
                             if [source_task, source_port] != [seen_task, seen_port]
-                                raise SpecError, "#{task}.#{sink_port} is connected "\
-                                                 "multiple times, at least to "\
-                                                 "#{source_task}.#{source_port} and "\
+                                raise SpecError, "#{task}.#{sink_port} is connected " \
+                                                 "multiple times, at least to " \
+                                                 "#{source_task}.#{source_port} and " \
                                                  "#{seen_task}.#{seen_port}"
                             end
                         end
@@ -298,7 +314,7 @@ def self.verify_no_multiplexing_connections(plan)
             #   attached to any device
             # @raise [SpecError] if some devices are assigned to more than one
             #   task
-            def self.verify_device_allocation(plan)
+            def self.verify_device_allocation(plan, toplevel_tasks_to_requirements = {})
                 components = plan.find_local_tasks(Syskit::Device).to_a
 
                 # Check that all devices are properly assigned
@@ -308,7 +324,7 @@ def self.verify_device_allocation(plan)
                 end
                 unless missing_devices.empty?
                     raise DeviceAllocationFailed.new(plan, missing_devices),
-                          "could not allocate devices for the following tasks: "\
+                          "could not allocate devices for the following tasks: " \
                           "#{missing_devices}"
                 end
 
@@ -317,7 +333,9 @@ def self.verify_device_allocation(plan)
                     task.each_master_device do |dev|
                         device_name = dev.full_name
                         if (old_task = devices[device_name])
-                            raise ConflictingDeviceAllocation.new(dev, task, old_task)
+                            raise ConflictingDeviceAllocation.new(
+                                dev, task, old_task, toplevel_tasks_to_requirements
+                            )
                         else
                             devices[device_name] = task
                         end
@@ -337,7 +355,7 @@ def validate_abstract_network
             # Validates the network generated by {#compute_system_network}
             def validate_generated_network
                 self.class.verify_task_allocation(plan)
-                self.class.verify_device_allocation(plan)
+                self.class.verify_device_allocation(plan, toplevel_tasks_to_requirements)
                 super if defined? super
             end
         end
diff --git a/lib/syskit/orogen_namespace.rb b/lib/syskit/orogen_namespace.rb
index e0ee2eaa6..8eda54fb1 100644
--- a/lib/syskit/orogen_namespace.rb
+++ b/lib/syskit/orogen_namespace.rb
@@ -60,8 +60,8 @@ def method_missing(m, *args, &block)
                 end
                 super
             rescue ::NoMethodError => e
-                ::Kernel.raise e, "no task #{m} on #{project_name}, available tasks: "\
-                    "#{@registered_objects.keys.map(&:to_s).sort.join(', ')}"
+                ::Kernel.raise e, "no task #{m} on #{project_name}, available tasks: " \
+                                  "#{@registered_objects.keys.map(&:to_s).sort.join(', ')}"
             end
         end
 
@@ -118,7 +118,7 @@ def method_missing(name, *args, **kw)
                 if (m = @deployments[name.to_s])
                     unless args.empty? && kw.empty?
                         raise ArgumentError,
-                              "wrong number of arguments, given #{args.size} and #{kw.size} "\
+                              "wrong number of arguments, given #{args.size} and #{kw.size} " \
                               "keyword arguments, expected 0"
                     end
 
@@ -129,7 +129,7 @@ def method_missing(name, *args, **kw)
             rescue NoMethodError
                 deployments_s = @deployments.keys.join(", ")
                 raise NoMethodError.new(name),
-                      "no deployment registered with the name '#{name}', "\
+                      "no deployment registered with the name '#{name}', " \
                       "available deployments are: #{deployments_s}"
             end
         end
@@ -185,7 +185,7 @@ def method_missing(m, *args, &block)
 
             project
         rescue NoMethodError => e
-            raise e, "#{e.message}, available OroGen projects: "\
+            raise e, "#{e.message}, available OroGen projects: " \
                      "#{@project_namespaces.keys.map(&:to_s).join(', ')}"
         end
 
diff --git a/lib/syskit/port.rb b/lib/syskit/port.rb
index 352b2a604..45dadc9ca 100644
--- a/lib/syskit/port.rb
+++ b/lib/syskit/port.rb
@@ -96,15 +96,15 @@ def connect_to(in_port, policy = {})
                     in_port = in_port.to_component_port
                     if !output?
                         raise WrongPortConnectionDirection.new(self, in_port),
-                              "cannot connect #{self} to #{in_port}: "\
+                              "cannot connect #{self} to #{in_port}: " \
                               "#{self} is not an output port"
                     elsif !in_port.input?
                         raise WrongPortConnectionDirection.new(self, in_port),
-                              "cannot connect #{self} to #{in_port}: "\
+                              "cannot connect #{self} to #{in_port}: " \
                               "#{in_port} is not an input port"
                     elsif component == in_port.component
                         raise SelfConnection.new(self, in_port),
-                              "cannot connect #{self} to #{in_port}: "\
+                              "cannot connect #{self} to #{in_port}: " \
                               "they are both ports of the same component"
                     elsif type != in_port.type
                         raise WrongPortConnectionTypes.new(self, in_port),
diff --git a/lib/syskit/port_access.rb b/lib/syskit/port_access.rb
index 61f8236d8..509dddec2 100644
--- a/lib/syskit/port_access.rb
+++ b/lib/syskit/port_access.rb
@@ -68,11 +68,11 @@ def each_input_port
         end
 
         # Enumerates all of this component's ports
-        def each_port
+        def each_port(&block)
             return enum_for(:each_port) unless block_given?
 
-            each_output_port { |p| yield(p) }
-            each_input_port { |p| yield(p) }
+            each_output_port(&block)
+            each_input_port(&block)
         end
 
         # Returns true if +name+ is a valid output port name for instances
diff --git a/lib/syskit/process_managers/in_process/manager.rb b/lib/syskit/process_managers/in_process/manager.rb
new file mode 100644
index 000000000..615dd23a6
--- /dev/null
+++ b/lib/syskit/process_managers/in_process/manager.rb
@@ -0,0 +1,192 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        # The in-process process manager allows to instanciate orogen-created tasks
+        # inside the Ruby process itself
+        #
+        # @see Configuration#use_in_process_tasks DeploymentGroup#use_in_process_tasks
+        module InProcess
+            # Manager of in-process deployments
+            class Manager
+                # Exception raised if one attempts to do name mappings in an
+                # unmanaged process server
+                class NameMappingsForbidden < ArgumentError; end
+
+                # The set of processes started so far
+                #
+                # @return [Hash<String,UnmanagedProcess>] mapping from process name
+                #   to the process object
+                attr_reader :processes
+
+                # The model loader
+                #
+                # @return [OroGen::Loaders::PkgConfig]
+                attr_reader :loader
+
+                def initialize(component_loader: Roby.app.syskit_component_loader)
+                    @component_loader = component_loader
+                    @loader = component_loader.pkgconfig_loader
+                    @processes = {}
+                    @deployments = {}
+                end
+
+                def disconnect; end
+
+                # Register a new deployment model on this server.
+                #
+                # If name mappings are needed, they must have been done in the
+                # model. {#start} does not support name mappings
+                def register_deployment_model(model)
+                    loader.register_deployment_model(model)
+                end
+
+                # Start a registered deployment
+                #
+                # @param [String] name the desired process name
+                # @param [String,OroGen::Spec::Deployment] deployment_name either
+                #   the name of a deployment model on {#loader}, or the deployment
+                #   model itself
+                # @param [Hash] name_mappings name mappings. This is provided for
+                #   compatibility with the process server API, but should always be
+                #   empty
+                # @param [String] prefix a prefix to be added to all tasks in the
+                #   deployment.  This is provided for
+                #   compatibility with the process server API, but should always be
+                #   nil
+                # @param [Hash] options additional spawn options. This is provided
+                #   for compatibility with the process server API, but is ignored
+                # @return [UnmanagedProcess]
+                def start(
+                    name, deployment_name = name, name_mappings = {}, prefix: nil, **_
+                )
+                    if processes[name]
+                        raise ArgumentError, "#{name} is already started in #{self}"
+                    end
+
+                    model = resolve_deployment_model(deployment_name)
+                    process = Process.new(self, name, model)
+                    apply_name_mappings(process, model, prefix, name_mappings)
+                    process.spawn
+                    processes[name] = process
+                end
+
+                def resolve_deployment_model(model_or_name)
+                    return model_or_name unless model_or_name.respond_to?(:to_str)
+
+                    loader.deployment_model_from_name(model_or_name)
+                end
+
+                def apply_name_mappings(process, model, prefix, name_mappings)
+                    prefix_mappings = Orocos::ProcessBase.resolve_prefix(model, prefix)
+                    name_mappings = prefix_mappings.merge(name_mappings)
+                    name_mappings.each { process.map_name(_1, _2) }
+                end
+
+                # Requests that the process server moves the log directory at +log_dir+
+                # to +results_dir+
+                def save_log_dir(log_dir, results_dir); end
+
+                # Creates a new log dir, and save the given time tag in it (used later
+                # on by save_log_dir)
+                def create_log_dir(log_dir, time_tag, metadata = {}); end
+
+                # Waits for processes to terminate. +timeout+ is the number of
+                # milliseconds we should wait. If set to nil, the call will block until
+                # a process terminates
+                #
+                # Returns a hash that maps deployment names to the Status
+                # object that represents their exit status.
+                def wait_termination(_timeout = nil)
+                    dead_processes = {}
+                    processes.delete_if do |_, process|
+                        next unless process.dead?
+
+                        dead_processes[process] = Status.new
+                        true
+                    end
+                    dead_processes
+                end
+
+                def wait_running(*process_names)
+                    result = {}
+                    process_names.each do |name|
+                        if (p = processes[name])
+                            result[name] = { iors: p.wait_running(0) }
+                        else
+                            result[name] =
+                                { error: "#{name} was not found of the processes list" }
+                        end
+                    end
+                    result
+                end
+
+                # Requests to stop the given deployment
+                #
+                # The call does not block until the process has quit. You will have to
+                # call #wait_termination to wait for the process end.
+                def stop(process_name)
+                    processes[process_name]&.kill
+                end
+
+                DEFAULT_LOGGER_NAME = "syskit_in_process_logger"
+
+                def default_logger_task(plan, app: Roby.app)
+                    self.class.default_logger_task(plan, app: app)
+                end
+
+                def self.find_default_logger_task(plan, app: Roby.app)
+                    return unless (logger_m = app.syskit_logger_m)
+
+                    plan.find_tasks(logger_m)
+                        .with_arguments(orocos_name: DEFAULT_LOGGER_NAME)
+                        .permanent.first
+                end
+
+                def self.find_default_logger_deployment_task(plan, app: Roby.app)
+                    return unless app.syskit_logger_m
+                    return unless (deployment = app.syskit_in_process_logger_deployment)
+
+                    plan.find_tasks(deployment.model)
+                        .permanent.first
+                end
+
+                # The logger task
+                def self.default_logger_task(plan, app: Roby.app)
+                    return unless (deployment = app.syskit_in_process_logger_deployment)
+
+                    if (t = find_default_logger_task(plan))
+                        return t
+                    end
+
+                    deployment_t = find_default_logger_deployment_task(plan, app: app)
+                    unless deployment_t
+                        plan.add_permanent_task(deployment_t = deployment.new)
+                    end
+
+                    plan.add_permanent_task(
+                        logger_t = deployment_t.task(DEFAULT_LOGGER_NAME)
+                    )
+                    if logger_t.respond_to?(:default_logger=)
+                        logger_t.default_logger = true
+                    end
+                    logger_t
+                end
+
+                def self.register_default_logger_deployment(app, conf: Syskit.conf)
+                    return unless (logger_m = app.syskit_logger_m)
+
+                    d = conf.use_in_process_tasks(logger_m => DEFAULT_LOGGER_NAME).first
+                    app.syskit_in_process_logger_deployment = d
+                end
+
+                def self.deregister_default_logger_deployment(app, conf: Syskit.conf)
+                    return unless (d = app.syskit_in_process_logger_deployment)
+
+                    conf.deregister_configured_deployment(d)
+                    app.syskit_in_process_logger_deployment = nil
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/in_process/process.rb b/lib/syskit/process_managers/in_process/process.rb
new file mode 100644
index 000000000..8a699b8ad
--- /dev/null
+++ b/lib/syskit/process_managers/in_process/process.rb
@@ -0,0 +1,209 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module InProcess
+            # Representation of a single running in-process deployment
+            class Process < ProcessBase
+                extend Logger::Hierarchy
+                include Logger::Hierarchy
+
+                # The {Manager} which created this process
+                #
+                # If non-nil, the object's #dead_deployment will be called when self
+                # is stopped
+                #
+                # @return [#dead_deployment,nil]
+                attr_reader :manager
+
+                # The set of deployed tasks
+                #
+                # @return [{String=>TaskContext}] mapping from the deployed task name as
+                #   defined in {model} to the actual {Orocos::TaskContext}
+                attr_reader :deployed_tasks
+
+                # The host on which this process' tasks run.
+                #
+                # @return [String]
+                attr_reader :host_id
+
+                # Whether the tasks in this process are running on the same machine than
+                # the ruby process
+                #
+                # This is always true as ruby tasks are instanciated inside the ruby
+                # process
+                #
+                # @return [Boolean]
+                def on_localhost?
+                    host_id == "localhost"
+                end
+
+                # The PID of the process in which the tasks run
+                #
+                # This is always Process.pid as in-process tasks are instanciated inside
+                # the ruby process
+                #
+                # @return [Integer]
+                attr_reader :pid
+
+                # @api private
+                #
+                # The thread that monitors the tasks availability
+                #
+                # It is spawned the first time {#wait_running} returns true
+                attr_reader :monitor_thread
+
+                # Creates a new object managing tasks that are running in-process
+                #
+                # @param [nil,#dead_deployment] process_manager the process manager
+                #   which created this process. If non-nil, its #dead_deployment method
+                #   will be called when {stop} is called
+                # @param [String] name the process name
+                # @param [OroGen::Spec::Deployment] model the deployment model
+                def initialize(manager, name, model, host_id: "localhost")
+                    @manager = manager
+                    @host_id = host_id
+                    super(name, model)
+
+                    @component_loader = Roby.app.syskit_component_loader
+                    @default_logger = false
+                end
+
+                # "Starts" this process
+                #
+                # It actually instanciates the underlying task
+                #
+                # @return [void]
+                def spawn(_options = {})
+                    @deployed_tasks =
+                        model.each_task.each_with_object({}) do |deployed, h|
+                            mapped_name = mapped_name_of(deployed.name)
+                            h[mapped_name] = spawn_deployed_task(mapped_name, deployed)
+                        end
+                    @killed = false
+                end
+
+                # Module used to extend Orocos::TaskContext for in-process tasks
+                module InProcessTask
+                    # The local task handle, used to dispose of the local task when done
+                    #
+                    # @return [Orocos::LocalTask]
+                    attr_reader :local_task
+
+                    def dispose
+                        local_task.dispose
+                    end
+
+                    def execute
+                        local_task.execute
+                    end
+                end
+
+                def spawn_deployed_task(mapped_name, orogen_deployed_task)
+                    @component_loader.load_task_library(
+                        orogen_deployed_task.task_model.project.name
+                    )
+
+                    task_model = orogen_deployed_task.task_model
+                    local_task = @component_loader.create_local_task_context(
+                        mapped_name, task_model.name, false
+                    )
+                    local_task_activity_setup(local_task, orogen_deployed_task)
+
+                    task = Orocos.allow_blocking_calls do
+                        Orocos::TaskContext.new(
+                            local_task.ior, name: mapped_name, model: task_model
+                        )
+                    end
+
+                    task.extend InProcessTask
+                    # protect the local task against GC
+                    task.instance_variable_set :@local_task, local_task
+                    task
+                end
+
+                def local_task_activity_setup(local_task, orogen_deployed_task)
+                    if orogen_deployed_task.triggered?
+                        local_task.make_triggered
+                    elsif orogen_deployed_task.periodic?
+                        local_task.make_periodic(orogen_deployed_task.period)
+                    elsif orogen_deployed_task.fd_driven?
+                        local_task.make_fd_driven
+                    elsif orogen_deployed_task.slave?
+                        local_task.make_slave
+                    else
+                        activity_name = orogen_deployed_task.activity_type.name
+                        raise ArgumentError, "unsupported activity #{activity_name}"
+                    end
+                end
+
+                # Returns the deployed tasks.The deployed tasks are resolved on
+                # wait_running, which is called by `update_deployment_states.rb`
+                # when making the deployment ready.
+                #
+                # @returns [Hash<String, Orocos::TaskContext>]
+                def resolve_all_tasks
+                    @deployed_tasks
+                end
+
+                def define_ior_mappings(ior_mappings)
+                    @ior_mappings = ior_mappings
+                end
+
+                # Returns the component object for the given name
+                #
+                # @raise [RuntimeError] if the process is not running yet
+                # @raise [ArgumentError] if the name is not the name of a task on
+                #   self
+                def task(task_name)
+                    raise "process not running yet" unless ready?
+
+                    @deployed_tasks.fetch(task_name)
+                end
+
+                # Waits until all the tasks are resolved or the timeout is due,
+                # registering the IORs of the resolved tasks and starting the monitor.
+                #
+                # @raises RuntimeError
+                # @raises Orocos::CORBA::ComError
+                # @return [Hash<String, String>] the ior mappings
+                def wait_running(_timeout = nil)
+                    @deployed_tasks.each_value.map(&:ior)
+                end
+
+                # "Kill" this process
+                #
+                # It shuts down the tasks that are part of it
+                def kill(**)
+                    @deployed_tasks.each_value(&:dispose)
+                    @deployed_tasks = {}
+                    @killed = true
+                end
+
+                # Returns true if the process died
+                def dead?
+                    @killed
+                end
+
+                # Returns true if the tasks have been successfully discovered
+                def ready?
+                    true
+                end
+
+                # True if the process is running. This is an alias for running?
+                def alive?
+                    !dead?
+                end
+
+                # True if the process is running. This is an alias for alive?
+                def running?
+                    alive?
+                end
+
+                def join
+                    raise NotImplementedError, "UnmanagedProcess#join is not implemented"
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/process_base.rb b/lib/syskit/process_managers/process_base.rb
new file mode 100644
index 000000000..feb2f0c77
--- /dev/null
+++ b/lib/syskit/process_managers/process_base.rb
@@ -0,0 +1,55 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        # Exception raised when there is no IOR registered for a given task name.
+        class IORNotRegisteredError < Orocos::NotFound; end
+
+        # Interface for processes, that is the representation of a running deployment
+        #
+        # This is the interface needed by {Deployment}
+        class ProcessBase
+            # The deployment name
+            attr_reader :name
+
+            # The deployment model
+            attr_reader :model
+
+            def initialize(name, model)
+                @name = name
+                @model = model
+                @name_mappings = {}
+            end
+
+            # Require that to rename the task called +old+ in this deployment to
+            # +new+ during execution
+            #
+            # @see name_mappings name_mappings=
+            def map_name(old, new)
+                @name_mappings[old] = new
+            end
+
+            # @api private
+            #
+            # use a mapping if exists
+            def mapped_name_of(name)
+                @name_mappings[name] || name
+            end
+
+            # Returns the name of the tasks that are running in this process
+            #
+            # See also #each_task
+            def mapped_task_names
+                unless model
+                    raise Orocos::NotOrogenComponent,
+                          "#{name} does not seem to have been generated by orogen"
+                end
+
+                model.task_activities.map do |deployed_task|
+                    name = deployed_task.name
+                    mapped_name_of(name)
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/roby_app/remote_processes/loader.rb b/lib/syskit/process_managers/remote/loader.rb
similarity index 93%
rename from lib/syskit/roby_app/remote_processes/loader.rb
rename to lib/syskit/process_managers/remote/loader.rb
index d73413328..6a476cece 100644
--- a/lib/syskit/roby_app/remote_processes/loader.rb
+++ b/lib/syskit/process_managers/remote/loader.rb
@@ -1,16 +1,13 @@
 # frozen_string_literal: true
 
 module Syskit
-    module RobyApp
-        module RemoteProcesses
+    module ProcessManagers
+        module Remote
             # A loader object that allows to load models from a remote process
             # server
             class Loader < OroGen::Loaders::Base
-                attr_reader :client
-
-                attr_reader :available_projects
-                attr_reader :available_deployments
-                attr_reader :available_typekits
+                attr_reader :client, :available_projects, :available_deployments,
+                            :available_typekits
 
                 def initialize(client, root_loader = self)
                     @client = client
@@ -33,7 +30,7 @@ def project_model_text_from_name(name)
                     end
 
                     raise OroGen::ProjectNotFound,
-                          "#{client} has no project called #{name}, "\
+                          "#{client} has no project called #{name}, " \
                           "available projects: #{available_projects.keys.sort.join(', ')}"
                 end
 
diff --git a/lib/syskit/roby_app/remote_processes/client.rb b/lib/syskit/process_managers/remote/manager.rb
similarity index 78%
rename from lib/syskit/roby_app/remote_processes/client.rb
rename to lib/syskit/process_managers/remote/manager.rb
index 758194c47..0c1d49945 100644
--- a/lib/syskit/roby_app/remote_processes/client.rb
+++ b/lib/syskit/process_managers/remote/manager.rb
@@ -1,17 +1,25 @@
 # frozen_string_literal: true
 
-require "orocos"
-require "syskit/roby_app/remote_processes/loader"
-
 module Syskit
-    module RobyApp
-        module RemoteProcesses
-            # Client-side API to a {Server} instance
+    module ProcessManagers
+        # The remote process manager allows to manage orogen-created deployments managed
+        # by a Syskit process server
+        #
+        # The syskit process servers are started with `syskit process-server`. Even
+        # local orogen processes are managed this way, through a syskit-started local
+        # process server
+        #
+        # @see Configuration#use_deployment DeploymentGroup#use_deployment
+        module Remote
+            # Type transferred between the server and the manager to report on log updates
             #
-            # Process servers allow to start/stop and monitor processes on remote
-            # machines. Instances of this class provides access to remote process
-            # servers.
-            class Client
+            # Defined here to make sure it is actually defined. Otherwise, the log
+            # state reporting would fail at runtime, and unit-testing for this is
+            # very hard.
+            LogUploadState = Server::LogUploadState
+
+            # Syskit-side interface to the remote process server
+            class Manager
                 # Emitted when an operation fails
                 class Failed < RuntimeError; end
                 class StartupFailed < RuntimeError; end
@@ -36,7 +44,7 @@ class StartupFailed < RuntimeError; end
                 # Mapping from deployment names to the corresponding XML type registry
                 # for the typekits available on the process server
                 attr_reader :available_typekits
-                # Mapping from a deployment name to the corresponding RemoteProcess
+                # Mapping from a deployment name to the corresponding {Process}
                 # instance, for processes that have been started by this client.
                 attr_reader :processes
 
@@ -48,12 +56,9 @@ class StartupFailed < RuntimeError; end
                 attr_reader :server_pid
                 # A string that allows to uniquely identify this process server
                 attr_reader :host_id
-                # The name service object that allows to resolve tasks from this process
-                # server
-                attr_reader :name_service
 
                 def to_s
-                    "#<Syskit::RobyApp::RemoteProcesses::Client #{host}:#{port}>"
+                    "#<#{self.class} #{host}:#{port}>"
                 end
 
                 def inspect
@@ -62,16 +67,14 @@ def inspect
 
                 # Connects to the process server at +host+:+port+
                 #
-                # @option options [Orocos::NameService] :name_service
-                #   (Orocos.name_service). The name service object that should be used
-                #   to resolve tasks started by this process server
                 # @option options [OroGen::Loaders::Base] :root_loader
                 #   (Orocos.default_loader). The loader object that should be used as
                 #   root for this client's loader
                 def initialize(
                     host = "localhost", port = DEFAULT_PORT,
-                    response_timeout: 10, root_loader: Orocos.default_loader,
-                    name_service: Orocos.name_service
+                    response_timeout: 10,
+                    root_loader: Orocos.default_loader,
+                    register_on_name_server: true
                 )
                     @host = host
                     @port = port
@@ -79,14 +82,13 @@ def initialize(
                         begin TCPSocket.new(host, port)
                         rescue Errno::ECONNREFUSED => e
                             raise e.class,
-                                  "cannot contact process server at "\
+                                  "cannot contact process server at " \
                                   "'#{host}:#{port}': #{e.message}"
                         end
 
-                    socket.setsockopt(Socket::IPPROTO_TCP, Socket::TCP_NODELAY, true)
-                    socket.fcntl(Fcntl::FD_CLOEXEC, 1)
+                    @socket.setsockopt(Socket::IPPROTO_TCP, Socket::TCP_NODELAY, true)
+                    @socket.fcntl(Fcntl::FD_CLOEXEC, 1)
 
-                    @name_service = name_service
                     begin
                         @server_pid = pid
                     rescue EOFError
@@ -98,6 +100,7 @@ def initialize(
                     @processes = {}
                     @death_queue = []
                     @host_id = "#{host}:#{port}:#{server_pid}"
+                    @register_on_name_server = register_on_name_server
                     @response_timeout = response_timeout
                 end
 
@@ -115,16 +118,12 @@ def pid(timeout: @response_timeout)
                 def info(timeout: @response_timeout)
                     socket.write(COMMAND_GET_INFO)
                     unless select([socket], [], [], timeout)
-                        raise "timeout while reading process server "\
+                        raise "timeout while reading process server " \
                               "at '#{host}:#{port}'"
                     end
                     Marshal.load(socket)
                 end
 
-                def disconnect
-                    socket.close
-                end
-
                 class TimeoutError < RuntimeError
                 end
 
@@ -163,14 +162,14 @@ def wait_for_ack
                 # Starts the given deployment on the remote server, without waiting for
                 # it to be ready.
                 #
-                # Returns a RemoteProcess instance that represents the process on the
+                # Returns a {Process} instance that represents the process on the
                 # remote side.
                 #
                 # Raises Failed if the server reports a startup failure
                 def start(process_name, deployment, name_mappings = {}, options = {})
                     if processes[process_name]
                         raise ArgumentError,
-                              "this client already started a process "\
+                              "this client already started a process " \
                               "called #{process_name}"
                     end
 
@@ -179,16 +178,19 @@ def start(process_name, deployment, name_mappings = {}, options = {})
                             loader.root_loader.deployment_model_from_name(deployment)
                         unless loader.has_deployment?(deployment)
                             raise OroGen::DeploymentModelNotFound,
-                                  "deployment #{deployment} exists locally but not "\
+                                  "deployment #{deployment} exists locally but not " \
                                   "on the remote process server #{self}"
                         end
-                    else deployment_model = deployment
+                    else
+                        deployment_model = deployment
                     end
 
                     prefix_mappings = Orocos::ProcessBase.resolve_prefix(
                         deployment_model, options.delete(:prefix)
                     )
                     name_mappings = prefix_mappings.merge(name_mappings)
+                    options[:register_on_name_server] =
+                        options.fetch(:register_on_name_server, @register_on_name_server)
 
                     socket.write(COMMAND_START)
                     Marshal.dump(
@@ -199,13 +201,15 @@ def start(process_name, deployment, name_mappings = {}, options = {})
                         if pid_s == RET_NO
                             msg = Marshal.load(socket)
                             raise Failed,
-                                  "failed to start #{deployment_model.name}: #{msg}"
+                                  "failed to start #{process_name}: #{msg}"
                         elsif pid_s == RET_STARTED_PROCESS
                             pid = Marshal.load(socket)
                             process = Process.new(
                                 process_name, deployment_model, self, pid
                             )
-                            process.name_mappings = name_mappings
+                            name_mappings.each do |a, b|
+                                process.map_name(a, b)
+                            end
                             processes[process_name] = process
                             return process
                         else
@@ -217,9 +221,10 @@ def start(process_name, deployment, name_mappings = {}, options = {})
 
                 # Creates a new log dir, and save the given time tag in it (used later
                 # on by save_log_dir)
-                def create_log_dir(log_dir, time_tag, metadata = {})
+                def create_log_dir(time_tag, metadata = {})
                     socket.write(COMMAND_CREATE_LOG)
-                    Marshal.dump([log_dir, time_tag, metadata], socket)
+                    Marshal.dump([time_tag, metadata], socket)
+                    wait_for_ack
                 end
 
                 def queue_death_announcement
@@ -230,10 +235,15 @@ def queue_death_announcement
                 #
                 # The transfer is asynchronous, use {#upload_state} to track the
                 # upload progress
-                def log_upload_file(host, port, certificate, user, password, localfile)
+                def log_upload_file(
+                    host, port, certificate, user, password, localfile,
+                    max_upload_rate: Float::INFINITY,
+                    implicit_ftps: RobyApp::LogTransferServer.use_implicit_ftps?
+                )
                     socket.write(COMMAND_LOG_UPLOAD_FILE)
                     Marshal.dump(
-                        [host, port, certificate, user, password, localfile], socket
+                        [host, port, certificate, user, password, localfile,
+                         max_upload_rate, implicit_ftps], socket
                     )
 
                     wait_for_ack
@@ -279,14 +289,14 @@ def wait_termination(timeout = nil)
 
                     result = {}
                     @death_queue.each do |name, status|
-                        RemoteProcesses.debug "#{name} died"
+                        Process.debug "#{name} died"
                         if (p = processes.delete(name))
                             p.dead!
                             result[p] = status
                         else
-                            RemoteProcesses.warn "process server reported the exit "\
-                                                 "of '#{name}', but no process with "\
-                                                 "that name is registered"
+                            Process.warn "process server reported the exit " \
+                                         "of '#{name}', but no process with " \
+                                         "that name is registered"
                         end
                     end
                     @death_queue.clear
@@ -298,22 +308,28 @@ def wait_termination(timeout = nil)
                 #
                 # The call does not block until the process has quit. You will have to
                 # call #wait_termination to wait for the process end.
-                def stop(deployment_name, wait, cleanup: true, hard: false)
+                def stop(deployment_name, hard: false)
                     socket.write(COMMAND_END)
-                    Marshal.dump([deployment_name, cleanup, hard], socket)
+                    Marshal.dump([deployment_name, hard], socket)
                     raise Failed, "failed to quit #{deployment_name}" unless wait_for_ack
-
-                    join(deployment_name) if wait
                 end
 
-                def kill_all(cleanup: false, hard: true)
+                def kill_all(hard: true)
                     socket.write(COMMAND_KILL_ALL)
-                    Marshal.dump([cleanup, hard], socket)
+                    Marshal.dump([hard], socket)
                     raise Failed, "failed kill_all" unless wait_for_ack
 
                     Marshal.load(socket)
                 end
 
+                def wait_running(*process_names)
+                    socket.write(COMMAND_WAIT_RUNNING)
+                    Marshal.dump(process_names, socket)
+                    wait_for_answer do
+                        return Marshal.load(socket)
+                    end
+                end
+
                 def join(deployment_name)
                     process = processes[deployment_name]
                     return unless process
@@ -328,6 +344,10 @@ def quit_server
                     socket.write(COMMAND_QUIT)
                 end
 
+                def disconnect
+                    socket.close
+                end
+
                 def close
                     socket.close
                 end
diff --git a/lib/syskit/roby_app/remote_processes/process.rb b/lib/syskit/process_managers/remote/process.rb
similarity index 59%
rename from lib/syskit/roby_app/remote_processes/process.rb
rename to lib/syskit/process_managers/remote/process.rb
index fbeb9b050..ed4ab6a6e 100644
--- a/lib/syskit/roby_app/remote_processes/process.rb
+++ b/lib/syskit/process_managers/remote/process.rb
@@ -1,15 +1,17 @@
 # frozen_string_literal: true
 
-require "orocos/process"
-
 module Syskit
-    module RobyApp
-        module RemoteProcesses
-            # Representation of a remote process started with ProcessClient#start
-            class Process < Orocos::ProcessBase
+    module ProcessManagers
+        module Remote
+            # Representation of a remote process started with {Manager}
+            class Process < ProcessBase
+                extend Logger::Hierarchy
+                extend Logger::Forward
+
                 # The ProcessClient instance that gives us access to the remote process
                 # server
                 attr_reader :process_client
+
                 # A string describing the host. It can be used to check if two processes
                 # are running on the same host
                 def host_id
@@ -29,6 +31,8 @@ def initialize(name, deployment_model, process_client, pid)
                     @process_client = process_client
                     @pid = pid
                     @alive = true
+                    @ior_mappings = {}
+
                     super(name, deployment_model)
                 end
 
@@ -42,17 +46,11 @@ def dead!
                     @alive = false
                 end
 
-                # Returns the task context object for the process' task that has this
-                # name
-                def task(task_name)
-                    process_client.name_service.get(task_name, process: self)
-                end
-
                 # Cleanly stop the process
                 #
                 # @see kill!
-                def kill(wait = true, cleanup: true, hard: false)
-                    process_client.stop(name, wait, cleanup: cleanup, hard: hard)
+                def kill(hard: false)
+                    process_client.stop(name, hard: hard)
                 end
 
                 # Wait for the
@@ -60,7 +58,7 @@ def join
                     process_client.join(name)
                 end
 
-                # True if the process is running. This is an alias for running?
+                # True if the process is running. This is an alias for alive?
                 def alive?
                     @alive
                 end
@@ -70,20 +68,28 @@ def running?
                     @alive
                 end
 
-                # Resolve all tasks within the deployment
-                #
-                # A deployment is usually considered ready when all its tasks can be
-                # resolved successfully
-                def resolve_all_tasks(cache = {})
-                    Orocos::Process.resolve_all_tasks(self, cache) do |task_name|
-                        task(task_name)
+                def resolve_all_tasks
+                    model.task_activities.each_with_object({}) do |deployed_task, map|
+                        mapped_name = mapped_name_of(deployed_task.name)
+                        unless (ior = @ior_mappings[mapped_name])
+                            raise IORNotRegisteredError,
+                                  "no IOR is registered for #{task_name}"
+                        end
+
+                        map[mapped_name] =
+                            Orocos::TaskContext.new(
+                                ior, name: mapped_name,
+                                     model: deployed_task.task_model,
+                                     process: self
+                            )
                     end
                 end
 
-                # Waits for the deployment to be ready. +timeout+ is the number of
-                # milliseconds we should wait. If it is nil, will wait indefinitely
-                def wait_running(timeout = nil)
-                    Orocos::Process.wait_running(self, timeout)
+                # no-op, only here to please Orocos::TaskContext
+                def register_task(task); end
+
+                def define_ior_mappings(mappings)
+                    @ior_mappings = mappings
                 end
             end
         end
diff --git a/lib/syskit/roby_app/remote_processes/protocol.rb b/lib/syskit/process_managers/remote/protocol.rb
similarity index 80%
rename from lib/syskit/roby_app/remote_processes/protocol.rb
rename to lib/syskit/process_managers/remote/protocol.rb
index 49a0f52f2..12c6bf1d5 100644
--- a/lib/syskit/roby_app/remote_processes/protocol.rb
+++ b/lib/syskit/process_managers/remote/protocol.rb
@@ -1,8 +1,8 @@
 # frozen_string_literal: true
 
 module Syskit
-    module RobyApp
-        module RemoteProcesses
+    module ProcessManagers
+        module Remote
             DEFAULT_PORT = 20_202
 
             COMMAND_GET_INFO   = "I"
@@ -12,7 +12,8 @@ module RemoteProcesses
             COMMAND_END        = "E"
             COMMAND_QUIT       = "Q"
             COMMAND_KILL_ALL   = "K"
-            COMMAND_LOG_UPLOAD_FILE  = "U"
+            COMMAND_WAIT_RUNNING = "W"
+            COMMAND_LOG_UPLOAD_FILE = "U"
             COMMAND_LOG_UPLOAD_STATE = "X"
 
             EVENT_DEAD_PROCESS = "D"
diff --git a/lib/syskit/process_managers/remote/server.rb b/lib/syskit/process_managers/remote/server.rb
new file mode 100644
index 000000000..a5ede01fd
--- /dev/null
+++ b/lib/syskit/process_managers/remote/server.rb
@@ -0,0 +1,25 @@
+# frozen_string_literal: true
+
+require "socket"
+require "fcntl"
+require "net/ftp"
+require "orocos"
+
+require "concurrent/atomic/atomic_reference"
+
+module Syskit
+    module ProcessManagers
+        module Remote
+            # Implementation of the syskit process server
+            module Server
+                extend Logger::Root(to_s, Logger::INFO)
+            end
+        end
+    end
+end
+
+require "syskit/process_managers/remote/protocol"
+require "syskit/process_managers/remote/server/ftp_upload"
+require "syskit/process_managers/remote/server/log_upload_state"
+require "syskit/process_managers/remote/server/process"
+require "syskit/process_managers/remote/server/server"
diff --git a/lib/syskit/process_managers/remote/server/ftp_upload.rb b/lib/syskit/process_managers/remote/server/ftp_upload.rb
new file mode 100644
index 000000000..9f13b5c44
--- /dev/null
+++ b/lib/syskit/process_managers/remote/server/ftp_upload.rb
@@ -0,0 +1,98 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module Remote
+            module Server
+                # Encapsulation of the log file upload process
+                class FTPUpload
+                    def initialize( # rubocop:disable Metrics/ParameterLists
+                        host, port, certificate, user, password, file,
+                        max_upload_rate: Float::INFINITY,
+                        implicit_ftps: false
+                    )
+
+                        @host = host
+                        @port = port
+                        @certificate = certificate
+                        @user = user
+                        @password = password
+                        @file = file
+
+                        @max_upload_rate = Float(max_upload_rate)
+                        @implicit_ftps = implicit_ftps
+                    end
+
+                    # Create a temporary file with the FTP server's public key, to pass
+                    # to FTP.open
+                    #
+                    # @yieldparam [String] path the certificate path
+                    def with_certificate
+                        Tempfile.create do |cert_io|
+                            cert_io.write @certificate
+                            cert_io.flush
+                            yield(cert_io.path)
+                        end
+                    end
+
+                    # Open the FTP connection
+                    #
+                    # @yieldparam [Net::FTP]
+                    def open
+                        with_certificate do |cert_path|
+                            Net::FTP.open(
+                                @host,
+                                private_data_connection: false, port: @port,
+                                implicit_ftps: @implicit_ftps,
+                                ssl: { verify_mode: OpenSSL::SSL::VERIFY_PEER,
+                                       ca_file: cert_path }
+                            ) do |ftp|
+                                ftp.login(@user, @password)
+                                yield(ftp)
+                            end
+                        end
+                    end
+
+                    # Open the connection and transfer the file
+                    #
+                    # @return [LogUploadState::Result]
+                    def open_and_transfer
+                        open { |ftp| transfer(ftp) }
+                        LogUploadState::Result.new(@file, true, nil)
+                    rescue StandardError => e
+                        LogUploadState::Result.new(@file, false, e.message)
+                    end
+
+                    # Do transfer the file through the given connection
+                    #
+                    # @param [Net::FTP] ftp
+                    def transfer(ftp)
+                        last = Time.now
+                        File.open(@file) do |file_io|
+                            ftp.storbinary("STOR #{File.basename(@file)}",
+                                           file_io, Net::FTP::DEFAULT_BLOCKSIZE) do |buf|
+                                now = Time.now
+                                rate_limit(buf.size, now, last)
+                                last = Time.now
+                            end
+                        end
+                    end
+
+                    # @api private
+                    #
+                    # Sleep when needed to keep the expected transfer rate
+                    def rate_limit(chunk_size, now, last)
+                        duration = now - last
+                        exp_duration = chunk_size / @max_upload_rate
+                        # Do not wait, but do not try to "make up" for the bandwidth
+                        # we did not use. The goal is to not affect the rest of the
+                        # system
+                        return if duration > exp_duration
+
+                        sleep(exp_duration - duration)
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/remote/server/log_upload_state.rb b/lib/syskit/process_managers/remote/server/log_upload_state.rb
new file mode 100644
index 000000000..5c5e7602a
--- /dev/null
+++ b/lib/syskit/process_managers/remote/server/log_upload_state.rb
@@ -0,0 +1,29 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module Remote
+            module Server
+                # State of the asynchronous file transfers managed by {Server}
+                class LogUploadState
+                    attr_reader :pending_count
+
+                    Result = Struct.new :file, :success, :message do
+                        def success?
+                            success
+                        end
+                    end
+
+                    def initialize(pending_count, results)
+                        @pending_count = pending_count
+                        @results = results
+                    end
+
+                    def each_result(&block)
+                        @results.each(&block)
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/remote/server/process.rb b/lib/syskit/process_managers/remote/server/process.rb
new file mode 100644
index 000000000..d8d4ab592
--- /dev/null
+++ b/lib/syskit/process_managers/remote/server/process.rb
@@ -0,0 +1,434 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module Remote
+            module Server
+                # The representation of an Orocos process. It manages
+                # starting the process and cleaning up when the process
+                # dies.
+                class Process
+                    extend Logger::Forward
+                    extend Logger::Hierarchy
+                    include Logger::Forward
+                    include Logger::Hierarchy
+
+                    # The component process ID
+                    #
+                    # @return [Integer,nil]
+                    attr_reader :name
+
+                    # The component process ID
+                    #
+                    # @return [Integer,nil]
+                    attr_reader :pid
+
+                    # Creates a new Process instance which will be able to
+                    # start and supervise the execution of the given Orocos
+                    # component
+                    #
+                    # @param [String] name the process name
+                    # @param [OroGen::Spec::Deployment] model the process deployment'
+                    #
+                    # @overload initialize(name, model_name = name)
+                    #   deprecated form
+                    #   @param [String] name the process name
+                    #   @param [String] model_name the name of the deployment model
+                    #
+                    def initialize(name, deployment_name, loader, working_directory)
+                        binfile =
+                            if loader.respond_to?(:find_deployment_binfile)
+                                loader.find_deployment_binfile(deployment_name)
+                            else
+                                loader.available_deployments
+                                      .fetch(deployment_name).binfile
+                            end
+                        unless binfile
+                            raise ArgumentError,
+                                  "cannot find deployment #{deployment_name}"
+                        end
+
+                        @name = name
+                        @name_mappings = {}
+
+                        @env = {}
+                        @command = binfile
+                        @arguments = []
+                        @working_directory = working_directory
+
+                        @redirect_output = "%m-%p.txt"
+                        @redirect_orocos_logger_output = "orocos.%m-%p.txt"
+
+                        @execution_mode = {}
+                    end
+
+                    def self.tracing_library_path
+                        tracing_pkg =
+                            Utilrb::PkgConfig.new("orocos-rtt-#{Orocos.orocos_target}")
+
+                        File.join(
+                            tracing_pkg.libdir,
+                            "liborocos-rtt-traces-#{Orocos.orocos_target}.so"
+                        )
+                    end
+
+                    def enable_tracing
+                        @env["LD_PRELOAD"] = self.class.tracing_library_path
+                    end
+
+                    def add_name_mappings(mappings)
+                        @arguments += mappings.map do |old, new|
+                            "--rename=#{old}:#{new}"
+                        end
+                    end
+
+                    def setup_log_level(log_level)
+                        unless VALID_LOG_LEVELS.include?(log_level)
+                            raise ArgumentError,
+                                  "'#{log_level}' is not a valid log level. " \
+                                  "Valid options are #{valid_levels}."
+                        end
+
+                        @env["BASE_LOG_LEVEL"] = log_level.to_s.upcase
+                    end
+
+                    def setup_corba(name_service_ip)
+                        if name_service_ip
+                            @env["ORBInitRef"] =
+                                "NameService=corbaname::#{name_service_ip}"
+                        else
+                            @arguments << "--register-on-name-server" << "0"
+                        end
+                    end
+
+                    # Command line arguments have to be of type --<option>=<value>
+                    # or if <value> is nil a valueless option, i.e. --<option>
+                    def push_args_from_hash(cmdline_args)
+                        @arguments += cmdline_args.flat_map do |option, value|
+                            if value
+                                if value.respond_to?(:to_ary)
+                                    value.map { |v| "--#{option}=#{v}" }
+                                else
+                                    "--#{option}=#{value}"
+                                end
+                            else
+                                "--#{option}"
+                            end
+                        end
+                    end
+
+                    def push_arg(string)
+                        @arguments << string
+                        self
+                    end
+
+                    def setup_rr
+                        @arguments.unshift(@command)
+                        @arguments.unshift(
+                            proc do
+                                trace_dir_basename =
+                                    resolve_file_pattern("rr-%m-%p", ::Process.pid)
+                                "--output-trace-dir=#{trace_dir_basename}"
+                            end
+                        )
+                        @arguments.unshift("record")
+                        @command = "rr"
+                        @execution_mode = { type: "rr" }
+                        self
+                    end
+
+                    def setup_gdbserver(port: Process.allocate_gdb_port)
+                        @arguments.unshift(@command)
+                        @arguments.unshift(":#{port}")
+                        @command = "gdbserver"
+                        @execution_mode = { type: "gdbserver", port: port }
+                        self
+                    end
+
+                    def setup_valgrind(output: "%m-%p.valgrind.txt")
+                        @arguments.unshift(@command)
+                        @arguments.unshift(
+                            proc do
+                                log_file_basename =
+                                    resolve_file_pattern(output, ::Process.pid)
+                                "--log-file=#{log_file_basename}"
+                            end
+                        )
+                        @command = "valgrind"
+                        @execution_mode = { type: "valgrind", output: output }
+                        self
+                    end
+
+                    def resolve_file_pattern(path, pid)
+                        resolved =
+                            path
+                            .gsub("%m", @name)
+                            .gsub("%p", pid.to_s)
+
+                        File.expand_path(resolved, @working_directory)
+                    end
+
+                    def redirect_output(pattern)
+                        @redirect_output = pattern
+                        self
+                    end
+
+                    def redirect_orocos_logger_output(pattern)
+                        @redirect_orocos_logger_output = pattern
+                        self
+                    end
+
+                    def apply_env(env)
+                        @env.each do |k, v|
+                            env[k] = v
+                        end
+                    end
+
+                    def setup_execution_mode(type: nil, **options)
+                        send("setup_#{type}", **options) if type
+                    end
+
+                    # Waits until the process dies
+                    #
+                    # This is valid only if the module has been started
+                    # under Orocos supervision, using {#spawn}
+                    def join
+                        return unless alive?
+
+                        begin
+                            _, exit_status = ::Process.waitpid2(pid)
+                            dead!(exit_status)
+                        rescue Errno::ECHILD # rubocop:disable Lint/SuppressedException
+                        end
+                    end
+
+                    # Called externally to announce a component dead.
+                    def dead!(exit_status) # :nodoc:
+                        @control_write_fd.close
+                        exit_status = (@exit_status ||= exit_status)
+
+                        if !exit_status
+                            info "deployment #{name} exited, exit status unknown"
+                        elsif exit_status.success?
+                            info "deployment #{name} exited normally"
+                        elsif exit_status.signaled?
+                            issue_logger_signaled_messages(exit_status)
+                        else
+                            warn "deployment #{name} terminated with code " \
+                                 "#{exit_status.to_i}"
+                        end
+
+                        pid = @pid
+                        @pid = nil
+                        pid
+                    end
+
+                    def issue_logger_signaled_messages(exit_status)
+                        if @expected_exit == exit_status.termsig
+                            info "deployment #{name} terminated with signal " \
+                                 "#{exit_status.termsig}"
+                        elsif @expected_exit
+                            info "deployment #{name} terminated with signal " \
+                                 "#{exit_status.termsig} but #{@expected_exit} " \
+                                 "was expected"
+                        else
+                            error "deployment #{name} unexpectedly terminated with " \
+                                  "signal #{exit_status.termsig}"
+                            error "This is normally a fault inside the component, " \
+                                  "not caused by the framework."
+                        end
+                    end
+
+                    # True if the process is running
+                    def running?
+                        alive?
+                    end
+
+                    # @api private
+                    #
+                    # Checks that the given command can be resolved
+                    def self.has_command?(cmd)
+                        return if File.file?(cmd) && File.executable?(cmd)
+
+                        system("which #{cmd} > /dev/null 2>&1")
+                    end
+
+                    @gdb_port = 30_000
+
+                    def self.gdb_base_port=(port)
+                        @gdb_port = port - 1
+                    end
+
+                    def self.allocate_gdb_port
+                        @gdb_port += 1
+                    end
+
+                    VALID_LOG_LEVELS = %I[debug info warn error fatal disable].freeze
+
+                    # Spawns this process
+                    def spawn
+                        @ior_message = +""
+
+                        @ior_read_fd, ior_write_fd = IO.pipe
+                        control_read_fd, @control_write_fd = IO.pipe
+
+                        @pid =
+                            fork_with_error_handling do
+                                @ior_read_fd.close
+                                @control_write_fd.close
+
+                                spawn_setup_forked_process_and_exec(
+                                    ior_write_fd, control_read_fd
+                                )
+                            end
+
+                        ior_write_fd.close
+                        control_read_fd.close
+
+                        spawn_gdb_warning if @execution_mode[:type] == "gdb"
+                    end
+
+                    def fork_with_error_handling
+                        read_pipe, write_pipe = IO.pipe
+                        pid =
+                            fork do
+                                read_pipe.close
+                                yield
+                            rescue Exception => e # rubocop:disable Lint/RescueException
+                                write_pipe.write(e.message)
+                            else
+                                write_pipe.write("failed with no message")
+                            end
+
+                        write_pipe.close
+                        failure_message = read_pipe.read || ""
+                        raise failure_message unless failure_message.empty?
+
+                        pid
+                    end
+
+                    def spawn_gdb_warning
+                        gdb_port = @execution_mode[:port]
+                        Orocos.warn(
+                            "process #{name} has been started under gdbserver, " \
+                            "port=#{gdb_port}. The components will not be " \
+                            "functional until you attach a GDB to the started server"
+                        )
+                    end
+
+                    def resolve_arguments
+                        @arguments.map do |arg|
+                            arg = arg.call if arg.respond_to?(:call)
+                            arg.to_str
+                        end
+                    end
+
+                    # Resolve the path to which the orocos logger should be redirected and
+                    # return it
+                    #
+                    # @return [String]
+                    def resolve_orocos_logger_output(pid)
+                        return "/dev/null" if @redirect_orocos_logger_output
+
+                        resolve_file_pattern(
+                            @redirect_orocos_logger_output, pid
+                        )
+                    end
+
+                    # Resolve the path to which the output should be redirected and
+                    # return the keyword arguments that should be passed to exec
+                    #
+                    # @return [Hash]
+                    def resolve_redirect_output(pid)
+                        return {} unless @redirect_output
+
+                        output_file_name = resolve_file_pattern(@redirect_output, pid)
+                        file = File.open(output_file_name, "a")
+                        { out: file, err: file }
+                    end
+
+                    # Do the necessary work within the fork and exec the deployment
+                    def spawn_setup_forked_process_and_exec(ior_write_fd, control_read_fd)
+                        arguments = resolve_arguments
+                        arguments << "--control-fd=#{control_read_fd.fileno}"
+                        arguments << "--ior-write-fd=#{ior_write_fd.fileno}"
+
+                        apply_env(ENV)
+
+                        pid = ::Process.pid
+                        output_redirect = resolve_redirect_output(pid)
+                        ENV["ORO_LOGFILE"] = resolve_orocos_logger_output(pid)
+
+                        ::Process.setpgrp
+                        debug "command line: #{@command} #{arguments.join(' ')}"
+                        exec(@command, *arguments,
+                             control_read_fd => control_read_fd,
+                             ior_write_fd => ior_write_fd,
+                             chdir: @working_directory, **output_redirect)
+                    end
+
+                    # Read the IOR pipe and parse the received message, closing the read
+                    # file descriptor when end of file is reached.
+                    #
+                    # @return [nil, Hash<String, String>] when a complete, valid IOR
+                    #   message has been received, return it as a { task name => ior }
+                    #   hash. Otherwise, returns nil
+                    def wait_running
+                        until @ior_message.end_with?("\n")
+                            @ior_message += @ior_read_fd.read_nonblock(1024)
+                        end
+                        @ior_read_fd.close
+                        load_ior_message(@ior_message)
+                    rescue IO::WaitReadable
+                        nil
+                    rescue EOFError
+                        @ior_read_fd.close
+                        load_ior_message(@ior_message)
+                    end
+
+                    # Load and validate the ior message read from the IOR pipe.
+                    #
+                    # @param [String] message the ior message read from the pipe
+                    # @return [Hash<String, String>, nil] the parsed ior message as a
+                    #   { task name => ior} hash, or nil if the message could not be
+                    #   parsed.
+                    # @raise Orocos::InvalidIORMessage raised if the message received is
+                    #   not valid
+                    def load_ior_message(message)
+                        JSON.parse(message)
+                    rescue JSON::ParserError
+                        raise Orocos::InvalidIORMessage,
+                              "received IOR message is not valid JSON: #{message}"
+                    end
+
+                    SIGNAL_NUMBERS = {
+                        "SIGABRT" => 1,
+                        "SIGINT" => 2,
+                        "SIGKILL" => 9,
+                        "SIGSEGV" => 11
+                    }.freeze
+
+                    # Kills the process
+                    #
+                    # @param [Boolean] hard if we should request a shutdown (false) or
+                    #   forcefully kill the process with SIGKILL
+                    def kill(hard: false)
+                        tpid = pid
+                        return unless tpid # already dead
+
+                        if hard
+                            @expected_exit = 9
+                            begin
+                                ::Process.kill(9, tpid)
+                            rescue Errno::ESRCH # rubocop:disable Lint/SuppressedException
+                            end
+                        else
+                            puts "control FD"
+                            @control_write_fd.write("Q")
+                        end
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/remote/server/server.rb b/lib/syskit/process_managers/remote/server/server.rb
new file mode 100644
index 000000000..dc62a96d6
--- /dev/null
+++ b/lib/syskit/process_managers/remote/server/server.rb
@@ -0,0 +1,640 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module Remote
+            module Server
+                # A remote process management server.
+                #
+                # It allows to start/stop and monitor the status of processes on a
+                # client/server way.
+                #
+                # Use {ProcessClient} to access a server
+                class Server
+                    extend Logger::Forward
+                    extend Logger::Hierarchy
+                    include Logger::Forward
+                    include Logger::Hierarchy
+
+                    # Returns a unique directory name as a subdirectory of
+                    # +base_dir+, based on +path_spec+. The generated name
+                    # is of the form
+                    #   <base_dir>/a/b/c/YYYYMMDD-HHMM-basename
+                    # if <tt>path_spec = "a/b/c/basename"</tt>. A .<number> suffix
+                    # is appended if the path already exists.
+                    #
+                    # Shamelessly taken from Roby
+                    def self.unique_dirname(base_dir, path_spec, date_tag = nil)
+                        if path_spec =~ %r{/$}
+                            basename = ""
+                            dirname = path_spec
+                        else
+                            basename = File.basename(path_spec)
+                            dirname  = File.dirname(path_spec)
+                        end
+
+                        date_tag ||= Time.now.strftime("%Y%m%d-%H%M")
+                        basename =
+                            if basename && !basename.empty?
+                                date_tag + "-" + basename
+                            else
+                                date_tag
+                            end
+
+                        # Check if +basename+ already exists, and if it is the case add a
+                        # .x suffix to it
+                        full_path = File.expand_path(
+                            File.join(dirname, basename), base_dir
+                        )
+                        base_dir = File.dirname(full_path)
+
+                        FileUtils.mkdir_p(base_dir) unless File.exist?(base_dir)
+
+                        final_path = full_Path
+                        i = 0
+                        while File.exist?(final_path)
+                            i += 1
+                            final_path = full_path + ".#{i}"
+                        end
+
+                        final_path
+                    end
+
+                    DEFAULT_OPTIONS = { output: "%m-%p.txt" }.freeze
+
+                    # The underlying Roby::Application object we use to resolve paths
+                    attr_reader :app
+                    # The startup options to be passed to Orocos.run
+                    attr_reader :default_start_options
+                    # The TCP port we are required to bind to
+                    #
+                    # It is the port given to {initialize}. In general, it is equal to
+                    # {port}. Only if it is equal to zero will {port} contain the actual
+                    # used port as allocated by the operating system
+                    #
+                    # @return [Integer]
+                    attr_reader :required_port
+
+                    # The TCP port we are listening to
+                    #
+                    # In general, it is equal to {required_port}.  Only if {required_port}
+                    # is equal to zero will {port} contain the actual used port as
+                    # allocated by the operating system
+                    #
+                    # It is nil until the server socket is created
+                    #
+                    # @return [Integer,nil]
+                    attr_reader :port
+                    # A mapping from the deployment names to the corresponding Process
+                    # object.
+                    attr_reader :processes
+                    # The object we use to load oroGen models
+                    #
+                    # It is commonly an [OroGen::Loaders::PkgConfig] loader object
+                    # @return [OroGen::Loaders::Base]
+                    attr_reader :loader
+
+                    def self.create_pkgconfig_loader
+                        OroGen::Loaders::RTT.new(Orocos.orocos_target)
+                    end
+
+                    def initialize(
+                        app,
+                        port: DEFAULT_PORT,
+                        loader: self.class.create_pkgconfig_loader,
+                        name_service_ip: nil
+                    )
+                        @app = app
+                        @default_start_options = { output: "%m-%p.txt" }
+
+                        @loader = loader
+                        @required_port = port
+                        @port = nil
+                        @name_service_ip = name_service_ip
+                        @processes = {}
+                        @all_ios = []
+                        @log_upload_command_queue = Queue.new
+                        @log_upload_results_queue = Queue.new
+                        @log_upload_pending = Concurrent::AtomicFixnum.new
+                        @log_upload_thread = Thread.new { log_upload_main }
+                    end
+
+                    def each_client(&block)
+                        @all_ios[2..-1]&.each(&block)
+                    end
+
+                    def exec
+                        open
+
+                        begin
+                            listen
+                        ensure
+                            close
+                        end
+                    end
+
+                    INTERNAL_QUIT = "Q"
+                    INTERNAL_SIGCHLD_TRIGGERED = "S"
+
+                    def open(fd: nil)
+                        info "starting on port #{required_port}"
+
+                        server =
+                            if fd
+                                TCPServer.for_fd(fd)
+                            else
+                                TCPServer.new(nil, required_port)
+                            end
+
+                        server.fcntl(Fcntl::FD_CLOEXEC, 1)
+                        @port = server.addr[1]
+
+                        com_r, @com_w = IO.pipe
+                        @all_ios.clear
+                        @all_ios << server << com_r
+
+                        trap "SIGCHLD" do
+                            @com_w.write INTERNAL_SIGCHLD_TRIGGERED
+                        end
+                    end
+
+                    def close
+                        trap("SIGCHLD", "DEFAULT")
+                        @com_w.close
+                        @all_ios.each(&:close)
+                    end
+
+                    # Main server loop. This will block and only return when CTRL+C is
+                    # hit.
+                    #
+                    # All started processes are stopped when the server quits
+                    def listen
+                        info "process server listening on port #{port}"
+                        server_io, com_r = *@all_ios[0, 2]
+
+                        @quit = false
+                        until @quit
+                            readable_sockets, = select(@all_ios, nil, nil)
+                            if readable_sockets.include?(server_io)
+                                readable_sockets.delete(server_io)
+                                client_socket = server_io.accept
+                                client_socket.setsockopt(
+                                    Socket::IPPROTO_TCP, Socket::TCP_NODELAY, true
+                                )
+                                client_socket.fcntl(Fcntl::FD_CLOEXEC, 1)
+                                debug "new connection: #{client_socket}"
+                                @all_ios << client_socket
+                            end
+
+                            if readable_sockets.include?(com_r)
+                                readable_sockets.delete(com_r)
+                                cmd = com_r.read(1)
+                                if cmd == INTERNAL_SIGCHLD_TRIGGERED
+                                    dead_processes = reap_dead_subprocesses
+                                    announce_dead_processes(dead_processes)
+                                elsif cmd == INTERNAL_QUIT
+                                    @quit = true
+                                    next
+                                elsif cmd
+                                    warn "unknown internal communication code " \
+                                         "#{cmd.inspect}"
+                                end
+                            end
+
+                            readable_sockets.each do |socket|
+                                unless handle_command(socket)
+                                    debug "#{socket} closed or errored"
+                                    socket.close
+                                    @all_ios.delete(socket)
+                                end
+                            end
+                        end
+
+                        info "process server exited normally"
+                    rescue Interrupt
+                        warn "process server exited after SIGINT"
+                    rescue Exception => e # rubocop:disable Lint/RescueException
+                        fatal "process server exited because of unhandled exception"
+                        fatal "#{e.message} #{e.class}"
+                        e.backtrace.each do |line|
+                            fatal "  #{line}"
+                        end
+                    ensure
+                        quit_and_join
+                    end
+
+                    # Check if a specific subprocess terminated and deregister it
+                    #
+                    # @param [Integer] pid the subprocess pid
+                    # @return [(Orocos::Process,Process::Status),nil] the terminated
+                    #   process and its exit status if it terminated, nil otherwise
+                    # @raise Errno::ECHILD if there is no such child with this PID
+                    def try_wait_for_subprocess_exit(pid)
+                        return unless (exited = try_wait_pid(pid))
+
+                        handle_dead_subprocess(*exited)
+                    end
+
+                    # Detect all subprocesses of this server that have died and
+                    # de-register them
+                    #
+                    # @return [Array<(Orocos::Process,Process:Status)>] the list of
+                    #   terminated subprocesses and their exit status
+                    def reap_dead_subprocesses
+                        dead_processes = []
+                        while (exited = try_wait_pid(-1))
+                            if (process = handle_dead_subprocess(*exited))
+                                dead_processes << process
+                            end
+                        end
+                        dead_processes
+                    rescue Errno::ECHILD
+                        dead_processes
+                    end
+
+                    # Reap a single terminated subprocess if there is one
+                    #
+                    # @param [Integer] pid PID of a specific subprocess of interest.
+                    #   Set to -1 for all subprocesss
+                    # @return [Proces::Status,nil] the exit status or nil if no
+                    #   subprocess matching `pid` has finished
+                    def try_wait_pid(pid)
+                        ::Process.wait2(pid, ::Process::WNOHANG)
+                    end
+
+                    # Deregister a dead subprocess from the server
+                    #
+                    # @param [Integer] exit_pid the process PID
+                    # @param [Process::Status] exit_status the process exit status
+                    # @return [(Orocos::Process,Process::Status)]
+                    def handle_dead_subprocess(exit_pid, exit_status)
+                        process_name, process =
+                            processes.find { |_, p| p.pid == exit_pid }
+                        unless process_name
+                            warn "wait2 returned PID #{exit_pid}, which is not known"
+                            return
+                        end
+
+                        process.dead!(exit_status)
+                        processes.delete(process_name)
+
+                        [process, exit_status]
+                    end
+
+                    # Announce the end of finished sub-processes to our clients
+                    #
+                    # @param [Array<(Orocos::Process,Process::Status)>] the list of
+                    #   terminated processes
+                    def announce_dead_processes(dead_processes)
+                        dead_processes.each do |process, exit_status|
+                            debug "announcing death of #{process.name} - #{exit_status}"
+                            each_client do |socket|
+                                debug "  announcing to #{socket}"
+                                socket.write(EVENT_DEAD_PROCESS)
+                                Marshal.dump([process.name, exit_status], socket)
+                            rescue SystemCallError, IOError => e
+                                debug "  #{socket}: #{e}"
+                            end
+                        end
+                    end
+
+                    # Helper method that stops all running processes
+                    def quit_and_join # :nodoc:
+                        @log_upload_command_queue << nil
+
+                        info "stopping process server"
+                        processes.each_value do |p|
+                            info "killing #{p.name}"
+                            p.kill(hard: true)
+                        end
+
+                        each_client do |socket|
+                            socket.close
+                        rescue SystemCallError, IOError # rubocop:disable Lint/SuppressedException
+                        end
+
+                        @log_upload_thread.join
+                    end
+
+                    # Helper method that deals with one client request
+                    def handle_command(socket) # :nodoc:
+                        cmd_code = socket.read(1)
+                        return false unless cmd_code
+
+                        if cmd_code == COMMAND_GET_PID
+                            debug "#{socket} requested PID"
+                            Marshal.dump([::Process.pid], socket)
+
+                        elsif cmd_code == COMMAND_GET_INFO
+                            debug "#{socket} requested system information"
+                            Marshal.dump(build_system_info, socket)
+                        elsif cmd_code == COMMAND_CREATE_LOG
+                            debug "#{socket} requested creating a log directory"
+                            time_tag, metadata = Marshal.load(socket)
+
+                            begin
+                                metadata ||= {} # compatible with older clients
+                                create_log_dir(time_tag, metadata)
+                                socket.write(RET_YES)
+                            rescue StandardError => e
+                                warn "failed to create log directory #{log_dir}: " \
+                                     "#{e.message}"
+                                (e.backtrace || []).each do |line|
+                                    warn "   #{line}"
+                                end
+                                socket.write(RET_NO)
+                            end
+
+                        elsif cmd_code == COMMAND_START
+                            name, deployment_name, name_mappings, options =
+                                Marshal.load(socket)
+                            options ||= {}
+                            debug "#{socket} requested startup of #{name} with " \
+                                  "#{options} and mappings #{name_mappings}"
+                            begin
+                                p = start_process(
+                                    name, deployment_name, name_mappings, options
+                                )
+                                debug "#{name}, from #{deployment_name}, " \
+                                      "is started (#{p.pid})"
+                                socket.write(RET_STARTED_PROCESS)
+                                Marshal.dump(p.pid, socket)
+                            rescue Interrupt
+                                raise
+                            rescue Exception => e # rubocop:disable Lint/RescueException
+                                warn "failed to start #{name}: #{e.message}"
+                                (e.backtrace || []).each do |line|
+                                    warn "   #{line}"
+                                end
+                                socket.write(RET_NO)
+                                socket.write Marshal.dump(e.message)
+                            end
+                        elsif cmd_code == COMMAND_END
+                            name, hard = Marshal.load(socket)
+                            debug "#{socket} requested end of #{name} (hard: #{hard})"
+                            if (p = processes[name])
+                                begin
+                                    end_process(p, hard: hard)
+                                    socket.write(RET_YES)
+                                rescue Interrupt
+                                    raise
+                                rescue Exception => e # rubocop:disable Lint/RescueException
+                                    warn "exception raised while calling #{p}#kill"
+                                    log_pp(:warn, e)
+                                    socket.write(RET_NO)
+                                end
+                            else
+                                warn "no process named #{name} to end"
+                                socket.write(RET_NO)
+                            end
+                        elsif cmd_code == COMMAND_KILL_ALL
+                            hard = Marshal.load(socket)
+                            debug "#{socket} requested the end of all processes"
+                            processes = kill_all(hard: hard)
+                            dead = join_all(processes)
+                            socket.write(RET_YES)
+                            ret = dead.map { |dead_p, dead_s| [dead_p.name, dead_s] }
+                            socket.write Marshal.dump(ret)
+                        elsif cmd_code == COMMAND_QUIT
+                            quit
+                        elsif cmd_code == COMMAND_LOG_UPLOAD_FILE
+                            parameters = Marshal.load(socket)
+                            log_upload_file(socket, parameters)
+                            socket.write(RET_YES)
+
+                        elsif cmd_code == COMMAND_LOG_UPLOAD_STATE
+                            state = log_upload_state
+                            socket.write RET_YES
+                            socket.write Marshal.dump(state)
+                        elsif cmd_code == COMMAND_WAIT_RUNNING
+                            result = {}
+                            process_names = Marshal.load(socket)
+                            process_names.each do |p_name|
+                                if (p = @processes[p_name])
+                                    iors = p.wait_running
+                                    result[p_name] = ({ iors: iors } if iors)
+                                else
+                                    msg = "no process named #{p_name} to wait running"
+                                    warn(msg)
+                                    result[p_name] = { error: msg }
+                                end
+                            rescue RuntimeError => e
+                                process_names.each do |process_name|
+                                    result[process_name] ||= { error: e.message }
+                                end
+                            end
+                            socket.write(RET_YES)
+                            Marshal.dump(result, socket)
+                        end
+
+                        true
+                    rescue Interrupt
+                        raise
+                    rescue EOFError
+                        false
+                    rescue Exception => e # rubocop:disable Lint/RescueException
+                        fatal "protocol error on #{socket}: #{e}"
+                        fatal "while serving command #{cmd_code}"
+                        e.backtrace.each do |bt|
+                            fatal "  #{bt}"
+                        end
+                        false
+                    end
+
+                    def create_log_dir(time_tag, metadata = {})
+                        if (parent_info = metadata["parent"])
+                            if (app_name = parent_info["app_name"])
+                                app.app_name = app_name
+                            end
+                            if (robot_name = parent_info["robot_name"])
+                                app.robot(
+                                    robot_name, parent_info["robot_type"] || robot_name
+                                )
+                            end
+                        end
+
+                        app.add_app_metadata(metadata)
+                        app.find_and_create_log_dir(time_tag)
+                        if (parent_info = metadata["parent"])
+                            info "created #{app.log_dir} on behalf of"
+                            YAML.dump(parent_info).each_line do |line|
+                                info "  #{line.chomp}"
+                            end
+                        else
+                            info "created #{app.log_dir}"
+                        end
+                    end
+
+                    def build_system_info
+                        available_projects = {}
+                        available_typekits = {}
+                        available_deployments = {}
+                        loader.each_available_project_name do |name|
+                            available_projects[name] =
+                                loader.project_model_text_from_name(name)
+                        end
+                        loader.each_available_typekit_name do |name|
+                            available_typekits[name] =
+                                loader.typekit_model_text_from_name(name)
+                        end
+                        loader.each_available_deployment_name do |name|
+                            available_deployments[name] =
+                                loader.find_project_from_deployment_name(name)
+                        end
+                        [available_projects, available_deployments, available_typekits]
+                    end
+
+                    def start_process(name, deployment_name, name_mappings, options)
+                        working_directory =
+                            options.delete(:working_directory) || app.log_dir
+                        p = Process.new(name, deployment_name, loader, working_directory)
+                        if options.delete(:gdb)
+                            options[:execution_mode] = { type: "gdbserver" }
+                        elsif options.delete(:valgrind)
+                            options[:execution_mode] = { type: "valgrind" }
+                        elsif options.fetch(:register_on_name_server, true)
+                            options[:name_service_ip] = @name_service_ip
+                        end
+                        options.delete(:register_on_name_server)
+
+                        p.add_name_mappings(name_mappings)
+                        start_process_apply_options(p, **options)
+                        p.spawn
+                        processes[name] = p
+                    end
+
+                    def start_process_apply_options( # rubocop:disable Metrics/ParameterLists
+                        process,
+                        log_level: nil, cmdline_args: {},
+                        tracing: false, execution_mode: nil, name_service_ip: nil,
+                        oro_logfile: nil, output: nil
+                    )
+                        process.enable_tracing if tracing
+                        process.setup_log_level(log_level) if log_level
+                        process.setup_corba(name_service_ip)
+                        process.push_args_from_hash(cmdline_args)
+                        process.redirect_output(output) if output
+                        process.redirect_orocos_logger_output(oro_logfile) if oro_logfile
+                        process.setup_execution_mode(**execution_mode) if execution_mode
+                    end
+
+                    def end_process(process, hard: false)
+                        process.kill(hard: hard)
+                    end
+
+                    # Kill all running subprocesses
+                    #
+                    # This method does not wait for their end, nor does it de-register
+                    # them.
+                    #
+                    # @see join_all announce_dead_processes
+                    def kill_all(hard: true)
+                        processes.each_value do |p|
+                            p.kill(hard: hard)
+                        end
+                        processes.values
+                    end
+
+                    # Exception raised by {#join_all} when its timeout is reached
+                    class JoinAllTimeout < RuntimeError; end
+
+                    # Wait for the given processes to end
+                    #
+                    # @param [Array<Orocos::Process>] processes the subprocess objects
+                    # @param [Float] poll polling period in seconds
+                    # @param [Float] timeout timeout after which the method will raise
+                    #   if there are some of the listed subprocesses still running
+                    # @return [Array<(Orocos::Process,Process::Status)>]
+                    def join_all(processes, poll: 0.1, timeout: 10)
+                        deadline = Time.now + timeout
+                        dead_processes = []
+                        until processes.empty?
+                            processes.delete_if do |p|
+                                if (status = try_wait_for_subprocess_exit(p.pid))
+                                    dead_processes << status
+                                    true
+                                end
+                            end
+
+                            if Time.now > deadline
+                                raise JoinAllTimeout,
+                                      "timed out while waiting for #{processes.size} " \
+                                      "processes to terminate"
+                            end
+                            sleep poll
+                        end
+                        dead_processes
+                    end
+
+                    def quit
+                        @quit = true
+                        @com_w&.write INTERNAL_QUIT
+                    end
+
+                    def log_upload_file(socket, parameters)
+                        host, port, certificate, user, password, localfile,
+                            max_upload_rate, implicit_ftps = parameters
+
+                        debug "#{socket} requested uploading of #{localfile}"
+
+                        begin
+                            localfile = log_upload_sanitize_path(Pathname(localfile))
+                        rescue Exception => e # rubocop:disable Lint/RescueException
+                            @log_upload_results_queue <<
+                                LogUploadState::Result.new(localfile, false, e.message)
+                            return
+                        end
+
+                        info "queueing upload of #{localfile} to #{host}:#{port}"
+                        @log_upload_command_queue <<
+                            FTPUpload.new(
+                                host, port, certificate,
+                                user, password, localfile,
+                                max_upload_rate: max_upload_rate || Float::INFINITY,
+                                implicit_ftps: implicit_ftps
+                            )
+                        @log_upload_pending.increment
+                    end
+
+                    def log_upload_sanitize_path(path)
+                        log_path = Pathname(app.log_dir)
+                        full_path = path.realpath(log_path)
+                        if full_path.to_s.start_with?(log_path.to_s + "/")
+                            return full_path
+                        end
+
+                        raise ArgumentError,
+                              "cannot upload files not within the app's log directory"
+                    end
+
+                    def log_upload_main
+                        while (transfer = @log_upload_command_queue.pop)
+                            @log_upload_results_queue << transfer.open_and_transfer
+                            @log_upload_pending.decrement
+                        end
+                    end
+
+                    def log_upload_state
+                        results = []
+                        loop do
+                            results << @log_upload_results_queue.pop(true)
+                        rescue ThreadError
+                            break
+                        end
+
+                        log_dir = Pathname.new(app.log_dir)
+                        results.each do |r|
+                            if r.success?
+                                r.file.unlink
+                                r.file =
+                                    Pathname.new(r.file).relative_path_from(log_dir).to_s
+                            end
+                        end
+
+                        LogUploadState.new(@log_upload_pending.value, results)
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/ruby_tasks/manager.rb b/lib/syskit/process_managers/ruby_tasks/manager.rb
new file mode 100644
index 000000000..e8a5a97e4
--- /dev/null
+++ b/lib/syskit/process_managers/ruby_tasks/manager.rb
@@ -0,0 +1,120 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module RubyTasks
+            # Management of Ruby tasks, that is Rock component interfaces without
+            # computation that are driven by Syskit code
+            class Manager
+                attr_reader :deployments, :loader, :terminated_deployments
+
+                # The task context class that should be used on the client side
+                #
+                # Defaults to {TaskContext}, another option is {StubTaskContext}
+                #
+                # @return [Class]
+                attr_reader :task_context_class
+
+                def initialize(
+                    loader = Roby.app.default_loader,
+                    task_context_class: Orocos::RubyTasks::TaskContext
+                )
+                    @loader = loader
+                    @deployments = {}
+                    @terminated_deployments = {}
+                    @task_context_class = task_context_class
+                end
+
+                def disconnect; end
+
+                def register_deployment_model(model)
+                    loader.register_deployment_model(model)
+                end
+
+                def start( # rubocop:disable Metrics/ParameterLists
+                    name, deployment_name, name_mappings,
+                    prefix: nil, task_context_class: self.task_context_class,
+                    register_on_name_server: true, **_
+                )
+                    model = if deployment_name.respond_to?(:to_str)
+                                loader.deployment_model_from_name(deployment_name)
+                            else
+                                deployment_name
+                            end
+                    if deployments[name]
+                        raise ArgumentError, "#{name} is already started in #{self}"
+                    end
+
+                    prefix_mappings = Orocos::ProcessBase.resolve_prefix(model, prefix)
+                    ruby_deployment = Process.new(
+                        self, name, model,
+                        task_context_class: task_context_class
+                    )
+
+                    prefix_mappings.merge(name_mappings).each do |a, b|
+                        ruby_deployment.map_name(a, b)
+                    end
+
+                    ruby_deployment.spawn(
+                        register_on_name_server: register_on_name_server
+                    )
+                    deployments[name] = ruby_deployment
+                end
+
+                # Requests that the process server moves the log directory at +log_dir+
+                # to +results_dir+
+                def save_log_dir(log_dir, results_dir); end
+
+                # Creates a new log dir, and save the given time tag in it (used later
+                # on by save_log_dir)
+                def create_log_dir(log_dir, time_tag, metadata = {}); end
+
+                # Waits for processes to terminate. +timeout+ is the number of
+                # milliseconds we should wait. If set to nil, the call will block until
+                # a process terminates
+                #
+                # Returns a hash that maps deployment names to the Status
+                # object that represents their exit status.
+                def wait_termination(_timeout = nil)
+                    result = terminated_deployments
+                    @terminated_deployments = {}
+                    result
+                end
+
+                def wait_running(*process_names)
+                    process_ior_mappings = {}
+                    process_names.each do |name|
+                        if deployments[name]&.resolve_all_tasks
+                            process_ior_mappings[name] = {
+                                iors: deployments[name].wait_running
+                            }
+                        else
+                            process_ior_mappings[name] = {
+                                error: "#{name} is not a valid process in the deployment"
+                            }
+                        end
+                    end
+                    process_ior_mappings
+                end
+
+                # Requests to stop the given deployment
+                #
+                # The call does not block until the process has quit. You will have to
+                # call #wait_termination to wait for the process end.
+                def stop(deployment_name)
+                    deployments[deployment_name]&.kill
+                end
+
+                def dead_deployment(deployment_name, status = Status.new(true))
+                    return unless (deployment = deployments.delete(deployment_name))
+
+                    terminated_deployments[deployment] = status
+                end
+
+                def default_logger_task(plan, app: Roby.app)
+                    InProcess::Manager.default_logger_task(plan, app: app)
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/ruby_tasks/process.rb b/lib/syskit/process_managers/ruby_tasks/process.rb
new file mode 100644
index 000000000..19237b777
--- /dev/null
+++ b/lib/syskit/process_managers/ruby_tasks/process.rb
@@ -0,0 +1,157 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module RubyTasks
+            # Representation and management of a set of ruby tasks
+            #
+            # This provides a {Orocos::Process}-compatible API to ruby tasks. It allows
+            # to define tasks in an oroGen deployment model and "spawn" them all at
+            # once, as well as dispose of them all at once.
+            class Process < ProcessBase
+                # The Ruby process server that spawned this process
+                #
+                # If non-nil, the object's #dead_deployment will be called when self is
+                # stopped
+                #
+                # @return [#dead_deployment,nil]
+                attr_reader :ruby_process_server
+
+                # The set of deployed tasks
+                #
+                # @return [{String=>TaskContext}] mapping from the deployed task name as
+                #   defined in {model} to the actual ruby task object
+                attr_reader :deployed_tasks
+
+                # The host on which this process' tasks run
+                #
+                # This is always 'localhost' as ruby tasks are instanciated inside the
+                # ruby process
+                #
+                # @return [String]
+                def host_id
+                    "localhost"
+                end
+
+                # Whether the tasks in this process are running on the same machine than
+                # the ruby process
+                #
+                # This is always true as ruby tasks are instanciated inside the ruby
+                # process
+                #
+                # @return [Boolean]
+                def on_localhost?
+                    true
+                end
+
+                # The PID of the process in which the tasks run
+                #
+                # This is always Process.pid as ruby tasks are instanciated inside the
+                # ruby
+                # process
+                #
+                # @return [Integer]
+                def pid
+                    ::Process.pid
+                end
+
+                # The task context class that should be used on the client side
+                #
+                # Defaults to {TaskContext}, another option is {StubTaskContext}
+                #
+                # @return [Class]
+                attr_reader :task_context_class
+
+                # The ior mappings of the deployed tasks
+                attr_reader :ior_mappings
+
+                # Creates a new ruby task process
+                #
+                # @param [nil,#dead_deployment] ruby_process_server the process manager
+                #   which creates this process. If non-nil, its #dead_deployment method
+                #   will be called when this process stops
+                # @param [String] name the process name
+                # @param [OroGen::Spec::Deployment] model the deployment model
+                def initialize(
+                    ruby_process_server, name, model,
+                    task_context_class: Orocos::RubyTasks::TaskContext
+                )
+                    @ruby_process_server = ruby_process_server
+                    @deployed_tasks = {}
+                    @task_context_class = task_context_class
+                    @ior_mappings = nil
+                    super(name, model)
+                end
+
+                # Deploys the tasks defined in {model} as ruby tasks
+                #
+                # @return [void]
+                def spawn(register_on_name_server: true, **_options)
+                    model.task_activities.each do |deployed_task|
+                        name = mapped_name_of(deployed_task.name)
+                        Orocos.allow_blocking_calls do
+                            deployed_tasks[name] =
+                                task_context_class.from_orogen_model(
+                                    name, deployed_task.task_model,
+                                    register_on_name_server: register_on_name_server
+                                )
+                        end
+                    end
+                    @alive = true
+                end
+
+                # The ruby tasks are already ready, so all this is does is to get the IOR
+                # mappings from them. The wait_running method name is maintained to keep
+                # the API closer to the remote process'.
+                def wait_running
+                    unless @ior_mappings
+                        (@ior_mappings = deployed_tasks.transform_values(&:ior))
+                    end
+                    @ior_mappings
+                end
+
+                def task(task_name)
+                    if (t = deployed_tasks[task_name])
+                        t
+                    else
+                        raise ArgumentError,
+                              "#{self} has no task called #{task_name}, known tasks: " \
+                              "#{deployed_tasks.keys.sort.join(', ')}"
+                    end
+                end
+
+                def resolve_all_tasks
+                    deployed_tasks
+                end
+
+                def define_ior_mappings(ior_mappings)
+                    @ior_mappings = ior_mappings
+                end
+
+                def kill(**)
+                    deployed_tasks.each_value(&:dispose)
+                    dead!
+                end
+
+                def dead!(status = Status.new(exit_code: 0))
+                    @alive = false
+                    ruby_process_server&.dead_deployment(name, status)
+                end
+
+                def join
+                    raise NotImplementedError, "RemoteProcess#join is not implemented"
+                end
+
+                # True if the process is running. This is an alias for running?
+                def alive?
+                    @alive
+                end
+
+                # True if the process is running. This is an alias for alive?
+                def running?
+                    @alive
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/status.rb b/lib/syskit/process_managers/status.rb
new file mode 100644
index 000000000..0f0952210
--- /dev/null
+++ b/lib/syskit/process_managers/status.rb
@@ -0,0 +1,32 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        # Fake status class used by process managers to report exit status
+        class Status
+            def initialize(success = true)
+                @success = success
+            end
+
+            def stopped?
+                false
+            end
+
+            def exited?
+                !@success
+            end
+
+            def exitstatus
+                success ? 0 : 1
+            end
+
+            def signaled?
+                false
+            end
+
+            def success?
+                @success
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/unmanaged/manager.rb b/lib/syskit/process_managers/unmanaged/manager.rb
new file mode 100644
index 000000000..45415e911
--- /dev/null
+++ b/lib/syskit/process_managers/unmanaged/manager.rb
@@ -0,0 +1,162 @@
+# frozen_string_literal: true
+
+require "orocos/ruby_tasks/process"
+
+module Syskit
+    module ProcessManagers
+        module Unmanaged
+            # Management of deployments that are started externally
+            #
+            # Unmanaged processes are picking up tasks through their name
+            # (that is, through the CORBA naming service) and make them available
+            # to the Syskit instance. At runtime, they monitor whether the task
+            # can still be reached and abort the process if not
+            class Manager
+                # Exception raised if one attempts to do name mappings in an
+                # unmanaged process server
+                class NameMappingsForbidden < ArgumentError; end
+
+                # The set of processes started so far
+                #
+                # @return [Hash<String,Process>] mapping from process name
+                #   to the process object
+                attr_reader :processes
+
+                # The name service that should be used to resolve the tasks
+                #
+                # @return [#get]
+                attr_reader :name_service
+
+                # The OroGen loader
+                attr_reader :loader
+
+                def initialize(loader: Roby.app.default_loader,
+                    name_service: Orocos::CORBA.name_service)
+                    @loader = loader
+                    @processes = {}
+                    @name_service = name_service
+                    @deployments = {}
+                end
+
+                def disconnect; end
+
+                # Register a new deployment model on this server.
+                #
+                # If name mappings are needed, they must have been done in the
+                # model. {#start} does not support name mappings
+                def register_deployment_model(model)
+                    loader.register_deployment_model(model)
+                end
+
+                # Start a registered deployment
+                #
+                # @param [String] name the desired process name
+                # @param [String,OroGen::Spec::Deployment] deployment_name either
+                #   the name of a deployment model on {#loader}, or the deployment
+                #   model itself
+                # @param [Hash] name_mappings name mappings. This is provided for
+                #   compatibility with the process server API, but should always be
+                #   empty
+                # @param [String] prefix a prefix to be added to all tasks in the
+                #   deployment.  This is provided for
+                #   compatibility with the process server API, but should always be
+                #   nil
+                # @param [Hash] options additional spawn options. This is provided
+                #   for compatibility with the process server API, but is ignored
+                # @return [Process]
+                def start(
+                    name, deployment_name = name, name_mappings = {},
+                    prefix: nil, **
+                )
+                    model = if deployment_name.respond_to?(:to_str)
+                                loader.deployment_model_from_name(deployment_name)
+                            else
+                                deployment_name
+                            end
+
+                    if processes[name]
+                        raise ArgumentError, "#{name} is already started in #{self}"
+                    end
+
+                    prefix_mappings = Orocos::ProcessBase.resolve_prefix(model, prefix)
+                    name_mappings = prefix_mappings.merge(name_mappings)
+                    name_mappings.each do |from, to|
+                        if from != to
+                            raise NameMappingsForbidden,
+                                  "cannot do name mapping in unmanaged processes"
+                        end
+                    end
+
+                    process = Process.new(self, name, model)
+                    process.spawn
+                    processes[name] = process
+                end
+
+                # Requests that the process server moves the log directory at +log_dir+
+                # to +results_dir+
+                def save_log_dir(log_dir, results_dir); end
+
+                # Creates a new log dir, and save the given time tag in it (used later
+                # on by save_log_dir)
+                def create_log_dir(log_dir, time_tag, metadata = {}); end
+
+                # Waits for processes to terminate. +timeout+ is the number of
+                # milliseconds we should wait. If set to nil, the call will block until
+                # a process terminates
+                #
+                # Returns a hash that maps deployment names to the Status
+                # object that represents their exit status.
+                def wait_termination(_timeout = nil)
+                    # Verify that the monitor threads are in a good state, and
+                    # gather the ones that are actually dead
+                    dead_processes = {}
+                    processes.delete_if do |_, process|
+                        next unless process.dead?
+
+                        begin
+                            process.verify_threads_state
+                            dead_processes[process] = Status.new(true)
+                        rescue Exception => e # rubocop:disable Lint/RescueException
+                            process.fatal(
+                                "assuming #{process} died because the background " \
+                                "thread died with"
+                            )
+                            Roby.log_exception(e, process, :fatal)
+
+                            dead_processes[process] = Status.new(false)
+                        end
+
+                        true
+                    end
+                    dead_processes
+                end
+
+                def wait_running(*process_names)
+                    result = {}
+                    process_names.each do |name|
+                        if (p = processes[name])
+                            begin
+                                ior_resolution = p.wait_running(0)
+                                result[name] = { iors: ior_resolution }
+                            rescue Orocos::NotFound, Orocos::CORBA::ComError => e
+                                result[name] = { error: e.message }
+                            end
+                        else
+                            result[name] =
+                                { error: "#{name} was not found of the processes list" }
+                        end
+                    end
+                    result
+                end
+
+                # Requests to stop the given deployment
+                #
+                # The call does not block until the process has quit. You will have to
+                # call #wait_termination to wait for the process end.
+                def stop(world_name)
+                    processes[world_name]&.kill
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/process_managers/unmanaged/process.rb b/lib/syskit/process_managers/unmanaged/process.rb
new file mode 100644
index 000000000..6b6acfb84
--- /dev/null
+++ b/lib/syskit/process_managers/unmanaged/process.rb
@@ -0,0 +1,254 @@
+# frozen_string_literal: true
+
+module Syskit
+    module ProcessManagers
+        module Unmanaged
+            # Representation of a deployment that is started externally
+            #
+            # A {Unmanaged::Process} can basically be in three states, which are
+            # reflected by three threads
+            #
+            # {#monitor_thread} is started when all tasks have been resolved in
+            # {#resolve_all_tasks}. It verifies that the tasks are still reachable.
+            # The thread returns when it is not the case.
+            #
+            # Whether the process is stil in a good state or not should be tested
+            # with {#dead?}. {#verify_threads_state} verifies that the threads
+            # themselves did not terminate with an exception (and throw the
+            # exception).
+            class Process < ProcessBase
+                extend Logger::Forward
+                extend Logger::Hierarchy
+                include Logger::Hierarchy
+                include Logger::Forward
+
+                class TerminateThread < RuntimeError; end
+
+                # The {Manager} object which created this
+                #
+                # If non-nil, the object's #dead_deployment will be called when self
+                # is stopped
+                #
+                # @return [#dead_deployment,nil]
+                attr_reader :process_manager
+
+                # The set of deployed tasks
+                #
+                # @return [{String=>TaskContext}] mapping from the deployed task name as
+                #   defined in {model} to the actual {Orocos::TaskContext}
+                attr_reader :deployed_tasks
+
+                # The host on which this process' tasks run
+                #
+                # @return [String]
+                attr_reader :host_id
+
+                # Whether the tasks in this process are running on the same machine than
+                # the ruby process
+                #
+                # This is always true as ruby tasks are instanciated inside the ruby
+                # process
+                #
+                # @return [Boolean]
+                def on_localhost?
+                    host_id == "localhost"
+                end
+
+                # The PID of the process in which the tasks run
+                #
+                # This is always Process.pid as ruby tasks are instanciated inside the
+                # ruby process
+                #
+                # @return [Integer]
+                attr_reader :pid
+
+                # The name service object which should be used to resolve the tasks
+                attr_reader :name_service
+
+                # @api private
+                #
+                # The thread that monitors the tasks availability
+                #
+                # It is spawned the first time {#wait_running} returns true
+                attr_reader :monitor_thread
+
+                # Creates a new object managing the tasks that represent a single
+                # unmanaged process
+                #
+                # @param [nil,#dead_deployment] process_manager the process manager
+                #   which created this process. If non-nil, its #dead_deployment method
+                #   will be called when {stop} is called
+                # @param [String] name the process name
+                # @param [OroGen::Spec::Deployment] model the deployment model
+                # @param [String] host_id a string identifying the place where the
+                #   process is expected to be running
+                def initialize(process_manager, name, model, host_id: "unmanaged_process")
+                    @process_manager = process_manager
+                    @deployed_tasks = {}
+                    @name_service = process_manager.name_service
+                    @host_id = host_id
+                    @quitting = Concurrent::Event.new
+                    super(name, model)
+
+                    @default_logger = false
+                end
+
+                # "Starts" this process
+                #
+                # It spawns a thread that returns once the task got resolved
+                #
+                # @return [void]
+                def spawn(_options = {})
+                    @spawn_start = Time.now
+                    @last_warning = Time.now
+                    @deployed_tasks = {}
+
+                    @iors_future = Concurrent::Promises.future do
+                        name_service_get_all_tasks
+                    end
+                end
+
+                # Calls the name service until all of the tasks are resolved. Ignores
+                # whenever a Orocos::NotFound exception is raised.
+                #
+                # @raises RuntimeError
+                # @raises Orocos::CORBA::ComError
+                # @return [Hash<String, Orocos::TaskContext>]
+                def name_service_get_all_tasks
+                    expected_names = mapped_task_names.dup
+
+                    result = {}
+                    until expected_names.empty?
+                        expected_names.delete_if do |name|
+                            result[name] = name_service.get(name)
+                        rescue Orocos::NotFound
+                            false
+                        end
+                    end
+                    result
+                end
+
+                # Verifies that the monitor thread is alive and well, or that the
+                # process either terminated or is not spawned yet
+                #
+                # If the monitor thread terminated unexpectedly, it will raise the
+                # exception that terminated it, or a RuntimeError if no exceptions
+                # have been raised (which should not be possible)
+                def verify_threads_state
+                    monitor_thread.join if monitor_thread && !monitor_thread.alive?
+                end
+
+                # Returns the deployed tasks.
+                #
+                # The deployed tasks are resolved on wait_running, which is called by
+                # `update_deployment_states.rb` when making the deployment ready.
+                #
+                # @returns [Hash<String, Orocos::TaskContext>]
+                def resolve_all_tasks
+                    @deployed_tasks
+                end
+
+                def define_ior_mappings(ior_mappings)
+                    @ior_mappings = ior_mappings
+                end
+
+                # Returns the component object for the given name
+                #
+                # @raise [RuntimeError] if the process is not running yet
+                # @raise [ArgumentError] if the name is not the name of a task on
+                #   self
+                def task(task_name)
+                    raise "process not running yet" unless ready?
+
+                    @deployed_tasks.fetch(task_name)
+                end
+
+                # Waits until all the tasks are resolved or the timeout is due,
+                # registering the IORs of the resolved tasks and starting the monitor.
+                #
+                # @raises RuntimeError
+                # @raises Orocos::CORBA::ComError
+                # @return [Hash<String, String>] the ior mappings
+                def wait_running(timeout = nil)
+                    return unless (tasks = @iors_future.value!(timeout))
+
+                    @ior_mappings = tasks.transform_values(&:ior)
+                    @deployed_tasks = tasks
+                    @monitor_thread = Thread.new { monitor(tasks) }
+                    @monitor_thread.report_on_exception = false
+                    @ior_mappings
+                end
+
+                # @api private
+                #
+                # Helper method to kill a thread
+                def terminate_and_join_thread(thread)
+                    return unless thread.alive?
+
+                    thread.raise TerminateThread
+                    begin
+                        thread.join
+                    rescue TerminateThread # rubocop:disable Lint/SuppressedException
+                    end
+                end
+
+                # "Kill" this process
+                #
+                # It shuts down the tasks that are part of it
+                def kill(**)
+                    # Announce we're quitting to #monitor_thread. It's used in
+                    # #dead? directly if there is no monitoring thread
+                    @quitting.set
+                end
+
+                # @api private
+                #
+                # Implementation of the monitor thread, i.e. the thread that will
+                # detect if the deployment disappears
+                #
+                # @param [Hash<String, Orocos::TaskContext>] tasks
+                #   map of task name to task
+                # @param [Float] period polling period in seconds
+                def monitor(tasks, period: 0.1)
+                    until quitting?
+                        tasks.each_value(&:ping)
+                        sleep period
+                    end
+                end
+
+                # Whether {#kill} requested for {#monitor_thread} to quit
+                def quitting?
+                    @quitting.set?
+                end
+
+                # Returns true if the process died
+                def dead?
+                    if monitor_thread
+                        !monitor_thread.alive?
+                    else
+                        quitting?
+                    end
+                end
+
+                # Returns true if the tasks have been successfully discovered
+                def ready?
+                    @iors_future.resolved?
+                end
+
+                # True if the process is running. This is an alias for running?
+                def alive?
+                    !dead?
+                end
+
+                # True if the process is running. This is an alias for alive?
+                def running?
+                    alive?
+                end
+
+                def join
+                    raise NotImplementedError, "UnmanagedProcess#join is not implemented"
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/properties.rb b/lib/syskit/properties.rb
index 77f2c7852..f85e96609 100644
--- a/lib/syskit/properties.rb
+++ b/lib/syskit/properties.rb
@@ -55,7 +55,7 @@ def __resolve_property(name)
 
         def method_missing(m, *args)
             if m =~ /=$/
-                raw, p = __resolve_property($`.to_s)
+                raw, p = __resolve_property(::Regexp.last_match.pre_match.to_s)
                 if raw
                     p.raw_write(*args)
                 else
diff --git a/lib/syskit/queries/abstract_component_base.rb b/lib/syskit/queries/abstract_component_base.rb
index 354513192..88c41785e 100644
--- a/lib/syskit/queries/abstract_component_base.rb
+++ b/lib/syskit/queries/abstract_component_base.rb
@@ -13,7 +13,7 @@ def find_port_by_name(name)
 
                 model_s = @model.map(&:to_s).join(", ")
                 raise Ambiguous,
-                      "more than one port named '#{name}' exist on composite model "\
+                      "more than one port named '#{name}' exist on composite model " \
                       "#{model_s}. Select a data service explicitly to disambiguate"
             end
 
@@ -33,7 +33,7 @@ def port_matcher_by_name(name)
 
                 model_s = @model.map(&:to_s).join(", ")
                 raise ArgumentError,
-                      "no port named '#{name}' on #{model_s}, refine the "\
+                      "no port named '#{name}' on #{model_s}, refine the " \
                       "model with .which_fullfills first"
             end
 
@@ -50,7 +50,7 @@ def find_data_service_by_name(name)
                 return ds.first if ds.size <= 1
 
                 raise NotImplementedError,
-                      "more than one port named #{name} on composite model "\
+                      "more than one port named #{name} on composite model " \
                       "#{model_s}. This is likely to be a Syskit bug"
             end
 
@@ -74,7 +74,7 @@ def data_service_matcher_by_name(name)
 
                 model_s = @model.map(&:to_s).join(", ")
                 raise ArgumentError,
-                      "no port named '#{name}' on #{model_s}, refine the "\
+                      "no port named '#{name}' on #{model_s}, refine the " \
                       "model with .with_model first"
             end
 
diff --git a/lib/syskit/queries/data_service_matcher.rb b/lib/syskit/queries/data_service_matcher.rb
index 8893cf065..5124a55ad 100644
--- a/lib/syskit/queries/data_service_matcher.rb
+++ b/lib/syskit/queries/data_service_matcher.rb
@@ -123,6 +123,12 @@ def method_missing(name, *args)
                     self
                 end
             end
+
+            def to_s
+                model_to_s = @model.map(&:to_s).join(", ")
+                "#{@component_matcher}.data_service(" \
+                    "model: #{model_to_s}, name: #{@name_filter})"
+            end
         end
     end
 end
diff --git a/lib/syskit/queries/port_matcher.rb b/lib/syskit/queries/port_matcher.rb
index 21c5fd67c..e670fc00b 100644
--- a/lib/syskit/queries/port_matcher.rb
+++ b/lib/syskit/queries/port_matcher.rb
@@ -5,6 +5,8 @@ module Queries
         # Finds a set of ports within the plan
         class PortMatcher < Roby::Queries::MatcherBase
             def initialize(component_matcher)
+                super()
+
                 @component_matcher = component_matcher.match
                 @name_filter = Roby::Queries.any
                 @type_filter = nil
@@ -72,8 +74,8 @@ def each_in_plan(plan, &block)
 
             def each_in_plan_by_name(plan)
                 @component_matcher.each_in_plan(plan) do |task|
-                    if (port = task.find_port(@name_filter))
-                        yield(port) if !@type_filter || @type_filter == port.type
+                    if (port = task.find_port(@name_filter)) && (!@type_filter || @type_filter == port.type)
+                        yield(port)
                     end
                 end
             end
diff --git a/lib/syskit/remote_state_getter.rb b/lib/syskit/remote_state_getter.rb
index 3643fac33..9d89fde49 100644
--- a/lib/syskit/remote_state_getter.rb
+++ b/lib/syskit/remote_state_getter.rb
@@ -96,7 +96,7 @@ def validate_thread_running
             return if @poll_thread
 
             raise NotYetStarted,
-                  "called an operation on a RemoteStateGetter that is not running. "\
+                  "called an operation on a RemoteStateGetter that is not running. " \
                   "call #start first"
         end
 
@@ -111,7 +111,7 @@ def validate_can_wait
                       "error calling or within #wait: #{self} is paused"
             elsif (error = @poll_thread_error.value)
                 raise error,
-                      "error calling or within #wait: #{self}'s poll thread quit "\
+                      "error calling or within #wait: #{self}'s poll thread quit " \
                       "with #{error.message}", (error.backtrace + caller)
             elsif @exit_condition.set?
                 raise InvalidRuntimeStateError,
diff --git a/lib/syskit/robot/master_device_instance.rb b/lib/syskit/robot/master_device_instance.rb
index de0236e5f..ea7189ea9 100644
--- a/lib/syskit/robot/master_device_instance.rb
+++ b/lib/syskit/robot/master_device_instance.rb
@@ -87,7 +87,7 @@ def advanced
 
             # @deprecated
             def use_conf(*conf)
-                Roby.warn_deprecated "MasterDeviceInstance#use_conf is deprecated. "\
+                Roby.warn_deprecated "MasterDeviceInstance#use_conf is deprecated. " \
                                      "Use #with_conf instead"
                 with_conf(*conf)
             end
@@ -155,12 +155,12 @@ def attach_to(com_bus, bus_to_client: true, client_to_bus: true, **options)
                 end
 
                 if (srv_name = options.delete(:in))
-                    Roby.warn_deprecated "the in: option of MasterDeviceInstance"\
+                    Roby.warn_deprecated "the in: option of MasterDeviceInstance" \
                                          "#attach_to has been renamed to bus_to_client"
                     bus_to_client = srv_name
                 end
                 if (srv_name = options.delete(:out))
-                    Roby.warn_deprecated "the out: option of MasterDeviceInstance"\
+                    Roby.warn_deprecated "the out: option of MasterDeviceInstance" \
                                          "#attach_to has been renamed to client_to_bus"
                     client_to_bus = srv_name
                 end
@@ -207,11 +207,11 @@ def resolve_combus_client_srv(srv_model, srv_name, com_bus, option_name)
                 )
                 unless service
                     raise ArgumentError,
-                          "#{driver_task_model} does not "\
-                          "provide a service of type #{srv_model}, "\
-                          "needed to connect to the bus '#{com_bus.name}'. Either "\
-                          "disable the #{option_name.gsub('_', '-')} communication "\
-                          "by passing #{option_name}: false, or change Driver\'s "\
+                          "#{driver_task_model} does not " \
+                          "provide a service of type #{srv_model}, " \
+                          "needed to connect to the bus '#{com_bus.name}'. Either " \
+                          "disable the #{option_name.gsub('_', '-')} communication " \
+                          "by passing #{option_name}: false, or change Driver's " \
                           "definition to provide the data service"
                 end
 
@@ -224,10 +224,10 @@ def resolve_combus_client_srv(srv_model, srv_name, com_bus, option_name)
                     .compact.sort.join(", ")
 
                 raise ArgumentError,
-                      "#{driver_task_model} provides more than one "\
-                      "service of type #{srv_model} "\
-                      "to connect to the bus \'#{com_bus.name}\'. "\
-                      "Select one explicitely using the bus_to_client "\
+                      "#{driver_task_model} provides more than one " \
+                      "service of type #{srv_model} " \
+                      "to connect to the bus '#{com_bus.name}'. " \
+                      "Select one explicitely using the bus_to_client " \
                       "option. Available services: #{possible_services}"
             end
 
@@ -246,15 +246,15 @@ def find_combus_client_srv(srv_m, srv_name, com_bus)
                     result = driver_task_model.find_data_service(srv_name)
                     unless result
                         raise ArgumentError,
-                              "#{srv_name} is specified as a client service on device "\
-                              "#{name} for combus #{com_bus.name}, but it is not a data "\
+                              "#{srv_name} is specified as a client service on device " \
+                              "#{name} for combus #{com_bus.name}, but it is not a data " \
                               "service on #{driver_task_model}"
                     end
 
                     unless result.fullfills?(srv_m)
                         raise ArgumentError,
-                              "#{srv_name} is specified as a client service on device "\
-                              "#{name} for combus #{com_bus.name}, but it does not "\
+                              "#{srv_name} is specified as a client service on device " \
+                              "#{name} for combus #{com_bus.name}, but it does not " \
                               "provide the required service #{srv_m}"
                     end
 
@@ -340,7 +340,7 @@ def slave(slave_service, as: nil)
                     end
                     unless srv
                         raise ArgumentError,
-                              "there is no service #{slave_name} and no dynamic "\
+                              "there is no service #{slave_name} and no dynamic " \
                               "service in #{task_model.short_name}"
                     end
 
@@ -404,7 +404,7 @@ def deployed_as_unmanaged(*args, **kw)
             end
 
             def use_deployments(hints)
-                Roby.warn_deprecated "MasterDeviceInstance#use_deployments is "\
+                Roby.warn_deprecated "MasterDeviceInstance#use_deployments is " \
                                      "deprecated. Use #prefer_deployed_tasks instead"
                 prefer_deployed_tasks(hints)
                 self
diff --git a/lib/syskit/robot/robot_definition.rb b/lib/syskit/robot/robot_definition.rb
index 7e555bbca..253eaada1 100644
--- a/lib/syskit/robot/robot_definition.rb
+++ b/lib/syskit/robot/robot_definition.rb
@@ -157,7 +157,7 @@ def device(device_model, doc: nil, **options)
 
                 # Verify that the provided device model matches what we expect
                 unless device_model < options[:expected_model]
-                    raise ArgumentError, "#{device_model} is not a "\
+                    raise ArgumentError, "#{device_model} is not a " \
                                          "#{options[:expected_model].short_name}"
                 end
 
@@ -165,7 +165,7 @@ def device(device_model, doc: nil, **options)
                 driver_model =
                     begin options[:using] || device_model.default_driver
                     rescue Ambiguous => e
-                        raise e, "#{e.message}, select one explicitely with the "\
+                        raise e, "#{e.message}, select one explicitely with the " \
                                  "using: option of the 'device' statement", e.backtrace
                     end
 
@@ -173,13 +173,13 @@ def device(device_model, doc: nil, **options)
                     driver_model =
                         begin driver_model.find_data_service_from_type(device_model)
                         rescue Syskit::AmbiguousServiceSelection => e
-                            raise e, "#{e.message}, select one explicitly with the "\
+                            raise e, "#{e.message}, select one explicitly with the " \
                                      "using: option of the 'device' statement",
                                   e.backtrace
                         end
                     unless driver_model
-                        raise ArgumentError, "#{options[:using]}, given as the using: "\
-                                             "option to create #{self}, is not a driver "\
+                        raise ArgumentError, "#{options[:using]}, given as the using: " \
+                                             "option to create #{self}, is not a driver " \
                                              "for #{device_model}"
                     end
                 end
diff --git a/lib/syskit/roby_app.rb b/lib/syskit/roby_app.rb
index 7e3e0defe..511339b62 100644
--- a/lib/syskit/roby_app.rb
+++ b/lib/syskit/roby_app.rb
@@ -11,6 +11,8 @@ module RobyApp
     end
 end
 
+require "securerandom"
+
 require "syskit/roby_app/logging_configuration"
 require "syskit/roby_app/logging_group"
 require "syskit/roby_app/robot_extension"
@@ -18,9 +20,9 @@ module RobyApp
 require "syskit/roby_app/configuration"
 require "syskit/roby_app/plugin"
 require "syskit/roby_app/single_file_dsl"
-require "syskit/roby_app/unmanaged_process"
-require "syskit/roby_app/unmanaged_tasks_manager"
-require "syskit/roby_app/remote_processes"
+
+require "syskit/roby_app/tmp_root_ca"
+require "syskit/roby_app/log_transfer_manager"
 require "syskit/roby_app/log_transfer_server"
 
 module Syskit
diff --git a/lib/syskit/roby_app/configuration.rb b/lib/syskit/roby_app/configuration.rb
index c9a165532..ad037210c 100644
--- a/lib/syskit/roby_app/configuration.rb
+++ b/lib/syskit/roby_app/configuration.rb
@@ -1,6 +1,5 @@
 # frozen_string_literal: true
 
-require "orocos/ruby_process_server"
 module Syskit
     module RobyApp
         # Syskit engine configuration interface
@@ -11,6 +10,7 @@ class Configuration
             # The application that we are configuring
             # @return [Roby::Application]
             attr_reader :app
+
             # If true, we will load the component-specific code in
             # tasks/orogen/. It is true by default
             attr_predicate :load_component_extensions, true
@@ -28,6 +28,7 @@ class Configuration
             #
             # @return [Hash<String,ProcessServerConfig>]
             attr_reader :process_servers
+
             # Controls whether the orogen types should be exported as Ruby
             # constants
             attr_predicate :export_types?, true
@@ -49,11 +50,45 @@ class Configuration
             # is 20s
             attr_accessor :exception_transition_timeout
 
+            # Configuration of Syskit's log transfer functionality
+            #
+            # Minimum configuration: set `ip` to an IP which the process servers
+            # can reach. You must also configure log rotation
+            # ({#log_rotation_period}). Syskit will transfer the rotated logs to
+            # the main Syskit's instance log directory.
+            #
+            # If you want to transfer to another dir, also set {#target_dir}. If you do
+            # set {#target_dir}, local files will also be transferred. There is currently
+            # no optimization for this (the local logs will also be transferred through
+            # the network)
+            #
+            # If you want to use an external server, you must also provide its public
+            # certificate and set self_spawned to false. In this case, target_dir is
+            # ignored
+            #
+            # @return [LogTransferManager::Configuration]
+            attr_reader :log_transfer
+
+            # Period in seconds for triggering log rotation and transfer
+            #
+            # This is considered experimental, and is disabled by default
+            #
+            # @return [Number] the rotation in seconds, or nil if rotation is
+            #   disabled altogether
+            attr_accessor :log_rotation_period
+
             # @deprecated Unused, kept here for historical reasons
             attr_predicate :ignore_load_errors, true
             # @deprecated Unused, kept here for historical reasons
             attr_predicate :use_only_model_pack?, true
 
+            # Controls whether Models::TaskContext.model_for raises if there is more
+            # than one Syskit model matching the given orogen model
+            #
+            # This is false for backward compatibility reasons, and will eventually
+            # become the default behavior.
+            attr_predicate :strict_model_for, true
+
             # Data logging configuration
             #
             # @return [LoggingConfiguration]
@@ -76,14 +111,6 @@ class Configuration
             # @return [Models::DeploymentGroup]
             attr_reader :deployment_group
 
-            # Period in seconds for triggering log rotation and transfer
-            #
-            # This is considered experimental, and is disabled by default
-            #
-            # @return [Number] the rotation in seconds, or nil if rotation is
-            #   disabled altogether
-            attr_accessor :log_rotation_period
-
             # Whether Syskit should instruct a process server to kill all its
             # processes on connection
             #
@@ -94,15 +121,6 @@ class Configuration
             # likely want this
             attr_predicate :kill_all_on_process_server_connection?, true
 
-            # Whether the rotated logs should be uploaded to Syskit's local log dir
-            #
-            # This is considered experimental, and is disabled by default
-            def log_upload?
-                @log_upload
-            end
-
-            attr_writer :log_upload
-
             # Controls whether the orogen types should be exported as Ruby
             # constants
             #
@@ -123,6 +141,7 @@ def initialize(app)
                 @only_load_models = nil
                 @disables_local_process_server = false
                 @define_default_process_managers = true
+                @in_process_default_logger_support = false
                 @local_only = false
                 @permanent_deployments = true
                 @prefix_blacklist = []
@@ -133,15 +152,46 @@ def initialize(app)
                 @auto_restart_deployments_with_quarantines = false
                 @exception_transition_timeout = 20.0
                 @kill_all_on_process_server_connection = false
+                @register_self_on_name_server = (ENV["SYSKIT_REGISTER_SELF_ON_NAME_SERVER"] != "0")
+                @strict_model_for = false
 
                 @log_rotation_period = nil
-                @log_upload = false
+                @log_transfer = LogTransferManager::Configuration.new(
+                    user: "syskit",
+                    port: 20_301,
+                    password: SecureRandom.base64(32),
+                    self_spawned: true,
+                    certificate: nil, # Use random generated self-signed certificate
+                    target_dir: nil, # Use the app's log dir
+                    default_max_upload_rate: Float::INFINITY,
+                    max_upload_rates: {},
+                    implicit_ftps: LogTransferServer.use_implicit_ftps?
+                )
 
                 clear
-
                 self.export_types = true
             end
 
+            # Whether syskit's very own ruby task should be registered on the
+            # CORBA naming service
+            #
+            # It is true for historical reasons. Switch globally to false by
+            # setting the SYSKIT_REGISTER_SELF_ON_NAME_SERVER environment
+            # variable to 0, or per-app by using this writer
+            #
+            # @see {#register_self_on_name_server?}
+            attr_writer :register_self_on_name_server
+
+            # Whether syskit's very own ruby task should be registered on the
+            # CORBA naming service
+            #
+            # It is true for historical reasons. Switch globally to false by
+            # setting the SYSKIT_REGISTER_SELF_ON_NAME_SERVER environment
+            # variable to 0, or per-app by using {#register_self_on_name_server=}
+            def register_self_on_name_server?
+                @register_syskit_on_name_server
+            end
+
             def create_subfield(name)
                 Roby::OpenStruct.new(model, self, name)
             end
@@ -155,6 +205,24 @@ def clear
                 @orocos = Roby::OpenStruct.new
             end
 
+            # Execution of a logger::Logger in-process to log ruby tasks
+            #
+            # Controls whether Syskit should instantiate a logger::Logger component
+            # in-process to log ruby tasks. It is false while the functionality is being
+            # tested to avoid unintended breakage
+            #
+            # @see in_process_default_logger_support=
+            def in_process_default_logger_support?
+                @in_process_default_logger_support
+            end
+
+            # (see start_in_process_default_logger?)
+            #
+            # @see start_in_process_default_logger?
+            def in_process_default_logger_support=(value)
+                @in_process_default_logger_support = value
+            end
+
             # Controls whether Syskit sets up its default process managers
             # (localhost, ruby_tasks, unmanaged_tasks and ros), or leaves
             # it to the app to set them up
@@ -368,11 +436,15 @@ def sim_process_server(name)
             def sim_process_server_config_for(name)
                 sim_name = "#{name}-sim"
                 unless process_servers[sim_name]
-                    mng = Orocos::RubyTasks::ProcessManager.new(
+                    mng = ProcessManagers::RubyTasks::Manager.new(
                         app.default_loader,
                         task_context_class: Orocos::RubyTasks::StubTaskContext
                     )
-                    register_process_server(sim_name, mng)
+                    register_process_server(
+                        sim_name, mng,
+                        logging_enabled: false,
+                        register_on_name_server: !app.testing?
+                    )
                 end
                 process_server_config_for(sim_name)
             end
@@ -451,7 +523,7 @@ class AlreadyConnected < ArgumentError; end
             def process_server_config_for(name)
                 unless (config = process_servers[name])
                     raise UnknownProcessServer,
-                          "there is no registered process server called #{name}, "\
+                          "there is no registered process server called #{name}, " \
                           "existing servers are: #{process_servers.keys.sort.join(', ')}"
                 end
 
@@ -509,51 +581,88 @@ def wait_termination(timeout = 0)
                 def disconnect; end
             end
 
-            # Call to declare a new process server and add to the set of servers that
-            # can be used by this plan manager
+            # Create a register a remote process manager
             #
             # If 'host' is set to localhost, it disables the automatic startup
-            # of the local process server (i.e. sets
+            # of the process server that is used to start local proceses (i.e. sets
             # orocos_disables_local_process_server to true)
             #
-            # @return [Orocos::ProcessClient,Orocos::Generation::Project]
+            # @return [ProcessServerConfig]
             #
             # @raise [LocalOnlyConfiguration] if host is not 'localhost' and
             #   {#local_only?} is set
             # @raise [AlreadyConnected] if there is already a process server
             #   registered with that name
             def connect_to_orocos_process_server(
-                name, host, port: Syskit::RobyApp::RemoteProcesses::DEFAULT_PORT,
-                log_dir: nil, result_dir: nil, host_id: nil,
-                name_service: Orocos.name_service,
-                model_only_server: only_load_models? || (app.simulation? && app.single?)
+                name, host,
+                port: ProcessManagers::Remote::DEFAULT_PORT,
+                log_dir: nil, result_dir: nil, host_id: nil, name_service: nil,
+                model_only_server: only_load_models? || (app.simulation? && app.single?),
+                logging_enabled: true, register_on_name_server: true
             )
+                Roby.warn_deprecated(
+                    "#{self.class}#connect_to_orocos_process_server is deprecated, " \
+                    "use register_remote_manager instead"
+                )
+
+                if name_service
+                    Roby.warn_deprecated(
+                        "the name_service argument to connect_to_orocos_process_server is " \
+                        "unused, and will be removed in the future"
+                    )
+                end
+
                 if log_dir || result_dir
                     Syskit.warn(
-                        "specifying log and/or result dir for remote process servers "\
-                        "is deprecated. Use 'syskit process_server' instead of "\
-                        "'orocos_process_server' which will take the log dir "\
+                        "specifying log and/or result dir for remote process servers " \
+                        "is deprecated. Use 'syskit process_server' instead of " \
+                        "'orocos_process_server' which will take the log dir " \
                         "information from the environment/configuration"
                     )
                 end
 
+                register_remote_manager(
+                    name, host,
+                    port: port, host_id: host_id, model_only_server: model_only_server
+                )
+            end
+
+            # Call to declare a new process server and add to the set of servers that
+            # can be used by this plan manager
+            #
+            # If 'host' is set to localhost, it disables the automatic startup
+            # of the local process server (i.e. sets
+            # orocos_disables_local_process_server to true)
+            #
+            # @return [Orocos::ProcessClient,Orocos::Generation::Project]
+            #
+            # @raise [LocalOnlyConfiguration] if host is not 'localhost' and
+            #   {#local_only?} is set
+            # @raise [AlreadyConnected] if there is already a process server
+            #   registered with that name
+            def register_remote_manager(
+                name, host,
+                port: ProcessManagers::Remote::DEFAULT_PORT, host_id: nil,
+                model_only_server: only_load_models? || (app.simulation? && app.single?),
+                logging_enabled: true, register_on_name_server: true
+            )
                 if model_only_server
                     client = ModelOnlyServer.new(app.default_loader)
                     register_process_server(
-                        name, client, app.log_dir, host_id: host_id || "syskit"
+                        name, client, nil, host_id: host_id || "syskit"
                     )
                     return client
                 elsif app.single?
                     client = process_server_for("localhost")
                     register_process_server(
-                        name, client, app.log_dir, host_id: host_id || "localhost"
+                        name, client, nil, host_id: host_id || "localhost"
                     )
                     return client
                 end
 
                 if local_only? && host != "localhost"
                     raise LocalOnlyConfiguration,
-                          "in local only mode, one can only connect to process "\
+                          "in local only mode, one can only connect to process " \
                           "servers on 'localhost' (got #{host})"
                 elsif process_servers[name]
                     raise AlreadyConnected,
@@ -567,32 +676,122 @@ def connect_to_orocos_process_server(
 
                 self.disables_local_process_server = (host == "localhost")
 
-                client = Syskit::RobyApp::RemoteProcesses::Client.new(
-                    host, port,
-                    root_loader: app.default_loader,
-                    name_service: name_service
+                client = ProcessManagers::Remote::Manager.new(
+                    host, port, root_loader: app.default_loader
                 )
                 client.create_log_dir(
-                    log_dir, Roby.app.time_tag,
-                    { "parent" => Roby.app.app_metadata }
+                    Roby.app.time_tag, { "parent" => Roby.app.app_metadata }
                 )
                 client.kill_all if kill_all_on_process_server_connection?
-                register_process_server(name, client, log_dir, host_id: host_id || name)
+                config = register_process_server(
+                    name, client,
+                    host_id: host_id || name,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server
+                )
+                config.supports_log_transfer = true
                 client
             end
 
-            ProcessServerConfig = Struct.new :name, :client, :log_dir, :host_id do
-                def on_localhost?
-                    host_id == "localhost" || host_id == "syskit"
-                end
+            ProcessServerConfig =
+                Struct.new :name, :client, :log_dir, :host_id, :supports_log_transfer,
+                           :logging_enabled, :register_on_name_server,
+                           keyword_init: true do
+                    def manager
+                        client
+                    end
 
-                def in_process?
-                    host_id == "syskit"
-                end
+                    def on_localhost?
+                        host_id == "localhost" || host_id == "syskit"
+                    end
+
+                    def in_process?
+                        host_id == "syskit"
+                    end
 
-                def loader
-                    client.loader
+                    def loader
+                        client.loader
+                    end
+
+                    def supports_log_transfer?
+                        supports_log_transfer
+                    end
+
+                    def logging_enabled?
+                        logging_enabled
+                    end
+
+                    def register_on_name_server?
+                        register_on_name_server
+                    end
+
+                    def default_logger_task(plan)
+                        client.default_logger_task(plan) if client.respond_to?(:default_logger_task)
+                    end
                 end
+
+            # Create and register a {ProcessManagers::Unmanaged::Manager}
+            #
+            # @param [String] name
+            # @return [ProcessServerConfig]
+            def register_in_process_manager(
+                name,
+                component_loader: Roby.app.syskit_component_loader,
+                host_id: "syskit", log_dir: Roby.app.log_dir,
+                logging_enabled: true, register_on_name_server: true
+            )
+                manager = ProcessManagers::InProcess::Manager.new(
+                    component_loader: component_loader
+                )
+                register_process_server(
+                    name, manager, log_dir,
+                    host_id: host_id,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server
+                )
+            end
+
+            # Create and register a {ProcessManagers::Unmanaged::Manager}
+            #
+            # @param [String] name
+            # @return [ProcessServerConfig]
+            def register_ruby_tasks_manager(
+                name,
+                loader: Roby.app.default_loader,
+                host_id: "syskit",
+                log_dir: Roby.app.log_dir,
+                task_context_class: Orocos::RubyTasks::TaskContext,
+                logging_enabled: true, register_on_name_server: true
+            )
+                manager = ProcessManagers::RubyTasks::Manager.new(
+                    loader, task_context_class: task_context_class
+                )
+                register_process_server(
+                    name, manager, log_dir,
+                    host_id: host_id,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server
+                )
+            end
+
+            # Create and register a {ProcessManagers::Unmanaged::Manager}
+            #
+            # @param [String] name
+            # @return [ProcessServerConfig]
+            def register_unmanaged_manager(
+                name,
+                loader: Roby.app.default_loader,
+                name_service: Orocos::CORBA.name_service,
+                log_dir: nil, host_id: name, logging_enabled: true
+            )
+                manager = ProcessManagers::Unmanaged::Manager.new(
+                    loader: loader, name_service: name_service
+                )
+                register_process_server(
+                    name, manager, log_dir,
+                    host_id: host_id,
+                    logging_enabled: logging_enabled, register_on_name_server: false
+                )
             end
 
             # Make a process server available to syskit
@@ -602,30 +801,44 @@ def loader
             #   to conform to the API of {Orocos::Remotes::Client}
             # @param [String] log_dir the path to the server's log directory
             # @return [ProcessServerConfig]
-            def register_process_server(name, client, log_dir = nil, host_id: name)
+            def register_process_server(
+                name, client, log_dir = nil, host_id: name,
+                logging_enabled: true, register_on_name_server: true
+            )
                 if process_servers[name]
-                    raise ArgumentError, "there is already a process server registered as #{name}, call #remove_process_server first"
+                    raise ArgumentError,
+                          "there is already a process server registered as #{name}, " \
+                          "call #remove_process_server first"
                 end
 
-                ps = ProcessServerConfig.new(name, client, log_dir, host_id)
+                ps = ProcessServerConfig.new(
+                    name: name, client: client, host_id: host_id,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server
+                )
                 process_servers[name] = ps
                 ps
             end
 
+            # @deprecated use {#remove_process_server} instead
+            def remove_process_server(name)
+                remove_process_manager(name)
+            end
+
             # Deregisters a process server
             #
             # @param [String] name the process server name, as given to
             #   {register_process_server}
+            # @return [ProcessServerConfig]
             # @raise ArgumentError if there is no process server with that name
-            def remove_process_server(name)
-                ps = process_servers.delete(name)
-                unless ps
+            def remove_process_manager(name)
+                unless (ps = process_servers.delete(name))
                     raise ArgumentError, "there is no registered process server called #{name}"
                 end
 
                 app.default_loader.remove ps.client.loader
                 if app.simulation? && process_servers["#{name}-sim"]
-                    remove_process_server("#{name}-sim")
+                    remove_process_manager("#{name}-sim")
                 end
                 ps
             end
@@ -647,6 +860,10 @@ def use_unmanaged_task(mappings, on: "unmanaged_tasks")
                 )
             end
 
+            def use_in_process_tasks(mappings = {}, on: "in_process_tasks", **mappings_kw)
+                deployment_group.use_in_process_tasks(mappings, on: on, **mappings_kw)
+            end
+
             def use_deployment(*names, on: "localhost", **run_options)
                 Roby.sanitize_keywords_to_array(names, run_options)
                 deployment_group.use_deployment(
@@ -666,6 +883,10 @@ def use_deployments_from(*names, on: "localhost", **run_options)
             def register_configured_deployment(configured_deployment)
                 deployment_group.register_configured_deployment(configured_deployment)
             end
+
+            def deregister_configured_deployment(configured_deployment)
+                deployment_group.deregister_configured_deployment(configured_deployment)
+            end
         end
     end
 end
diff --git a/lib/syskit/roby_app/log_transfer_manager.rb b/lib/syskit/roby_app/log_transfer_manager.rb
new file mode 100644
index 000000000..121a4123d
--- /dev/null
+++ b/lib/syskit/roby_app/log_transfer_manager.rb
@@ -0,0 +1,182 @@
+# frozen_string_literal: true
+
+module Syskit
+    module RobyApp
+        # High-level interface to log transfer for the benefit of {Plugin}
+        class LogTransferManager
+            # @param [Roby::Application] app
+            # @param [Configuration] conf
+            def initialize(conf = Syskit.conf.log_transfer)
+                @conf = conf
+
+                unless @conf.ip
+                    raise ArgumentError, "log transfer is enabled, but the ip is not set"
+                end
+
+                unless @conf.target_dir
+                    raise ArgumentError, "log transfer is enabled, but target_dir not set"
+                end
+
+                server_start if @conf.self_spawned?
+            end
+
+            # Stop log transfer
+            def dispose(process_servers, flush: true)
+                return unless server_started?
+
+                self.flush(process_servers) if flush
+                server_stop
+            end
+
+            # Start an in-process server suitable to receive remote process files
+            #
+            # It auto-generates the password and certificates, and updates the
+            # configuration accordingly
+            def server_start
+                raise ArgumentError, "log transfer server already running" if @server
+
+                server_update_self_spawned_conf
+                @server = LogTransferServer::SpawnServer.new(
+                    @conf.target_dir, @conf.user, @conf.password,
+                    @self_signed_ca.private_certificate_path,
+                    interface: @conf.ip,
+                    implicit_ftps: @conf.implicit_ftps?
+                )
+                @conf.port = @server.port
+            end
+
+            def server_update_self_spawned_conf
+                @self_signed_ca = TmpRootCA.new(@conf.ip)
+                @conf.user ||= "Syskit"
+                @conf.password ||= SecureRandom.base64(32)
+                @conf.certificate = @self_signed_ca.certificate
+            end
+
+            # Whether files from the given directory should be transferred
+            def transfer_local_files_from?(dir)
+                @conf.target_dir != dir
+            end
+
+            # Transfer the given files to the FTP server configured in
+            # {Configuration#log_transfer}
+            #
+            # @param [Array<(String,ProcessManagers::Remote::Manager,Array<String>)>] logs
+            #   list of logs to transfer, per remote server
+            def transfer(logs)
+                logs.each do |process_server, paths|
+                    transfer_one_process_server_logs(process_server, paths)
+                end
+            end
+
+            # @api private
+            #
+            # Transfer log files of a single process server
+            #
+            # @param [ProcessManagers::Remote::Manager] process_server
+            # @param [Array<String>] logfiles
+            def transfer_one_process_server_logs(process_server, paths)
+                upload_rate = @conf.max_upload_rate_for(process_server.name)
+                paths.each do |path|
+                    process_server.client.log_upload_file(
+                        @conf.ip, @conf.port, @conf.certificate,
+                        @conf.user, @conf.password, Pathname(path),
+                        max_upload_rate: upload_rate,
+                        implicit_ftps: @conf.implicit_ftps?
+                    )
+                end
+            end
+
+            # Whether the in-process transfer server has been started
+            def server_started?
+                @server
+            end
+
+            # Wait for all pending transfers to finish
+            #
+            # @return [{ProcessManagers::Remote::Manager=>Array<LogUploadState::Result>}]
+            def flush(process_servers, poll_period: 0.5, timeout: 600)
+                results = {}
+                deadline = Time.now + timeout
+                process_servers.each { |c| results[c] = [] }
+                loop do
+                    process_servers = flush_poll_servers(process_servers, results)
+                    break if process_servers.empty?
+
+                    if Time.now > deadline
+                        raise Timeout::Error,
+                              "failed to flush all pending file transfers " \
+                              "within #{timeout} seconds"
+                    end
+
+                    sleep(poll_period)
+                end
+
+                results
+            end
+
+            # @api private
+            #
+            # Do a single pass to flush clients
+            #
+            # @return the set of clients that are not finished with transfers
+            def flush_poll_servers(process_servers, results)
+                process_servers.find_all do |config|
+                    c = config.client
+                    state = c.log_upload_state
+                    results[config].concat(state.each_result.to_a)
+                    next(false) if state.pending_count == 0
+
+                    ::Robot.info "Waiting for process server at #{c.host} " \
+                                 "to finish uploading"
+                    true
+                end
+            end
+
+            def server_stop
+                @server.stop
+                @server.join
+                @self_signed_ca.dispose
+                @server = nil
+                @self_signed_ca = nil
+            end
+
+            Configuration = Struct.new(
+                :enabled, :ip, :port, :user, :password, :certificate,
+                :self_spawned, :target_dir, :default_max_upload_rate,
+                :max_upload_rates, :implicit_ftps,
+                keyword_init: true
+            ) do
+                def enabled?
+                    enabled
+                end
+
+                def self_spawned?
+                    self_spawned
+                end
+
+                def implicit_ftps?
+                    implicit_ftps
+                end
+
+                # Return the upload rate limit for a given process server
+                #
+                # If {#max_upload_rate} contains an entry for this process server
+                # (keyed by name), it returns it. Otherwise, returns
+                # {#default_max_upload_rate}
+                #
+                # @param [ProcessServerConfig,String] process_server the process server
+                #   object or its name
+                def max_upload_rate_for(process_server, default: default_max_upload_rate)
+                    name =
+                        if process_server.respond_to?(:name)
+                            process_server.name
+                        else
+                            process_server.to_str
+                        end
+
+                    max_upload_rates[name] || default
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/roby_app/log_transfer_server/spawn_server.rb b/lib/syskit/roby_app/log_transfer_server/spawn_server.rb
index fd8f85a4c..1405d5c57 100644
--- a/lib/syskit/roby_app/log_transfer_server/spawn_server.rb
+++ b/lib/syskit/roby_app/log_transfer_server/spawn_server.rb
@@ -4,7 +4,17 @@
 
 module Syskit
     module RobyApp
-        module LogTransferServer
+        module LogTransferServer # :nodoc:
+            # Whether we should configure client and server to use implicit FTPs by
+            # default
+            #
+            # This workarounds some incompatibility between net-ftp and ftpd. They
+            # don't manage connecting properly in implicit mode before 2.7.0, and
+            # don't manage connecting properly in explicit mode afterwards
+            def self.use_implicit_ftps?
+                RUBY_VERSION >= "2.7.0"
+            end
+
             # Class responsible for spawning an FTP server for transfering logs
             class SpawnServer
                 attr_reader :port
@@ -16,7 +26,7 @@ def initialize(
                     password,
                     certfile_path,
                     interface: "127.0.0.1",
-                    tls: :explicit,
+                    implicit_ftps: LogTransferServer.use_implicit_ftps?,
                     port: 0,
                     session_timeout: default_session_timeout,
                     nat_ip: nil,
@@ -29,7 +39,7 @@ def initialize(
                     server = Ftpd::FtpServer.new(driver)
                     server.interface = interface
                     server.port = port
-                    server.tls = tls
+                    server.tls = implicit_ftps ? :implicit : :explicit
                     server.passive_ports = passive_ports
                     server.certfile_path = certfile_path
                     server.auth_level = Ftpd.const_get("AUTH_PASSWORD")
@@ -37,7 +47,10 @@ def initialize(
                     server.log = make_log
                     server.nat_ip = nat_ip
                     @server = server
+                    Thread.abort_on_exception = false
                     @server.start
+                    sleep 0.1 until Thread.abort_on_exception
+                    Thread.abort_on_exception = false
                     @port = @server.bound_port
                     display_connection_info if verbose
                 end
@@ -48,6 +61,10 @@ def run
                 end
 
                 def stop
+                    dispose
+                end
+
+                def dispose
                     @server.stop
                 end
 
diff --git a/lib/syskit/roby_app/logging_configuration.rb b/lib/syskit/roby_app/logging_configuration.rb
index 0c4ba395c..4f8fc7699 100644
--- a/lib/syskit/roby_app/logging_configuration.rb
+++ b/lib/syskit/roby_app/logging_configuration.rb
@@ -32,7 +32,7 @@ module RobyApp
         # Logs groups are usually defined in a robot file, in a Robot.conf
         # block:
         #
-        #     Robot.config do
+        #     Robot.setup do
         #       Syskit.conf.logs.create_group 'Images' do |g|
         #         g.add /base.samples.frame.Frame/
         #       end
@@ -55,7 +55,7 @@ module RobyApp
         # If you want to disable the group as it is being created, add
         # the enabled: false option to create_group
         #
-        #     Robot.config do
+        #     Robot.setup do
         #       Syskit.conf.logs.create_group 'Images', enabled: false do |g|
         #         g.add /base.samples.frame.Frame/
         #       end
@@ -111,12 +111,12 @@ def create_configuration_log(path)
             # the given property
             def log_stream_for(property)
                 stream_name = "#{property.task_context.orocos_name}.#{property.name}"
-                if !configuration_log.has_stream?(stream_name)
+                if configuration_log.has_stream?(stream_name)
+                    configuration_log.stream(stream_name)
+                else
                     configuration_log.create_stream(
                         stream_name, property.type, property.log_metadata
                     )
-                else
-                    configuration_log.stream(stream_name)
                 end
             end
 
@@ -145,7 +145,8 @@ def disable_port_logging
             def group_by_name(name)
                 if group = groups[name.to_s]
                     group
-                else raise ArgumentError, "no group named #{name}"
+                else
+                    raise ArgumentError, "no group named #{name}"
                 end
             end
 
diff --git a/lib/syskit/roby_app/logging_group.rb b/lib/syskit/roby_app/logging_group.rb
index 5b5a95908..e90a5c101 100644
--- a/lib/syskit/roby_app/logging_group.rb
+++ b/lib/syskit/roby_app/logging_group.rb
@@ -86,7 +86,8 @@ def add(object)
                         deployments << object
                     elsif object < Typelib::Type
                         types << object
-                    else raise ArgumentError, "unexpected model type #{object}"
+                    else
+                        raise ArgumentError, "unexpected model type #{object}"
                     end
                 when Models::Port
                     ports << object
diff --git a/lib/syskit/roby_app/plugin.rb b/lib/syskit/roby_app/plugin.rb
index f68b1536b..dcf3471b3 100644
--- a/lib/syskit/roby_app/plugin.rb
+++ b/lib/syskit/roby_app/plugin.rb
@@ -1,7 +1,5 @@
 # frozen_string_literal: true
 
-require "syskit/roby_app/tmp_root_ca"
-
 class Module
     def backward_compatible_constant(old_name, new_constant, file)
         msg = "  #{name}::#{old_name} has been renamed to #{new_constant} and is now in #{file}"
@@ -35,8 +33,14 @@ module RobyApp
         #   loaded models. In addition, a text notification is sent to inform
         #   a shell user
         module Plugin
+            # @return [LogTransferManager,nil] the log transfer support object, or nil
+            #   before {.setup}, or if log transfer is not enabled
+            attr_accessor :syskit_log_transfer_manager
+
             attr_writer :syskit_use_update_properties
-            attr_accessor :log_transfer_ip
+
+            # The deployed in-process logger for ruby tasks
+            attr_accessor :syskit_in_process_logger_deployment
 
             # Assume all component models have been migrated to use update_properties
             #
@@ -79,7 +83,7 @@ def self.setup(app)
 
                 require "orocos/async" if Conf.ui?
 
-                if app.development_mode?
+                if app.development_mode? && !app.testing?
                     require "listen"
                     app.syskit_listen_to_configuration_changes
                 end
@@ -95,30 +99,12 @@ def self.setup(app)
                     )
                 end
 
-                if Syskit.conf.define_default_process_managers? && Syskit.conf.only_load_models?
-                    fake_client = Configuration::ModelOnlyServer.new(app.default_loader)
-                    Syskit.conf.register_process_server(
-                        "ruby_tasks", fake_client, app.log_dir, host_id: "syskit"
-                    )
-                    Syskit.conf.register_process_server(
-                        "unmanaged_tasks", fake_client, app.log_dir, host_id: "syskit"
-                    )
-                    Syskit.conf.register_process_server(
-                        "ros", fake_client, app.log_dir, host_id: "syskit"
-                    )
-                elsif Syskit.conf.define_default_process_managers?
-                    Syskit.conf.register_process_server("ruby_tasks",
-                                                        Orocos::RubyTasks::ProcessManager.new(app.default_loader),
-                                                        app.log_dir, host_id: "syskit")
-
-                    Syskit.conf.register_process_server(
-                        "unmanaged_tasks", UnmanagedTasksManager.new, app.log_dir
-                    )
-
-                    Syskit.conf.register_process_server(
-                        "ros", Orocos::ROS::ProcessManager.new(app.ros_loader),
-                        app.log_dir
-                    )
+                if Syskit.conf.define_default_process_managers?
+                    if Syskit.conf.only_load_models?
+                        define_fake_process_managers(app)
+                    else
+                        define_default_process_managers(app)
+                    end
                 end
 
                 ENV["ORO_LOGFILE"] =
@@ -134,7 +120,11 @@ def self.setup(app)
                     # Change to the log dir so that the IOR file created by
                     # the CORBA bindings ends up there
                     Dir.chdir(app.log_dir) do
-                        Orocos.initialize
+                        Orocos.initialize(
+                            register_on_name_server:
+                                Syskit.conf.register_self_on_name_server?,
+                            default_corba_name_server: false
+                        )
                         if Orocos::ROS.enabled?
                             Orocos::ROS.initialize
                             Orocos::ROS.roscore_start(:wait => true)
@@ -149,8 +139,9 @@ def self.setup(app)
                     !(app.single? && app.simulation?)
 
                 if start_local_process_server
-                    start_local_process_server(redirect: Syskit.conf.redirect_local_process_server?)
-                    @local_process_server_client = create_local_process_server_client(app)
+                    start_local_process_server(
+                        redirect: Syskit.conf.redirect_local_process_server?
+                    )
                     connect_to_local_process_server(app)
                 else
                     fake_client = Configuration::ModelOnlyServer.new(app.default_loader)
@@ -159,59 +150,104 @@ def self.setup(app)
 
                 rtt_core_model = app.default_loader.task_model_from_name("RTT::TaskContext")
                 Syskit::TaskContext.define_from_orogen(rtt_core_model, register: true)
-
-                # Log Transfer FTP Server spawned during Application#setup
-                app.setup_local_log_transfer_server if app.log_transfer_ip
             end
 
-            def setup_local_log_transfer_server
-                @log_transfer_user = "process server"
-                @log_transfer_password = SecureRandom.base64(15)
-                @tmp_root_ca = TmpRootCA.new(log_transfer_ip)
+            def self.define_default_process_managers(app)
+                Syskit.conf.register_ruby_tasks_manager(
+                    "ruby_tasks",
+                    loader: app.default_loader, log_dir: app.log_dir,
+                    logging_enabled: !app.testing?, register_on_name_server: !app.testing?
+                )
+
+                Syskit.conf.register_in_process_manager(
+                    "in_process_tasks",
+                    log_dir: app.log_dir,
+                    logging_enabled: !app.testing?, register_on_name_server: !app.testing?
+                )
+
+                Syskit.conf.register_unmanaged_manager(
+                    "unmanaged_tasks", log_dir: app.log_dir
+                )
 
-                start_local_log_transfer_server(log_dir, @log_transfer_user, @log_transfer_password, @tmp_root_ca.private_certificate_path)
+                if Orocos::ROS.enabled?
+                    Syskit.conf.register_process_server(
+                        "ros", Orocos::ROS::ProcessManager.new(app.ros_loader),
+                        app.log_dir
+                    )
+                end
             end
 
-            def send_file_transfer_command(name, logfile)
-                unless @log_transfer_server
-                    raise "log transfer server is not started"
+            # Register the default process managers when only_load_models? is set
+            def self.define_fake_process_managers(app)
+                fake_client = Configuration::ModelOnlyServer.new(app.default_loader)
+                Syskit.conf.register_process_server(
+                    "ruby_tasks", fake_client, app.log_dir, host_id: "syskit"
+                )
+                Syskit.conf.register_process_server(
+                    "unmanaged_tasks", fake_client, app.log_dir, host_id: "syskit"
+                )
+                Syskit.conf.register_process_server(
+                    "in_process_tasks", fake_client, app.log_dir, host_id: "syskit"
+                )
+                Syskit.conf.register_process_server(
+                    "ros", fake_client, app.log_dir, host_id: "syskit"
+                )
+            end
+
+            def syskit_log_transfer_prepare
+                return unless Syskit.conf.log_transfer.ip
+
+                unless Syskit.conf.log_rotation_period
+                    raise ArgumentError,
+                          "cannot enable log transfer without log rotation"
                 end
 
-                # Establishes communication with said process server
-                client = Syskit.conf.process_server_for(name)
+                conf = Syskit.conf.log_transfer
+                conf.target_dir ||= log_dir
+                @syskit_log_transfer_manager = LogTransferManager.new(conf)
+            end
 
-                # Commands method log_upload_file from said process server
-                client.log_upload_file(
-                    log_transfer_ip,
-                    @log_transfer_server.port,
-                    @tmp_root_ca.certificate,
-                    @log_transfer_user,
-                    @log_transfer_password,
-                    logfile
-                )
-                client
+            def syskit_log_transfer_shutdown
+                syskit_log_transfer_manager&.dispose(syskit_log_transfer_process_servers)
+                @syskit_log_transfer_manager = nil
             end
 
-            def start_local_log_transfer_server(tgt_dir, user, password, private_certificate_path)
-                if @log_transfer_server
-                    raise "log transfer server is already started"
+            # Returns the list of remote process servers that will take part in the
+            # log transfer process
+            #
+            # @return [Configuration::ProcessServerConfig]
+            def syskit_log_transfer_process_servers
+                Syskit.conf.each_process_server_config.find_all do |config|
+                    config.supports_log_transfer? && !config.on_localhost?
                 end
+            end
 
-                @log_transfer_server = Syskit::RobyApp::LogTransferServer::SpawnServer.new(
-                    tgt_dir,
-                    user,
-                    password,
-                    private_certificate_path
-                )
+            def syskit_log_transfer_poll_state
+                syskit_log_transfer_process_servers.each do |process_server_config|
+                    result = process_server_config.client.log_upload_state
+                    ::Robot.info "#{result.pending_count} log transfers pending or in " \
+                                 "progress from #{process_server_config.name}"
+                    result.each_result do |r|
+                        if r.success
+                            ::Robot.info "   transferred #{r.file}"
+                        else
+                            ::Robot.info "   transfer of #{r.file} failed: #{r.message}"
+                        end
+                    end
+                end
             end
 
-            def stop_local_log_transfer_server
-                if @log_transfer_server
-                    @log_transfer_server.stop
-                    @log_transfer_server.join
-                    @log_transfer_server = nil
+            # Rotate logs, and transfer the old logs if log transfer is configured
+            def syskit_log_perform_rotation_and_transfer
+                rotated_logs = syskit_rotate_logs
+
+                return unless (mng = syskit_log_transfer_manager)
+
+                handled = syskit_log_transfer_process_servers
+                rotated_logs.delete_if do |process_server_config, _|
+                    !handled.include?(process_server_config)
                 end
-                @tmp_root_ca&.dispose
+                mng.transfer(rotated_logs)
             end
 
             # Hook called by the main application in Application#setup after
@@ -243,20 +279,38 @@ def self.cleanup(app)
                     app.syskit_remove_configuration_changes_listener
                 end
 
-                disconnect_all_process_servers
                 stop_local_process_server(app)
-                app.stop_local_log_transfer_server
+                disconnect_all_process_servers
+            end
+
+            # Load all typekits needed to communicate with defined deployments
+            #
+            # This assumes that all models and
+            def syskit_load_all_used_typekits
+                typekits =
+                    default_loader
+                    .loaded_task_models.each_value
+                    .flat_map(&:used_typekits)
+                    .to_set
+
+                typekits.each do |tk|
+                    Orocos.load_typekit tk.name unless tk.virtual?
+                end
             end
 
             # Hook called by the main application to prepare for execution
             def self.prepare(app)
+                app.syskit_log_transfer_prepare
                 @handler_ids = plug_engine_in_roby(app.execution_engine)
 
+                app.syskit_load_all_used_typekits
+
                 if Syskit.conf.log_rotation_period
-                    app.execution_engine.every(Syskit.conf.log_rotation_period) do
-                        rotated_logs = app.rotate_logs
-                        app.upload_rotated_logs(rotated_logs) if Syskit.conf.log_upload?
-                    end
+                    @log_rotation_poll_handler =
+                        app.execution_engine.every(Syskit.conf.log_rotation_period) do
+                            app.syskit_log_perform_rotation_and_transfer
+                            app.syskit_log_transfer_poll_state
+                        end
                 end
             end
 
@@ -272,6 +326,9 @@ def self.shutdown(app)
                     unplug_engine_from_roby(@handler_ids.values, app.execution_engine)
                     @handler_ids = nil
                 end
+
+                @log_rotation_poll_handler&.dispose
+                app.syskit_log_transfer_shutdown
             end
 
             def default_loader
@@ -281,11 +338,20 @@ def default_loader
                         project_define_from_orogen(project)
                     end
                     orogen_pack_loader
-                    ros_loader
+                    ros_loader if Orocos::ROS.enabled?
                 end
                 @default_loader
             end
 
+            def syskit_component_loader
+                @syskit_component_loader ||= Orocos::ComponentLoader.new(
+                    loader: OroGen::Loaders::PkgConfig.new(
+                        default_pkgconfig_loader.orocos_target,
+                        default_loader
+                    )
+                )
+            end
+
             def default_pkgconfig_loader
                 Orocos.default_pkgconfig_loader
             end
@@ -348,10 +414,10 @@ def project_define_from_orogen(orogen)
 
                 tasks = orogen.self_tasks.each_value.map do |task_def|
                     syskit_model =
-                        if !TaskContext.has_model_for?(task_def)
-                            Syskit::TaskContext.define_from_orogen(task_def, register: true)
-                        else
+                        if TaskContext.has_model_for?(task_def)
                             Syskit::TaskContext.model_for(task_def)
+                        else
+                            Syskit::TaskContext.define_from_orogen(task_def, register: true)
                         end
 
                     syskit_model.configuration_manager.reload
@@ -371,10 +437,15 @@ def project_define_from_orogen(orogen)
                 orogen
             end
 
-            def syskit_utility_component?(task_context)
+            def syskit_logger_m
                 @syskit_logger_m ||= Syskit::TaskContext
                                      .find_model_from_orogen_name("logger::Logger")
-                task_context.kind_of?(@syskit_logger_m) if @syskit_logger_m
+            end
+
+            def syskit_utility_component?(task_context)
+                return unless (syskit_logger_m = self.syskit_logger_m)
+
+                task_context.kind_of?(syskit_logger_m)
             end
 
             # Load the component extension file associated with this an oroGen
@@ -428,10 +499,12 @@ def self.setup_loaders(app)
                     app.orogen_pack_loader.register_typekit dir, name
                 end
 
-                app.ros_loader.search_path
-                   .concat(Roby.app.find_dirs("models", "ROBOT", "orogen", "ros", :all => app.auto_load_all?, :order => :specific_first))
-                app.ros_loader.packs
-                   .concat(Roby.app.find_dirs("models", "ROBOT", "pack", "ros", :all => true, :order => :specific_last))
+                if Orocos::ROS.enabled?
+                    app.ros_loader.search_path
+                       .concat(Roby.app.find_dirs("models", "ROBOT", "orogen", "ros", :all => app.auto_load_all?, :order => :specific_first))
+                    app.ros_loader.packs
+                       .concat(Roby.app.find_dirs("models", "ROBOT", "pack", "ros", :all => true, :order => :specific_last))
+                end
             end
 
             def syskit_listen_to_configuration_changes
@@ -444,6 +517,7 @@ def syskit_listen_to_configuration_changes
                         ui_event "syskit_orogen_config_changed"
                     end
                 end
+                @conf_listener.only(/\.yml$/)
                 @conf_listener.start
             end
 
@@ -570,9 +644,8 @@ def import_types_from(typekit_name)
             # and deployments they contain.
             #
             # @return [OroGen::Spec::Project]
-            def using_task_library(name, options = {})
-                options = Kernel.validate_options options, :loader => default_loader
-                options[:loader].project_model_from_name(name)
+            def using_task_library(name, loader: default_loader)
+                loader.project_model_from_name(name)
             end
 
             # Loads the required ROS package
@@ -582,8 +655,8 @@ def using_ros_package(name, options = {})
             end
 
             # @deprecated use {using_task_library} instead
-            def load_orogen_project(name, options = {})
-                using_task_library(name, options)
+            def load_orogen_project(name, **options)
+                using_task_library(name, **options)
             end
 
             def autodiscover_tests_in?(path)
@@ -597,7 +670,8 @@ def autodiscover_tests_in?(path)
 
                 if defined? super
                     super
-                else true
+                else
+                    true
                 end
             end
 
@@ -631,10 +705,16 @@ def self.has_local_process_server?
                 @server_pid
             end
 
+            def self.connect_to_local_process_server(app)
+                @local_process_server_client = create_local_process_server_client(app)
+                register_local_process_server_client(@local_process_server_client, app)
+                @local_process_server_client
+            end
+
             def self.create_local_process_server_client(app)
                 unless @server_pid
-                    raise Syskit::RobyApp::RemoteProcesses::Client::StartupFailed,
-                          "#connect_to_local_process_server got called but "\
+                    raise ProcessManagers::Remote::Manager::StartupFailed,
+                          "#create_local_process_server_client got called but " \
                           "no process server is being started"
                 end
 
@@ -642,7 +722,7 @@ def self.create_local_process_server_client(app)
                 client = nil
                 until client
                     client =
-                        begin Syskit::RobyApp::RemoteProcesses::Client.new("localhost", @server_port)
+                        begin ProcessManagers::Remote::Manager.new("localhost", @server_port)
                         rescue Errno::ECONNREFUSED
                             sleep 0.1
                             is_running =
@@ -653,7 +733,7 @@ def self.create_local_process_server_client(app)
                                 end
 
                             unless is_running
-                                raise Syskit::RobyApp::RemoteProcesses::Client::StartupFailed,
+                                raise ProcessManagers::Remote::Manager::StartupFailed,
                                       "the local process server failed to start"
                             end
 
@@ -664,20 +744,19 @@ def self.create_local_process_server_client(app)
                 # Verify that the server is actually ours (i.e. check that there
                 # was not one that was still running)
                 if client.server_pid != @server_pid
-                    raise Syskit::RobyApp::RemoteProcesses::Client::StartupFailed,
-                          "failed to start the local process server. It seems that "\
-                          "there is one still running as PID #{client.server_pid} "\
+                    raise ProcessManagers::Remote::Manager::StartupFailed,
+                          "failed to start the local process server. It seems that " \
+                          "there is one still running as PID #{client.server_pid} " \
                           "(was expecting #{@server_pid})"
                 end
 
                 client
             end
 
-            def self.connect_to_local_process_server(app)
-                client = create_local_process_server_client(app)
-
+            def self.register_local_process_server_client(client, app)
                 # Do *not* manage the log directory for that one ...
-                Syskit.conf.register_process_server("localhost", client, app.log_dir)
+                conf = Syskit.conf.register_process_server("localhost", client, app.log_dir)
+                conf.supports_log_transfer = true
                 client
             end
 
@@ -686,6 +765,10 @@ def self.connect_to_local_process_server(app)
             def self.stop_local_process_server(app)
                 return unless has_local_process_server?
 
+                if Syskit.conf.has_process_server?("localhost")
+                    Syskit.conf.remove_process_server("localhost")
+                end
+
                 @local_process_server_client ||= create_local_process_server_client(app)
                 @local_process_server_client.quit_server
 
@@ -785,16 +868,16 @@ def deployment_define_from_orogen(deployer)
             def self.roby_engine_propagation_handlers
                 handlers = {}
                 handlers[:update_deployment_states] = [
-                    Runtime.method(:update_deployment_states), type: :external_events, description: "syskit:update_deployment_states"
+                    Runtime.method(:update_deployment_states), { type: :external_events, description: "syskit:update_deployment_states" }
                 ]
                 handlers[:update_task_states] = [
-                    Runtime.method(:update_task_states), type: :external_events, description: "syskit:update_task_states"
+                    Runtime.method(:update_task_states), { type: :external_events, description: "syskit:update_task_states" }
                 ]
                 handlers[:connection_management] = [
-                    Runtime::ConnectionManagement.method(:update), type: :propagation, late: true, description: "syskit:connection_management_update"
+                    Runtime::ConnectionManagement.method(:update), { type: :propagation, late: true, description: "syskit:connection_management_update" }
                 ]
                 handlers[:apply_requirement_modifications] = [
-                    Runtime.method(:apply_requirement_modifications), type: :propagation, late: true, description: "syskit:apply_requirement_modifications"
+                    Runtime.method(:apply_requirement_modifications), { type: :propagation, late: true, description: "syskit:apply_requirement_modifications" }
                 ]
                 handlers
             end
@@ -847,7 +930,8 @@ def self.disable_engine_in_roby(roby_engine, *handlers)
                             @handler_ids[h] = roby_engine.add_propagation_handler(all_handlers[h][1], &all_handlers[h][0])
                         end
                     end
-                else yield
+                else
+                    yield
                 end
             end
 
@@ -923,6 +1007,14 @@ def self.enable
                 toplevel_object.extend LoadToplevelMethods
             end
 
+            # Plugin hook called by Roby to setup the v2 interface protocol
+            def self.setup_interface_v2_protocol
+                require "syskit/interface/v2/protocol"
+                Syskit::Interface::V2::Protocol.register_marshallers(
+                    Roby::Interface::V2::Protocol
+                )
+            end
+
             class VariableSizedType < RuntimeError; end
 
             def self.validate_port_has_fixed_size(port, with_global_size, only_warn: false, ignore: [])
@@ -976,23 +1068,14 @@ def self.setup_rest_interface(app, rest_api)
                 rest_api.mount REST_API => "/syskit"
             end
 
-            def rotate_logs
-                plan.find_tasks(Syskit::LoggerService).running.each_with_object({}) do |task, rotated_logs|
-                    process_server_name = task.log_server_name
-                    (rotated_logs[process_server_name] ||= []).concat(task.rotate_log)
-                end
-            end
-
-            def upload_rotated_logs(rotated_logs)
-                rotated_logs.each do |process_server_name, logs|
-                    process_server = Syskit.conf.process_server_config_for(process_server_name)
-
-                    if !process_server.in_process? && !process_server.on_localhost?
-                        logs.each do |log_filename|
-                            send_file_transfer_command(process_server_name, log_filename)
-                        end
+            def syskit_rotate_logs
+                plan.find_tasks(Syskit::LoggerService)
+                    .running.each_with_object({}) do |task, rotated_logs|
+                        process_server = Syskit.conf.process_server_config_for(
+                            task.log_server_name
+                        )
+                        (rotated_logs[process_server] ||= []).concat(task.rotate_log)
                     end
-                end
             end
         end
     end
diff --git a/lib/syskit/roby_app/register_plugin.rb b/lib/syskit/roby_app/register_plugin.rb
index f0a7f6cc2..bcf04c3f0 100644
--- a/lib/syskit/roby_app/register_plugin.rb
+++ b/lib/syskit/roby_app/register_plugin.rb
@@ -2,6 +2,6 @@
 
 require "syskit"
 Roby::Application.register_plugin("syskit", Syskit::RobyApp::Plugin) do
-    require "syskit/shell_interface"
+    require "syskit/interface"
     Syskit::RobyApp::Plugin.enable
 end
diff --git a/lib/syskit/roby_app/remote_processes.rb b/lib/syskit/roby_app/remote_processes.rb
deleted file mode 100644
index 1b85479e2..000000000
--- a/lib/syskit/roby_app/remote_processes.rb
+++ /dev/null
@@ -1,18 +0,0 @@
-# frozen_string_literal: true
-
-require "syskit/roby_app/remote_processes/server"
-require "syskit/roby_app/remote_processes/client"
-require "syskit/roby_app/remote_processes/loader"
-require "syskit/roby_app/remote_processes/log_upload_state"
-require "syskit/roby_app/remote_processes/process"
-require "syskit/roby_app/remote_processes/protocol"
-
-module Syskit
-    module RobyApp
-        # Implementation of Syskit's remote process server and client
-        module RemoteProcesses
-            extend Logger::Hierarchy
-            extend Logger::Forward
-        end
-    end
-end
diff --git a/lib/syskit/roby_app/remote_processes/log_upload_state.rb b/lib/syskit/roby_app/remote_processes/log_upload_state.rb
deleted file mode 100644
index 88599b627..000000000
--- a/lib/syskit/roby_app/remote_processes/log_upload_state.rb
+++ /dev/null
@@ -1,27 +0,0 @@
-# frozen_string_literal: true
-
-module Syskit
-    module RobyApp
-        module RemoteProcesses
-            # State of the asynchronous file transfers managed by {Server}
-            class LogUploadState
-                Result = Struct.new :file, :success, :message do
-                    def success?
-                        success
-                    end
-                end
-
-                attr_reader :pending_count
-
-                def initialize(pending_count, results)
-                    @pending_count = pending_count
-                    @results = results
-                end
-
-                def each_result(&block)
-                    @results.each(&block)
-                end
-            end
-        end
-    end
-end
diff --git a/lib/syskit/roby_app/remote_processes/server.rb b/lib/syskit/roby_app/remote_processes/server.rb
deleted file mode 100644
index 1cff547dd..000000000
--- a/lib/syskit/roby_app/remote_processes/server.rb
+++ /dev/null
@@ -1,601 +0,0 @@
-# frozen_string_literal: true
-
-require "socket"
-require "fcntl"
-require "net/ftp"
-require "orocos"
-
-require "concurrent/atomic/atomic_reference"
-require "syskit/roby_app/remote_processes/log_upload_state"
-
-module Syskit
-    module RobyApp
-        module RemoteProcesses
-            # A remote process management server.
-            #
-            # It allows to start/stop and monitor the status of processes on a
-            # client/server way.
-            #
-            # Use {ProcessClient} to access a server
-            class Server
-                extend Logger::Root(
-                    "Syskit::RobyApp::RemoteProcesses::Server", Logger::INFO
-                )
-
-                # Returns a unique directory name as a subdirectory of
-                # +base_dir+, based on +path_spec+. The generated name
-                # is of the form
-                #   <base_dir>/a/b/c/YYYYMMDD-HHMM-basename
-                # if <tt>path_spec = "a/b/c/basename"</tt>. A .<number> suffix
-                # is appended if the path already exists.
-                #
-                # Shamelessly taken from Roby
-                def self.unique_dirname(base_dir, path_spec, date_tag = nil)
-                    if path_spec =~ %r{\/$}
-                        basename = ""
-                        dirname = path_spec
-                    else
-                        basename = File.basename(path_spec)
-                        dirname  = File.dirname(path_spec)
-                    end
-
-                    date_tag ||= Time.now.strftime("%Y%m%d-%H%M")
-                    basename =
-                        if basename && !basename.empty?
-                            date_tag + "-" + basename
-                        else
-                            date_tag
-                        end
-
-                    # Check if +basename+ already exists, and if it is the case add a
-                    # .x suffix to it
-                    full_path = File.expand_path(File.join(dirname, basename), base_dir)
-                    base_dir  = File.dirname(full_path)
-
-                    FileUtils.mkdir_p(base_dir) unless File.exist?(base_dir)
-
-                    final_path = full_Path
-                    i = 0
-                    while File.exist?(final_path)
-                        i += 1
-                        final_path = full_path + ".#{i}"
-                    end
-
-                    final_path
-                end
-
-                DEFAULT_OPTIONS = { wait: false, output: "%m-%p.txt" }.freeze
-
-                # Start a standalone process server using the given options and port.
-                # The options are passed to Server.run when a new deployment is started
-                def self.run(options = DEFAULT_OPTIONS, port = DEFAULT_PORT)
-                    Orocos.disable_sigchld_handler = true
-                    Orocos.initialize
-                    new({ wait: false }.merge(options), port).exec
-                rescue Interrupt # rubocop:disable Lint/SuppressedException
-                end
-
-                # The underlying Roby::Application object we use to resolve paths
-                attr_reader :app
-                # The startup options to be passed to Orocos.run
-                attr_reader :default_start_options
-                # The TCP port we are required to bind to
-                #
-                # It is the port given to {initialize}. In general, it is equal to {port}.
-                # Only if it is equal to zero will {port} contain the actual used port
-                # as allocated by the operating system
-                #
-                # @return [Integer]
-                attr_reader :required_port
-                # The TCP port we are listening to
-                #
-                # In general, it is equal to {required_port}.  Only if {required_port}
-                # is equal to zero will {port} contain the actual used port as allocated
-                # by the operating system
-                #
-                # It is nil until the server socket is created
-                #
-                # @return [Integer,nil]
-                attr_reader :port
-                # A mapping from the deployment names to the corresponding Process
-                # object.
-                attr_reader :processes
-                # The object we use to load oroGen models
-                #
-                # It is commonly an [OroGen::Loaders::PkgConfig] loader object
-                # @return [OroGen::Loaders::Base]
-                attr_reader :loader
-
-                def self.create_pkgconfig_loader
-                    OroGen::Loaders::RTT.new(Orocos.orocos_target)
-                end
-
-                def initialize(
-                    app,
-                    port: DEFAULT_PORT,
-                    loader: self.class.create_pkgconfig_loader
-                )
-                    @app = app
-                    @default_start_options = { wait: false, output: "%m-%p.txt" }
-
-                    @loader = loader
-                    @required_port = port
-                    @port = nil
-                    @processes = {}
-                    @all_ios = []
-                    @log_upload_current = Concurrent::AtomicReference.new
-                    @log_upload_command_queue = Queue.new
-                    @log_upload_results_queue = Queue.new
-                    @log_upload_thread = Thread.new { log_upload_main }
-                end
-
-                def each_client(&block)
-                    @all_ios[2..-1]&.each(&block)
-                end
-
-                def exec
-                    open
-
-                    begin
-                        listen
-                    ensure
-                        close
-                    end
-                end
-
-                INTERNAL_QUIT = "Q"
-                INTERNAL_SIGCHLD_TRIGGERED = "S"
-
-                def open(fd: nil)
-                    Server.info "starting on port #{required_port}"
-
-                    server =
-                        if fd
-                            TCPServer.for_fd(fd)
-                        else
-                            TCPServer.new(nil, required_port)
-                        end
-
-                    server.fcntl(Fcntl::FD_CLOEXEC, 1)
-                    @port = server.addr[1]
-
-                    com_r, @com_w = IO.pipe
-                    @all_ios.clear
-                    @all_ios << server << com_r
-
-                    trap "SIGCHLD" do
-                        @com_w.write INTERNAL_SIGCHLD_TRIGGERED
-                    end
-                end
-
-                def close
-                    trap("SIGCHLD", "DEFAULT")
-                    @com_w.close
-                    @all_ios.each(&:close)
-                end
-
-                # Main server loop. This will block and only return when CTRL+C is hit.
-                #
-                # All started processes are stopped when the server quits
-                def listen
-                    Server.info "process server listening on port #{port}"
-                    server_io, com_r = *@all_ios[0, 2]
-
-                    @quit = false
-                    until @quit
-                        readable_sockets, = select(@all_ios, nil, nil)
-                        if readable_sockets.include?(server_io)
-                            readable_sockets.delete(server_io)
-                            client_socket = server_io.accept
-                            client_socket.setsockopt(
-                                Socket::IPPROTO_TCP, Socket::TCP_NODELAY, true
-                            )
-                            client_socket.fcntl(Fcntl::FD_CLOEXEC, 1)
-                            Server.debug "new connection: #{client_socket}"
-                            @all_ios << client_socket
-                        end
-
-                        if readable_sockets.include?(com_r)
-                            readable_sockets.delete(com_r)
-                            cmd = com_r.read(1)
-                            if cmd == INTERNAL_SIGCHLD_TRIGGERED
-                                dead_processes = reap_dead_subprocesses
-                                announce_dead_processes(dead_processes)
-                            elsif cmd == INTERNAL_QUIT
-                                next
-                            elsif cmd
-                                Server.warn "unknown internal communication code "\
-                                            "#{cmd.inspect}"
-                            end
-                        end
-
-                        readable_sockets.each do |socket|
-                            unless handle_command(socket)
-                                Server.debug "#{socket} closed or errored"
-                                socket.close
-                                @all_ios.delete(socket)
-                            end
-                        end
-                    end
-
-                    Server.info "process server exited normally"
-                rescue Interrupt
-                    Server.warn "process server exited after SIGINT"
-                rescue Exception => e
-                    Server.fatal "process server exited because of unhandled exception"
-                    Server.fatal "#{e.message} #{e.class}"
-                    e.backtrace.each do |line|
-                        Server.fatal "  #{line}"
-                    end
-                ensure
-                    quit_and_join
-                end
-
-                # Check if a specific subprocess terminated and deregister it
-                #
-                # @param [Integer] pid the subprocess pid
-                # @return [(Orocos::Process,Process::Status),nil] the terminated process
-                #   and its exit status if it terminated, nil otherwise
-                # @raise Errno::ECHILD if there is no such child with this PID
-                def try_wait_for_subprocess_exit(pid)
-                    return unless (exited = try_wait_pid(pid))
-
-                    handle_dead_subprocess(*exited)
-                end
-
-                # Detect all subprocesses of this server that have died and
-                # de-register them
-                #
-                # @return [Array<(Orocos::Process,Process:Status)>] the list of terminated
-                #   subprocesses and their exit status
-                def reap_dead_subprocesses
-                    dead_processes = []
-                    while (exited = try_wait_pid(-1))
-                        dead_processes << handle_dead_subprocess(*exited)
-                    end
-                    dead_processes
-                rescue Errno::ECHILD
-                    dead_processes
-                end
-
-                # Reap a single terminated subprocess if there is one
-                #
-                # @param [Integer] pid PID of a specific subprocess of interest.
-                #   Set to -1 for all subprocesss
-                # @return [Proces::Status,nil] the exit status or nil if no
-                #   subprocess matching `pid` has finished
-                def try_wait_pid(pid)
-                    ::Process.wait2(pid, ::Process::WNOHANG)
-                end
-
-                # Deregister a dead subprocess from the server
-                #
-                # @param [Integer] exit_pid the process PID
-                # @param [Process::Status] exit_status the process exit status
-                # @return [(Orocos::Process,Process::Status)]
-                def handle_dead_subprocess(exit_pid, exit_status)
-                    process_name, process =
-                        processes.find { |_, p| p.pid == exit_pid }
-                    return unless process_name
-
-                    process.dead!(exit_status)
-                    processes.delete(process_name)
-
-                    [process, exit_status]
-                end
-
-                # Announce the end of finished sub-processes to our clients
-                #
-                # @param [Array<(Orocos::Process,Process::Status)>] the list of
-                #   terminated processes
-                def announce_dead_processes(dead_processes)
-                    dead_processes.each do |process, exit_status|
-                        Server.debug "announcing death of #{process.name}"
-                        each_client do |socket|
-                            Server.debug "  announcing to #{socket}"
-                            socket.write(EVENT_DEAD_PROCESS)
-                            Marshal.dump([process.name, exit_status], socket)
-                        rescue SystemCallError, IOError => e
-                            Server.debug "  #{socket}: #{e}"
-                        end
-                    end
-                end
-
-                # Helper method that stops all running processes
-                def quit_and_join # :nodoc:
-                    Server.info "stopping process server"
-                    processes.each_value do |p|
-                        Server.info "killing #{p.name}"
-                        # Kill the process hard. If there are still processes,
-                        # it means that the normal cleanup procedure did not
-                        # work.  Not the time to call stop or whatnot
-                        p.kill(false, cleanup: false, hard: true)
-                    end
-
-                    each_client do |socket|
-                        socket.close
-                    rescue SystemCallError, IOError # rubocop:disable Lint/SuppressedException
-                    end
-
-                    @log_upload_command_queue << nil
-                    @log_upload_thread.join
-                end
-
-                # Helper method that deals with one client request
-                def handle_command(socket) # :nodoc:
-                    cmd_code = socket.read(1)
-                    return false unless cmd_code
-
-                    if cmd_code == COMMAND_GET_PID
-                        Server.debug "#{socket} requested PID"
-                        Marshal.dump([::Process.pid], socket)
-
-                    elsif cmd_code == COMMAND_GET_INFO
-                        Server.debug "#{socket} requested system information"
-                        Marshal.dump(build_system_info, socket)
-                    elsif cmd_code == COMMAND_CREATE_LOG
-                        Server.debug "#{socket} requested creating a log directory"
-                        log_dir, time_tag, metadata = Marshal.load(socket)
-
-                        begin
-                            metadata ||= {} # compatible with older clients
-                            log_dir = File.expand_path(log_dir) if log_dir
-                            create_log_dir(log_dir, time_tag, metadata)
-                        rescue Interrupt
-                            raise
-                        rescue Exception => e
-                            Server.warn "failed to create log directory #{log_dir}: "\
-                                        "#{e.message}"
-                            (e.backtrace || []).each do |line|
-                                Server.warn "   #{line}"
-                            end
-                        end
-
-                    elsif cmd_code == COMMAND_START
-                        name, deployment_name, name_mappings, options =
-                            Marshal.load(socket)
-                        options ||= {}
-                        Server.debug "#{socket} requested startup of #{name} with "\
-                                     "#{options} and mappings #{name_mappings}"
-                        begin
-                            p = start_process(
-                                name, deployment_name, name_mappings, options
-                            )
-                            Server.debug "#{name}, from #{deployment_name}, "\
-                                         "is started (#{p.pid})"
-                            socket.write(RET_STARTED_PROCESS)
-                            Marshal.dump(p.pid, socket)
-                        rescue Interrupt
-                            raise
-                        rescue Exception => e
-                            Server.warn "failed to start #{name}: #{e.message}"
-                            (e.backtrace || []).each do |line|
-                                Server.warn "   #{line}"
-                            end
-                            socket.write(RET_NO)
-                            socket.write Marshal.dump(e.message)
-                        end
-                    elsif cmd_code == COMMAND_END
-                        name, cleanup, hard = Marshal.load(socket)
-                        Server.debug "#{socket} requested end of #{name}"
-                        if (p = processes[name])
-                            begin
-                                end_process(p, cleanup: cleanup, hard: hard)
-                                socket.write(RET_YES)
-                            rescue Interrupt
-                                raise
-                            rescue Exception => e
-                                Server.warn "exception raised while calling "\
-                                            "#{p}#kill(false)"
-                                Server.log_pp(:warn, e)
-                                socket.write(RET_NO)
-                            end
-                        else
-                            Server.warn "no process named #{name} to end"
-                            socket.write(RET_NO)
-                        end
-                    elsif cmd_code == COMMAND_KILL_ALL
-                        cleanup, hard = Marshal.load(socket)
-                        Server.debug "#{socket} requested the end of all processes"
-                        processes = kill_all(cleanup: cleanup, hard: hard)
-                        dead = join_all(processes)
-                        socket.write(RET_YES)
-                        ret = dead.map { |dead_p, dead_s| [dead_p.name, dead_s] }
-                        socket.write Marshal.dump(ret)
-                    elsif cmd_code == COMMAND_QUIT
-                        quit
-                    elsif cmd_code == COMMAND_LOG_UPLOAD_FILE
-                        host, port, certificate, user, password, localfile =
-                            Marshal.load(socket)
-                        Server.debug "#{socket} requested uploading of #{localfile}"
-                        @log_upload_command_queue <<
-                            Upload.new(
-                                host, port, certificate,
-                                user, password, localfile
-                            )
-
-                        socket.write(RET_YES)
-                    elsif cmd_code == COMMAND_LOG_UPLOAD_STATE
-                        state = log_upload_state
-                        socket.write RET_YES
-                        socket.write Marshal.dump(state)
-                    end
-
-                    true
-                rescue Interrupt
-                    raise
-                rescue EOFError
-                    false
-                rescue Exception => e
-                    Server.fatal "protocol error on #{socket}: #{e}"
-                    Server.fatal "while serving command #{cmd_code}"
-                    e.backtrace.each do |bt|
-                        Server.fatal "  #{bt}"
-                    end
-                    false
-                end
-
-                def create_log_dir(log_dir, time_tag, metadata = {})
-                    app.log_base_dir = log_dir if log_dir
-
-                    if (parent_info = metadata["parent"])
-                        if (app_name = parent_info["app_name"])
-                            app.app_name = app_name
-                        end
-                        if (robot_name = parent_info["robot_name"])
-                            app.robot(robot_name, parent_info["robot_type"] || robot_name)
-                        end
-                    end
-
-                    app.add_app_metadata(metadata)
-                    app.find_and_create_log_dir(time_tag)
-                    if (parent_info = metadata["parent"])
-                        ::Robot.info "created #{app.log_dir} on behalf of"
-                        YAML.dump(parent_info).each_line do |line|
-                            ::Robot.info "  #{line.chomp}"
-                        end
-                    else
-                        ::Robot.info "created #{app.log_dir}"
-                    end
-                end
-
-                def build_system_info
-                    available_projects = {}
-                    available_typekits = {}
-                    available_deployments = {}
-                    loader.each_available_project_name do |name|
-                        available_projects[name] =
-                            loader.project_model_text_from_name(name)
-                    end
-                    loader.each_available_typekit_name do |name|
-                        available_typekits[name] =
-                            loader.typekit_model_text_from_name(name)
-                    end
-                    loader.each_available_deployment_name do |name|
-                        available_deployments[name] =
-                            loader.find_project_from_deployment_name(name)
-                    end
-                    [available_projects, available_deployments, available_typekits]
-                end
-
-                def start_process(name, deployment_name, name_mappings, options)
-                    options = Hash[working_directory: app.log_dir].merge(options)
-
-                    p = Orocos::Process.new(
-                        name, deployment_name,
-                        loader: @loader,
-                        name_mappings: name_mappings
-                    )
-                    p.spawn(**default_start_options.merge(options))
-                    processes[name] = p
-                end
-
-                def end_process(process, cleanup: true, hard: false)
-                    process.kill(false, cleanup: cleanup, hard: hard)
-                end
-
-                # Kill all running subprocesses
-                #
-                # This method does not wait for their end, nor does it de-register
-                # them.
-                #
-                # @see join_all announce_dead_processes
-                def kill_all(cleanup: false, hard: true)
-                    processes.each_value do |p|
-                        p.kill(false, cleanup: cleanup, hard: hard)
-                    end
-                    processes.values
-                end
-
-                # Exception raised by {#join_all} when its timeout is reached
-                class JoinAllTimeout < RuntimeError; end
-
-                # Wait for the given processes to end
-                #
-                # @param [Array<Orocos::Process>] processes the subprocess objects
-                # @param [Float] poll polling period in seconds
-                # @param [Float] timeout timeout after which the method will raise
-                #   if there are some of the listed subprocesses still running
-                # @return [Array<(Orocos::Process,Process::Status)>]
-                def join_all(processes, poll: 0.1, timeout: 10)
-                    deadline = Time.now + timeout
-                    dead_processes = []
-                    until processes.empty?
-                        processes.delete_if do |p|
-                            if (status = try_wait_for_subprocess_exit(p.pid))
-                                dead_processes << status
-                                true
-                            end
-                        end
-
-                        if Time.now > deadline
-                            raise JoinAllTimeout,
-                                  "timed out while waiting for #{processes.size} "\
-                                  "processes to terminate"
-                        end
-                        sleep poll
-                    end
-                    dead_processes
-                end
-
-                def quit
-                    @quit = true
-                    @com_w&.write INTERNAL_QUIT
-                end
-
-                Upload = Struct.new(
-                    :host, :port, :certificate, :user, :password, :file
-                ) do
-                    def apply
-                        Tempfile.create do |cert_io|
-                            cert_io.write certificate
-                            cert_io.flush
-
-                            Net::FTP.open(
-                                host,
-                                private_data_connection: false,
-                                port: port,
-                                ssl: { verify_mode: OpenSSL::SSL::VERIFY_PEER,
-                                       ca_file: cert_io.path }
-                            ) do |ftp|
-                                ftp.login(user, password)
-                                File.open(file) do |file_io|
-                                    ftp.storbinary("STOR #{File.basename(file)}",
-                                                   file_io, Net::FTP::DEFAULT_BLOCKSIZE)
-                                end
-                            end
-                        end
-                        LogUploadState::Result.new(file, true, nil)
-                    rescue Exception => e
-                        LogUploadState::Result.new(file, false, e.message)
-                    end
-                end
-
-                def log_upload_main
-                    while (transfer = @log_upload_command_queue.pop)
-                        @log_upload_current.set(transfer)
-                        @log_upload_results_queue << transfer.apply
-                        @log_upload_current.set(nil)
-                    end
-                end
-
-                def log_upload_state
-                    results = []
-                    loop do
-                        results << @log_upload_results_queue.pop(true)
-                    rescue ThreadError
-                        break
-                    end
-
-                    # This count is not exact. However, it's designed to show
-                    # at least one transfer if there are some. I.e. the only
-                    # case where pending == 0 is when there is truly nothing to
-                    # be done
-                    pending = @log_upload_command_queue.size
-                    pending += 1 if @log_upload_current.get
-                    LogUploadState.new(pending, results)
-                end
-            end
-        end
-    end
-end
diff --git a/lib/syskit/roby_app/rest_api.rb b/lib/syskit/roby_app/rest_api.rb
index 39c50edb9..69ab85ca9 100644
--- a/lib/syskit/roby_app/rest_api.rb
+++ b/lib/syskit/roby_app/rest_api.rb
@@ -70,8 +70,8 @@ def make_configured_deployment_info(d)
                 end
 
                 PROCESS_SERVER_TYPES = Hash[
-                    Syskit::RobyApp::RemoteProcesses::Client => "orocos",
-                    UnmanagedTasksManager => "unmanaged"
+                    ProcessManagers::Remote::Manager => "orocos",
+                    ProcessManagers::Unmanaged::Manager => "unmanaged"
                 ]
 
                 # Returns a string that describes the process server type
diff --git a/lib/syskit/roby_app/rest_deployment_manager.rb b/lib/syskit/roby_app/rest_deployment_manager.rb
index ba8cb1cd0..537f6dc21 100644
--- a/lib/syskit/roby_app/rest_deployment_manager.rb
+++ b/lib/syskit/roby_app/rest_deployment_manager.rb
@@ -159,10 +159,10 @@ def deregister_override(id)
                 overriden_deployment = @overrides.keys.find { |c| c.object_id == id }
                 unless overriden_deployment
                     deployment = find_registered_deployment_by_id(id)
-                    if !deployment
-                        raise NotFound, "#{id} is not an existing deployment"
-                    else
+                    if deployment
                         raise NotOverriden, "#{id} is not an overriden deployment, cannot deregister"
+                    else
+                        raise NotFound, "#{id} is not an existing deployment"
                     end
                 end
 
@@ -178,7 +178,7 @@ def deregister_override(id)
             # Whether the given deployment is an oroGen deployment
             def orogen_deployment?(deployment)
                 manager = @conf.process_server_config_for(deployment.process_server_name)
-                manager.client.kind_of?(Syskit::RobyApp::RemoteProcesses::Client)
+                manager.client.kind_of?(ProcessManagers::Remote::Manager)
             end
 
             # Returns the command line needed to start the given deployment with the given spawn options
diff --git a/lib/syskit/roby_app/tmp_root_ca.rb b/lib/syskit/roby_app/tmp_root_ca.rb
index 7a1cc8a37..e169fbc3e 100644
--- a/lib/syskit/roby_app/tmp_root_ca.rb
+++ b/lib/syskit/roby_app/tmp_root_ca.rb
@@ -37,7 +37,7 @@ def create_self_signed_certificate(server_ip, key)
                 certificate.not_before = now
                 certificate.not_after = now + lifespan
                 add_extensions(server_ip, certificate)
-                certificate.sign(key, OpenSSL::Digest::SHA256.new)
+                certificate.sign(key, OpenSSL::Digest.new("SHA256"))
                 certificate
             end
 
diff --git a/lib/syskit/roby_app/unmanaged_process.rb b/lib/syskit/roby_app/unmanaged_process.rb
deleted file mode 100644
index 04968584c..000000000
--- a/lib/syskit/roby_app/unmanaged_process.rb
+++ /dev/null
@@ -1,216 +0,0 @@
-# frozen_string_literal: true
-
-module Syskit
-    module RobyApp
-        # A class API-compatible with Orocos::Process that represents tasks that
-        # are not started by the Syskit instance
-        #
-        # An UnmanagedProcess can basically be in three states, which are
-        # reflected by three threads
-        #
-        # {#monitor_thread} is started when all tasks have been resolved in
-        # {#resolve_all_tasks}. It verifies that the tasks are still reachable.
-        # The thread returns when it is not the case.
-        #
-        # Whether the process is stil in a good state or not should be tested
-        # with {#dead?}. {#verify_threads_state} verifies that the threads
-        # themselves did not terminate with an exception (and throw the
-        # exception).
-        class UnmanagedProcess < Orocos::ProcessBase
-            extend Logger::Hierarchy
-            include Logger::Hierarchy
-
-            class TerminateThread < RuntimeError; end
-
-            # The {UnmanagedTasksManager} object which created this
-            #
-            # If non-nil, the object's #dead_deployment will be called when self
-            # is stopped
-            #
-            # @return [#dead_deployment,nil]
-            attr_reader :process_manager
-
-            # The set of deployed tasks
-            #
-            # @return [{String=>TaskContext}] mapping from the deployed task name as
-            #   defined in {model} to the actual {Orocos::TaskContext}
-            attr_reader :deployed_tasks
-
-            # The host on which this process' tasks run
-            #
-            # @return [String]
-            attr_reader :host_id
-
-            # Whether the tasks in this process are running on the same machine than
-            # the ruby process
-            #
-            # This is always true as ruby tasks are instanciated inside the ruby
-            # process
-            #
-            # @return [Boolean]
-            def on_localhost?
-                host_id == "localhost"
-            end
-
-            # The PID of the process in which the tasks run
-            #
-            # This is always Process.pid as ruby tasks are instanciated inside the ruby
-            # process
-            #
-            # @return [Integer]
-            attr_reader :pid
-
-            # The name service object which should be used to resolve the tasks
-            attr_reader :name_service
-
-            # @api private
-            #
-            # The thread that monitors the tasks availability
-            #
-            # It is spawned the first time {#wait_running} returns true
-            attr_reader :monitor_thread
-
-            # Creates a new object managing the tasks that represent a single
-            # unmanaged process
-            #
-            # @param [nil,#dead_deployment] process_manager the process manager
-            #   which created this process. If non-nil, its #dead_deployment method
-            #   will be called when {stop} is called
-            # @param [String] name the process name
-            # @param [OroGen::Spec::Deployment] model the deployment model
-            # @param [String] host_id a string identifying the place where the
-            #   process is expected to be running
-            def initialize(process_manager, name, model, host_id: "unmanaged_process")
-                @process_manager = process_manager
-                @deployed_tasks = nil
-                @name_service = process_manager.name_service
-                @host_id = host_id
-                @quitting = Concurrent::Event.new
-                super(name, model)
-            end
-
-            # "Starts" this process
-            #
-            # It spawns a thread that returns once the task got resolved
-            #
-            # @return [void]
-            def spawn(_options = {})
-                @spawn_start = Time.now
-                @last_warning = Time.now
-                @deployed_tasks = nil
-            end
-
-            # Verifies that the monitor thread is alive and well, or that the
-            # process either terminated or is not spawned yet
-            #
-            # If the monitor thread terminated unexpectedly, it will raise the
-            # exception that terminated it, or a RuntimeError if no exceptions
-            # have been raised (which should not be possible)
-            def verify_threads_state
-                monitor_thread.join if monitor_thread && !monitor_thread.alive?
-            end
-
-            def resolve_all_tasks(cache = {})
-                resolved = model.task_activities.map do |t|
-                    [t.name, (cache[t.name] ||= name_service.get(t.name))]
-                end
-                @deployed_tasks = Hash[resolved]
-                @monitor_thread = Thread.new do
-                    monitor
-                end
-                @deployed_tasks
-            rescue Orocos::NotFound, Orocos::ComError => e
-                if Time.now - @last_warning > 5
-                    Syskit.warn "waiting for unmanaged task: #{e}"
-                    @last_warning = Time.now
-                end
-                nil
-            end
-
-            # Returns the component object for the given name
-            #
-            # @raise [RuntimeError] if the process is not running yet
-            # @raise [ArgumentError] if the name is not the name of a task on
-            #   self
-            def task(task_name)
-                raise "process not running yet" unless deployed_tasks
-                unless (task = deployed_tasks[task_name])
-                    raise ArgumentError, "#{task_name} is not a task of #{self}"
-                end
-
-                task
-            end
-
-            # @api private
-            #
-            # Helper method to kill a thread
-            def terminate_and_join_thread(thread)
-                return unless thread.alive?
-
-                thread.raise TerminateThread
-                begin
-                    thread.join
-                rescue TerminateThread # rubocop:disable Lint/SuppressedException
-                end
-            end
-
-            # "Kill" this process
-            #
-            # It shuts down the tasks that are part of it
-            def kill(_wait = false, **)
-                # Announce we're quitting to #monitor_thread. It's used in
-                # #dead? directly if there is no monitoring thread
-                @quitting.set
-            end
-
-            # @api private
-            #
-            # Implementation of the monitor thread, i.e. the thread that will
-            # detect if the deployment disappears
-            #
-            # @param [Float] period polling period in seconds
-            def monitor(period: 0.1)
-                until quitting?
-                    deployed_tasks.each_value do |task|
-                        task.ping
-                    rescue Orocos::ComError
-                        return # rubocop:disable Lint/NonLocalExitFromIterator
-                    end
-                    sleep period
-                end
-            end
-
-            # Whether {#kill} requested for {#monitor_thread} to quit
-            def quitting?
-                @quitting.set?
-            end
-
-            # Returns true if the process died
-            def dead?
-                if monitor_thread
-                    !monitor_thread.alive?
-                else quitting?
-                end
-            end
-
-            # Returns true if the tasks have been successfully discovered
-            def ready?
-                deployed_tasks
-            end
-
-            # True if the process is running. This is an alias for running?
-            def alive?
-                !dead?
-            end
-
-            # True if the process is running. This is an alias for alive?
-            def running?
-                alive?
-            end
-
-            def join
-                raise NotImplementedError, "UnmanagedProcess#join is not implemented"
-            end
-        end
-    end
-end
diff --git a/lib/syskit/roby_app/unmanaged_tasks_manager.rb b/lib/syskit/roby_app/unmanaged_tasks_manager.rb
deleted file mode 100644
index 73e7767ce..000000000
--- a/lib/syskit/roby_app/unmanaged_tasks_manager.rb
+++ /dev/null
@@ -1,164 +0,0 @@
-# frozen_string_literal: true
-
-require "orocos/ruby_tasks/process"
-
-module Syskit
-    module RobyApp
-        # A class API-compatible with {Syskit::RobyApp::RemoteProcesses::Client} but that
-        # handle components started externally to syskit
-        class UnmanagedTasksManager
-            # Exception raised if one attempts to do name mappings in an
-            # unmanaged process server
-            class NameMappingsForbidden < ArgumentError; end
-
-            # Fake status class
-            class Status
-                def initialize(exit_code: nil, signal: nil)
-                    @exit_code = exit_code
-                    @signal = signal
-                end
-
-                def stopped?
-                    false
-                end
-
-                def exited?
-                    !@exit_code.nil?
-                end
-
-                def exitstatus
-                    @exit_code
-                end
-
-                def signaled?
-                    !@signal.nil?
-                end
-
-                def termsig
-                    @signal
-                end
-
-                def stopsig; end
-
-                def success?
-                    exitstatus == 0
-                end
-            end
-
-            # The set of processes started so far
-            #
-            # @return [Hash<String,UnmanagedProcess>] mapping from process name
-            #   to the process object
-            attr_reader :processes
-
-            # The name service that should be used to resolve the tasks
-            #
-            # @return [#get]
-            attr_reader :name_service
-
-            # The OroGen loader
-            attr_reader :loader
-
-            def initialize(loader: Roby.app.default_loader,
-                name_service: Orocos::CORBA.name_service)
-                @loader = loader
-                @processes = {}
-                @name_service = name_service
-                @deployments = {}
-            end
-
-            def disconnect; end
-
-            # Register a new deployment model on this server.
-            #
-            # If name mappings are needed, they must have been done in the
-            # model. {#start} does not support name mappings
-            def register_deployment_model(model)
-                loader.register_deployment_model(model)
-            end
-
-            # Start a registered deployment
-            #
-            # @param [String] name the desired process name
-            # @param [String,OroGen::Spec::Deployment] deployment_name either
-            #   the name of a deployment model on {#loader}, or the deployment
-            #   model itself
-            # @param [Hash] name_mappings name mappings. This is provided for
-            #   compatibility with the process server API, but should always be
-            #   empty
-            # @param [String] prefix a prefix to be added to all tasks in the
-            #   deployment.  This is provided for
-            #   compatibility with the process server API, but should always be
-            #   nil
-            # @param [Hash] options additional spawn options. This is provided
-            #   for compatibility with the process server API, but is ignored
-            # @return [UnmanagedProcess]
-            def start(name, deployment_name = name, name_mappings = {}, prefix: nil, **_)
-                model = if deployment_name.respond_to?(:to_str)
-                            loader.deployment_model_from_name(deployment_name)
-                        else deployment_name
-                        end
-
-                if processes[name]
-                    raise ArgumentError, "#{name} is already started in #{self}"
-                end
-
-                prefix_mappings = Orocos::ProcessBase.resolve_prefix(model, prefix)
-                name_mappings = prefix_mappings.merge(name_mappings)
-                name_mappings.each do |from, to|
-                    if from != to
-                        raise NameMappingsForbidden,
-                              "cannot do name mapping in unmanaged processes"
-                    end
-                end
-
-                process = UnmanagedProcess.new(self, name, model)
-                process.spawn
-                processes[name] = process
-            end
-
-            # Requests that the process server moves the log directory at +log_dir+
-            # to +results_dir+
-            def save_log_dir(log_dir, results_dir); end
-
-            # Creates a new log dir, and save the given time tag in it (used later
-            # on by save_log_dir)
-            def create_log_dir(log_dir, time_tag, metadata = {}); end
-
-            # Waits for processes to terminate. +timeout+ is the number of
-            # milliseconds we should wait. If set to nil, the call will block until
-            # a process terminates
-            #
-            # Returns a hash that maps deployment names to the Status
-            # object that represents their exit status.
-            def wait_termination(_timeout = nil)
-                # Verify that the monitor threads are in a good state, and
-                # gather the ones that are actually dead
-                dead_processes = Set.new
-                processes.delete_if do |_, process|
-                    next unless process.dead?
-
-                    dead_processes << process
-                    begin
-                        process.verify_threads_state
-                    rescue Exception => e # rubocop:disable Lint/RescueException
-                        process.fatal "assuming #{process} died because the background "\
-                                      "thread died with"
-                        Roby.log_exception(e, process, :fatal)
-                    end
-
-                    true
-                end
-                dead_processes
-            end
-
-            # Requests to stop the given deployment
-            #
-            # The call does not block until the process has quit. You will have to
-            # call #wait_termination to wait for the process end.
-            def stop(world_name)
-                processes[world_name]&.kill
-            end
-        end
-    end
-end
diff --git a/lib/syskit/runtime/apply_requirement_modifications.rb b/lib/syskit/runtime/apply_requirement_modifications.rb
index eb7aa7e1d..2cf2c9adb 100644
--- a/lib/syskit/runtime/apply_requirement_modifications.rb
+++ b/lib/syskit/runtime/apply_requirement_modifications.rb
@@ -113,13 +113,8 @@ def syskit_apply_async_resolution_results
                 end
                 nil
             rescue ::Exception => e # rubocop:disable Lint/RescueException
-                if running_requirement_tasks.empty?
-                    add_framework_error(e, "deployment error without "\
-                        "requirement tasks")
-                else
-                    running_requirement_tasks.each do |t|
-                        t.failed_event.emit(e)
-                    end
+                running_requirement_tasks.each do |t|
+                    t.failed_event.emit(e)
                 end
                 e
             end
@@ -144,7 +139,7 @@ def self.apply_requirement_modifications(
                 end
             end
 
-            # Note: this is NOT the 'else' clause from above. The if ... block
+            # NOTE: this is NOT the 'else' clause from above. The if ... block
             # above might resolve the current async resolution
             return if plan.syskit_has_async_resolution?
 
diff --git a/lib/syskit/runtime/connection_management.rb b/lib/syskit/runtime/connection_management.rb
index 2a0e8640b..4bf3c0dff 100644
--- a/lib/syskit/runtime/connection_management.rb
+++ b/lib/syskit/runtime/connection_management.rb
@@ -7,9 +7,7 @@ class ConnectionManagement
             extend Logger::Hierarchy
             include Logger::Hierarchy
 
-            attr_reader :plan
-
-            attr_reader :dataflow_graph
+            attr_reader :plan, :dataflow_graph
 
             def scheduler
                 plan.execution_engine.scheduler
@@ -193,7 +191,7 @@ def removed_connections_require_network_update?(connections)
 
                     unneeded_tasks ||= plan.unneeded_tasks
                     unless unneeded_tasks.include?(syskit_task)
-                        return true
+                        true
                     end
                 end
 
@@ -476,8 +474,8 @@ def mark_connected_pending_tasks_as_executable(pending_tasks)
                     elsif t.all_inputs_connected?
                         t.ready_to_start!
                         debug do
-                            "#{t} has all its inputs connected, set executable "\
-                            "to nil and executable? = #{t.executable?}"
+                            "#{t} has all its inputs connected, set executable " \
+                                "to nil and executable? = #{t.executable?}"
                         end
                         scheduler.report_action(
                             "all inputs connected, marking as ready to start", t
@@ -725,9 +723,7 @@ def update
                             [main_tasks, new, removed]
                         end
 
-                    if !dataflow_graph.pending_changes
-                        debug "successfully applied pending changes"
-                    else
+                    if dataflow_graph.pending_changes
                         debug do
                             debug "some connection changes could not be applied in this pass"
                             main_tasks, new, removed = dataflow_graph.pending_changes
@@ -738,6 +734,8 @@ def update
                             debug "  involving #{main_tasks.size} tasks"
                             break
                         end
+                    else
+                        debug "successfully applied pending changes"
                     end
                 end
             end
diff --git a/lib/syskit/runtime/exceptions.rb b/lib/syskit/runtime/exceptions.rb
index 918c5270d..5e8e260fb 100644
--- a/lib/syskit/runtime/exceptions.rb
+++ b/lib/syskit/runtime/exceptions.rb
@@ -2,8 +2,7 @@
 
 module Syskit
     class PortNotFound < Roby::LocalizedError
-        attr_reader :port_name
-        attr_reader :port_kind
+        attr_reader :port_name, :port_kind
 
         def initialize(task, name, kind)
             @port_name = name
diff --git a/lib/syskit/runtime/update_deployment_states.rb b/lib/syskit/runtime/update_deployment_states.rb
index 6bd8236b7..0187130b9 100644
--- a/lib/syskit/runtime/update_deployment_states.rb
+++ b/lib/syskit/runtime/update_deployment_states.rb
@@ -10,6 +10,11 @@ def self.update_deployment_states(plan)
             # #cleanup_dead_connections, thus avoiding to disconnect connections
             # between already-dead processes
 
+            handle_dead_deployments(plan)
+            trigger_ready_deployments(plan)
+        end
+
+        def self.handle_dead_deployments(plan)
             all_dead_deployments = Set.new
             server_config = Syskit.conf.each_process_server_config.to_a
             server_config.each do |config|
@@ -33,6 +38,27 @@ def self.update_deployment_states(plan)
             end
         end
 
+        def self.trigger_ready_deployments(plan)
+            not_ready_deployments = find_all_not_ready_deployments(plan)
+            not_ready_deployments.each do |process_server_name, deployments|
+                server_config = Syskit.conf.process_server_config_for(process_server_name)
+                wait_result = server_config.client.wait_running(
+                    *deployments.map { |d| d.arguments[:process_name] }
+                )
+                wait_result.each do |process_name, result|
+                    next unless result
+
+                    deployment = deployments.find { |d| d.process_name == process_name }
+
+                    if result[:error]
+                        deployment.ready_event.emit_failed(result[:error])
+                    elsif result[:iors]
+                        deployment.update_remote_tasks(result[:iors])
+                    end
+                end
+            end
+        end
+
         def self.abort_process_server(plan, process_server)
             client = process_server.client
             # Before we can terminate Syskit, we need to abort all
@@ -42,5 +68,19 @@ def self.abort_process_server(plan, process_server)
             deployments.each { |t| t.aborted_event.emit if !t.pending? && !t.finished? }
             Syskit.conf.remove_process_server(process_server.name)
         end
+
+        def self.find_all_not_ready_deployments(plan)
+            # Must also check if the deployment task is finishing in case it is
+            # stopped before becoming ready and if the ready event is pending,
+            # which would mean that it the deployment is already updating its
+            # remote tasks
+            valid_running_deployment_tasks =
+                plan.find_tasks(Syskit::Deployment)
+                    .running
+                    .find_all do |dep_task|
+                    !dep_task.ready? && !dep_task.finishing? && !dep_task.ready_event.pending?
+                end
+            valid_running_deployment_tasks.group_by { |t| t.arguments[:on] }
+        end
     end
 end
diff --git a/lib/syskit/runtime/update_task_states.rb b/lib/syskit/runtime/update_task_states.rb
index 21001ec94..66692ea58 100644
--- a/lib/syskit/runtime/update_task_states.rb
+++ b/lib/syskit/runtime/update_task_states.rb
@@ -59,6 +59,8 @@ def self.handle_task_runtime_states(task)
             received_states = []
             while (!state || task.orocos_task.runtime_state?(state)) &&
                   (new_state = task.update_orogen_state)
+                next if new_state == :PRE_OPERATIONAL && task.read_only?
+
                 received_states << new_state
 
                 # Returns nil if we have a communication problem. In this
@@ -78,7 +80,7 @@ def self.warn_state_reader_overrun(task, received_states)
             return if state_count < Deployment::STATE_READER_BUFFER_SIZE
 
             Runtime.warn(
-                "got #{state_count} state updates for #{task}, we might "\
+                "got #{state_count} state updates for #{task}, we might " \
                 "have lost some state updates in the process. Received:"
             )
             received_states.each { |s| Runtime.warn "  #{s}" }
@@ -101,11 +103,11 @@ def self.handle_task_state_updates?(scheduler, task)
                 return
             elsif !execution_agent
                 raise NotImplementedError,
-                      "#{task} is not yet finished but has no execution agent. "\
+                      "#{task} is not yet finished but has no execution agent. " \
                       "#{task}'s history is\n  #{task.history.map(&:to_s).join("\n  ")}"
             elsif !execution_agent.ready?
                 raise InternalError,
-                      "orocos_task != nil on #{task}, "\
+                      "orocos_task != nil on #{task}, " \
                       "but #{execution_agent} is not ready yet"
             end
 
diff --git a/lib/syskit/scripts/browse.rb b/lib/syskit/scripts/browse.rb
index 0f68bc1e6..d6a5c6655 100644
--- a/lib/syskit/scripts/browse.rb
+++ b/lib/syskit/scripts/browse.rb
@@ -44,10 +44,10 @@
     # Select the model given on the command line (if any)
     unless model_names.empty?
         model = begin
-                    constant(model_names.first)
-                rescue NameError
-                    Syskit.warn "cannot find a model named #{remaining.first}"
-                end
+            constant(model_names.first)
+        rescue NameError
+            Syskit.warn "cannot find a model named #{remaining.first}"
+        end
         if model
             main.select_by_model(model)
         end
diff --git a/lib/syskit/scripts/common.rb b/lib/syskit/scripts/common.rb
index fffa471de..701d6a48a 100644
--- a/lib/syskit/scripts/common.rb
+++ b/lib/syskit/scripts/common.rb
@@ -8,11 +8,7 @@
 module Syskit
     module Scripts
         class << self
-            attr_accessor :debug
-            attr_accessor :output_file
-            attr_accessor :output_type
-            attr_accessor :robot_type
-            attr_accessor :robot_name
+            attr_accessor :debug, :output_file, :output_type, :robot_type, :robot_name
 
             # The path to the ruby-prof output, as provided to use_rprof, or nil
             # if profiling with ruby-prof is not enabled
@@ -30,7 +26,8 @@ def self.tic
         def self.toc(string = nil)
             if string
                 ::Robot.info format(string, Time.now - @tic)
-            else ::Robot.info yield(Time.now - @tic)
+            else
+                ::Robot.info yield(Time.now - @tic)
             end
         end
 
@@ -122,7 +119,7 @@ def self.common_options(opt, with_output = false)
         def self.autodetect_output_modes
             @output_modes = %w{txt svg png dot}
 
-            has_x11_display = ENV["DISPLAY"]
+            has_x11_display = ENV.fetch("DISPLAY", nil)
             unless has_x11_display
                 @default_output_mode = "txt"
             end
@@ -158,7 +155,7 @@ def self.setup_output(script_name, object, &block)
             output_file = self.output_file
             if !DOT_DIRECT_OUTPUT.include?(output_type) && !output_file
                 @output_file =
-                    if base_name = (robot_name || robot_type)
+                    if base_name = robot_name || robot_type
                         "#{base_name}.#{output_type}"
                     else
                         "#{script_name}.#{output_type}"
@@ -212,7 +209,7 @@ def self.generate_output(display_options = {})
             end
 
             if output_file
-                STDERR.puts "exported result to #{output_file}"
+                $stderr.puts "exported result to #{output_file}"
             end
         end
 
@@ -223,10 +220,10 @@ def self.setup
                 Roby.app.filter_backtraces = false
             end
             if debug
-                Syskit.logger = ::Logger.new(STDOUT)
+                Syskit.logger = ::Logger.new($stdout)
                 Syskit.logger.formatter = Roby.logger.formatter
                 Syskit.logger.level = ::Logger::DEBUG
-                Orocos.logger = ::Logger.new(STDOUT)
+                Orocos.logger = ::Logger.new($stdout)
                 Orocos.logger.formatter = Roby.logger.formatter
                 Orocos.logger.level = ::Logger::DEBUG
             end
@@ -242,10 +239,11 @@ def self.setup
         def self.run
             error = Roby.display_exception do
                 setup_error = setup
-                if !setup_error
+                if setup_error
+                    setup_error
+                else
                     yield
                     nil
-                else setup_error
                 end
             end
             @last_error = error
diff --git a/lib/syskit/scripts/instanciate.rb b/lib/syskit/scripts/instanciate.rb
index 2f46497df..c891b13f7 100644
--- a/lib/syskit/scripts/instanciate.rb
+++ b/lib/syskit/scripts/instanciate.rb
@@ -34,7 +34,7 @@
     opt.on("--annotate=LIST", Array, "comma-separated list of annotations that should be added to the output (defaults to #{default_annotations.to_a.join(',')}). Available annotations: #{available_annotations.to_a.sort.join(', ')}") do |ann|
         ann.each do |name|
             unless available_annotations.include?(name)
-                STDERR.puts "#{name} is not a known annotation. Known annotations are: #{available_annotations.join(', ')}"
+                $stderr.puts "#{name} is not a known annotation. Known annotations are: #{available_annotations.join(', ')}"
                 exit 1
             end
         end
@@ -77,7 +77,7 @@
 Scripts.common_options(parser, true)
 remaining = parser.parse(ARGV)
 if remaining.empty?
-    STDERR.puts parser
+    $stderr.puts parser
     exit(1)
 end
 direct_files, required_actions = remaining.partition do |arg|
diff --git a/lib/syskit/scripts/instanciate_gui.rb b/lib/syskit/scripts/instanciate_gui.rb
index d1169cfa8..5a76b662f 100644
--- a/lib/syskit/scripts/instanciate_gui.rb
+++ b/lib/syskit/scripts/instanciate_gui.rb
@@ -27,7 +27,7 @@
     ui = Ui::OrocosSystemBuilderWidget.new(Roby.app.syskit_engine.model, Roby.app.syskit_engine.robot)
     ui.setupUi(main)
     remaining.each do |file|
-        STDERR.puts "script: #{file}"
+        $stderr.puts "script: #{file}"
         ui.append(file)
     end
     main.show
diff --git a/lib/syskit/scripts/log_runtime_archive.rb b/lib/syskit/scripts/log_runtime_archive.rb
new file mode 100644
index 000000000..a996b2fc9
--- /dev/null
+++ b/lib/syskit/scripts/log_runtime_archive.rb
@@ -0,0 +1,11 @@
+# frozen_string_literal: true
+
+# NOTE: this is NOT integrated in the Thor-based CLI to make it more independent
+# (i.e. not depending on actually having Syskit installed)
+
+require "pathname"
+require "thor"
+require "syskit/cli/log_runtime_archive"
+require "syskit/cli/log_runtime_archive_main"
+
+Syskit::CLI::LogRuntimeArchiveMain.start(ARGV)
diff --git a/lib/syskit/scripts/process_server.rb b/lib/syskit/scripts/process_server.rb
index 90b4d408f..16fe4701c 100644
--- a/lib/syskit/scripts/process_server.rb
+++ b/lib/syskit/scripts/process_server.rb
@@ -1,8 +1,7 @@
 # frozen_string_literal: true
 
 require "roby"
-require "syskit/roby_app/remote_processes"
-require "syskit/roby_app/remote_processes/server"
+require "syskit/process_managers/remote/server"
 
 require "optparse"
 
@@ -15,17 +14,16 @@
         Roby.app.log_dir = dir
     end
     opt.on("--debug", "turn on debug mode") do
-        Syskit::RobyApp::RemoteProcesses::Server.logger.level = Logger::DEBUG
+        Syskit::ProcessManagers::Remote::Server.logger.level = Logger::DEBUG
     end
 end
 
-server_port = Syskit::RobyApp::RemoteProcesses::DEFAULT_PORT
+server_port = Syskit::ProcessManagers::Remote::DEFAULT_PORT
 Roby::Application.host_options(parser, options)
 parser.parse(ARGV)
 
-Orocos::CORBA.name_service.ip = options[:host]
-Orocos.disable_sigchld_handler = true
-Orocos.initialize
-server = Syskit::RobyApp::RemoteProcesses::Server.new(Roby.app, port: server_port)
+server = Syskit::ProcessManagers::Remote::Server::Server.new(
+    Roby.app, port: server_port, name_service_ip: options[:host]
+)
 server.open(fd: options[:fd])
 server.listen
diff --git a/lib/syskit/shell_interface.rb b/lib/syskit/shell_interface.rb
deleted file mode 100644
index adbecef91..000000000
--- a/lib/syskit/shell_interface.rb
+++ /dev/null
@@ -1,216 +0,0 @@
-# frozen_string_literal: true
-
-require "roby/interface"
-require "roby/robot"
-module Syskit
-    # Definition of the syskit-specific interface commands
-    class ShellInterface < Roby::Interface::CommandLibrary
-        # Save the configuration of all running tasks of the given model to disk
-        #
-        # @param [String,nil] name the section name for the new configuration.
-        #   If nil, the task's orocos name will be used
-        # @param [String] path the directory in which the files should be saved
-        # @return [nil]
-        def dump_task_config(task_model, path, name = nil)
-            FileUtils.mkdir_p(path)
-            plan.find_tasks(task_model)
-                .each do |t|
-                    Orocos.conf.save(t.orocos_task, path, name || t.orocos_task.name)
-                end
-            nil
-        end
-        command :dump_task_config, "saves configuration from running tasks into yaml files",
-                :model => "the model of the tasks that should be saved",
-                :path => "the directory in which the configuration files should be saved",
-                :name => "(optional) if given, the name of the section for the new configuration. Defaults to the orocos task names"
-
-        # Saves the configuration of all running tasks to disk
-        #
-        # @param [String] name the section name for the new configuration
-        # @param [String] path the directory in which the files should be saved
-        # @return [nil]
-        def dump_all_config(path, name = nil)
-            dump_task_config(Syskit::TaskContext, path, name)
-            nil
-        end
-        command :dump_all_config, "saves the configuration of all running tasks into yaml files",
-                :path => "the directory in which the configuration files should be saved",
-                :name => "(optional) if given, the name of the section for the new configuration. Defaults to the orocos task names"
-
-        class ShellDeploymentRestart < Roby::Task
-            event :start, :controlable => true
-
-            poll do
-                if redeploy_event.pending? && !plan.syskit_has_async_resolution?
-                    redeploy_event.emit
-                end
-            end
-
-            event :redeploy do |context|
-                Runtime.apply_requirement_modifications(plan, force: true)
-            end
-
-            forward :redeploy => :stop
-        end
-
-        # Stops deployment processes
-        #
-        # @param [Array<Model<Deployment>>] models if non-empty, only the
-        #   deployments matching this model will be stopped, otherwise all
-        #   deployments are stopped.
-        def stop_deployments(*models)
-            if models.empty?
-                models << Syskit::Deployment
-            end
-            models.each do |m|
-                plan.find_tasks(m)
-                    .each do |task|
-                        if task.kind_of?(Syskit::TaskContext)
-                            task.execution_agent.stop!
-                        else
-                            task.stop!
-                        end
-                    end
-            end
-        end
-        command :stop_deployments, "stops deployment processes",
-                :models => "(optional) if given, a list of task or deployment models pointing to what should be stopped. If not given, all deployments are stopped"
-
-        # Restarts deployment processes
-        #
-        # @param [Array<Model<Deployment>,Model<TaskContext>>] models if
-        #   non-empty, only the deployments matching this model or the deployments
-        #   supporting tasks matching the models will be restarted, otherwise all
-        #   deployments are restarted.
-        def restart_deployments(*models)
-            protection = ShellDeploymentRestart.new
-            plan.add(protection)
-            protection.start!
-
-            if models.empty?
-                models << Syskit::Deployment
-            end
-            done = Roby::AndGenerator.new
-            done.signals protection.redeploy_event
-
-            models.each do |m|
-                agents = plan.find_tasks(m).each_with_object(Set.new) do |task, result|
-                    result <<
-                        if task.kind_of?(Syskit::TaskContext)
-                            task.execution_agent
-                        else
-                            task
-                        end
-                end
-
-                agents.each do |agent_task|
-                    agent_task.each_executed_task do |task|
-                        task.stop_event.handle_with(protection)
-                    end
-                    done << agent_task.stop_event
-                    agent_task.stop!
-                end
-            end
-            nil
-        end
-        command :restart_deployments, "restarts deployment processes",
-                :models => "(optional) if given, a list of task or deployment models pointing to what should be restarted. If not given, all deployments are restarted"
-
-        # (see Application#syskit_reload_config)
-        def reload_config
-            app.syskit_reload_config
-        end
-        command :reload_config, "reloads YAML configuration files from disk",
-                "You need to call the redeploy command to apply the new configuration"
-
-        # (see Application#syskit_pending_reloaded_configurations)
-        def pending_reloaded_configurations
-            app.syskit_pending_reloaded_configurations
-        end
-        command :pending_reloaded_configurations, "returns the list of TaskContext names that are marked as needing reconfiguration",
-                "They will be reconfigured on the next redeploy or system transition"
-
-        # Require the engine to redeploy the current network
-        #
-        # It must be called after {#reload_config} to apply the new
-        # configuration(s)
-        def redeploy
-            Runtime.apply_requirement_modifications(plan, force: true)
-            nil
-        end
-        command :redeploy, "redeploys the current network",
-                "It is mostly used to apply the configuration loaded with reload_config"
-
-        def enable_log_group(string)
-            Syskit.conf.logs.enable_log_group(string)
-            redeploy
-            nil
-        end
-        command :enable_logging_of, "enables a log group",
-                name: "the log group name"
-
-        # @deprecated use enable_log_group instead
-        def enable_logging_of(string)
-            enable_log_group(string)
-        end
-
-        def disable_log_group(string)
-            Syskit.conf.logs.disable_log_group(string)
-            redeploy
-            nil
-        end
-        command :disable_log_group, "disables a log group",
-                name: "the log group name"
-
-        # @deprecated use disable_log_group instead
-        def disable_logging_of(string)
-            disable_log_group(string)
-        end
-
-        LoggingGroup = Struct.new(:name, :enabled)
-        LoggingConfiguration = Struct.new(:port_logs_enabled, :conf_logs_enabled, :groups)
-        def logging_conf
-            conf = LoggingConfiguration.new(false, false, {})
-            conf.port_logs_enabled = Syskit.conf.logs.port_logs_enabled?
-            conf.conf_logs_enabled = Syskit.conf.logs.conf_logs_enabled?
-            Syskit.conf.logs.groups.each_pair do |key, group|
-                conf.groups[key] = LoggingGroup.new(key, group.enabled?)
-            end
-            conf
-        end
-        command :logging_conf, "gets the current logging configuration"
-
-        def update_logging_conf(conf)
-            if conf.port_logs_enabled
-                Syskit.conf.logs.enable_port_logging
-            else
-                Syskit.conf.logs.disable_port_logging
-            end
-
-            if conf.conf_logs_enabled
-                Syskit.conf.logs.enable_conf_logging
-            else
-                Syskit.conf.logs.disable_conf_logging
-            end
-
-            conf.groups.each_pair do |name, group|
-                begin
-                    Syskit.conf.logs.group_by_name(name).enabled = group.enabled
-                rescue ArgumentError
-                    Syskit.warn "tried to update a group that does not exist: #{name}"
-                end
-            end
-            redeploy
-        end
-        command :update_logging_conf, "updates the current logging configuration",
-                conf: "the new logging settings"
-    end
-end
-
-module Robot
-    def self.syskit
-        @syskit_interface ||= Syskit::ShellInterface.new(Roby.app)
-    end
-end
-
-Roby::Interface::Interface.subcommand "syskit", Syskit::ShellInterface, "Commands specific to Syskit"
diff --git a/lib/syskit/task_configuration_manager.rb b/lib/syskit/task_configuration_manager.rb
index b0ff3e41c..18b2fa2ea 100644
--- a/lib/syskit/task_configuration_manager.rb
+++ b/lib/syskit/task_configuration_manager.rb
@@ -4,8 +4,7 @@ module Syskit
     # Adapter for {Orocos::TaskConfigurations} to take into account the
     # conventions inside Syskit apps
     class TaskConfigurationManager < Orocos::TaskConfigurations
-        attr_reader :app
-        attr_reader :syskit_model
+        attr_reader :app, :syskit_model
 
         def orogen_model
             syskit_model.orogen_model
diff --git a/lib/syskit/task_context.rb b/lib/syskit/task_context.rb
index a84aead2d..ff709859e 100644
--- a/lib/syskit/task_context.rb
+++ b/lib/syskit/task_context.rb
@@ -241,13 +241,13 @@ def can_merge?(other_task) # :nodoc:
                 (!required_host || !other_task.required_host ||
                 required_host == other_task.required_host)
 
-            if !result
+            if result
+                true
+            else
                 NetworkGeneration.debug do
                     "cannot merge #{other_task} in #{self}: different host constraints"
                 end
                 false
-            else
-                true
             end
         end
 
@@ -400,13 +400,13 @@ def queue_property_update_if_needed
                                         .first
 
                 raise InvalidReadOnlyOperation,
-                      "attempting to write on property '#{property.name}',"\
+                      "attempting to write on property '#{property.name}'," \
                       "but it's a 'read_only' Task"
             end
 
             unless would_use_property_update?
                 raise InvalidState,
-                      "attempting to queue a property update on a finished "\
+                      "attempting to queue a property update on a finished " \
                       "or finishing task"
             end
 
@@ -542,7 +542,7 @@ def validate_orogen_state_from_rtt_state
             return unless mismatch
 
             Runtime.warn(
-                "state mismatch on #{self} between state=#{orogen_state} "\
+                "state mismatch on #{self} between state=#{orogen_state} " \
                 "and rtt_state=#{rtt_state}"
             )
             @orogen_state = rtt_state
@@ -560,7 +560,12 @@ def validate_orogen_state_from_rtt_state
         # task using the values read from the state reader
         def update_orogen_state
             @state_sample ||= state_reader.new_sample
-            state = state_reader.read_new(@state_sample)
+            state =
+                if @orogen_state
+                    state_reader.read_new(@state_sample)
+                else
+                    state_reader.read(@state_sample)
+                end
 
             if @exception_transition_deadline
                 return update_orogen_state_in_exception(state)
@@ -613,8 +618,8 @@ def validate_state_reader_connected
                 # in which toplevel state we are. The component is unusable
                 # as is, but we can finish whatever transition it is doing
                 # (and stop it cleanly)
-                fatal "putting #{self} in quarantine, its state reader "\
-                    "#{state_reader} got disconnected"
+                fatal "putting #{self} in quarantine, its state reader " \
+                      "#{state_reader} got disconnected"
 
                 @state_reader = @remote_state_getter
                 @remote_state_getter.resume_or_start
@@ -640,7 +645,7 @@ def update_orogen_state_in_exception(state)
                 @last_orogen_state = @orogen_state
                 @orogen_state = @pending_exception_states.shift
             elsif !@remote_state_getter.connected?
-                fatal "putting #{self} in quarantine, its remote state reader "\
+                fatal "putting #{self} in quarantine, its remote state reader " \
                       "#{@remote_state_getter} failed during exception handling"
                 quarantined!
                 # Don't stop like in #handle_state_reader_disconnection, the component
@@ -689,20 +694,36 @@ def ready_for_setup?(state = nil)
                 return
             end
 
-            configurable_state =
-                CONFIGURABLE_RTT_STATES.include?(state) ||
-                orocos_task.exception_state?(state)
-            if configurable_state
-                true
+            if read_only?
+                read_only_task_verify_configurable_state(state)
             else
-                debug do
-                    "#{self} not ready for setup: in state #{state}, "\
-                    "expected STOPPED, PRE_OPERATIONAL or an exception state"
-                end
-                false
+                normal_task_verify_configurable_state(state)
             end
         end
 
+        def read_only_task_verify_configurable_state(state)
+            return true if orocos_task.runtime_state?(state)
+
+            execution_engine.scheduler.report_holdoff(
+                "read-only task #{self} not ready, task is not currently running", self
+            )
+            false
+        end
+
+        def normal_task_verify_configurable_state(state)
+            configurable =
+                CONFIGURABLE_RTT_STATES.include?(state) ||
+                orocos_task.exception_state?(state)
+
+            return true if configurable
+
+            execution_engine.scheduler.report_holdoff(
+                "task #{self} not ready, task is in state #{state}, expected " \
+                "PRE_OPERATIONAL, STOPPED or an exception state", self
+            )
+            false
+        end
+
         # Returns true if the underlying Orocos task has been configured and
         # can be started
         #
@@ -713,7 +734,7 @@ def ready_for_setup?(state = nil)
         #  end
         #
         def setup?
-            read_only? || @setup
+            @setup
         end
 
         def ready_to_start!
@@ -737,16 +758,16 @@ def setup_successful!
                     "configured and all inputs connected, marking as executable", self
                 )
                 Runtime.debug do
-                    "#{self} is setup and all its inputs are connected, "\
-                    "executable? = #{executable?}"
+                    "#{self} is setup and all its inputs are connected, " \
+                        "executable? = #{executable?}"
                 end
             else
                 execution_engine.scheduler.report_action(
                     "configured, but some connections are pending", self
                 )
                 Runtime.debug do
-                    "#{self} is setup but some of its inputs are not connected, "\
-                    "executable = #{executable?}"
+                    "#{self} is setup but some of its inputs are not connected, " \
+                        "executable = #{executable?}"
                 end
             end
 
@@ -802,7 +823,7 @@ def dynamic_input_port_connections(existing_port_names)
             dynamic_ports.each do |name|
                 if existing_port_names.include?(name)
                     Syskit.fatal(
-                        "task #{orocos_task} did not clear #{name}, a dynamic input "\
+                        "task #{orocos_task} did not clear #{name}, a dynamic input " \
                         "port, during cleanup, as it should have. Go fix it."
                     )
                 end
@@ -833,7 +854,7 @@ def dynamic_output_port_connections(existing_port_names)
             dynamic_ports.each do |name|
                 if existing_port_names.include?(name)
                     Syskit.fatal(
-                        "task #{orocos_task} did not clear #{name}, a dynamic "\
+                        "task #{orocos_task} did not clear #{name}, a dynamic " \
                         "output port, during cleanup, as it should have. Go fix it."
                     )
                 end
@@ -861,7 +882,7 @@ def prepare_for_setup(promise)
                 [properties, orocos_task.rtt_state]
             end
             promise.on_success(
-                description: "#{self}#prepare_for_setup#write properties and "\
+                description: "#{self}#prepare_for_setup#write properties and " \
                              "needs_reconfiguration"
             ) do |properties, state|
                 properties.each do |syskit_p, remote_value|
@@ -872,11 +893,11 @@ def prepare_for_setup(promise)
                     freeze_delayed_arguments
                     update_properties
                 else
-                    warn "#{model.concrete_model} does not define "\
+                    warn "#{model.concrete_model} does not define " \
                          "the #update_properties method, but does define"
-                    warn "#configure. It will be needlessly reconfigured when "\
+                    warn "#configure. It will be needlessly reconfigured when " \
                          "stopped."
-                    warn "See https://www.rock-robotics.org/rock-and-syskit/"\
+                    warn "See https://www.rock-robotics.org/rock-and-syskit/" \
                          "deprecations/update_properties.html"
                 end
 
@@ -889,7 +910,7 @@ def prepare_for_setup(promise)
                     self.properties.each.any?(&:needs_commit?)
 
                 unless needs_reconfiguration
-                    info "not reconfiguring #{self}: the task is already "\
+                    info "not reconfiguring #{self}: the task is already " \
                          "configured as required"
                 end
                 [needs_reconfiguration, state]
@@ -916,10 +937,12 @@ def prepare_for_setup(promise)
 
         # (see Component#perform_setup)
         def perform_setup(promise)
+            return if read_only?
+
             prepare_for_setup(promise)
 
             # This calls #configure
-            super(promise)
+            super
 
             properties_updated_in_configure = false
             promise.on_success(description: "#{self}#perform_setup#log_properties") do
@@ -939,7 +962,7 @@ def perform_setup(promise)
             promise.then(description: "#{self}#perform_setup#orocos_task.configure") do
                 state = orocos_task.rtt_state
                 if properties_updated_in_configure && state != :PRE_OPERATIONAL
-                    info "properties have been changed within #configure, "\
+                    info "properties have been changed within #configure, " \
                          "cleaning up #{self}"
                     orocos_task.cleanup(false)
                     state = :PRE_OPERATIONAL
@@ -997,14 +1020,14 @@ def setup_failed!(exception)
                 expected_output_ports.each do |source_p|
                     unless port_names.include?(source_p)
                         raise Orocos::NotFound,
-                              "#{orocos_name}(#{orogen_model.name}) does "\
+                              "#{orocos_name}(#{orogen_model.name}) does " \
                               "not have a port named #{source_p}"
                     end
                 end
                 expected_input_ports.each do |sink_p|
                     unless port_names.include?(sink_p)
                         raise Orocos::NotFound,
-                              "#{orocos_name}(#{orogen_model.name}) does "\
+                              "#{orocos_name}(#{orogen_model.name}) does " \
                               "not have a port named #{sink_p}"
                     end
                 end
@@ -1034,8 +1057,8 @@ def handle_state_changes # :nodoc:
                 if last_orogen_state && orocos_task.error_state?(last_orogen_state)
                     running_event.emit
                 elsif @last_terminal_state
-                    fatal "#{self} reports state #{orogen_state} after having "\
-                          "reported a terminal state (#{@last_terminal_state}). "\
+                    fatal "#{self} reports state #{orogen_state} after having " \
+                          "reported a terminal state (#{@last_terminal_state}). " \
                           "Syskit will try to go on, but this should not happen."
                 end
             end
@@ -1054,7 +1077,7 @@ def handle_state_changes # :nodoc:
                         event(event_name)
                     else
                         raise ArgumentError,
-                              "#{self} reports state #{orogen_state}, "\
+                              "#{self} reports state #{orogen_state}, " \
                               "but I don't have an event for this state transition"
                     end
                 end
@@ -1120,7 +1143,9 @@ def stop_orocos_task
                         stop_orocos_task
                     end
                 promise.on_error(description: "#{self}#interrupt#error") do |error|
-                    quarantined! unless error.kind_of?(Orocos::StateTransitionFailed)
+                    if execution_agent && !error.kind_of?(Orocos::StateTransitionFailed)
+                        quarantined!
+                    end
                 end
 
                 interrupt_event.achieve_asynchronously(promise, emit_on_success: false)
@@ -1287,7 +1312,7 @@ def apply_configuration(config_type)
                 if has_property?(name)
                     property(name).write(value)
                 else
-                    ::Robot.warn "ignoring field #{name} in configuration "\
+                    ::Robot.warn "ignoring field #{name} in configuration " \
                                  "of #{orocos_name} (#{model.name})"
                 end
             end
@@ -1298,7 +1323,7 @@ def apply_configuration(config_type)
         def stub!(name = nil)
             if !name && !orocos_name
                 raise ArgumentError,
-                      "orocos_task is not set on #{self}, you must "\
+                      "orocos_task is not set on #{self}, you must " \
                       "provide an explicit name in #stub!"
             end
             self.orocos_name = name if name
diff --git a/lib/syskit/telemetry/agent/agent.proto b/lib/syskit/telemetry/agent/agent.proto
new file mode 100644
index 000000000..6a831dae5
--- /dev/null
+++ b/lib/syskit/telemetry/agent/agent.proto
@@ -0,0 +1,100 @@
+package syskit.telemetry.agent.grpc;
+
+/** Protocol definition for Syskit's telemetry agent
+ *
+ * The objective of the agent is to make it viable to monitor a complete syskit system
+ * over a bandwidth-limited, high latency, communication channel. The purpose of this
+ * interface is to reduce the amount of request/replies needed to get an interface
+ * looking like the syskit IDE runtime view.
+ *
+ * Data monitoring is done a subscription basis. The client must first create a permanent
+ * streaming connection using data() and then subscribes or removes subscriptions
+ * using the *MonitoringStart and *MonitoringStop calls.
+ *
+ * The data call is what maintains the subscriptions. If the call is interrupted or
+ * cancelled, the whole subscription process must be re-done.
+ */
+service Server {
+    /** Establish a connection
+     *
+     * This creates a data connection, whose ID will be used in other calls to declare
+     * what will be written. This must be done before calling the MonitoringStart
+     * and MonitoringStop functions
+     *
+     * The method sends a single DataStreamValue on connection, with an ID of zero
+     * and an empty data buffer. Use this to synchronize on the channel actually been
+     * established (the GRPC call does not).
+     *
+     * Cancel the call to kill the connection
+     */
+    rpc data(Void) returns (stream DataStreamValue) {}
+
+    /** Add ports to a connection data stream
+     *
+     * The connection must be alive. The call returns the type definitions
+     * (as typelib XML) and unique numerical IDs that allow to recognize the ports
+     * on the data connection. The stream definitions are returned in the same order
+     * they were given
+     */
+    rpc portMonitoringStart(PortMonitors) returns (DataStreams) {}
+
+    /** Remove ports from a connection data stream
+     *
+     * The ID list given as argument is made of the IDs returned by
+     * portMonitoringStart. Passing IDs that do not exist or were
+     * already removed does nothing
+     */
+    rpc portMonitoringStop(PortMonitorIDs) returns (Void) {}
+}
+
+message Void {
+}
+
+message Error {
+    required int32 code = 1;
+    required string message = 2;
+}
+
+enum BufferType {
+    DATA = 0;
+    BUFFER_DROP_OLD = 1;
+    BUFFER_DROP_NEW = 2;
+}
+
+message BufferPolicy {
+    required BufferType type = 1;
+    optional uint32 size = 2;
+}
+
+message PortMonitor {
+    required string task_name = 1;
+    required string port_name = 2;
+    required float period = 3;
+    required BufferPolicy policy = 4;
+}
+
+message PortMonitors {
+    repeated PortMonitor monitors = 1;
+}
+
+message PortMonitorIDs {
+    repeated uint32 ids = 1;
+}
+
+message DataStreamValue {
+    required int32 id = 1;
+    required bytes data = 2;
+}
+
+message DataStreamValues {
+    repeated DataStreamValue values = 2;
+}
+
+message DataStream {
+    required int32 id = 1;
+    required string typelib_xml = 2;
+}
+
+message DataStreams {
+    repeated DataStream streams = 1;
+}
diff --git a/lib/syskit/telemetry/agent/client.rb b/lib/syskit/telemetry/agent/client.rb
new file mode 100644
index 000000000..24d888a9e
--- /dev/null
+++ b/lib/syskit/telemetry/agent/client.rb
@@ -0,0 +1,51 @@
+# frozen_string_literal: true
+
+require "syskit/telemetry/agent/agent_services_pb"
+
+module Syskit
+    module Telemetry
+        module Agent
+            # Client for the telemetry agent
+            #
+            # This class is the low-ish level API for the telemetry agent, allowing
+            # to interact with a remote set of Rock components through a single GRPC
+            # API
+            #
+            # This API is built around a single data channel through which the agent's
+            # server will send data samples. Which data streams must be monitored and
+            # transferred is configured through the monitor_* methods
+            # (e.g. {#monitor_port})
+            #
+            # The samples themselves are received by a block given to
+            # {#create_data_channel}. This block is called in a separate thread, use
+            # a Queue to transfer to a main thread if necessary.
+            class Client < Grpc::Server::Stub
+                # Add a single port to the monitored ports
+                def monitor_port(task_name, port_name, period:, type: :data, size: 1)
+                    grpc_type = GRPC_BUFFER_TYPE_FROM_SYMBOL.fetch(type)
+                    monitor = Grpc::PortMonitor.new(
+                        task_name: task_name, port_name: port_name, period: period,
+                        policy: Grpc::BufferPolicy.new(type: grpc_type, size: size)
+                    )
+                    data_streams = port_monitoring_start(
+                        Grpc::PortMonitors.new(monitors: [monitor])
+                    )
+                    data_stream = data_streams.streams.first
+                    disposable = Roby.disposable do
+                        port_monitoring_stop(
+                            Grpc::PortMonitorIDs.new(ids: [data_stream.id])
+                        )
+                    end
+
+                    [data_stream.id, disposable]
+                end
+
+                GRPC_BUFFER_TYPE_FROM_SYMBOL = {
+                    data: Grpc::BufferType::DATA,
+                    buffer: Grpc::BufferType::BUFFER_DROP_OLD,
+                    ring_buffer: Grpc::BufferType::BUFFER_DROP_NEW
+                }.freeze
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/agent/server.rb b/lib/syskit/telemetry/agent/server.rb
new file mode 100644
index 000000000..e5046a8a9
--- /dev/null
+++ b/lib/syskit/telemetry/agent/server.rb
@@ -0,0 +1,93 @@
+# frozen_string_literal: true
+
+require "syskit/telemetry/agent/agent_services_pb"
+require "syskit/telemetry/agent/server_peer"
+
+module Syskit
+    module Telemetry
+        module Agent
+            class DuplicateDataStream < RuntimeError; end
+            class PeerNotConnected < RuntimeError; end
+
+            # Server for the telemetry agent
+            #
+            # This class implements the server-side functionality for the agent
+            class Server < Grpc::Server::Service
+                def initialize(name_service)
+                    @name_service = name_service
+                    @peers_mu = Mutex.new
+                    @peers = {}
+                end
+
+                def data(_void, call)
+                    ServerPeer.create_data_channel(self, call)
+                end
+
+                def port_monitoring_start(port_monitors, call)
+                    new_readers = peer(call.peer) do |c|
+                        c.port_monitoring_start(port_monitors.monitors)
+                    end
+
+                    pb_streams = new_readers.map do |id, r|
+                        Grpc::DataStream.new(id: id, typelib_xml: r.reader.type.to_xml)
+                    end
+                    Grpc::DataStreams.new(streams: pb_streams)
+                end
+
+                def port_monitoring_stop(port_monitor_ids, call)
+                    peer(call.peer).port_monitoring_stop(port_monitor_ids.ids)
+                    Grpc::Void.new
+                end
+
+                def dispose
+                    peers = @peers_mu.synchronize do
+                        temp = @peers
+                        @peers = {}
+                        temp
+                    end
+
+                    peers.each_value(&:dispose)
+                end
+
+                # @api private
+                #
+                # Create and register a {ServerPeer} for the given peer ID
+                #
+                # @return [ServerPeer]
+                # @raise DuplicateDataStream if the peer is already registered
+                def register_peer(peer_id)
+                    @peers_mu.synchronize do
+                        if @peers[peer_id]
+                            raise DuplicateDataStream,
+                                  "there is already a data stream for peer #{peer_id}"
+                        end
+
+                        @peers[peer_id] = ServerPeer.new(peer_id, @name_service)
+                    end
+                end
+
+                def deregister_peer(peer_id)
+                    peer = @peers_mu.synchronize do
+                        @peers.delete(peer_id)
+                    end
+                    peer&.dispose
+                end
+
+                def peer(peer_id)
+                    @peers_mu.synchronize do
+                        unless (peer = @peers[peer_id])
+                            raise PeerNotConnected,
+                                  "no data channel established for peer #{peer_id}"
+                        end
+
+                        if block_given?
+                            yield(peer)
+                        else
+                            peer
+                        end
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/agent/server_peer.rb b/lib/syskit/telemetry/agent/server_peer.rb
new file mode 100644
index 000000000..df6c07a80
--- /dev/null
+++ b/lib/syskit/telemetry/agent/server_peer.rb
@@ -0,0 +1,173 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module Agent
+            # Handling of a single peer server-side
+            class ServerPeer
+                def initialize(peer_id, name_service)
+                    @peer_id = peer_id
+                    @id = Concurrent::AtomicFixnum.new
+                    @readers_mu = Mutex.new
+                    @readers = {}
+                    @name_service = name_service
+                end
+
+                # Cleans up resources for this peer
+                def dispose
+                    readers = @readers_mu.synchronize do
+                        temp = @readers
+                        @readers = {}
+                        temp
+                    end
+                    readers.each_value(&:dispose)
+                end
+
+                def self.create_data_channel(server, call)
+                    peer = server.register_peer(call.peer)
+                    enum_for(:data_channel, peer, server, call)
+                end
+
+                # @api private
+                #
+                # Implementation of the enumerator needed by the GRPC streaming API
+                def self.data_channel(peer, server, call)
+                    # Send one sample to indicate that the channel is properly established
+                    yield Grpc::DataStreamValue.new(id: 0, data: "")
+
+                    until call.cancelled?
+                        now = Time.now
+                        next_deadline = peer.poll_subscribed_streams(now) do |id, sample|
+                            yield Grpc::DataStreamValue.new(
+                                id: id, data: sample.to_byte_array
+                            )
+                        end
+
+                        if next_deadline
+                            sleep(next_deadline - now)
+                        else
+                            sleep 1
+                        end
+                    end
+                ensure
+                    server.deregister_peer(call.peer)
+                    peer.dispose
+                end
+
+                # @api private
+                #
+                # Read the subscribed streams that reached their deadline
+                #
+                # @param [Time] now the time used to determine whether the deadline
+                #   is reached or not
+                # @return [Time] the closest read deadline
+                def poll_subscribed_streams(now)
+                    samples = @readers_mu.synchronize do
+                        @readers.map do |id, reader|
+                            next unless reader.ready?(now)
+
+                            s = reader.raw_read_new
+                            reader.update_deadline(now)
+                            [id, s] if s
+                        end
+                    end
+                    samples.each { |id, s| yield(id, s) if id }
+
+                    @readers_mu.synchronize do
+                        @readers.each_value
+                                .min(&:deadline)
+                                &.deadline
+                    end
+                end
+
+                # Start monitoring some ports
+                #
+                # The `id` field of the returned objects can be used to stop
+                # monitoring the corresponding streams
+                #
+                # @param [Array<Grpc::PortMonitor>] monitors
+                # @return [{ Integer => MonitoredReader }]
+                def port_monitoring_start(monitors)
+                    new_readers = create_monitored_readers(monitors)
+                    @readers_mu.synchronize do
+                        @readers.merge!(new_readers)
+                    end
+                    new_readers
+                end
+
+                # Stop monitoring some ports
+                #
+                # @param [Array<Integer>] ids the IDs of the port monitors to be
+                #   cancelled, as returned by {#port_monitoring_start}
+                # @return [Array<MonitoredReader>]
+                def port_monitoring_stop(ids)
+                    readers = @readers_mu.synchronize do
+                        ids.map { |id| @readers.delete(id) }
+                    end
+                    readers.compact.each(&:dispose)
+                end
+
+                # @api private
+                #
+                # Create MonitoredReader objects for the given monitors
+                #
+                # @return [{ Integer => MonitoredReader }] the mapping of stream IDs to
+                #   the created readers
+                def create_monitored_readers(monitors)
+                    monitors.each_with_object(new_readers = {}) do |monitor, readers|
+                        id = @id.increment
+                        readers[id] = create_monitored_reader(monitor)
+                    end
+                rescue RuntimeError
+                    new_readers&.each_value(&:dispose)
+                    raise
+                end
+
+                # @api private
+                #
+                # Create the MonitoredReader for the given monitoring spec
+                def create_monitored_reader(monitor)
+                    port = @name_service.get(monitor.task_name).port(monitor.port_name)
+                    reader = port.reader(
+                        type: GRPC_BUFFER_TYPE_TO_SYMBOL.fetch(monitor.policy.type),
+                        size: monitor.policy.size || 0
+                    )
+
+                    MonitoredReader.new(
+                        reader: reader, period: monitor.period, deadline: Time.now
+                    )
+                end
+
+                MonitoredReader =
+                    Struct.new(:reader, :period, :deadline, keyword_init: true) do
+                        def raw_read_new
+                            reader.raw_read_new
+                        end
+
+                        def ready?(now)
+                            deadline < now
+                        end
+
+                        def update_deadline(now)
+                            self.deadline += period until deadline > now
+                            self.deadline
+                        end
+
+                        def disconnect
+                            reader.disconnect
+                        end
+
+                        def dispose
+                            disconnect
+                        end
+                    end
+
+                GRPC_BUFFER_TYPE_TO_SYMBOL = {
+                    DATA: :data,
+                    BUFFER_DROP_OLD: :buffer,
+                    BUFFER_DROP_NEW: :ring_buffer
+                }.freeze
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/cli.rb b/lib/syskit/telemetry/cli.rb
new file mode 100644
index 000000000..54bb8f810
--- /dev/null
+++ b/lib/syskit/telemetry/cli.rb
@@ -0,0 +1,81 @@
+# frozen_string_literal: true
+
+require "roby"
+require "roby/interface/base"
+
+module Syskit
+    module Telemetry
+        # Implementation of `syskit telemetry`
+        class CLI < Thor
+            desc "ui",
+                 "open a UI to interface with a running Syskit system"
+            option :host,
+                   type: :string, doc: "host[:port] to connect to",
+                   default: "localhost:#{Roby::Interface::DEFAULT_PORT_V2}"
+            option :robot,
+                   aliases: "r",
+                   type: :string, doc: "robot config option to pass to `syskit run`",
+                   default: "default"
+            option :set,
+                   type: :string, doc: "--set options to pass to `syskit run`",
+                   repeatable: true, default: []
+            def ui
+                roby_setup
+                host, port = parse_host_port(
+                    options[:host], default_port: Roby::Interface::DEFAULT_PORT_V2
+                )
+
+                require "syskit/telemetry/ui/runtime_state"
+                $qApp.disable_threading # rubocop:disable Style/GlobalVars
+
+                require "syskit/scripts/common"
+                Syskit::Scripts.run do
+                    runtime_state(host, port)
+                end
+            end
+
+            no_commands do # rubocop:disable Metrics/BlockLength
+                def roby_setup
+                    Roby.app.using "syskit"
+                    Syskit.conf.only_load_models = true
+                    # We don't need the process server, win some startup time
+                    Syskit.conf.disables_local_process_server = true
+                    Roby.app.ignore_all_load_errors = true
+                    Roby.app.development_mode = false
+
+                    Roby.app.auto_load_all = false
+                    Roby.app.auto_load_models = false
+                end
+
+                def parse_host_port(host_port, default_port:)
+                    host_port += ":#{default_port}" unless /:\d+$/.match?(host_port)
+                    match = /(.*):(\d+)$/.match(host_port)
+                    [match[1], Integer(match[2])]
+                end
+
+                def create_async_interface(host, port)
+                    Orocos.initialize
+                    Roby::Interface::V2::Async::Interface.new(host, port: port)
+                end
+
+                def create_runtime_state_ui(host, port)
+                    interface = create_async_interface(host, port)
+                    main = UI::RuntimeState.new(syskit: interface)
+                    main.syskit_run_arguments(robot: options[:robot], set: options[:set])
+                    main.window_title = "Syskit @#{host}"
+                    main
+                end
+
+                def runtime_state(host, port)
+                    main = create_runtime_state_ui(host, port)
+
+                    main.restore_from_settings
+                    main.show
+                    Vizkit.exec
+                    main.save_to_settings
+                    main.settings.sync
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/app_start_dialog.rb b/lib/syskit/telemetry/ui/app_start_dialog.rb
new file mode 100644
index 000000000..f7e63396f
--- /dev/null
+++ b/lib/syskit/telemetry/ui/app_start_dialog.rb
@@ -0,0 +1,101 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            # A dialog that allows to get the parameters to start an app
+            class AppStartDialog < Qt::Dialog
+                # The combo box to choose the robot name
+                #
+                # @return [Qt::ComboBox]
+                attr_reader :robot_names
+
+                # The checkbox allowing to choose whether the controller blocks
+                # should be executed or not
+                #
+                # @return [Qt::CheckBox]
+                attr_reader :start_controller
+
+                # The checkbox allowing to choose whether Roby app should be run
+                # on single mode. For more information, check [Roby::Application#single]
+                #
+                # @return [Qt::CheckBox]
+                attr_reader :single
+
+                # Text used to allow the user to not load any robot configuration
+                NO_ROBOT = " -- None -- "
+
+                def initialize(names, parent = nil, default_robot_name: "default")
+                    super(parent)
+
+                    self.window_title = "Start App"
+
+                    layout = Qt::VBoxLayout.new(self)
+                    layout.add_widget(Qt::Label.new("Robot configuration to load:"))
+                    layout.add_widget(@robot_names = Qt::ComboBox.new)
+
+                    robot_names.add_item NO_ROBOT
+                    names.sort.each_with_index do |n, i|
+                        robot_names.add_item(n)
+                        if n == default_robot_name
+                            robot_names.current_index = i + 1
+                        end
+                    end
+                    layout.add_widget(@start_controller = Qt::CheckBox.new("Start controller"))
+                    start_controller.checked = true
+
+                    layout.add_widget(@single = Qt::CheckBox.new("Run on single mode"))
+                    single.checked = false
+
+                    button_box = Qt::DialogButtonBox.new(
+                        Qt::DialogButtonBox::Ok | Qt::DialogButtonBox::Cancel
+                    )
+                    connect(button_box, SIGNAL("accepted()"), self, SLOT("accept()"))
+                    connect(button_box, SIGNAL("rejected()"), self, SLOT("reject()"))
+                    layout.add_widget(button_box)
+                end
+
+                # The name of the selected robot
+                #
+                # @return [String] the robot name, or an empty string if no robot
+                #   configuration should be loaded
+                def selected_name
+                    txt = robot_names.current_text
+                    if txt == NO_ROBOT
+                        ""
+                    else
+                        txt
+                    end
+                end
+
+                # Whether the controller should be started
+                #
+                # @return [Boolean]
+                def start_controller?
+                    start_controller.checked?
+                end
+
+                # Whether Roby app should be run on single mode
+                #
+                # @return [Boolean]
+                def single?
+                    single.checked?
+                end
+
+                # Executes a {AppStartDialog} in a modal way and returns the result
+                #
+                # @return [nil,(String,Boolean)] either nil if the dialog was
+                #   rejected, or a robot name and a boolean indicating whether the
+                #   controller blocks should be executed. The robot name can be
+                #   empty to indicate that the dialog was accepted but no robot
+                #   configuration should be loaded
+                def self.exec(names, parent = nil, default_robot_name: "default")
+                    dialog = new(names, parent, default_robot_name: default_robot_name)
+                    if Qt::Dialog::Accepted == dialog.exec
+                        [dialog.selected_name, dialog.start_controller?, dialog.single?]
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/batch_manager.rb b/lib/syskit/telemetry/ui/batch_manager.rb
new file mode 100644
index 000000000..55bbeff25
--- /dev/null
+++ b/lib/syskit/telemetry/ui/batch_manager.rb
@@ -0,0 +1,243 @@
+# frozen_string_literal: true
+
+require "syskit/telemetry/ui/widget_list"
+
+module Syskit
+    module Telemetry
+        module UI
+            class BatchManager < WidgetList
+                def initialize(syskit, parent = nil)
+                    super(parent)
+                    @syskit = syskit
+
+                    @actions = Qt::Widget.new
+                    actions_layout = Qt::HBoxLayout.new(@actions)
+                    @process_btn = Qt::PushButton.new("Process")
+                    @cancel_btn  = Qt::PushButton.new("Cancel")
+
+                    actions_layout.add_widget(@process_btn)
+                    actions_layout.add_widget(@cancel_btn)
+                    add_widget(@actions, permanent: true)
+
+                    @process_btn.connect(SIGNAL(:clicked)) do
+                        process
+                    end
+                    @cancel_btn.connect(SIGNAL(:clicked)) do
+                        cancel
+                    end
+                    disable_actions
+
+                    @start_job = []
+                    @drop_job = []
+                end
+
+                def process
+                    batch = @syskit.client.create_batch
+                    @drop_job.each do |j|
+                        batch.drop_job(j.job_id)
+                    end
+                    @start_job.each do |j|
+                        arguments = j.action_arguments
+                        arguments.delete(:job_id)
+                        batch.start_job(j.action_name, arguments)
+                    end
+                    begin
+                        batch.__process
+                    rescue Exception => e
+                        Roby.display_exception($stdout, e)
+
+                        Qt::MessageBox.critical(
+                            self, "Syskit Process Batch",
+                            "failed to process batch: #{e.message}, " \
+                            "see console output for more details"
+                        )
+                    end
+                    clear
+                end
+
+                def cancel
+                    clear
+                end
+
+                def clear
+                    clear_widgets
+                    @start_job.clear
+                    @drop_job.clear
+                    disable_actions
+                end
+
+                StartJob = Struct.new :action_name, :action_arguments
+
+                def disable_actions
+                    emit active(false)
+                    @process_btn.enabled = false
+                    @cancel_btn.enabled = false
+                end
+
+                def enable_actions
+                    emit active(true)
+                    @process_btn.enabled = true
+                    @cancel_btn.enabled = true
+                end
+
+                signals "active(bool)"
+
+                def drop_job(job_widget)
+                    @drop_job << job_widget.job
+                    add_before(Qt::Label.new("<b>Drop</b> #{job_widget.label}"), @actions)
+                    enable_actions
+                end
+
+                def start_job(action_name, action_arguments)
+                    @start_job << StartJob.new(action_name, action_arguments)
+                    add_before(Qt::Label.new("<b>Start</b> #{action_name}"), @actions)
+                    enable_actions
+                end
+
+                def create_new_job(action_name, arguments = {})
+                    action_model = @syskit.actions.find { |m| m.name == action_name }
+                    unless action_model
+                        ::Kernel.raise ArgumentError, "no action named #{action_name} found"
+                    end
+
+                    if action_model.arguments.empty?
+                        start_job(action_name, {})
+                        true
+                    else
+                        formatted_arguments = String.new
+                        action_model.arguments.each do |arg|
+                            default_arg = arguments.fetch(
+                                arg.name.to_sym, arg.default
+                            )
+                            has_default_arg = arguments.key?(arg.name.to_sym) || !arg.required?
+
+                            unless formatted_arguments.empty?
+                                formatted_arguments << ",\n"
+                            end
+                            doc_lines = (arg.doc || "").split("\n")
+                            formatted_arguments << "\n  # #{doc_lines.join("\n  # ")}\n"
+                            if !has_default_arg
+                                formatted_arguments << "  #{arg.name}: "
+                            elsif default_arg.nil?
+                                formatted_arguments << "  #{arg.name}: nil"
+                            elsif default_arg.respond_to?(:name) && MetaRuby::Registration.accessible_by_name?(default_arg)
+                                formatted_arguments << "  #{arg.name}: #{default_arg.name}"
+                            elsif as_string = ToString.convert(default_arg)
+                                formatted_arguments << "  #{arg.name}: #{as_string}"
+                            elsif arg.required?
+                                formatted_arguments << "  #{arg.name}: "
+                            else
+                                formatted_arguments << "  # #{arg.name}'s default argument cannot be handled by the IDE\n"
+                                formatted_arguments << "  # #{arg.name}: #{default_arg}"
+
+                            end
+                        end
+                        formatted_action = "#{action_name}!(\n#{formatted_arguments}\n)"
+                        dialog = NewJobDialog.new(self, formatted_action)
+                        if dialog.exec == Qt::Dialog::Accepted
+                            action_name, action_options = dialog.result
+                            start_job(action_name, action_options)
+                            true
+                        else
+                            false
+                        end
+                    end
+                end
+
+                class ToString < BasicObject
+                    def self.const_missing(const_name)
+                        ::Object.const_get(const_name)
+                    end
+
+                    def self.convert(obj)
+                        if obj.kind_of?(Symbol)
+                            ":#{obj}"
+                        elsif obj.kind_of?(String)
+                            "\"#{obj}\""
+                        else
+                            as_string = obj.to_s
+                            parser = new
+                            begin
+                                if parser.instance_eval(as_string) == obj
+                                    as_string
+                                end
+                            rescue Exception
+                            end
+                        end
+                    end
+                end
+
+                class NewJobDialog < Qt::Dialog
+                    attr_reader :editor
+
+                    def initialize(parent = nil, text = "")
+                        super(parent)
+                        resize(800, 600)
+
+                        layout = Qt::VBoxLayout.new(self)
+                        @error_message = Qt::Label.new(self)
+                        @error_message.style_sheet = "QLabel { background-color: #ffb8b9; border: 1px solid #ff6567; padding: 5px; }"
+                        @error_message.frame_style = Qt::Frame::StyledPanel
+                        layout.add_widget(@error_message)
+                        @error_message.hide
+
+                        @editor = Qt::TextEdit.new(self)
+                        self.text = text
+                        layout.add_widget editor
+
+                        buttons = Qt::DialogButtonBox.new(Qt::DialogButtonBox::Ok | Qt::DialogButtonBox::Cancel)
+                        buttons.connect(SIGNAL("accepted()")) do
+                            begin
+                                @error_message.hide
+                                @result = Parser.parse(self.text)
+                                accept
+                            rescue Exception => e
+                                @error_message.text = e.message
+                                @error_message.show
+                            end
+                        end
+                        buttons.connect(SIGNAL("rejected()")) { reject }
+                        layout.add_widget buttons
+                    end
+
+                    def self.exec(parent, text)
+                        new(parent, text).exec
+                    end
+
+                    class Parser < BasicObject
+                        def self.const_missing(const_name)
+                            ::Object.const_get(const_name)
+                        end
+
+                        def self.parse(text)
+                            parser = new
+                            parser.instance_eval(text)
+                            parser.__result
+                        end
+
+                        def method_missing(m, **options)
+                            @method_name = m[0..-2]
+                            @method_options = options
+                        end
+
+                        def __result
+                            [@method_name, @method_options]
+                        end
+                    end
+
+                    def result
+                        @result
+                    end
+
+                    def text=(text)
+                        editor.plain_text = text
+                    end
+
+                    def text
+                        editor.to_plain_text
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/expanded_job_status.rb b/lib/syskit/telemetry/ui/expanded_job_status.rb
new file mode 100644
index 000000000..7be3f82cb
--- /dev/null
+++ b/lib/syskit/telemetry/ui/expanded_job_status.rb
@@ -0,0 +1,114 @@
+# frozen_string_literal: true
+
+require "roby/gui/chronicle_widget"
+
+module Syskit
+    module Telemetry
+        module UI
+            # Detailed view on a job
+            #
+            # This is the widget displayed in Syskit IDE when a job is selected. It
+            # displays the task chronicle narrowed-down to the tasks involved in the
+            # job, as well as exceptions related to this task
+            class ExpandedJobStatus < WidgetList
+                # @return [Roby::GUI::ExceptionView] display of the exceptions that
+                #   are related to this task
+                attr_reader :ui_exception_view
+                # @return [Roby::GUI::ChronicleWidget] the chronicle displaying
+                #   the task states for the currently selected job, or for all tasks
+                #   if there is no currently selected job
+                attr_reader :ui_chronicle
+
+                # @return [JobStatusDisplay] the summary widget for the currently
+                #   selected job, or nil if no job is selected
+                attr_reader :job_status
+
+                def initialize(parent = nil)
+                    super(parent, auto_resize: false)
+
+                    @ui_exception_view = Roby::GUI::ExceptionView.new
+                    connect(ui_exception_view, SIGNAL("fileOpenClicked(const QUrl&)"),
+                            self, SIGNAL("fileOpenClicked(const QUrl&)"))
+                    @ui_chronicle = Roby::GUI::ChronicleWidget.new
+                    ui_chronicle.show_mode = :in_range
+                    ui_chronicle.reverse_sort = true
+                    add_widget ui_exception_view
+                    ui_exception_view.hide
+                    add_widget ui_chronicle
+                    @job_status = nil
+                end
+
+                signals "fileOpenClicked(const QUrl&)"
+
+                # Deselect the current job
+                #
+                # This updates the chronicle to show all tasks
+                def deselect
+                    disconnect(self, SLOT("exceptionEvent()"))
+                    @job_status = nil
+                    ui_chronicle.clear_tasks_info
+                    update_exceptions([])
+                end
+
+                # Select a given job
+                #
+                # It reduces the displayed information to only the information that
+                # involved the selected job
+                #
+                # @param [JobStatusDisplay] job_status the job status widget that
+                #   represents the job to be selected
+                def select(job_status)
+                    disconnect(self, SLOT("exceptionEvent()"))
+                    @job_status = job_status
+                    ui_chronicle.clear_tasks_info
+                    update_exceptions(job_status.exceptions)
+                    disconnect(self, SLOT("exceptionEvent()"))
+                    connect(job_status, SIGNAL("exceptionEvent()"), self, SLOT("exceptionEvent()"))
+                end
+
+                # Add task and job info
+                def add_tasks_info(tasks_info, job_info)
+                    ui_chronicle.add_tasks_info(tasks_info, job_info)
+                end
+
+                # Set the current scheduler state
+                def scheduler_state=(state)
+                    ui_chronicle.scheduler_state = state
+                end
+
+                # Update the chronicle display
+                def update_chronicle
+                    ui_chronicle.update_current_tasks
+                    ui_chronicle.update
+                    children_size_updated
+                end
+
+                # Update the current time
+                #
+                # @param [Integer] cycle_index the index of the current Roby cycle
+                # @param [Time] cycle_time the time of the current Roby cycle
+                def update_time(cycle_index, cycle_time)
+                    ui_chronicle.update_current_time(cycle_time)
+                end
+
+                # Slot used to announce that the exceptions registerd on
+                # {#job_status} have changed
+                def exceptionEvent
+                    update_exceptions(job_status.exceptions) if job_status
+                end
+                slots "exceptionEvent()"
+
+                # Update the exception display to display the given exceptions
+                def update_exceptions(exceptions)
+                    ui_exception_view.exceptions = exceptions.dup
+                    if exceptions.empty?
+                        ui_exception_view.hide
+                    else
+                        ui_exception_view.show
+                    end
+                    children_size_updated
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/global_state_label.rb b/lib/syskit/telemetry/ui/global_state_label.rb
new file mode 100644
index 000000000..95d124659
--- /dev/null
+++ b/lib/syskit/telemetry/ui/global_state_label.rb
@@ -0,0 +1,66 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            # Representation of the state of the connected Roby instance
+            class GlobalStateLabel < StateLabel
+                # Actions that are shown when the context menu is activated
+                #
+                # @return [Array<Qt::Action>] the list of actions that can be
+                #   performed on the remote Roby instance (e.g. start/stop ...)
+                attr_reader :actions
+
+                # @param [Array<Qt::Action>] the list of actions that can be
+                #   performed on the remote Roby instance
+                def initialize(actions: [], **options)
+                    super(extra_style: "margin-left: 2px; margin-top: 2px; font-size: 10pt;",
+                          rate_limited: true, **options)
+                    @actions = actions
+                    declare_state "STARTING", :blue
+                    declare_state "RESTARTING", :blue
+                    declare_state "CONNECTED", :green
+                    declare_state "UNREACHABLE", :red
+                end
+
+                # @api private
+                #
+                # Qt handler called when the context menu is activated
+                def contextMenuEvent(event)
+                    unless actions.empty?
+                        app_state_menu(event.global_pos)
+                        event.accept
+                    end
+                end
+
+                # Execute the app state menu
+                def app_state_menu(global_pos)
+                    unless actions.empty?
+                        menu = Qt::Menu.new(self)
+                        actions.each { |act| menu.add_action(act) }
+                        menu.exec(global_pos)
+                        true
+                    end
+                end
+
+                # @api private
+                #
+                # Qt handler called when the mouse is pressed
+                def mousePressEvent(event)
+                    event.accept
+                end
+
+                # @api private
+                #
+                # Qt handler called when the mouse is released
+                #
+                # It emits the 'clicked' signal
+                def mouseReleaseEvent(event)
+                    emit clicked(event.global_pos)
+                    event.accept
+                end
+                signals "clicked(QPoint)"
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/job_state_label.rb b/lib/syskit/telemetry/ui/job_state_label.rb
new file mode 100644
index 000000000..f16adfba3
--- /dev/null
+++ b/lib/syskit/telemetry/ui/job_state_label.rb
@@ -0,0 +1,31 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            # A label that can be used to represent job states
+            #
+            # It [declares](StateLabel#declare_state) the known job states and
+            # assigns proper colors to it.
+            #
+            # @example
+            class JobStateLabel < StateLabel
+                def initialize(**options)
+                    super
+                    declare_default_color :red
+                    declare_state Roby::Interface::JOB_PLANNING_READY.upcase, :blue
+                    declare_state Roby::Interface::JOB_PLANNING.upcase, :blue
+                    declare_state Roby::Interface::JOB_PLANNING_FAILED.upcase, :red
+                    declare_state Roby::Interface::JOB_READY.upcase, :blue
+                    declare_state Roby::Interface::JOB_STARTED.upcase, :green
+                    declare_state Roby::Interface::JOB_SUCCESS.upcase, :grey
+                    declare_state Roby::Interface::JOB_FAILED.upcase, :red
+                    declare_state Roby::Interface::JOB_FINISHED.upcase, :grey
+                    declare_state Roby::Interface::JOB_FINALIZED.upcase, :grey
+
+                    declare_state Roby::Interface::JOB_DROPPED.upcase, :grey
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/job_status_display.rb b/lib/syskit/telemetry/ui/job_status_display.rb
new file mode 100644
index 000000000..54d1ba112
--- /dev/null
+++ b/lib/syskit/telemetry/ui/job_status_display.rb
@@ -0,0 +1,213 @@
+# frozen_string_literal: true
+
+require "syskit/telemetry/ui/state_label"
+require "syskit/telemetry/ui/job_state_label"
+
+module Syskit
+    module Telemetry
+        module UI
+            class JobStatusDisplay < Qt::Widget
+                attr_reader :job, :ui_job_actions, :ui_start, :ui_restart, :ui_drop, :ui_clear, :ui_state, :exceptions, :notifications, :ui_notifications
+
+                attr_predicate :show_actions?, true
+
+                def initialize(job, batch_manager)
+                    super(nil)
+                    @batch_manager = batch_manager
+                    @job = job
+                    @exceptions = []
+                    @notifications = {}
+                    @show_actions = true
+
+                    create_ui
+                    connect_to_hooks
+                    hide_job_actions
+                end
+
+                INTERMEDIATE_TERMINAL_STATES = [
+                    Roby::Interface::JOB_SUCCESS.upcase.to_s,
+                    Roby::Interface::JOB_DROPPED.upcase.to_s,
+                    Roby::Interface::JOB_FAILED.upcase.to_s,
+                    Roby::Interface::JOB_PLANNING_FAILED.upcase.to_s
+                ].freeze
+
+                def label
+                    "##{job.job_id} #{job.job_name}"
+                end
+
+                def create_ui
+                    self.focus_policy = Qt::ClickFocus
+                    @ui_state = JobStateLabel.new name: label
+                    if job.state
+                        ui_state.update_state(job.state.upcase)
+                    end
+
+                    @ui_job_actions = Qt::Widget.new(self)
+                    hlayout = Qt::HBoxLayout.new(ui_job_actions)
+                    @actions_buttons = Hash[
+                        "Drop" => Qt::PushButton.new("Drop", self),
+                        "Restart" => Qt::PushButton.new("Restart", self),
+                        "Start Again" => Qt::PushButton.new("Start Again", self),
+                        "Clear" => Qt::PushButton.new("Clear", self)
+                    ]
+                    hlayout.add_widget(@ui_drop = @actions_buttons["Drop"])
+                    hlayout.add_widget(@ui_restart = @actions_buttons["Restart"])
+                    hlayout.add_widget(@ui_start   = @actions_buttons["Start Again"])
+                    hlayout.add_widget(@ui_clear   = @actions_buttons["Clear"])
+
+                    ui_start.hide
+                    ui_clear.hide
+                    hlayout.set_contents_margins(0, 0, 0, 0)
+
+                    @ui_notifications = Qt::Label.new("", self)
+                    ui_notifications.hide
+
+                    vlayout = Qt::VBoxLayout.new(self)
+                    vlayout.add_widget ui_state
+                    vlayout.add_widget ui_job_actions
+                    vlayout.add_widget ui_notifications
+                end
+
+                def keyPressEvent(event)
+                    make_actions_immediate(event.key == Qt::Key_Control)
+                    super
+                end
+
+                def keyReleaseEvent(event)
+                    make_actions_immediate(false)
+                    super
+                end
+
+                def make_actions_immediate(enable)
+                    @actions_immediate = enable
+                    if enable
+                        @actions_buttons.each do |text, btn|
+                            btn.text = "#{text} Now"
+                        end
+                    else
+                        @actions_buttons.each do |text, btn|
+                            btn.text = text
+                        end
+                    end
+                end
+
+                def show_job_actions
+                    ui_job_actions.show
+                    s = size
+                    s.height = size_hint.height
+                    self.size = s
+                end
+
+                def hide_job_actions
+                    ui_job_actions.hide
+                    s = size
+                    s.height = size_hint.height
+                    self.size = s
+                end
+
+                def enterEvent(event)
+                    super
+                    if show_actions?
+                        show_job_actions
+                        self.focus = Qt::OtherFocusReason
+                    end
+                end
+
+                def leaveEvent(event)
+                    super
+                    if show_actions?
+                        hide_job_actions
+                    end
+                end
+
+                def mousePressEvent(event)
+                    emit clicked
+                    event.accept
+                end
+
+                def mouseReleaseEvent(event)
+                    event.accept
+                end
+                signals "clicked()"
+
+                def connect_to_hooks
+                    ui_drop.connect(SIGNAL("clicked()")) do
+                        @batch_manager.drop_job(self)
+                        if @actions_immediate
+                            @batch_manager.process
+                        end
+                    end
+                    if job.action_name
+                        ui_restart.connect(SIGNAL("clicked()")) do
+                            arguments = job.action_arguments.dup
+                            arguments.delete(:job_id)
+                            if @batch_manager.create_new_job(job.action_name, arguments)
+                                @batch_manager.drop_job(self)
+                                if @actions_immediate
+                                    @batch_manager.process
+                                end
+                            end
+                        end
+                        ui_start.connect(SIGNAL("clicked()")) do
+                            arguments = job.action_arguments.dup
+                            arguments.delete(:job_id)
+                            if @batch_manager.create_new_job(job.action_name, arguments) && @actions_immediate
+                                @batch_manager.process
+                            end
+                        end
+                    end
+                    ui_clear.connect(SIGNAL("clicked()")) do
+                        unless job.active?
+                            job.stop
+                            emit clearJob
+                            true
+                        end
+                    end
+                    job.on_progress do |state|
+                        update_state(state)
+                    end
+                    job.on_exception do |kind, exception|
+                        exceptions << exception.exception
+                        notify("exceptions", "#{exceptions.size} exceptions")
+                        emit exceptionEvent
+                    end
+                end
+
+                def update_state(state)
+                    if INTERMEDIATE_TERMINAL_STATES.include?(ui_state.current_state)
+                        ui_state.update_state(
+                            "#{ui_state.current_state},
+                                #{state.upcase}",
+                            color: ui_state.current_color
+                        )
+                    else
+                        ui_state.update_state(state.upcase)
+                    end
+
+                    if state == Roby::Interface::JOB_DROPPED
+                        ui_drop.hide
+                        ui_restart.hide
+                        ui_start.show
+                        ui_clear.show
+                    elsif Roby::Interface.terminal_state?(state)
+                        ui_drop.hide
+                        ui_restart.hide
+                        ui_start.show
+                        ui_clear.show
+                    end
+                end
+
+                def notify(key, text)
+                    notifications[key] = text
+                    ui_notifications.show
+                    ui_notifications.text = "<small>#{notifications.values.join(', ')}</small>"
+                end
+
+                # Signal emitted when one exception got added at the end of
+                # {#exceptions}
+                signals "exceptionEvent()"
+                signals "clearJob()"
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/logging_configuration.rb b/lib/syskit/telemetry/ui/logging_configuration.rb
new file mode 100644
index 000000000..b09686ad0
--- /dev/null
+++ b/lib/syskit/telemetry/ui/logging_configuration.rb
@@ -0,0 +1,116 @@
+# frozen_string_literal: true
+
+require "vizkit"
+require "vizkit/vizkit_items"
+require "vizkit/tree_view"
+require "Qt4"
+require "syskit/telemetry/ui/logging_configuration_item"
+require "roby/interface"
+require "roby/interface/exceptions"
+
+module Syskit
+    module Telemetry
+        module UI
+            # A widget containing an editable TreeView to allow the user to
+            # manage basic Syskit's logging configuration
+            class LoggingConfiguration < Qt::Widget
+                attr_reader :model, :tree_view, :syskit, :item_name, :item_value, :pending_call
+
+                def initialize(syskit, parent = nil)
+                    super(parent)
+                    main_layout = Qt::VBoxLayout.new(self)
+                    @tree_view = Qt::TreeView.new
+
+                    Vizkit.setup_tree_view tree_view
+                    @model = Vizkit::VizkitItemModel.new
+                    tree_view.setModel @model
+                    main_layout.add_widget(tree_view)
+                    tree_view.setColumnWidth(0, 200)
+                    tree_view.style_sheet = <<~STYLESHEET
+                        QTreeView {
+                            background-color: rgb(255, 255, 219);
+                            alternate-background-color: rgb(255, 255, 174);
+                            color: rgb(0, 0, 0);
+                        }
+                        QTreeView:disabled { color: rgb(159, 158, 158); }
+                    STYLESHEET
+
+                    @syskit = syskit
+                    @timer = Qt::Timer.new
+                    @timer.connect(SIGNAL("timeout()")) { refresh }
+                    @timer.start 1500
+
+                    refresh
+                end
+
+                # Whether there is a refreshing call pending
+                def refreshing?
+                    syskit.async_call_pending?(pending_call)
+                end
+
+                # Fetches the current logging configuration from syskit's
+                # sync interface
+                def refresh
+                    if syskit.reachable?
+                        begin
+                            return if refreshing?
+
+                            @pending_call = syskit.async_call ["syskit"], :logging_conf do |error, result|
+                                if error.nil?
+                                    enabled true
+                                    update_model(result)
+                                else
+                                    enabled false
+                                end
+                            end
+                        rescue Roby::Interface::ComError
+                            enabled false
+                        end
+                    else
+                        enabled false
+                    end
+                end
+
+                # Expands the entire tree
+                def recursive_expand(item)
+                    tree_view.expand(item.index)
+                    (0...item.rowCount).each do |i|
+                        recursive_expand(item.child(i))
+                    end
+                end
+
+                # Changes the top most item in the tree state
+                # and makes it update its childs accordingly
+                def enabled(toggle)
+                    @item_name&.enabled toggle
+                end
+
+                # Updates the view model
+                def update_model(conf)
+                    if @item_name.nil?
+                        @item_name = LoggingConfigurationItem.new(conf, :accept => true)
+                        @item_value = LoggingConfigurationItem.new(conf)
+                        @item_value.setEditable true
+                        @item_value.setText ""
+                        @model.appendRow([@item_name, @item_value])
+                        recursive_expand(@item_name)
+
+                        @item_name.on_accept_changes do |new_conf|
+                            begin
+                                syskit.async_call ["syskit"], :update_logging_conf, new_conf do |error, result|
+                                    enabled false unless error.nil?
+                                end
+                            rescue Roby::Interface::ComError
+                                enabled false
+                            end
+                        end
+                    else
+                        return if @item_name.modified?
+
+                        @item_name.update_conf(conf)
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/logging_configuration_item.rb b/lib/syskit/telemetry/ui/logging_configuration_item.rb
new file mode 100644
index 000000000..5600c7700
--- /dev/null
+++ b/lib/syskit/telemetry/ui/logging_configuration_item.rb
@@ -0,0 +1,70 @@
+# frozen_string_literal: true
+
+require "vizkit"
+require "Qt4"
+require "syskit/telemetry/ui/logging_configuration_item_base"
+require "syskit/telemetry/ui/logging_groups_item"
+
+module Syskit
+    module Telemetry
+        module UI
+            # A QStandardItem that displays a Sysit::ShellInterface::LoggingConfiguration
+            # in a tree view
+            class LoggingConfigurationItem < LoggingConfigurationItemBase
+                attr_reader :options, :conf_logs_item_name, :conf_logs_item_value, :port_logs_item_name, :port_logs_item_value, :groups_item_name, :groups_item_value
+
+                def initialize(logging_configuration, options = {})
+                    super(logging_configuration)
+                    @options = options
+                    setText "Logging Configuration"
+
+                    @conf_logs_item_name, @conf_logs_item_value = add_conf_item("Enable conf logs",
+                                                                                :conf_logs_enabled)
+                    @port_logs_item_name, @port_logs_item_value = add_conf_item("Enable port logs",
+                                                                                :port_logs_enabled)
+
+                    @groups_item_name = LoggingGroupsItem.new(@current_model.groups, "Enable group")
+                    @groups_item_value = Vizkit::VizkitItem.new("#{@current_model.groups.size} logging group(s)")
+                    appendRow([@groups_item_name, @groups_item_value])
+                end
+
+                # Called when the user commit changes made to the model
+                def write
+                    if column == 1
+                        i = index.sibling(row, 0)
+                        return unless i.isValid
+
+                        item = i.model.itemFromIndex i
+                        item.accept_changes
+                    end
+                    modified!(false)
+                end
+
+                # Notify child to also accept user changes,
+                # updates internal copy of the logging configuration, and calls
+                # a block that should the data to the remote side
+                def accept_changes
+                    super
+                    @groups_item_name.accept_changes
+                    @current_model.groups = @groups_item_name.current_model
+                    @commit_block.call current_model
+                end
+
+                # Updates the model with a new logging configuration
+                def update_conf(new_model)
+                    @current_model = deep_copy(new_model)
+                    @editing_model = deep_copy(new_model)
+                    @groups_item_name.update_groups(@current_model.groups)
+                    @groups_item_value.setText "#{@current_model.groups.size} logging group(s)"
+                    model.layoutChanged
+                end
+
+                # Sets the block to be called when the user accepts the changes
+                # made to the model
+                def on_accept_changes(&block)
+                    @commit_block = block
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/logging_configuration_item_base.rb b/lib/syskit/telemetry/ui/logging_configuration_item_base.rb
new file mode 100644
index 000000000..faa609c50
--- /dev/null
+++ b/lib/syskit/telemetry/ui/logging_configuration_item_base.rb
@@ -0,0 +1,77 @@
+# frozen_string_literal: true
+
+require "vizkit"
+require "Qt4"
+require "syskit/telemetry/ui/ruby_item"
+
+module Syskit
+    module Telemetry
+        module UI
+            # Base class for most items in the LoggingConfiguration widget with
+            # common functionality
+            class LoggingConfigurationItemBase < Vizkit::VizkitItem
+                attr_reader :current_model, :editing_model
+
+                def initialize(model)
+                    super()
+                    @current_model = deep_copy(model)
+                    @editing_model = deep_copy(model)
+                end
+
+                # Creates a marshallable deep copy of the object
+                def deep_copy(model)
+                    Marshal.load(Marshal.dump(model))
+                end
+
+                # Adds a ruby primitive type to the tree view
+                def add_conf_item(label, accessor = nil)
+                    item1 = Vizkit::VizkitItem.new(label)
+                    item2 = RubyItem.new
+
+                    unless accessor.nil?
+                        item2.getter do
+                            @editing_model.method(accessor).call
+                        end
+
+                        item2.setter do |value|
+                            @editing_model.method(:"#{accessor}=").call value
+                        end
+                    end
+
+                    appendRow([item1, item2])
+                    [item1, item2]
+                end
+
+                def data(role = Qt::UserRole + 1)
+                    if role == Qt::EditRole
+                        Qt::Variant.from_ruby self
+                    else
+                        super
+                    end
+                end
+
+                # Updates view's sibling modified? state possibly rejecting changes
+                # made to the model
+                def modified!(value = true, items = [], update_parent = false)
+                    super
+                    reject_changes unless value
+                    if column == 0
+                        i = index.sibling(row, 1)
+                        if i.isValid
+                            item = i.model.itemFromIndex i
+                            item.modified!(value, items)
+                        end
+                    end
+                end
+
+                def reject_changes
+                    @editing_model = deep_copy(@current_model)
+                end
+
+                def accept_changes
+                    @current_model = deep_copy(@editing_model)
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/logging_groups_item.rb b/lib/syskit/telemetry/ui/logging_groups_item.rb
new file mode 100644
index 000000000..913b2f4c9
--- /dev/null
+++ b/lib/syskit/telemetry/ui/logging_groups_item.rb
@@ -0,0 +1,56 @@
+# frozen_string_literal: true
+
+require "vizkit"
+require "Qt4"
+require "syskit/telemetry/ui/logging_configuration_item_base"
+
+module Syskit
+    module Telemetry
+        module UI
+            # A QStandardItem to display a hash of Sysit::ShellInterface::LoggingGroup
+            # in a tree view
+            class LoggingGroupsItem < LoggingConfigurationItemBase
+                attr_reader :items_name, :items_value
+
+                def initialize(logging_groups, label = "")
+                    super(logging_groups)
+
+                    @items_name = {}
+                    @items_value = {}
+
+                    setText label
+                    update_groups(logging_groups)
+                end
+
+                # Updates the model according to a new hash
+                def update_groups(groups)
+                    @current_model.keys.each do |key|
+                        unless groups.key? key
+                            group_row = @items_name[key].index.row
+                            @items_name[key].clear
+                            @items_value[key].clear
+                            @items_name.delete key
+                            @items_value.delete key
+                            removeRow(group_row)
+                        end
+                    end
+
+                    @current_model = deep_copy(groups)
+                    @editing_model = deep_copy(groups)
+
+                    @current_model.keys.each do |key|
+                        unless @items_name.key? key
+                            @items_name[key], @items_value[key] = add_conf_item(key)
+                            @items_value[key].getter do
+                                @editing_model[key].enabled
+                            end
+                            @items_value[key].setter do |value|
+                                @editing_model[key].enabled = value
+                            end
+                        end
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/name_service.rb b/lib/syskit/telemetry/ui/name_service.rb
new file mode 100644
index 000000000..794965eed
--- /dev/null
+++ b/lib/syskit/telemetry/ui/name_service.rb
@@ -0,0 +1,109 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            # Copy of Runkit's local name service to use with orocos.rb
+            class NameService < Orocos::NameServiceBase
+                # A new NameService instance
+                #
+                # @param [Hash<String,Orocos::TaskContext>] tasks The tasks which are
+                #        known by the name service.
+                # @note The namespace is always "Local"
+                def initialize(tasks = [])
+                    @registered_tasks = Concurrent::Hash.new
+                    @task_added_callbacks = Concurrent::Array.new
+                    @task_removed_callbacks = Concurrent::Array.new
+                    tasks.each { |task| register(task) }
+                end
+
+                def names
+                    @registered_tasks.keys
+                end
+
+                def include?(name)
+                    @registered_tasks.key?(name)
+                end
+
+                # (see NameServiceBase#get)
+                def ior(name)
+                    task = @registered_tasks[name]
+                    return task.ior if task.respond_to?(:ior)
+
+                    raise Orocos::NotFound, "task context #{name} cannot be found."
+                end
+
+                # (see NameServiceBase#get)
+                def get(name, **)
+                    task = @registered_tasks[name]
+                    return task if task
+
+                    raise Orocos::NotFound, "task context #{name} cannot be found."
+                end
+
+                # Registers the given {Orocos::TaskContext} on the name service.
+                # If a name is provided, it will be used as an alias. If no name is
+                # provided, the name of the task is used. This is true even if the
+                # task name is renamed later.
+                #
+                # @param [Orocos::TaskContext] task The task.
+                # @param [String] name Optional name which is used to register the task.
+                def register(task, name: task.name)
+                    @registered_tasks[name] = task
+                    trigger_task_added(name)
+                end
+
+                # Deregisters the given name or task from the name service.
+                #
+                # @param [String,TaskContext] name The name or task
+                def deregister(name)
+                    @registered_tasks.delete(name)
+                    trigger_task_removed(name)
+                end
+
+                # (see Base#cleanup)
+                def cleanup
+                    names = @registered_tasks.keys
+                    @registered_tasks.clear
+                    names.each { trigger_task_removed(name) }
+                end
+
+                def to_async
+                    self
+                end
+
+                def on_task_added(&block)
+                    @task_added_callbacks << block
+                    Roby.disposable { @task_added_callbacks.delete(block) }
+                end
+
+                def trigger_task_added(name)
+                    error = nil
+                    @task_added_callbacks.each do |block|
+                        block.call(name)
+                    rescue RuntimeError => e
+                        error = e
+                    end
+
+                    raise error if error
+                end
+
+                def on_task_removed(&block)
+                    @task_removed_callbacks << block
+                    Roby.disposable { @task_removed_callbacks.delete(block) }
+                end
+
+                def trigger_task_removed(name)
+                    error = nil
+                    @task_removed_callbacks.each do |block|
+                        block.call(name)
+                    rescue RuntimeError => e
+                        error = e
+                    end
+
+                    raise error if error
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/ruby_item.rb b/lib/syskit/telemetry/ui/ruby_item.rb
new file mode 100644
index 000000000..2a876336e
--- /dev/null
+++ b/lib/syskit/telemetry/ui/ruby_item.rb
@@ -0,0 +1,41 @@
+# frozen_string_literal: true
+
+require "vizkit"
+require "Qt4"
+require "vizkit/vizkit_items"
+
+module Syskit
+    module Telemetry
+        module UI
+            # A QStandardItem to display and edit primitive ruby types in a tree view
+            class RubyItem < Vizkit::VizkitAccessorItem
+                def initialize
+                    super(nil, :nil?)
+                    setEditable false
+                end
+
+                def setData(data, role = Qt::UserRole + 1)
+                    return super if role != Qt::EditRole || data.isNull
+
+                    val = from_variant data, @getter.call
+                    return false if val.nil?
+                    return false unless val != @getter.call
+
+                    @setter.call val
+                    modified!
+                end
+
+                # Defines a block to be called to update the model when the item is edited
+                def setter(&block)
+                    @setter = block
+                    setEditable true
+                end
+
+                # Defines a block to be called to fetch data from the model
+                def getter(&block)
+                    @getter = block
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/runtime_state.rb b/lib/syskit/telemetry/ui/runtime_state.rb
new file mode 100644
index 000000000..145ef750a
--- /dev/null
+++ b/lib/syskit/telemetry/ui/runtime_state.rb
@@ -0,0 +1,759 @@
+# frozen_string_literal: true
+
+require "Qt"
+require "qtwebkit"
+require "vizkit"
+require "syskit"
+require "orocos/async"
+require "metaruby/gui/exception_view"
+require "roby/interface/v2/async"
+require "roby/gui/exception_view"
+require "syskit/telemetry/ui/logging_configuration"
+require "syskit/telemetry/ui/job_status_display"
+require "syskit/telemetry/ui/widget_list"
+require "syskit/telemetry/ui/expanded_job_status"
+require "syskit/telemetry/ui/global_state_label"
+require "syskit/telemetry/ui/app_start_dialog"
+require "syskit/telemetry/ui/batch_manager"
+require "syskit/telemetry/ui/name_service"
+require "syskit/interface/v2"
+
+module Syskit
+    module Telemetry
+        module UI
+            # UI that displays and allows to control jobs
+            class RuntimeState < Qt::Widget
+                include Roby::Hooks
+                include Roby::Hooks::InstanceHooks
+
+                # @return [Roby::Interface::V2::Async::Interface] the underlying syskit
+                #   interface
+                attr_reader :syskit
+
+                # The toplevel layout
+                attr_reader :main_layout
+                # The layout used to organize the widgets to create new jobs
+                attr_reader :new_job_layout
+                # The [WidgetList] widget in which we display the
+                # summary of job status
+                attr_reader :job_status_list
+                # The [ExpandedJobStatus] widget in which we display expanded job
+                # information
+                attr_reader :job_expanded_status
+                # The combo box used to create new jobs
+                attr_reader :action_combo
+                # The job that is currently selected
+                attr_reader :current_job
+                # The connection state, which gives access to the global Syskit
+                # state
+                attr_reader :connection_state
+
+                # The name service which allows us to resolve Rock task contexts
+                attr_reader :name_service
+                # A task inspector widget we use to display the task states
+                attr_reader :ui_task_inspector
+                # A logging configuration widget we use to manage logging
+                attr_reader :ui_logging_configuration
+                # The list of task names of the task currently displayed by the task
+                # inspector
+                attr_reader :current_orocos_tasks
+
+                # Returns a list of actions that can be performed on the Roby
+                # instance
+                #
+                # @return [Array<Qt::Action>]
+                attr_reader :global_actions
+
+                # The current connection state
+                attr_reader :current_state
+
+                # Checkboxes to select widgets options
+                attr_reader :ui_hide_loggers
+                attr_reader :ui_show_expanded_job, :syskit_poll
+
+                define_hooks :on_connection_state_changed
+                define_hooks :on_progress
+
+                class ActionListDelegate < Qt::StyledItemDelegate
+                    OUTER_MARGIN = 5
+                    INTERLINE    = 3
+                    def sizeHint(option, index)
+                        fm = option.font_metrics
+                        main = index.data.toString
+                        doc = index.data(Qt::UserRole).to_string || ""
+                        Qt::Size.new(
+                            [fm.width(main), fm.width(doc)].max + (2 * OUTER_MARGIN),
+                            (fm.height * 2) + (OUTER_MARGIN * 2) + INTERLINE
+                        )
+                    end
+
+                    def paint(painter, option, index)
+                        painter.save
+
+                        if (option.state & Qt::Style::State_Selected) != 0
+                            painter.fill_rect(option.rect, option.palette.highlight)
+                            painter.brush = option.palette.highlighted_text
+                        end
+
+                        main = index.data.toString
+                        doc = index.data(Qt::UserRole).to_string || ""
+                        text_bounds = Qt::Rect.new
+
+                        fm = option.font_metrics
+                        painter.draw_text(
+                            Qt::Rect.new(option.rect.x + OUTER_MARGIN, option.rect.y + OUTER_MARGIN, option.rect.width - (2 * OUTER_MARGIN), fm.height),
+                            Qt::AlignLeft, main, text_bounds
+                        )
+
+                        font = painter.font
+                        font.italic = true
+                        painter.font = font
+                        painter.draw_text(
+                            Qt::Rect.new(option.rect.x + OUTER_MARGIN, text_bounds.bottom + INTERLINE, option.rect.width - (2 * OUTER_MARGIN), fm.height),
+                            Qt::AlignLeft, doc, text_bounds
+                        )
+                    ensure
+                        painter.restore
+                    end
+                end
+
+                # @param [Roby::Interface::V2::Async::Interface] syskit the underlying
+                #   syskit interface
+                # @param [Integer] poll_period how often should the syskit interface
+                #   be polled (milliseconds). Set to nil if the polling is already
+                #   done externally
+                def initialize(parent: nil,
+                    syskit: Roby::Interface::V2::Async::Interface.new, poll_period: 50)
+
+                    super(parent)
+
+                    @syskit = syskit
+                    @syskit_run_arguments =
+                        SyskitRunArguments.new(robot: "default", set: [])
+                    reset
+
+                    @syskit_poll = Qt::Timer.new
+                    @syskit_poll_period = poll_period
+                    connect syskit_poll, SIGNAL("timeout()"),
+                            self, SLOT("poll_syskit_interface()")
+
+                    @syskit_poll.start(poll_period) if poll_period
+                    @global_actions = create_app_start_actions
+
+                    create_ui
+
+                    @current_job = nil
+                    @current_orocos_tasks = Set.new
+                    @proxies = {}
+
+                    syskit.on_ui_event do |event_name, *args|
+                        if (w = @ui_event_widgets[event_name])
+                            w.show
+                            w.update(*args)
+                        else
+                            puts "don't know what to do with UI event #{event_name}, " \
+                                 "known events: #{@ui_event_widgets}"
+                        end
+                    end
+                    on_connection_state_changed do |state|
+                        @current_state = state
+                        connection_state.update_state state
+                    end
+                    syskit.on_reachable do
+                        @syskit_commands = syskit.client.syskit
+                        @job_status_list.each_widget do |w|
+                            w.show_actions = true
+                        end
+                        action_combo.clear
+                        action_combo.enabled = true
+                        syskit.actions.sort_by(&:name).each do |action|
+                            next if action.advanced?
+
+                            action_combo.add_item(
+                                action.name, Qt::Variant.new(action.doc)
+                            )
+                        end
+                        ui_logging_configuration.refresh
+                        global_actions[:start].visible = false
+                        global_actions[:restart].visible = true
+                        global_actions[:quit].visible = true
+                        @starting_monitor.stop
+                        run_hook :on_connection_state_changed, "CONNECTED"
+                    end
+                    syskit.on_unreachable do
+                        @syskit_commands = nil
+                        @job_status_list.each_widget do |w|
+                            w.show_actions = false
+                        end
+                        @ui_event_widgets.each_value(&:hide)
+                        action_combo.enabled = false
+                        @batch_manager.cancel
+                        if remote_name == "localhost"
+                            global_actions[:start].visible = true
+                        end
+                        ui_logging_configuration.refresh
+                        global_actions[:restart].visible = false
+                        global_actions[:quit].visible = false
+                        if @current_state != "RESTARTING"
+                            run_hook :on_connection_state_changed, "UNREACHABLE"
+                        end
+                    end
+                    syskit.on_job do |job|
+                        job.start
+                        monitor_job(job)
+                    end
+                end
+
+                SyskitRunArguments = Struct.new :robot, :set, keyword_init: true
+
+                def syskit_run_arguments(robot: "default", set: [])
+                    @syskit_run_arguments = SyskitRunArguments.new(
+                        robot: robot, set: set
+                    )
+                end
+
+                def monitor_syskit_startup
+                    return unless @syskit_pid
+
+                    begin
+                        _pid, has_quit = Process.waitpid2(
+                            @syskit_pid, Process::WNOHANG
+                        )
+                    rescue Errno::ECHILD
+                        has_quit = true
+                    end
+
+                    return unless has_quit
+
+                    @syskit_pid = nil
+                    run_hook :on_connection_state_changed, "UNREACHABLE"
+                    @starting_monitor.stop
+                end
+                slots "monitor_syskit_startup()"
+
+                def reset
+                    Orocos.initialize
+                    @logger_m = nil
+                    @call_guards = {}
+                    @orogen_models = {}
+
+                    @name_service = NameService.new
+                    @async_name_service = Orocos::Async::NameService.new(@name_service)
+                end
+
+                def hide_loggers?
+                    !@ui_hide_loggers.checked?
+                end
+
+                def hide_expanded_jobs?
+                    !@ui_show_expanded_job.checked
+                end
+
+                def remote_name
+                    syskit.remote_name
+                end
+
+                def create_app_start_actions
+                    actions = {}
+
+                    action = actions[:start] = Qt::Action.new("Start", self)
+                    @starting_monitor = Qt::Timer.new
+                    connect @starting_monitor, SIGNAL("timeout()"),
+                            self, SLOT("monitor_syskit_startup()")
+                    connect action, SIGNAL("triggered()") do
+                        app_start(port: syskit.remote_port)
+                    end
+                    action = actions[:restart] = Qt::Action.new("Restart", self)
+                    connect action, SIGNAL("triggered()") do
+                        app_restart
+                    end
+                    action = actions[:quit] = Qt::Action.new("Quit", self)
+                    connect action, SIGNAL("triggered()") do
+                        app_quit
+                    end
+
+                    actions
+                end
+
+                def require_app_dir
+                    begin
+                        Roby.app.require_app_dir
+                    rescue ArgumentError
+                        Qt::MessageBox.warning(
+                            self, "Wrong current directory",
+                            "Current directory is not a Roby app, cannot start"
+                        )
+                        return
+                    end
+
+                    Roby.app.setup_robot_names_from_config_dir
+                    true
+                end
+
+                def app_start(port: nil)
+                    return unless require_app_dir
+
+                    robot_name, start_controller, single = AppStartDialog.exec(
+                        Roby.app.robots.names, self,
+                        default_robot_name: @syskit_run_arguments.robot
+                    )
+                    return unless robot_name
+
+                    extra_args = []
+                    extra_args << "-r" << robot_name
+                    extra_args << "-c" if start_controller
+                    extra_args << "--interface-versions=2"
+                    extra_args << "--port-v2=#{port}" if port
+                    extra_args << "--single" if single
+                    extra_args.concat(@syskit_run_arguments.set.map { "--set=#{_1}" })
+                    @syskit_pid =
+                        Kernel.spawn Gem.ruby, "-S", "syskit", "run", "--wait-shell-connection",
+                                     *extra_args,
+                                     pgroup: true
+                    @starting_monitor.start(100)
+                    run_hook :on_connection_state_changed, "STARTING"
+                end
+
+                def app_quit
+                    syskit.quit
+                end
+
+                def app_restart
+                    run_hook :on_connection_state_changed, "RESTARTING"
+                    @starting_monitor.start(100) if @syskit_pid
+                    syskit.restart
+                end
+
+                def logger_task?(t)
+                    return if @logger_m == false
+
+                    @logger_m ||= Syskit::TaskContext
+                                  .find_model_from_orogen_name("logger::Logger") || false
+                    t.kind_of?(@logger_m) if @logger_m
+                end
+
+                EventWidget = Struct.new :name, :widget, :hook do
+                    def show
+                        widget.show
+                    end
+
+                    def hide
+                        widget.hide
+                    end
+
+                    def update(*args)
+                        hook.call(*args)
+                    end
+                end
+
+                def create_ui
+                    job_summary = Qt::Widget.new
+                    job_summary_layout = Qt::VBoxLayout.new(job_summary)
+                    job_summary_layout.add_layout(@new_job_layout = create_ui_new_job)
+
+                    @connection_state = GlobalStateLabel.new(
+                        name: remote_name, actions: @global_actions.values
+                    )
+                    on_progress do |message|
+                        state = connection_state.current_state.to_s
+                        connection_state.update_text(format("%s - %s", state, message))
+                    end
+                    job_summary_layout.add_widget(connection_state, 0)
+
+                    @clear_button = Qt::PushButton.new("Clear Finished Jobs")
+                    job_summary_layout.add_widget(@clear_button)
+                    @clear_button.connect(SIGNAL(:clicked)) do
+                        @job_status_list.clear_widgets do |w|
+                            unless w.job.active?
+                                w.job.stop
+                                true
+                            end
+                        end
+                    end
+
+                    @batch_manager = BatchManager.new(@syskit, self)
+                    job_summary_layout.add_widget(@batch_manager)
+                    @batch_manager.connect(SIGNAL("active(bool)")) do |active|
+                        if active then @batch_manager.show
+                        else
+                            @batch_manager.hide
+                        end
+                    end
+                    @batch_manager.hide
+                    connection_state.connect(SIGNAL("clicked(QPoint)")) do
+                        deselect_job
+                    end
+
+                    @job_status_list = WidgetList.new(self)
+                    @job_status_list.size_constraint = Qt::Layout::SetFixedSize
+                    job_status_scroll = Qt::ScrollArea.new
+                    job_status_scroll.widget = @job_status_list
+                    job_summary_layout.add_widget(job_status_scroll, 1)
+                    @main_layout = Qt::VBoxLayout.new(self)
+
+                    @ui_event_widgets = create_ui_event_widgets
+                    @ui_event_widgets.each_value do |w|
+                        @main_layout.add_widget(w.widget)
+                    end
+
+                    splitter = Qt::Splitter.new
+                    splitter.add_widget job_summary
+                    splitter.add_widget(@job_expanded_status = ExpandedJobStatus.new)
+                    connect(@job_expanded_status, SIGNAL("fileOpenClicked(const QUrl&)"),
+                            self, SIGNAL("fileOpenClicked(const QUrl&)"))
+
+                    task_inspector_widget = Qt::Widget.new
+                    task_inspector_layout = Qt::VBoxLayout.new(task_inspector_widget)
+                    task_inspector_checkboxes_layout = Qt::HBoxLayout.new
+                    task_inspector_checkboxes_layout.add_widget(
+                        @ui_show_expanded_job = Qt::CheckBox.new("Show details")
+                    )
+                    task_inspector_checkboxes_layout.add_widget(
+                        @ui_hide_loggers = Qt::CheckBox.new("Show loggers")
+                    )
+                    task_inspector_checkboxes_layout.add_stretch
+                    task_inspector_layout.add_layout(task_inspector_checkboxes_layout)
+                    task_inspector_layout.add_widget(
+                        @ui_task_inspector = Vizkit.default_loader.TaskInspector
+                    )
+                    @ui_hide_loggers.checked = false
+                    @ui_hide_loggers.connect SIGNAL("toggled(bool)") do |_checked|
+                        update_tasks_info
+                    end
+                    @ui_show_expanded_job.checked = true
+                    @ui_show_expanded_job.connect SIGNAL("toggled(bool)") do |checked|
+                        job_expanded_status.visible = checked
+                    end
+
+                    @ui_logging_configuration = LoggingConfiguration.new(syskit)
+
+                    management_tab_widget = Qt::TabWidget.new(self)
+                    management_tab_widget.addTab(task_inspector_widget, "Tasks")
+                    management_tab_widget.addTab(ui_logging_configuration, "Logging")
+
+                    splitter.add_widget(management_tab_widget)
+                    job_expanded_status.set_size_policy(Qt::SizePolicy::MinimumExpanding,
+                                                        Qt::SizePolicy::MinimumExpanding)
+                    @main_layout.add_widget splitter, 1
+                    w = splitter.size.width
+                    splitter.sizes = [Integer(w * 0.25), Integer(w * 0.50),
+                                      Integer(w * 0.25)]
+                    nil
+                end
+
+                def create_ui_event_frame
+                    frame = Qt::Frame.new(self)
+                    frame.frame_shape = Qt::Frame::StyledPanel
+                    frame.setStyleSheet("QFrame { background-color: rgb(205,235,255); border-radius: 2px; }")
+                    frame
+                end
+
+                def create_ui_event_button(text)
+                    button = Qt::PushButton.new(text)
+                    button.flat = true
+                    button
+                end
+
+                def create_ui_event_orogen_config_changed
+                    syskit_orogen_config_changed = create_ui_event_frame
+                    layout = Qt::HBoxLayout.new(syskit_orogen_config_changed)
+                    layout.add_widget(
+                        Qt::Label.new("oroGen configuration files changes on disk"), 1
+                    )
+                    layout.add_widget(reload = create_ui_event_button("Reload"))
+                    layout.add_widget(close  = create_ui_event_button("Close"))
+                    reload.connect(SIGNAL("clicked()")) do
+                        @syskit_commands.async_reload_config do
+                            syskit_orogen_config_changed.hide
+                        end
+                    end
+                    close.connect(SIGNAL("clicked()")) do
+                        syskit_orogen_config_changed.hide
+                    end
+                    EventWidget.new(
+                        "syskit_orogen_config_changed",
+                        syskit_orogen_config_changed, -> {}
+                    )
+                end
+
+                def create_ui_event_orogen_config_reloaded
+                    syskit_orogen_config_reloaded = create_ui_event_frame
+                    layout = Qt::HBoxLayout.new(syskit_orogen_config_reloaded)
+                    layout.add_widget(label = Qt::Label.new, 1)
+                    layout.add_widget(apply = create_ui_event_button("Reconfigure"))
+                    layout.add_widget(close = create_ui_event_button("Close"))
+                    apply.connect(SIGNAL("clicked()")) do
+                        @syskit_commands.async_redeploy do
+                            syskit_orogen_config_reloaded.hide
+                        end
+                    end
+                    close.connect(SIGNAL("clicked()")) do
+                        syskit_orogen_config_reloaded.hide
+                    end
+                    syskit_orogen_config_reloaded_hook = lambda do |changed_tasks, changed_tasks_running|
+                        if changed_tasks.empty?
+                            label.text = "oroGen configuration updated"
+                            apply.hide
+                        elsif changed_tasks_running.empty?
+                            label.text = "oroGen configuration modifications applied to #{changed_tasks.size} configured but not running tasks"
+                            apply.hide
+                        else
+                            label.text = "oroGen configuration modifications applied to #{changed_tasks_running.size} running tasks and #{changed_tasks.size - changed_tasks_running.size} configured but not running tasks"
+                            apply.show
+                        end
+                    end
+                    EventWidget.new("syskit_orogen_config_reloaded",
+                                    syskit_orogen_config_reloaded,
+                                    syskit_orogen_config_reloaded_hook)
+                end
+
+                def create_ui_event_widgets
+                    widgets = [
+                        create_ui_event_orogen_config_reloaded,
+                        create_ui_event_orogen_config_changed
+                    ]
+                    ui_event_widgets = {}
+                    widgets.each do |w|
+                        w.hide
+                        ui_event_widgets[w.name] = w
+                    end
+                    ui_event_widgets
+                end
+
+                def create_ui_new_job
+                    new_job_layout = Qt::HBoxLayout.new
+                    label = Qt::Label.new("New Job", self)
+                    label.set_size_policy(Qt::SizePolicy::Minimum,
+                                          Qt::SizePolicy::Minimum)
+                    @action_combo = Qt::ComboBox.new(self)
+                    action_combo.enabled = false
+                    action_combo.item_delegate = ActionListDelegate.new(self)
+                    new_job_layout.add_widget label
+                    new_job_layout.add_widget action_combo, 1
+                    action_combo.connect(SIGNAL("activated(QString)")) do |action_name|
+                        @batch_manager.create_new_job(action_name)
+                    end
+                    new_job_layout
+                end
+
+                # @api private
+                #
+                # Sets up polling on a given syskit interface
+                def poll_syskit_interface
+                    if syskit.connected?
+                        begin
+                            display_current_cycle_index_and_time
+                            update_current_deployments
+                            update_current_job_task_names if current_job
+                        rescue Roby::Interface::ComError # rubocop:disable Lint/SuppressedException
+                        end
+                    else
+                        reset_current_deployments
+                        reset_current_job
+                        reset_name_service
+                        reset_task_inspector
+                    end
+
+                    syskit.poll
+                end
+                slots "poll_syskit_interface()"
+
+                def display_current_cycle_index_and_time
+                    return unless syskit.cycle_start_time
+
+                    time_s = syskit.cycle_start_time.strftime("%H:%M:%S.%3N").to_s
+                    progress_s = format(
+                        "@%<index>i %<time>s", index: syskit.cycle_index, time: time_s
+                    )
+                    run_hook :on_progress, progress_s
+                end
+
+                def reset_current_job
+                    @current_job = nil
+                    @current_job_task_names = []
+
+                    update_task_inspector(@name_service.names)
+                end
+
+                def update_current_deployments
+                    polling_call ["syskit"], "deployments" do |deployments|
+                        @current_deployments = deployments
+                        update_name_service(deployments)
+
+                        names = @name_service.names
+                        names &= @current_job_task_names if @current_job
+                        update_task_inspector(names)
+                    end
+                end
+
+                def reset_current_deployments
+                    @current_deployments = []
+                    reset_task_inspector
+                end
+
+                def update_current_job_task_names
+                    polling_call [], "tasks_of_job", @current_job.job_id do |tasks|
+                        @current_job_task_names =
+                            tasks
+                            .map { _1.arguments[:orocos_name] }
+                            .compact
+                    end
+                end
+
+                def update_task_inspector(task_names)
+                    orocos_tasks = task_names.to_set
+                    removed = current_orocos_tasks - orocos_tasks
+                    new     = orocos_tasks - current_orocos_tasks
+                    removed.each do |task_name|
+                        ui_task_inspector.remove_task(task_name)
+                    end
+                    new.each do |task_name|
+                        @proxies[task_name] ||= Orocos::Async::TaskContextProxy.new(
+                            task_name, name_service: @async_name_service
+                        )
+
+                        ui_task_inspector.add_task(@proxies[task_name])
+                    end
+                    @current_orocos_tasks = orocos_tasks.dup
+                end
+
+                def reset_task_inspector
+                    update_task_inspector([])
+                end
+
+                def polling_call(path, method_name, *args)
+                    key = [path, method_name, args]
+                    return if @call_guards.key?(key) && @call_guards[key]
+
+                    @call_guards[key] = true
+                    syskit.async_call(path, method_name, *args) do |error, ret|
+                        @call_guards[key] = false
+                        if error
+                            report_app_error(error)
+                        else
+                            yield(ret)
+                        end
+                    end
+                end
+
+                def async_call(path, method_name, *args)
+                    syskit.async_call(path, method_name, *args) do |error, ret|
+                        if error
+                            report_app_error(error)
+                        else
+                            yield(ret)
+                        end
+                    end
+                end
+
+                def report_app_error(error)
+                    warn error.message
+                    error.backtrace.each do |line|
+                        warn "  #{line}"
+                    end
+                end
+
+                def update_name_service(deployments)
+                    # Now remove all tasks that are not in deployments
+                    existing = @name_service.names
+
+                    deployments.each do |d|
+                        d.deployed_tasks.each do |deployed_task|
+                            task_name = deployed_task.name
+                            if existing.include?(task_name)
+                                existing.delete(task_name)
+                                next if deployed_task.ior == @name_service.ior(task_name)
+                            end
+
+                            existing.delete(task_name)
+                            task = Orocos::TaskContext.new(
+                                deployed_task.ior,
+                                name: task_name,
+                                model: orogen_model_from_name(
+                                    deployed_task.orogen_model_name
+                                )
+                            )
+
+                            async_task = Orocos::Async::CORBA::TaskContext.new(use: task)
+                            @name_service.register(async_task, name: task_name)
+                        end
+                    end
+
+                    existing.each { @name_service.deregister(_1) }
+                    @name_service.names
+                end
+
+                def reset_name_service
+                    all = @name_service.names.dup
+                    all.each { @name_service.deregister(_1) }
+                end
+
+                def orogen_model_from_name(name)
+                    @orogen_models[name] ||= Orocos.default_loader.task_model_from_name(name)
+                rescue OroGen::NotFound
+                    Orocos.warn "#{name} is a task context of class #{name}, but I cannot find the description for it, falling back"
+                    @orogen_models[name] ||= Orocos.create_orogen_task_context_model(name)
+                end
+
+                # @api private
+                #
+                # Create the UI elements for the given job
+                #
+                # @param [Roby::Interface::Async::JobMonitor] job
+                def monitor_job(job)
+                    if job.respond_to?(:message)
+                        puts job.message
+                        return
+                    end
+
+                    job_status = JobStatusDisplay.new(job, @batch_manager)
+                    job_status_list.add_widget job_status
+                    job_status.connect(SIGNAL("clicked()")) do
+                        select_job(job_status)
+                    end
+                    job_status.connect(SIGNAL("clearJob()")) do
+                        job_status_list.clear_widgets do |job|
+                            job == job_status
+                        end
+                    end
+                end
+
+                def deselect_job
+                    reset_current_job
+                    job_expanded_status.deselect
+                end
+
+                def select_job(job_status)
+                    @current_job = job_status.job
+                    @current_job_names = []
+                    job_expanded_status.select(job_status)
+                end
+
+                def settings
+                    @settings ||= Qt::Settings.new("syskit", "telemetry-ui")
+                end
+
+                def restore_from_settings(settings = self.settings)
+                    self.size = settings.value(
+                        "MainWindow/size", Qt::Variant.new(Qt::Size.new(800, 600))
+                    ).to_size
+                    %w[ui_hide_loggers ui_show_expanded_job].each do |checkbox_name|
+                        default = Qt::Variant.new(send(checkbox_name).checked)
+                        send(checkbox_name).checked = settings.value(checkbox_name,
+                                                                     default).to_bool
+                    end
+                end
+
+                def save_to_settings(settings = self.settings)
+                    settings.set_value("MainWindow/size", Qt::Variant.new(size))
+                    %w[ui_hide_loggers ui_show_expanded_job].each do |checkbox_name|
+                        settings.set_value checkbox_name,
+                                           Qt::Variant.new(send(checkbox_name).checked)
+                    end
+                end
+
+                signals "fileOpenClicked(const QUrl&)"
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/state_label.rb b/lib/syskit/telemetry/ui/state_label.rb
new file mode 100644
index 000000000..cb829a920
--- /dev/null
+++ b/lib/syskit/telemetry/ui/state_label.rb
@@ -0,0 +1,208 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            # Base class for the labels that represent an object and its states
+            class StateLabel < Qt::Label
+                COLORS = Hash[
+                    blue: "rgb(51, 181, 229)",
+                    green: "rgb(153, 204, 0)",
+                    red: "rgb(255, 68, 68)"]
+
+                STYLE = "QLabel { padding: 3; background-color: %s; %s }"
+                TEXT_WITH_NAME = "<b>%s</b>: %s"
+                TEXT_WITHOUT_NAME = "%s"
+
+                # The name that should be displayed in addition to the state
+                #
+                # If left to nil (the default in {#initialize}), no name will be
+                # displayed at all
+                #
+                # @return [nil,String]
+                attr_reader :name
+
+                # Sets or resets the name that should be displayed in addition to
+                # the state
+                #
+                # Set to nil to remove any additional text
+                def name=(name)
+                    @name = name
+                    update_text
+                end
+
+                # The current state
+                #
+                # @return [String]
+                attr_reader :current_state
+
+                # The current text
+                #
+                # @return [String]
+                attr_reader :current_text
+
+                # The current color
+                #
+                # @return [String]
+                attr_reader :current_color
+
+                # Set of known states
+                #
+                # StateLabel defines 'INIT' and binds it to the blue color
+                attr_reader :states
+
+                # Extra styling elements that should be added to the label
+                # stylesheet
+                attr_reader :extra_style
+
+                # Sets {#extra_style}
+                def extra_style=(style)
+                    @extra_style = style.to_str
+                    update_style
+                end
+
+                # The default color that will be used for undeclared states
+                #
+                # If nil, calling {#update_state} with an unknown state will raise
+                # an exception
+                attr_reader :default_color
+
+                # Sets {#default_color}
+                def default_color=(color)
+                    @default_color = handle_color_argument(color)
+                end
+
+                def initialize(name: nil, extra_style: "", parent: nil, rate_limited: false)
+                    super(parent)
+                    @rate_limited = rate_limited
+                    @name = name
+                    @extra_style = extra_style
+                    @states = {}
+
+                    declare_state :INIT, :blue
+                    update_state :INIT
+                end
+
+                # Declare that the given state should be ignored
+                #
+                # The display will not be changed when the state changes to an
+                # ignored state
+                #
+                # @param [String] state_name the name of the state that should be
+                #   ignored
+                def ignore_state(state_name)
+                    states[state_name.to_s] = nil
+                end
+
+                # @api private
+                #
+                # Helper to handle a color argument
+                #
+                # @param [String] color the color name (in {COLORS}) or a
+                #   stylesheet color (e.g. rgb(20, 30, 50)). Anything that is not a
+                #   key in {COLOR} is interpreted as a stylesheet color
+                # @return [String] a stylesheet color
+                def handle_color_argument(color)
+                    if c = COLORS[color]
+                        COLORS[color]
+                    else
+                        color.to_str
+                    end
+                end
+
+                # Associate a state name and a color
+                #
+                # @param [String] state_name the state name
+                # @param [String] color the color. It can either be a color name in
+                #   {COLOR} or a Qt stylesheet color (e.g. 'rgb(20, 30, 50)'). Any
+                #   string that is not a color name will be interpreted as a
+                #   stylesheet color (i.e. no validation is made)
+                def declare_state(state_name, color)
+                    states[state_name.to_s] = handle_color_argument(color)
+                    self
+                end
+
+                # Declare a color for non-declared states
+                #
+                # If unset (the default), a non-declared state will be interpreted
+                # as an error. Otherwise, this color will be chosen
+                def declare_default_color(color)
+                    self.default_color = handle_color_argument(color)
+                    self
+                end
+
+                # Returns the color that should be used for a given state
+                #
+                # @param [String] state the state name
+                # @return [String] the Qt stylesheet color as defined with
+                #   {#declare_state} or, if the state has not been declared, by
+                #   {#declare_default_color}
+                #
+                # @raise [ArgumentError] if the state has not been declared with
+                #   {#declare_state} and no defeault color has been set with
+                #   {#declare_default_color}
+                def color_from_state(state)
+                    state = state.to_s
+                    if states.key?(state)
+                        states[state]
+                    elsif color = default_color
+                        color
+                    else
+                        raise ArgumentError, "unknown state #{state} and no default color defined"
+                    end
+                end
+
+                # Update to reflect a state change
+                #
+                # @param [String] state the state name
+                # @param [String] text the text to be displayed for this state
+                #   change
+                # @param [String] color the color to use for this state
+                def update_state(state, text: state.to_s, color: color_from_state(state))
+                    return unless color
+
+                    update_style(color)
+                    update_text(text)
+                    @current_state = state.to_s
+                end
+
+                # Update the label's style to use the given color
+                #
+                # @param [String] color a Qt stylesheet color (e.g. rgb(20,30,50))
+                def update_style(color = current_color)
+                    @current_color = color
+                    color = handle_color_argument(color)
+                    self.style_sheet = format(STYLE, color, extra_style)
+                end
+
+                def rate_limited?
+                    @rate_limited
+                end
+
+                # Update the displayed text
+                #
+                # If {#name} is set, the resulting text is name: text, otherwise
+                # just text
+                #
+                # The text is displayed using the {#current_color} and
+                # {#extra_style}
+                def update_text(text = current_text)
+                    above_rate_limit = @last_update && (Time.now - @last_update) < 1
+                    return if rate_limited? && above_rate_limit
+
+                    @last_update = Time.now
+
+                    text = text.to_str
+                    @current_text = text
+                    self.text =
+                        if name then format(TEXT_WITH_NAME, name, text)
+                        else
+                            format(TEXT_WITHOUT_NAME, text)
+                        end
+                end
+
+                slots "update_state(QString)"
+            end
+        end
+    end
+end
diff --git a/lib/syskit/telemetry/ui/widget_list.rb b/lib/syskit/telemetry/ui/widget_list.rb
new file mode 100644
index 000000000..489a4af2c
--- /dev/null
+++ b/lib/syskit/telemetry/ui/widget_list.rb
@@ -0,0 +1,134 @@
+# frozen_string_literal: true
+
+module Syskit
+    module Telemetry
+        module UI
+            class WidgetList < Qt::Widget
+                def auto_resize?
+                    @auto_resize
+                end
+
+                ListItem = Struct.new :widget, :permanent do
+                    def job
+                        widget.job
+                    end
+
+                    def permanent?
+                        permanent
+                    end
+                end
+
+                def initialize(parent = nil, auto_resize: true)
+                    super(parent)
+
+                    @main_layout = Qt::VBoxLayout.new(self)
+                    @widgets = []
+                    self.size_constraint = Qt::Layout::SetMinAndMaxSize
+                    @auto_resize = auto_resize
+                    if auto_resize
+                        @main_layout.add_stretch(1)
+                    end
+                    @separators = {}
+                end
+
+                def size_constraint=(constraint)
+                    @main_layout.size_constraint = constraint
+                end
+
+                def add_separator(name, label, permanent: true)
+                    add_widget(w = Qt::Label.new(label, self), permanent: permanent)
+                    @separators[name] = w
+                    w
+                end
+
+                def add_before(widget, before, permanent: false)
+                    if before.respond_to?(:to_str)
+                        before = @separators.fetch(before)
+                    end
+
+                    if i = @widgets.index { |w| w.widget == before }
+                        @main_layout.insert_widget(i, widget)
+                        @widgets.insert(i, ListItem.new(widget, permanent))
+                    else
+                        Kernel.raise ArgumentError, "#{before} is not part of #{self}"
+                    end
+                end
+
+                def add_after(widget, after, permanent: false)
+                    if after.respond_to?(:to_str)
+                        after = @separators.fetch(after)
+                    end
+
+                    if i = @widgets.index { |w| w.widget == after }
+                        @main_layout.insert_widget(i + 1, widget)
+                        @widgets.insert(i + 1, ListItem.new(widget, permanent))
+                    else
+                        Kernel.raise ArgumentError, "#{after} is not part of #{self}"
+                    end
+                end
+
+                def add_widget(w, permanent: false)
+                    @widgets << ListItem.new(w, permanent)
+                    if auto_resize?
+                        @main_layout.insert_widget(@widgets.size - 1, w)
+                    else
+                        @main_layout.add_widget(w)
+                    end
+                end
+
+                def children_size_updated
+                    s = size
+                    new_height = @widgets.inject(0) do |h, w|
+                        h + if w.widget.hidden? then 0
+                            else
+                                w.widget.contents_height
+                            end
+                    end
+                    if new_height != s.height
+                        self.size = s
+                    end
+                end
+
+                def resizeEvent(event)
+                    s = size
+                    s.width = event.size.width
+                    self.size = s
+                    event.accept
+                end
+
+                # Enumerate the widgets in the list
+                def each_widget
+                    return enum_for(__method__) unless block_given?
+
+                    @widgets.each do |item|
+                        yield(item.widget)
+                    end
+                end
+
+                # Clear widgets for which the given filter returns true
+                #
+                # It removes all widgets if no filter is given
+                #
+                # @yieldparam [ListItem] item
+                def clear_widgets(&filter)
+                    filter ||= ->(w) { true }
+                    separators = @separators.values
+
+                    kept_widgets = []
+                    until @widgets.empty?
+                        w = @widgets.last
+                        if !separators.include?(w.widget) && !w.permanent? && filter[w.widget]
+                            @main_layout.remove_widget(w.widget)
+                            w.widget.dispose
+                        else
+                            kept_widgets.unshift w
+                        end
+                        @widgets.pop
+                    end
+                ensure
+                    @widgets.concat(kept_widgets)
+                end
+            end
+        end
+    end
+end
diff --git a/lib/syskit/test.rb b/lib/syskit/test.rb
index 1abdef306..705c34d8a 100644
--- a/lib/syskit/test.rb
+++ b/lib/syskit/test.rb
@@ -30,23 +30,23 @@ module Syskit
             desc.kind_of?(Roby::Actions::Action)
     end
     Roby::Test.register_spec_type Syskit::Test::TaskContextTest do |desc|
-        (desc.kind_of?(Class) && desc <= Syskit::TaskContext)
+        desc.kind_of?(Class) && desc <= Syskit::TaskContext
     end
     Roby::Test.register_spec_type Syskit::Test::RubyTaskContextTest do |desc|
-        (desc.kind_of?(Class) && desc <= Syskit::RubyTaskContext)
+        desc.kind_of?(Class) && desc <= Syskit::RubyTaskContext
     end
     Roby::Test.register_spec_type Syskit::Test::ComponentTest do |desc|
-        (desc.kind_of?(Class) &&
-         desc <= Syskit::Component &&
-         !(desc <= Syskit::TaskContext))
+        desc.kind_of?(Class) &&
+            desc <= Syskit::Component &&
+            !(desc <= Syskit::TaskContext)
     end
     Roby::Test.register_spec_type Syskit::Test::ProfileTest do |desc|
         desc.kind_of?(Syskit::Actions::Profile)
     end
     Roby::Test.register_spec_type Syskit::Test::ComponentTest do |desc|
-        (!desc.kind_of?(Class) && desc.kind_of?(Module) && desc <= Syskit::Device)
+        !desc.kind_of?(Class) && desc.kind_of?(Module) && desc <= Syskit::Device
     end
     Roby::Test.register_spec_type Syskit::Test::ActionInterfaceTest do |desc|
-        (desc.kind_of?(Class) && desc <= Roby::Actions::Interface)
+        desc.kind_of?(Class) && desc <= Roby::Actions::Interface
     end
 end
diff --git a/lib/syskit/test/action_interface_test.rb b/lib/syskit/test/action_interface_test.rb
index 0052157df..2f1cf42ca 100644
--- a/lib/syskit/test/action_interface_test.rb
+++ b/lib/syskit/test/action_interface_test.rb
@@ -28,7 +28,8 @@ def self.respond_to_missing?(m, include_private)
             def self.method_missing(m, *args, &block)
                 if subject_syskit_model.find_action_by_name(m)
                     subject_syskit_model.public_send(m, *args, &block)
-                else super
+                else
+                    super
                 end
             end
 
@@ -39,7 +40,8 @@ def respond_to_missing?(m, include_private)
             def method_missing(m, *args, &block)
                 if subject_syskit_model.find_action_by_name(m)
                     subject_syskit_model.public_send(m, *args, &block)
-                else super
+                else
+                    super
                 end
             end
         end
diff --git a/lib/syskit/test/execution_expectations.rb b/lib/syskit/test/execution_expectations.rb
index 147c67824..8406bdc35 100644
--- a/lib/syskit/test/execution_expectations.rb
+++ b/lib/syskit/test/execution_expectations.rb
@@ -129,17 +129,14 @@ class HaveNewSamples < Roby::Test::ExecutionExpectations::Achieve
 
                 def initialize(reader, count, buffer_size, backtrace)
                     @received_samples = []
+                    @rejected_samples = []
                     @predicate = nil
 
                     orocos_reader = ExecutionExpectations.resolve_orocos_reader(
                         reader, type: :buffer, size: buffer_size
                     )
 
-                    description = proc do
-                        matching = " matching the given predicate" if @predicate
-                        "#{reader} should have received #{count} new sample(s)"\
-                        "#{matching}, but got #{@received_samples.size}"
-                    end
+                    description = proc { format_error_message(reader, count) }
                     block = ->(_) { process_samples(orocos_reader, count) }
                     super(block, description, backtrace)
                 end
@@ -149,6 +146,8 @@ def process_samples(reader, count)
                         if !@predicate || @predicate.call(sample)
                             @received_samples << sample
                             return true if @received_samples.size == count
+                        else
+                            @rejected_samples << sample
                         end
                     end
                     false
@@ -158,6 +157,38 @@ def return_object
                     @received_samples
                 end
 
+                def format_error_message(reader, expected_count)
+                    matching = " matching the given predicate" if @predicate
+                    msg = "#{reader} should have received #{expected_count} " \
+                          "new sample(s)#{matching}, but got #{@received_samples.size}"
+
+                    return msg unless @predicate
+
+                    msg + "\n  " + format_rejected_samples_message
+                end
+
+                def format_rejected_samples_message
+                    if @rejected_samples.empty?
+                        return "No samples were rejected by the #matching predicate"
+                    end
+
+                    if @rejected_samples.size > 10
+                        samples = @rejected_samples[-10, 10]
+                        extra_msg = ". The last 10 rejected samples were:"
+                    else
+                        samples = @rejected_samples
+                        extra_msg = ":"
+                    end
+
+                    msg = +"#{samples.size} samples were rejected " \
+                           "by the #matching predicate#{extra_msg}"
+                    samples.each do |s|
+                        sample_to_s = PP.pp(s, +"")
+                        msg += "\n    #{sample_to_s.split("\n").join("\n    ")}"
+                    end
+                    msg
+                end
+
                 def matching(&block)
                     if @predicate
                         raise ArgumentError, "only one #matching predicate is allowed"
diff --git a/lib/syskit/test/network_manipulation.rb b/lib/syskit/test/network_manipulation.rb
index 3a5160d42..caf9814c1 100644
--- a/lib/syskit/test/network_manipulation.rb
+++ b/lib/syskit/test/network_manipulation.rb
@@ -72,8 +72,8 @@ def resolve_orocos_writer(writer, **policy)
                         writer.writer(**policy)
                     end
                 elsif !writer.respond_to?(:write)
-                    raise ArgumentError, "#{writer} does not seem to be a port "\
-                        "one can write on"
+                    raise ArgumentError, "#{writer} does not seem to be a port " \
+                                         "one can write on"
                 end
                 writer
             end
@@ -200,7 +200,25 @@ def syskit_deploy(
                 end.compact
                 root_tasks = placeholder_tasks.map(&:as_service)
                 placeholder_tasks = normalize_instanciation_models(placeholder_tasks)
+                syskit_deploy_normalized_placeholder_tasks(
+                    placeholder_tasks,
+                    syskit_engine: syskit_engine,
+                    default_deployment_group: default_deployment_group,
+                    **resolve_options
+                )
+
+                root_tasks = root_tasks.map(&:task)
+                if root_tasks.size == 1
+                    root_tasks.first
+                elsif root_tasks.size > 1
+                    root_tasks
+                end
+            end
 
+            def syskit_deploy_normalized_placeholder_tasks(
+                placeholder_tasks,
+                syskit_engine:, default_deployment_group:, **resolve_options
+            )
                 requirement_tasks = placeholder_tasks.map(&:planning_task)
 
                 not_running = requirement_tasks.find_all { |t| !t.running? }
@@ -222,7 +240,7 @@ def syskit_deploy(
                     end.to do
                         requirement_tasks.each do |t|
                             have_error_matching(Roby::PlanningFailedError
-                                                .match.with_origin(t))
+                                                .match.with_origin(t.planned_task))
                         end
                     end
                     raise
@@ -234,13 +252,6 @@ def syskit_deploy(
                     end
                     requirement_tasks.each { |t| t.success_event.emit unless t.finished? }
                 end
-
-                root_tasks = root_tasks.map(&:task)
-                if root_tasks.size == 1
-                    root_tasks.first
-                elsif root_tasks.size > 1
-                    root_tasks
-                end
             end
 
             def syskit_engine_resolve_handle_plan_export
@@ -284,14 +295,26 @@ def syskit_stub_task_context_model(name, &block)
                 model
             end
 
+            # Create a ready-to-deployed object for the given task model
+            #
+            # @param [Syskit::TaskContext] task_model
+            # @param [String] task_name
+            # @param [Boolean] remote_task stubbed tasks are always ruby tasks, i.e.
+            #   tasks that run inside the Syskit process. This flag controls whether
+            #   the task should be handled as if they were remote, or as ruby tasks.
+            #   This is meant to be used during Syskit's own tests, to ensure we don't
+            #   rely on ruby task behavior when testing remote task-handling code
+            # @param [Boolean] register the configured deployment in the test group
+            #   This makes it available to further deployments
+            # @return [Syskit::Models::ConfiguredDeployment]
             def syskit_stub_configured_deployment(
-                task_model = nil,
-                task_name = syskit_default_stub_name(task_model),
+                task_model = nil, task_name = syskit_default_stub_name(task_model),
                 remote_task: syskit_stub_resolves_remote_tasks?,
-                register: true, &block
+                register: true, read_only: [], &block
             )
                 configured_deployment = @__stubs.stub_configured_deployment(
-                    task_model, task_name, remote_task: remote_task, &block
+                    task_model, task_name,
+                    read_only: read_only, remote_task: remote_task, &block
                 )
                 if register
                     @__test_deployment_group
@@ -320,16 +343,26 @@ def syskit_stub_deployment_model(
                 )
             end
 
-            # Create a new stub deployment instance, optionally stubbing the
-            # model as well
-            def syskit_stub_deployment(
+            # Create a new stub deployment instance
+            #
+            # @param [Syskit::Models::Deployment] deployment_model the deployment model
+            #   to use, or nil if the method should stub one
+            # @param [Syskit::Models::TaskContext] task_model set to a desired task
+            #   context model to deploy when creating a new stub deployment model (i.e.
+            #   when deployment_model is nil)
+            # @param [Boolean] read_only (see #syskit_stub_configured_deployment)
+            def syskit_stub_deployment( # rubocop:disable Metrics/ParameterLists
                 name = "deployment", deployment_model = nil,
+                task_model: nil, read_only: [], logging_enabled: nil,
                 remote_task: syskit_stub_resolves_remote_tasks?, &block
             )
                 deployment_model ||= syskit_stub_configured_deployment(
-                    nil, name, remote_task: remote_task, &block
+                    task_model, name,
+                    read_only: read_only, remote_task: remote_task, &block
+                )
+                task = deployment_model.new(
+                    process_name: name, on: "stubs", logging_enabled: logging_enabled
                 )
-                task = deployment_model.new(process_name: name, on: "stubs")
                 plan.add_permanent_task(task)
                 task
             end
@@ -365,9 +398,9 @@ def syskit_stub_com_bus(model, **kw)
 
             # @deprecated use syskit_stub_requirements instead
             def syskit_stub(*args, **options, &block)
-                Roby.warn_deprecated "syskit_stub has been renamed to "\
-                    "syskit_stub_requirements to make the difference with "\
-                    "syskit_stub_network more obvious"
+                Roby.warn_deprecated "syskit_stub has been renamed to " \
+                                     "syskit_stub_requirements to make the difference with " \
+                                     "syskit_stub_network more obvious"
                 syskit_stub_requirements(*args, **options, &block)
             end
 
@@ -436,12 +469,14 @@ def syskit_prepare_configure(
             end
 
             class NoConfigureFixedPoint < RuntimeError
-                attr_reader :tasks
-                attr_reader :info
+                attr_reader :tasks, :info
+
                 Info = Struct.new :ready_for_setup, :missing_arguments,
                                   :precedence, :missing
 
                 def initialize(tasks)
+                    super()
+
                     @tasks = tasks
                     @info = {}
                     tasks.each do |t|
@@ -471,7 +506,7 @@ def pretty_print(pp)
                             if info.missing_arguments.empty?
                                 pp.text "is fully instanciated"
                             else
-                                pp.text "missing_arguments: "\
+                                pp.text "missing_arguments: " \
                                         "#{info.missing_arguments.join(', ')}"
                             end
 
@@ -479,9 +514,9 @@ def pretty_print(pp)
                             if info.precedence.empty?
                                 pp.text "has no should_configure_after constraint"
                             else
-                                pp.text "is waiting for #{info.missing.size} events "\
-                                    "to happen before continuing, among "\
-                                    "#{info.precedence.size}"
+                                pp.text "is waiting for #{info.missing.size} events " \
+                                        "to happen before continuing, among " \
+                                        "#{info.precedence.size}"
                                 pp.nest(2) do
                                     info.missing.each do |ev|
                                         pp.breakable
@@ -543,8 +578,8 @@ def syskit_configure(
                             end
                             raise t.failure_reason if t.failed_to_start?
 
-                            assert t.setup?, "ran the setup for #{t}, but t.setup? "\
-                                "does not return true"
+                            assert t.setup?, "ran the setup for #{t}, but t.setup? " \
+                                             "does not return true"
                             true
                         else
                             t.setup?
@@ -580,6 +615,8 @@ class NoStartFixedPoint < RuntimeError
                 attr_reader :tasks
 
                 def initialize(tasks)
+                    super()
+
                     @tasks = tasks
                 end
 
@@ -685,8 +722,8 @@ def syskit_start(
                     end
 
                     if current_pending == pending.size
-                        raise NoStartFixedPoint.new(pending), "cannot start "\
-                            "#{pending.map(&:to_s).join(', ')}"
+                        raise NoStartFixedPoint.new(pending), "cannot start " \
+                                                              "#{pending.map(&:to_s).join(', ')}"
                     end
                 end
 
@@ -696,10 +733,10 @@ def syskit_start(
 
                 not_started_t = tasks.find { |t| !t.running? }
                 if not_started_t
-                    raise "failed to start #{not_started_t}: "\
-                        "starting=#{not_started_t.starting?} "\
-                        "running=#{not_started_t.running?} "\
-                        "finished=#{not_started_t.finished?}"
+                    raise "failed to start #{not_started_t}: " \
+                          "starting=#{not_started_t.starting?} " \
+                          "running=#{not_started_t.running?} " \
+                          "finished=#{not_started_t.finished?}"
                 end
             ensure
                 if guard
diff --git a/lib/syskit/test/profile_assertions.rb b/lib/syskit/test/profile_assertions.rb
index 6aa00259a..9606d51e8 100644
--- a/lib/syskit/test/profile_assertions.rb
+++ b/lib/syskit/test/profile_assertions.rb
@@ -15,13 +15,14 @@ module ProfileAssertions
             class ProfileAssertionFailed < Roby::ExceptionBase
                 attr_reader :actions
 
-                def initialize(act, original_error)
-                    @actions = Array(act)
+                def initialize(assertion_name, actions, original_error)
+                    @assertion_name = assertion_name
+                    @actions = Array(actions)
                     super([original_error])
                 end
 
                 def pretty_print(pp)
-                    pp.text "Failure while running an assertion on"
+                    pp.text "Failure while running a #{@assertion_name} assertion on"
                     pp.nest(2) do
                         actions.each do |act|
                             pp.breakable
@@ -31,6 +32,14 @@ def pretty_print(pp)
                 end
             end
 
+            # @api private
+            #
+            # Find all planning tasks in a task hierarchy and return the resolved actions
+            #
+            # @param [Roby::Task] task the hierarchy's root task
+            # @return [Array<Roby::Actions::Action>] the resolved actions. The method
+            #   finds tasks with an action planner, syskit requirement tasks as well
+            #   as expands state machines to find actions related to states.
             def resolve_actions_from_plan(task)
                 actions = []
                 queue = [task]
@@ -51,11 +60,59 @@ def resolve_actions_from_plan(task)
                 actions
             end
 
+            # @api private
+            #
             # Validates an argument that can be an action, an action collection
             # (e.g. a profile) or an array of action, and normalizes it into an
             # array of actions
             #
             # @raise [ArgumentError] if the argument is invalid
+            def ActionModels(arg)
+                if arg.respond_to?(:each_action)
+                    ActionModels(arg.each_action)
+                elsif arg.respond_to?(:to_action)
+                    [arg.to_action.model]
+                elsif arg.respond_to?(:flat_map)
+                    arg.flat_map { |a| ActionModels(a) }
+                elsif arg.respond_to?(:to_instance_requirements)
+                    [Actions::Model::Action.new(arg)]
+                else
+                    raise ArgumentError,
+                          "expected an action or a collection of actions, but got " \
+                          "#{arg} of class #{arg.class}"
+                end
+            end
+
+            # @api private
+            #
+            # Helper to {#Actions} to resolve a list of actions from a method action
+            #
+            # It returns either the actions that can be found from the instanciated
+            # method action, or itself if it has missing required arguments
+            #
+            # @param [Roby::Actions::Action] arg the method action
+            # @return [Array<#to_action>] the resolved actions
+            def actions_from_method_action(arg)
+                return [arg] if arg.has_missing_required_arg?
+
+                plan = Roby::Plan.new
+                task = arg.instanciate(plan)
+
+                # Now find the new actions
+                resolve_actions_from_plan(task).flat_map { |a| Actions(a) }
+            end
+
+            # @api private
+            #
+            # Resolves all reachable syskit actions from an argument that can be
+            # an action, an action collection (e.g. a profile or action interface),
+            # or an array of actions
+            #
+            # The method returns as-is method actions that cannot be instanciated
+            # because of missing required arguments. Use {#BulkAssertAtomicActions} to
+            # filter these out automatically
+            #
+            # @raise [ArgumentError] if the argument is invalid
             def Actions(arg)
                 if arg.respond_to?(:each_action)
                     arg.each_action.flat_map do |a|
@@ -67,19 +124,14 @@ def Actions(arg)
                         return [arg]
                     end
 
-                    plan = Roby::Plan.new
-                    task = arg.instanciate(plan)
-
-                    # Now find the new actions
-                    resolve_actions_from_plan(task)
-                        .flat_map { |a| Actions(a) }
+                    actions_from_method_action(arg)
                 elsif arg.respond_to?(:flat_map)
                     arg.flat_map { |a| Actions(a) }
                 elsif arg.respond_to?(:to_instance_requirements)
                     Actions::Model::Action.new(arg)
                 else
                     raise ArgumentError,
-                          "expected an action or a collection of actions, but got "\
+                          "expected an action or a collection of actions, but got " \
                           "#{arg} of class #{arg.class}"
                 end
             end
@@ -87,9 +139,20 @@ def Actions(arg)
             # Like #Actions, but expands coordination models into their
             # consistuent actions
             def AtomicActions(arg)
-                Actions(arg).flat_map do |action|
-                    expand_action_coordination_models(action)
+                queue = Actions(arg)
+                result = []
+                until queue.empty?
+                    actions = Actions(queue.shift).flat_map do |action|
+                        expand_action_coordination_models(action)
+                    end
+
+                    if actions.size == 1
+                        result.concat(actions)
+                    else
+                        queue.concat(actions)
+                    end
                 end
+                result.map { |a| a.dup.with_example_arguments }
             end
 
             # Like {#AtomicActions} but filters out actions that cannot be
@@ -100,41 +163,54 @@ def AtomicActions(arg)
             #   should be ignored. Actions are compared on the basis of their
             #   model (arguments do not count)
             def BulkAssertAtomicActions(arg, exclude: [])
-                exclude = Actions(exclude).map(&:model)
+                exclude = ActionModels(exclude)
                 skipped_actions = []
-                actions = AtomicActions(arg).find_all do |action|
+                actions = AtomicActions(arg).map do |action|
                     if exclude.include?(action.model)
-                        false
+                        nil
                     elsif !action.kind_of?(Actions::Action) &&
                           action.has_missing_required_arg?
                         skipped_actions << action
-                        false
+                        nil
                     else
-                        true
+                        action
                     end
-                end
+                end.compact
                 skipped_actions.delete_if do |skipped_action|
                     actions.any? { |action| action.model == skipped_action.model }
                 end
                 [actions, skipped_actions]
             end
 
-            # Tests that a definition or all definitions of a profile are
-            # self-contained, that is that the only variation points in the
-            # profile are profile tags.
+            # Tests that one or many syskit definitions are self-contained
             #
-            # If given a profile as argument, or no profile at all, will test on
-            # all definitions of resp. the given profile or the test's subject
+            # When it is part of a profile, a definition is self-contained if it only
+            # contains concrete component models or tags of said profile
             #
             # Note that it is a really good idea to maintain this property. No.
-            # Seriously. Keep it in your tests.
+            # Seriously. Keep it in your profile tests.
+            #
+            # When resolving actions that are not directly defined from profile
+            # definitions, the method will attempte to resolve method action by
+            # calling them. If there is a problem, pass the action model to the
+            # `exclude` argument.
+            #
+            # In particular, in the presence of action methods with required
+            # arguments, run one assert first with the action method excluded and
+            # another with that action and sample arguments.
+            #
+            # @param action_or_profile if an action interface or profile, test all
+            #   definitions that are reachable from it. In the case of action interfaces,
+            #   this means looking into method actions and action state machines.
             def assert_is_self_contained(
                 action_or_profile = subject_syskit_model,
                 message: "%s is not self contained", exclude: [], **instanciate_options
             )
                 actions = validate_actions(action_or_profile, exclude: exclude) do |skip|
-                    flunk "could not validate some non-Syskit actions: "\
-                          "#{skip}, pass them to the 'exclude' argument to #{__method__}"
+                    flunk "could not validate some non-Syskit actions: #{skip}, " \
+                          "probably because of required arguments. Pass the action to " \
+                          "the 'exclude' option of #{__method__}, and add a separate " \
+                          "assertion test with the arguments added explicitly"
                 end
 
                 actions.each do |act|
@@ -187,15 +263,16 @@ def syskit_assert_action_is_self_contained(
                         )
 
                     raise assertion_failure,
-                          "#{action} contains tags from another profile (found "\
-                          "#{other_profiles.map(&:name).sort.join(', ')}, "\
+                          "#{action} contains tags from another profile (found " \
+                          "#{other_profiles.map(&:name).sort.join(', ')}, " \
                           "expected #{reference_profile}"
                 end
 
                 plan.unmark_mission_task(task)
                 expect_execution.garbage_collect(true).to_run
             rescue Minitest::Assertion, StandardError => e
-                raise ProfileAssertionFailed.new(action, e), e.message, e.backtrace
+                raise ProfileAssertionFailed.new("self contained", action, e),
+                      e.message, e.backtrace
             end
 
             # Spec-style call for {#assert_is_self_contained}
@@ -211,32 +288,45 @@ def is_self_contained(action_or_profile = subject_syskit_model, **options)
             # Tests that the following definition can be successfully
             # instanciated in a valid, non-abstract network.
             #
-            # If given a profile, it will perform the test on each action of the
-            # profile taken in isolation. If you want to test whether actions
-            # can be instanciated at the same time, use
-            # {#assert_can_instanciate_together}
+            # When resolving actions that are not directly defined from profile
+            # definitions, the method will attempte to resolve method action by
+            # calling them. If there is a problem, pass the action model to the
+            # `exclude` argument.
             #
-            # If called without argument, it tests the spec's context profile
+            # In particular, in the presence of action methods with required
+            # arguments, run one assert first with the action method excluded and
+            # another with that action and sample arguments.
+            #
+            # @param action_or_profile if an action interface or profile, test all
+            #   definitions that are reachable from it. In the case of action interfaces,
+            #   this means looking into method actions and action state machines.
+            # @param together_with test that each single action in `action_or_profile`
+            #   can be instanciated when all actions in `together_with` are instanciated
+            #   at the same time. This can be used if the former depend on the presence
+            #   of the latter, or if you want to test against conflicts.
             def assert_can_instanciate(
                 action_or_profile = subject_syskit_model,
                 exclude: [], together_with: []
             )
                 actions = validate_actions(action_or_profile, exclude: exclude) do |skip|
-                    flunk "could not validate some non-Syskit actions: "\
-                          "#{skip}, pass them to the 'exclude' argument to #{__method__}"
+                    flunk "could not validate some non-Syskit actions: #{skip}, " \
+                          "probably because of required arguments. Pass the action to " \
+                          "the 'exclude' option of #{__method__}, and add a separate " \
+                          "assertion test with the arguments added explicitly"
                 end
 
-                together_with = validate_actions(together_with) do |skip|
-                    flunk "could not validate some non-Syskit actions given to "\
-                          "`together_with`: #{skip}, pass them to the 'exclude' "\
-                          "argument to #{__method__}"
-                end
+                together_with =
+                    validate_actions(together_with, exclude: exclude) do |skip|
+                        flunk "could not validate some non-Syskit actions given to " \
+                              "`together_with` in #{__method__}: #{skip}, " \
+                              "probably because of " \
+                              "missing arguments. If you are passing a profile or " \
+                              "action interface and do not require to test against " \
+                              "that particular action, pass it to the 'exclude' argument"
+                    end
 
                 actions.each do |action|
-                    tasks = assert_can_instanciate_together(action, *together_with)
-                    Array(tasks).each { |t| plan.unmark_mission_task(t) }
-                    yield(action, tasks, together_with: together_with) if block_given?
-                    expect_execution.garbage_collect(true).to_run
+                    assert_can_instanciate_together(action, *together_with)
                 end
             end
 
@@ -260,13 +350,12 @@ def can_instanciate(
             # deployed (e.g. if some components do not have a corresponding
             # deployment)
             def assert_can_instanciate_together(*actions)
-                actions = subject_syskit_model if actions.empty?
-                self.assertions += 1
-                syskit_deploy(AtomicActions(actions),
-                              compute_policies: false,
-                              compute_deployments: false)
+                syskit_run_deploy_in_bulk(
+                    actions, compute_policies: false, compute_deployments: false
+                )
             rescue Minitest::Assertion, StandardError => e
-                raise ProfileAssertionFailed.new(actions, e), e.message, e.backtrace
+                raise ProfileAssertionFailed.new("instanciate together", actions, e),
+                      e.message, e.backtrace
             end
 
             # Spec-style call for {#assert_can_instanciate_together}
@@ -311,32 +400,45 @@ def expand_task_coordination_models(task)
             # that is they result in a valid, non-abstract network whose all
             # components have a deployment
             #
-            # If given a profile, it will perform the test on each action of the
-            # profile taken in isolation. If you want to test whether actions
-            # can be deployed at the same time, use
-            # {#assert_can_deploy_together}
+            # When resolving actions that are not directly defined from profile
+            # definitions, the method will attempte to resolve method action by
+            # calling them. If there is a problem, pass the action model to the
+            # `exclude` argument.
+            #
+            # In particular, in the presence of action methods with required
+            # arguments, run one assert first with the action method excluded and
+            # another with that action and sample arguments.
             #
-            # If called without argument, it tests the spec's context profile
+            # @param action_or_profile if an action interface or profile, test all
+            #   definitions that are reachable from it. In the case of action interfaces,
+            #   this means looking into method actions and action state machines.
+            # @param together_with test that each single action in `action_or_profile`
+            #   can be instanciated when all actions in `together_with` are instanciated
+            #   at the same time. This can be used if the former depend on the presence
+            #   of the latter, or if you want to test against conflicts.
             def assert_can_deploy(
                 action_or_profile = subject_syskit_model,
                 exclude: [], together_with: []
             )
                 actions = validate_actions(action_or_profile, exclude: exclude) do |skip|
-                    flunk "could not validate some non-Syskit actions: "\
-                          "#{skip}, pass them to the 'exclude' argument to #{__method__}"
+                    flunk "could not validate some non-Syskit actions: #{skip}, " \
+                          "probably because of required arguments. Pass the action to " \
+                          "the 'exclude' option of #{__method__}, and add a separate " \
+                          "assertion test with the arguments added explicitly"
                 end
 
-                together_with = validate_actions(together_with) do |skip|
-                    flunk "could not validate some non-Syskit actions given to "\
-                          "`together_with` #{skip}, pass them to the 'exclude' "\
-                          "argument to #{__method__}"
-                end
+                together_with =
+                    validate_actions(together_with, exclude: exclude) do |skip|
+                        flunk "could not validate some non-Syskit actions given to " \
+                              "`together_with` in #{__method__}: #{skip}, " \
+                              "probably because of " \
+                              "missing arguments. If you are passing a profile or action " \
+                              "interface and do not require to test against that " \
+                              "particular action, pass it to the 'exclude' argument"
+                    end
 
                 actions.each do |action|
-                    task = assert_can_deploy_together(action, *together_with)
-                    yield(action, tasks, together_with: together_with) if block_given?
-                    Array(task).each { |t| plan.unmark_mission_task(t) }
-                    expect_execution.garbage_collect(true).to_run
+                    assert_can_deploy_together(action, *together_with)
                 end
             end
 
@@ -355,13 +457,50 @@ def can_deploy(action_or_profile = subject_syskit_model, together_with: [])
             # It is stronger (and therefore includes)
             # {assert_can_instanciate_together}
             def assert_can_deploy_together(*actions)
+                syskit_run_deploy_in_bulk(
+                    actions, compute_policies: true, compute_deployments: true
+                )
+            rescue Minitest::Assertion, StandardError => e
+                raise ProfileAssertionFailed.new("deploy together", actions, e),
+                      e.message, e.backtrace
+            end
+
+            def syskit_run_deploy_in_bulk(
+                actions, compute_policies:, compute_deployments:
+            )
                 actions = subject_syskit_model if actions.empty?
                 self.assertions += 1
-                syskit_deploy(AtomicActions(actions),
-                              compute_policies: true,
-                              compute_deployments: true)
-            rescue Minitest::Assertion, StandardError => e
-                raise ProfileAssertionFailed.new(actions, e), e.message, e.backtrace
+                atomic_actions = actions.map { AtomicActions(_1) }
+                ProfileAssertions.each_combination(*atomic_actions) do |test_actions|
+                    t = syskit_deploy(
+                        *test_actions.map(&:with_example_arguments),
+                        compute_policies: compute_policies,
+                        compute_deployments: compute_deployments
+                    )
+                    Array(t).each { plan.unmark_mission_task(_1) }
+                    expect_execution.garbage_collect(true).to_run
+                end
+            end
+
+            def self.each_combination(*arrays)
+                return enum_for(__method__, *arrays) unless block_given?
+
+                enumerators = arrays.map(&:each)
+                i = 0
+                values = []
+                loop do
+                    values[i] = enumerators[i].next
+                    if i == enumerators.size - 1
+                        yield values.dup
+                    else
+                        i += 1
+                    end
+                rescue StopIteration
+                    return if i == 0
+
+                    enumerators[i] = arrays[i].each
+                    i -= 1
+                end
             end
 
             # Spec-style call for {#assert_can_deploy_together}
@@ -398,15 +537,17 @@ def assert_can_configure_together(*actions)
                 task_contexts = tasks.find_all { |t| t.kind_of?(Syskit::TaskContext) }
                                      .each do |task_context|
                     unless task_context.plan
-                        raise ProfileAssertionFailed.new(actions, nil),
-                              "#{task_context} got garbage-collected before "\
-                              "it got configured"
+                        raise ProfileAssertionFailed.new(
+                            "configure together", actions, nil
+                        ), "#{task_context} got garbage-collected before " \
+                           "it got configured"
                     end
                 end
                 syskit_configure(task_contexts)
                 roots
             rescue Minitest::Assertion, StandardError => e
-                raise ProfileAssertionFailed.new(actions, e), e.message, e.backtrace
+                raise ProfileAssertionFailed.new("configure together", actions, e),
+                      e.message, e.backtrace
             end
 
             # Spec-style call for {#assert_can_configure_together}
@@ -418,7 +559,11 @@ def can_configure_together(*actions)
             def validate_actions(action_or_profile, exclude: [])
                 actions, skipped =
                     BulkAssertAtomicActions(action_or_profile, exclude: exclude)
-                yield skipped.map(&:name).sort.join(", ") unless skipped.empty?
+
+                unless skipped.empty?
+                    action_names = "'#{skipped.map(&:name).sort.join("', '")}'"
+                    yield(action_names)
+                end
 
                 actions
             end
diff --git a/lib/syskit/test/roby_app_helpers.rb b/lib/syskit/test/roby_app_helpers.rb
index 3139ed3a3..b1483747f 100644
--- a/lib/syskit/test/roby_app_helpers.rb
+++ b/lib/syskit/test/roby_app_helpers.rb
@@ -8,6 +8,14 @@ module Test
         module RobyAppHelpers
             include Roby::Test::RobyAppHelpers
 
+            def setup
+                super
+
+                register_plugin =
+                    File.join(__dir__, "..", "roby_app", "register_plugin.rb")
+                register_roby_plugin(File.expand_path(register_plugin))
+            end
+
             def gen_app
                 require "syskit/cli/gen_main"
                 Dir.chdir(app_dir) { CLI::GenMain.start(["app", "--quiet"]) }
diff --git a/lib/syskit/test/self.rb b/lib/syskit/test/self.rb
index 0a15e619e..484962c15 100644
--- a/lib/syskit/test/self.rb
+++ b/lib/syskit/test/self.rb
@@ -26,22 +26,6 @@ def data_dir
             def setup
                 Syskit.conf.define_default_process_managers = false
 
-                if ENV["TEST_ENABLE_COVERAGE"] == "1"
-                    null_io = File.open("/dev/null", "w")
-                    current_formatter = Syskit.logger.formatter
-                    Syskit.warn "running tests with logger in DEBUG mode"
-                    Syskit.logger = Logger.new(null_io)
-                    Syskit.logger.level = Logger::DEBUG
-                    Syskit.logger.formatter = current_formatter
-                elsif (level = ENV["TEST_LOG_LEVEL"])
-                    Syskit.warn "running tests with logger in #{level} mode "\
-                                "(from TEST_LOG_LEVEL)"
-                    Syskit.logger.level = Logger.const_get(ENV["TEST_LOG_LEVEL"])
-                else
-                    Syskit.warn "running tests with logger in FATAL mode"
-                    Syskit.logger.level = Logger::FATAL + 1
-                end
-
                 @old_pkg_config = ENV["PKG_CONFIG_PATH"].dup
                 Roby.app.app_dir = nil
                 Roby.app.search_path.clear
@@ -82,12 +66,11 @@ def setup
                     Syskit::RobyApp::Plugin.connect_to_local_process_server
                 end
 
-                Syskit.conf.register_process_server(
+                @registered_process_managers = []
+
+                register_ruby_tasks_manager(
                     "stubs",
-                    Orocos::RubyTasks::ProcessManager.new(
-                        Roby.app.default_loader,
-                        task_context_class: Orocos::RubyTasks::StubTaskContext
-                    ), "", host_id: "syskit"
+                    task_context_class: Orocos::RubyTasks::StubTaskContext
                 )
                 Syskit.conf.logs.create_configuration_log(
                     File.join(app.log_dir, "properties")
@@ -96,6 +79,101 @@ def setup
                 Orocos.forbid_blocking_calls
             end
 
+            RegisteredProcessManager =
+                Struct.new(:name, :manager, :conf, keyword_init: true)
+
+            def register_remote_manager( # rubocop:disable Metrics/ParameterLists
+                name, host,
+                logging_enabled: false, register_on_name_server: false,
+                conf: Syskit.conf, **options
+            )
+                manager = conf.register_remote_manager(
+                    name, host,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server, **options
+                )
+                @registered_process_managers <<
+                    RegisteredProcessManager.new(name: name, manager: manager, conf: conf)
+                manager
+            end
+
+            def register_in_process_manager(
+                name,
+                logging_enabled: false, register_on_name_server: false,
+                conf: Syskit.conf, **options
+            )
+                manager = conf.register_in_process_manager(
+                    name,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server, **options
+                )
+                @registered_process_managers <<
+                    RegisteredProcessManager.new(name: name, manager: manager, conf: conf)
+                manager
+            end
+
+            def register_ruby_tasks_manager(
+                name,
+                logging_enabled: false, register_on_name_server: false,
+                conf: Syskit.conf, **options
+            )
+                manager = conf.register_ruby_tasks_manager(
+                    name,
+                    logging_enabled: logging_enabled,
+                    register_on_name_server: register_on_name_server, **options
+                )
+                @registered_process_managers <<
+                    RegisteredProcessManager.new(name: name, manager: manager, conf: conf)
+                manager
+            end
+
+            def register_unmanaged_manager(
+                name, logging_enabled: false, conf: Syskit.conf, **options
+            )
+                manager = conf.register_unmanaged_manager(
+                    name, logging_enabled: logging_enabled, **options
+                )
+                @registered_process_managers <<
+                    RegisteredProcessManager.new(name: name, manager: manager, conf: conf)
+                manager
+            end
+
+            def remove_created_process_managers
+                @registered_process_managers.delete_if do |mng|
+                    # Application#cleanup also removes process servers. Only cleanup what
+                    # has not yet been deregistered
+                    if mng.conf.has_process_server?(mng.name)
+                        mng.conf.remove_process_manager(mng.name)
+                    end
+                    true
+                end
+            end
+
+            def setup_default_logger
+                null_output = ENV["TEST_LOG_NULL_OUTPUT"] != "0"
+                log_level =
+                    if (log_level = ENV.fetch("TEST_LOG_LEVEL", nil))
+                        Logger.const_get(log_level)
+                    elsif ENV["TEST_ENABLE_COVERAGE"] == "1"
+                        Logger::DEBUG
+                    else
+                        rand > 0.5 ? Logger::DEBUG : Logger::FATAL + 1
+                    end
+
+                if null_output
+                    null_io = File.open("/dev/null", "w")
+                    current_formatter = Syskit.logger.formatter
+                    Syskit.logger = Logger.new(null_io)
+                    Syskit.logger.formatter = current_formatter
+                end
+
+                if (explicit_level = ENV.fetch("TEST_LOG_LEVEL", nil))
+                    puts "running tests with logger in #{explicit_level} mode " \
+                         "(from TEST_LOG_LEVEL)"
+                end
+                Syskit.logger.level = log_level
+            end
+
             def plug_apply_requirement_modifications
                 @syskit_handler_ids[:apply_requirement_modifications] ||=
                     execution_engine.add_propagation_handler(
@@ -136,6 +214,8 @@ def teardown
                         @syskit_handler_ids.values, execution_engine
                     )
                 end
+
+                remove_created_process_managers
             end
 
             def assert_is_proxy_model_for(models, result)
@@ -144,13 +224,14 @@ def assert_is_proxy_model_for(models, result)
                     if m.kind_of?(Syskit::Models::BoundDataService)
                         srv = m
                         m.component_model
-                    else m
+                    else
+                        m
                     end
                 end
                 expected = Syskit::Models::Placeholder.for(proxied_models)
                 expected = srv.attach(expected) if srv
                 assert_equal(
-                    expected, result, "#{result} was expected to be a proxy model for "\
+                    expected, result, "#{result} was expected to be a proxy model for " \
                                       "#{models} (#{expected})"
                 )
             end
diff --git a/lib/syskit/test/spec.rb b/lib/syskit/test/spec.rb
index cecb2652b..1a6aa7489 100644
--- a/lib/syskit/test/spec.rb
+++ b/lib/syskit/test/spec.rb
@@ -13,13 +13,12 @@ class Spec < Roby::Test::Spec
             def setup
                 NetworkGeneration::Engine.on_error = :save
                 unplug_requirement_modifications
-                loader = OroGen::Loaders::Base.new(Roby.app.default_loader)
 
-                stub_manager = Orocos::RubyTasks::ProcessManager.new(
-                    loader, task_context_class: Orocos::RubyTasks::StubTaskContext
-                )
-                Syskit.conf.register_process_server(
-                    "stubs", stub_manager, nil, host_id: "syskit"
+                loader = OroGen::Loaders::Base.new(Roby.app.default_loader)
+                Syskit.conf.register_ruby_tasks_manager(
+                    "stubs",
+                    loader: loader,
+                    task_context_class: Orocos::RubyTasks::StubTaskContext
                 )
 
                 super
diff --git a/lib/syskit/test/stub_network.rb b/lib/syskit/test/stub_network.rb
index ef5f6add1..c38f0ada6 100644
--- a/lib/syskit/test/stub_network.rb
+++ b/lib/syskit/test/stub_network.rb
@@ -310,7 +310,7 @@ def apply_merge_mappings(merge_solver, merge_mappings)
                 merge_mappings.each do |original, replacement|
                     unless replacement.can_merge?(original)
                         raise CannotStub.new(original, replacement),
-                              "cannot stub #{original} with #{replacement}, maybe "\
+                              "cannot stub #{original} with #{replacement}, maybe " \
                               "some delayed arguments are not set ?"
                     end
                     merge_solver.apply_merge_group(original => replacement)
@@ -334,7 +334,7 @@ def create_missing_deployments(merge_solver, tasks, remote_task:)
                 merge_mappings.each do |original, replacement|
                     unless original.can_merge?(replacement)
                         raise CannotStub.new(original, replacement),
-                              "cannot stub #{original} with #{replacement}, maybe "\
+                              "cannot stub #{original} with #{replacement}, maybe " \
                               "some delayed arguments are not set ?"
                     end
                     # See big comment on apply_merge_group above
diff --git a/lib/syskit/test/stubs.rb b/lib/syskit/test/stubs.rb
index ed7c5d70e..89297195c 100644
--- a/lib/syskit/test/stubs.rb
+++ b/lib/syskit/test/stubs.rb
@@ -63,11 +63,11 @@ def stub_deployment_model(
                 task_model = task_model&.to_component_model
                 process_server = Syskit.conf.process_server_for("stubs")
 
-                deployment_model = Deployment.new_submodel(name: name,
-                                                           logger_name: logger_name) do
-                    task(name, task_model.orogen_model) if task_model
-                    instance_eval(&block) if block
-                end
+                deployment_model =
+                    Deployment.new_submodel(name: name, logger_name: logger_name) do
+                        task(name, task_model) if task_model
+                        instance_eval(&block) if block
+                    end
 
                 if register
                     process_server.loader.register_deployment_model(
@@ -207,7 +207,7 @@ def stub_attached_device(
                     elsif bus_to_client
                         bus_m::ClientInSrv
                     else
-                        raise ArgumentError, "at least one of client_to_bus or "\
+                        raise ArgumentError, "at least one of client_to_bus or " \
                                              "bus_to_client need to be true"
                     end
 
@@ -285,7 +285,6 @@ def handle_abstract_component_model_in_requirements(model)
             # @api private
             #
             # Computes a configured deployment suitable to deploy the given task model
-            # rubocop:disable Metrics/ParameterLists
             def stub_configured_deployment(
                 task_model = nil, task_name = default_stub_name,
                 remote_task: false, read_only: [], logger_name: nil, &block
@@ -306,7 +305,6 @@ def stub_configured_deployment(
                     read_only: read_only, logger_name: logger_name
                 )
             end
-            # rubocop:enable Metrics/ParameterLists
 
             def stub_abstract_component_model(component_m)
                 component_m.new_submodel(name: "#{component_m.name}-stub")
@@ -315,7 +313,8 @@ def stub_abstract_component_model(component_m)
             def stub_placeholder_model(model)
                 superclass = if model.superclass <= Syskit::TaskContext
                                  model.superclass
-                             else Syskit::TaskContext
+                             else
+                                 Syskit::TaskContext
                              end
 
                 services = model.proxied_data_service_models
diff --git a/lib/syskit/test/task_context_test.rb b/lib/syskit/test/task_context_test.rb
index ab680f853..36140ad81 100644
--- a/lib/syskit/test/task_context_test.rb
+++ b/lib/syskit/test/task_context_test.rb
@@ -26,7 +26,7 @@ def deploy_subject_syskit_model
                 # it if we are in stub mode, skip the test otherwise
 
                 unless app.simulation?
-                    raise "cannot deploy the abstract task context model "\
+                    raise "cannot deploy the abstract task context model " \
                           "#{task_context_m} in live mode"
                 end
 
diff --git a/lib/yard-syskit.rb b/lib/yard-syskit.rb
index d4907d9df..15bfb7216 100644
--- a/lib/yard-syskit.rb
+++ b/lib/yard-syskit.rb
@@ -14,10 +14,8 @@ module YARD
         include ::YARD
 
         def self.syskit_doc_output_path
-            unless @syskit_doc_output_path
-                if (env = ENV["SYSKIT_DOC_OUTPUT_PATH"])
-                    @syskit_doc_output_path = Pathname.new(env)
-                end
+            if !@syskit_doc_output_path && (env = ENV.fetch("SYSKIT_DOC_OUTPUT_PATH", nil))
+                @syskit_doc_output_path = Pathname.new(env)
             end
 
             @syskit_doc_output_path
@@ -43,7 +41,7 @@ def process
                 if (klass[:syskit] = YARD.load_metadata_for(klass.path))
                     YARD.define_definitions_accessors(klass)
                 else
-                    STDERR.puts "No Syskit information for #{klass.path}"
+                    $stderr.puts "No Syskit information for #{klass.path}"
                 end
                 klass
             end
diff --git a/manifest.xml b/manifest.xml
index f8337eb32..60dbbdd42 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -16,6 +16,7 @@
 
     <depend package="ftpd" />
     <depend package="net-ftp" />
+    <depend package="sys-filesystem" />
 
     <depend package="ruby2_keywords" />
 
@@ -23,6 +24,14 @@
     <depend_optional package="ruby-listen" />
     <depend_optional package="gui/vizkit" />
 
+    <!-- Log management -->
+    <depend_optional package="zstd" />
+    <depend_optional package="minitar" />
+
+    <!-- Telemetry -->
+    <depend_optional package="grpc-ruby" />
+    <depend_optional package="grpc-ruby-tools" /> <!-- Only needed at build time -->
+
     <test_depend package="minitest" />
     <test_depend package="aruba" />
     <test_depend package="flexmock" />
@@ -32,5 +41,6 @@
     <test_depend package="rubocop" />
     <test_depend package="rubocop-rock" />
     <test_depend package="tools/orogen_syskit_tests" />
+    <test_depend package="valgrind" />
 </package>
 
diff --git a/syskit.gemspec b/syskit.gemspec
deleted file mode 100644
index 27713dfe3..000000000
--- a/syskit.gemspec
+++ /dev/null
@@ -1,27 +0,0 @@
-# frozen_string_literal: true
-
-lib = File.expand_path("lib", __dir__)
-$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
-require "syskit/version"
-
-Gem::Specification.new do |s|
-    s.name = "syskit"
-    s.version = Syskit::VERSION
-    s.authors = ["Sylvain Joyeux"]
-    s.email = "sylvain.joyeux@m4x.org"
-    s.summary = "Component network management extension for Roby"
-    s.description = <<~DESCRIPTION_TEXT
-        The Roby plan manager is currently developped from within the Robot Construction
-        Kit (http://rock-robotics.org). Have a look there. Additionally, the [Roby User
-        Guide](http://rock-robotics.org/api/tools/roby) is a good place to start with
-        Roby.
-
-        Syskit is a Roby extension that handles component-based networks
-    DESCRIPTION_TEXT
-    s.homepage = "http://rock-robotics.org"
-    s.licenses = ["LGPLv2 or later"]
-
-    s.require_paths = ["lib"]
-    s.extra_rdoc_files = ["README.md"]
-    s.files = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
-end
diff --git a/test/actions/test_action_model.rb b/test/actions/test_action_model.rb
index 7483a483d..f3371c00b 100644
--- a/test/actions/test_action_model.rb
+++ b/test/actions/test_action_model.rb
@@ -5,6 +5,7 @@
 describe Syskit::Actions::Models::Action do
     describe "#rebind" do
         attr_reader :task_m, :profile_m, :interface_m
+
         before do
             @task_m = Syskit::TaskContext.new_submodel
             @profile_m = Syskit::Actions::Profile.new
@@ -38,6 +39,7 @@
 
     describe "droby marshalling" do
         attr_reader :interface_m, :requirements, :action_m, :task_m
+
         before do
             @interface_m = Class.new(Roby::Actions::Interface)
             @task_m = Syskit::TaskContext.new_submodel(name: "DRobyMarshallingTest")
@@ -57,7 +59,8 @@
             requirements.with_arguments(test: 10, other: flexmock(droby_dump: 20))
 
             remote_marshaller = Roby::DRoby::Marshal.new
-            reloaded = assert_droby_compatible(action_m, remote_marshaller: remote_marshaller)
+            reloaded = assert_droby_compatible(action_m,
+                                               remote_marshaller: remote_marshaller)
             reloaded_task_m = remote_marshaller.object_manager.find_model_by_name("DRobyMarshallingTest")
             assert_equal reloaded_task_m, reloaded.returned_type
             assert_equal reloaded_task_m, reloaded.requirements.model
@@ -66,13 +69,16 @@
         end
         it "passes along the returned type" do
             remote_marshaller = Roby::DRoby::Marshal.new
-            reloaded = assert_droby_compatible(action_m, remote_marshaller: remote_marshaller)
-            assert_equal remote_marshaller.object_manager.find_model_by_name("DRobyMarshallingTest"), reloaded.returned_type
+            reloaded = assert_droby_compatible(action_m,
+                                               remote_marshaller: remote_marshaller)
+            assert_equal remote_marshaller.object_manager.find_model_by_name("DRobyMarshallingTest"),
+                         reloaded.returned_type
         end
     end
 
     describe "#plan_pattern" do
         attr_reader :req, :action_m
+
         before do
             @req = Syskit::InstanceRequirements.new
             @action_m = Syskit::Actions::Models::Action.new(req)
@@ -102,6 +108,7 @@
 
     describe "#run" do
         attr_reader :req, :action_m, :interface
+
         before do
             @req = Syskit::InstanceRequirements.new
             @action_m = Syskit::Actions::Models::Action.new(req)
@@ -120,6 +127,7 @@
 
     describe "#method_missing" do
         attr_reader :req, :action_m
+
         before do
             req = Syskit::InstanceRequirements.new
             @action_m = Syskit::Actions::Models::Action.new(req)
@@ -135,7 +143,8 @@
         end
         it "does not modify the original action" do
             action_m.with_arguments(test: 10)
-            assert_equal Hash[], action_m.requirements.arguments
+            assert_equal({}, action_m.requirements.arguments,
+                         action_m.requirements.arguments)
         end
     end
 end
diff --git a/test/actions/test_interface_model_extension.rb b/test/actions/test_interface_model_extension.rb
index a38f5d1a3..a5ac61fbf 100644
--- a/test/actions/test_interface_model_extension.rb
+++ b/test/actions/test_interface_model_extension.rb
@@ -43,6 +43,7 @@
 
     describe "#use_profile" do
         attr_reader :actions, :profile
+
         before do
             @actions = Roby::Actions::Interface.new_submodel
             @profile = Syskit::Actions::Profile.new
@@ -114,7 +115,7 @@
             actions.use_profile(profile)
 
             flexmock(req).should_receive(:as_plan).and_return(task = Roby::Task.new)
-            act = actions.def_def.instanciate(plan)
+            actions.def_def.instanciate(plan)
             assert [task], plan.tasks.to_a
         end
 
@@ -207,6 +208,7 @@
 
     describe "the generated action method" do
         attr_reader :actions, :profile
+
         before do
             @actions = Roby::Actions::Interface.new_submodel
             @profile = Syskit::Actions::Profile.new(nil)
@@ -239,7 +241,7 @@ def call_action_method(**arguments, &block)
             assert_equal task_m, task.planning_task.requirements.model
         end
         it "should allow passing arguments if the main model has some" do
-            task_m, task = call_action_method(arg0: 10) { argument :arg0 }
+            _, task = call_action_method(arg0: 10) { argument :arg0 }
             assert_equal Hash[arg0: 10], task.planning_task.requirements.arguments
         end
         it "should require passing arguments if the main model has some without defaults" do
@@ -259,7 +261,8 @@ def call_action_method(**arguments, &block)
             actions.use_profile(profile)
             task = actions.new(plan).test_def.as_plan
             plan.add(task)
-            assert_equal Hash[], task.planning_task.requirements.arguments
+            assert_equal({}, task.planning_task.requirements.arguments,
+                         task.planning_task.requirements.arguments)
         end
         it "precomputes the requirements template the first time" do
             task_m = Syskit::TaskContext.new_submodel
@@ -308,8 +311,30 @@ def call_action_method(**arguments, &block)
         end
     end
 
+    describe "method missing" do
+        before do
+            @action_m = Roby::Actions::Interface.new_submodel
+            @srv_m = Syskit::DataService.new_submodel
+            profile_m = Syskit::Actions::Profile.new
+            profile_m.tag "t", @srv_m
+
+            @action_m.use_profile profile_m
+        end
+
+        it "returns an used profile's tag model when accessed with _tag " \
+           "at the model level" do
+            assert @action_m.t_tag.fullfills?(@srv_m)
+        end
+
+        it "returns an used profile's tag model when accessed with _tag " \
+           "at the instance level" do
+            assert @action_m.new(plan).t_tag.fullfills?(@srv_m)
+        end
+    end
+
     describe "overloading of definitions by actions" do
         attr_reader :actions, :profile
+
         before do
             @actions = Roby::Actions::Interface.new_submodel
             @profile = Syskit::Actions::Profile.new(nil)
@@ -368,7 +393,7 @@ def call_action_method(**arguments, &block)
         task_m.provides srv_m, as: "test"
         profile_m = Syskit::Actions::Profile.new
         task = profile_m.define "task", task_m
-        profile_m.use_profile base_profile_m, "tag" => task
+        profile_m.use_profile(base_profile_m, { "tag" => task })
         action_m = base_action_m.new_submodel do
             use_profile profile_m
         end
diff --git a/test/actions/test_profile.rb b/test/actions/test_profile.rb
index aad3acb46..5c99da2c7 100644
--- a/test/actions/test_profile.rb
+++ b/test/actions/test_profile.rb
@@ -9,7 +9,7 @@ module Syskit
     module Actions
         describe Profile do
             describe "#initialize" do
-                it "does not register the profile as a submodel of the Profile "\
+                it "does not register the profile as a submodel of the Profile " \
                    "module by default" do
                     new_profile = Profile.new
                     refute Profile.each_submodel.to_a.include?(new_profile)
@@ -36,13 +36,13 @@ module Actions
                     assert Profile.each_submodel.to_a.include?(new_profile)
                 end
 
-                it "registers the newly created profile as a constant "\
+                it "registers the newly created profile as a constant " \
                    "on the context module" do
                     new_profile = @context.profile("Test") {}
                     assert_same @context::Test, new_profile
                 end
 
-                it "evaluates the block on an already registered constant with "\
+                it "evaluates the block on an already registered constant with " \
                    "the same name" do
                     test_profile = @context.profile("Test") {}
                     flexmock(Profile).should_receive(:new).never
@@ -57,6 +57,7 @@ module Actions
 
             describe "#use_profile" do
                 attr_reader :definition_mock
+
                 before do
                     @definition_mock = flexmock(arguments: [], with_arguments: nil)
                     definition_mock.should_receive(:push_selections).by_default
@@ -100,7 +101,20 @@ module Actions
                     assert_equal src.test_def, dst.modified_test_def
                 end
 
-                it "uses the existing definition's documentation as documentation "\
+                it "allows to add deployment filters" do
+                    src = Profile.new
+                    src.define("test", TaskContext.new_submodel)
+                       .prefer_deployed_tasks(/src_filter/)
+                    assert_equal [/src_filter/].to_set, src.test_def.deployment_hints
+
+                    dst = Profile.new
+                    dst.use_profile src, prefer_deployed_tasks: /dst_filter/
+
+                    assert_equal [/src_filter/, /dst_filter/].to_set,
+                                 dst.test_def.deployment_hints
+                end
+
+                it "uses the existing definition's documentation as documentation " \
                    "for the imported definition" do
                     task_m = TaskContext.new_submodel
                     src = Profile.new
@@ -115,7 +129,7 @@ module Actions
                     dst.use_profile src
                 end
 
-                it "does not import definitions that are already existing "\
+                it "does not import definitions that are already existing " \
                    "on the receiver" do
                     task_m = TaskContext.new_submodel
                     src = Profile.new
@@ -127,7 +141,7 @@ module Actions
                     dst.use_profile src
                 end
 
-                it "pushes selections before defining on the receiver if "\
+                it "pushes selections before defining on the receiver if " \
                    "the model is a composition" do
                     cmp_m = Composition.new_submodel
                     src = Profile.new
@@ -250,6 +264,7 @@ module Actions
 
             describe "#method_missing" do
                 attr_reader :profile, :dev_m, :driver_m
+
                 before do
                     @profile = Profile.new
                     @dev_m = Device.new_submodel
@@ -330,7 +345,7 @@ module Actions
                 assert_same new_remote, remote
             end
 
-            it "gets its cached dependency injection object invalidated "\
+            it "gets its cached dependency injection object invalidated " \
                "when the robot is modified" do
                 profile = Profile.new
                 flexmock(profile)
@@ -369,6 +384,7 @@ module Actions
 
             describe "#definition" do
                 attr_reader :profile
+
                 before do
                     @profile = Profile.new
                     task_m = TaskContext.new_submodel
@@ -410,6 +426,7 @@ module Actions
             describe Profile::Definition do
                 describe "#to_action_model" do
                     attr_reader :profile
+
                     before do
                         @profile = Profile.new
                         task_m = TaskContext.new_submodel
@@ -417,7 +434,7 @@ module Actions
                         profile.define "test", task_m
                     end
 
-                    it "applies changes done to the requirement "\
+                    it "applies changes done to the requirement " \
                        "to the generated action model" do
                         d = profile.resolved_definition("test").with_arguments(arg: 10)
                         task = d.to_action_model.instanciate(plan)
@@ -428,6 +445,7 @@ module Actions
 
             describe "#resolved_definition" do
                 attr_reader :profile
+
                 before do
                     @profile = Profile.new
                     task_m = TaskContext.new_submodel
@@ -514,7 +532,7 @@ module Actions
 
             describe "the deployment group interface" do
                 describe "#use_deployment" do
-                    it "selects the deployment for deployment on the "\
+                    it "selects the deployment for deployment on the " \
                        "profile definitions" do
                         task_m = TaskContext.new_submodel(name: "Test")
                         deployment_m = syskit_stub_deployment_model(task_m)
@@ -523,7 +541,7 @@ module Actions
                         profile.use_deployment deployment_m
                         profile.define "test", task_m
 
-                        # Note: so far, deployment groups are applied only when
+                        # NOTE: so far, deployment groups are applied only when
                         # accessed through the action interface
                         syskit_run_planner_with_full_deployment do
                             task = run_planners(profile.test_def.resolve)
@@ -534,13 +552,10 @@ module Actions
 
                 describe "#use_ruby_tasks" do
                     before do
-                        Syskit.conf.register_process_server(
-                            "ruby_tasks",
-                            Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader)
-                        )
+                        register_ruby_tasks_manager("ruby_tasks")
                     end
 
-                    it "selects the ruby task for deployment "\
+                    it "selects the ruby task for deployment " \
                        "on the profile definitions" do
                         task_m = RubyTaskContext.new_submodel(name: "Test")
 
@@ -548,7 +563,7 @@ module Actions
                         profile.use_ruby_tasks task_m => "test"
                         profile.define "test", task_m
 
-                        # Note: so far, deployment groups are applied only when
+                        # NOTE: so far, deployment groups are applied only when
                         # accessed through the action interface
                         syskit_run_planner_with_full_deployment do
                             run_planners(profile.test_def.resolve)
@@ -558,16 +573,10 @@ module Actions
 
                 describe "#use_unmanaged_task" do
                     before do
-                        Syskit.conf.register_process_server(
-                            "unmanaged_tasks", RobyApp::UnmanagedTasksManager.new
-                        )
-                    end
-
-                    after do
-                        Syskit.conf.remove_process_server("unmanaged_tasks")
+                        register_unmanaged_manager("unmanaged_tasks")
                     end
 
-                    it "selects the unmanaged task for deployment "\
+                    it "selects the unmanaged task for deployment " \
                        "on the profile definitions" do
                         task_m = TaskContext.new_submodel(name: "Test")
 
@@ -575,7 +584,7 @@ module Actions
                         profile.use_unmanaged_task task_m => "test"
                         profile.define "test", task_m
 
-                        # Note: so far, deployment groups are applied only when
+                        # NOTE: so far, deployment groups are applied only when
                         # accessed through the action interface
                         task = syskit_run_planner_with_full_deployment do
                             run_planners(profile.test_def.resolve)
@@ -622,7 +631,7 @@ module Actions
                         profile.use_deployments_from "test_project", on: "test"
                         profile.define "test", task_m
 
-                        # Note: so far, deployment groups are applied only when
+                        # NOTE: so far, deployment groups are applied only when
                         # accessed through the action interface
                         syskit_run_planner_with_full_deployment do
                             task = run_planners(profile.test_def.resolve)
@@ -632,7 +641,7 @@ module Actions
                 end
 
                 describe "#use_group" do
-                    it "registers the group's deployments for usage on the profile "\
+                    it "registers the group's deployments for usage on the profile " \
                        "definitions" do
                         task_m = TaskContext.new_submodel(name: "Test")
                         deployment_m = syskit_stub_deployment_model(task_m)
@@ -643,7 +652,7 @@ module Actions
                         profile.use_group group
                         profile.define "test", task_m
 
-                        # Note: so far, deployment groups are applied only when
+                        # NOTE: so far, deployment groups are applied only when
                         # accessed through the action interface
                         syskit_run_planner_with_full_deployment do
                             task = run_planners(profile.test_def.resolve)
diff --git a/test/cli/doc/test_each_model_file.rb b/test/cli/doc/test_each_model_file.rb
index 9f19f3d9e..166d16081 100644
--- a/test/cli/doc/test_each_model_file.rb
+++ b/test/cli/doc/test_each_model_file.rb
@@ -45,7 +45,7 @@ module Doc
                 end
 
                 describe "each_model_path_for_robot" do
-                    it "lists non-specific folders and specific ones if "\
+                    it "lists non-specific folders and specific ones if " \
                        "'default' is in the names" do
                         robots = flexmock
                         robots.should_receive(:has_robot?).with("gazebo").and_return(true)
diff --git a/test/cli/test_doc_main.rb b/test/cli/test_doc_main.rb
new file mode 100644
index 000000000..5f9930208
--- /dev/null
+++ b/test/cli/test_doc_main.rb
@@ -0,0 +1,49 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "roby/test/aruba_minitest"
+
+module Syskit
+    module CLI
+        describe "syskit gen" do
+            include Roby::Test::ArubaMinitest
+
+            before do
+                run_command_and_stop "syskit gen app"
+
+                @target_path = make_tmppath
+            end
+
+            it "fails if the config does not load" do
+                robot_config requires: <<~RUBY
+                    raise
+                RUBY
+
+                cmd = doc_gen fail_on_error: false
+                refute_equal 0, cmd.exit_status
+            end
+
+            it "allows multiple --set arguments" do
+                robot_config requires: <<~RUBY
+                    raise if !Conf.set1? || !Conf.set2?
+                RUBY
+
+                doc_gen "--set", "set1=true", "--set", "set2=true"
+            end
+
+            def doc_gen(*args, fail_on_error: true)
+                run_command_and_stop "syskit doc gen #{@target_path} #{args.join(' ')}",
+                                     fail_on_error: fail_on_error
+            end
+
+            def robot_config(requires: "")
+                contents = <<~RUBY
+                    Robot.requires do
+                        #{requires}
+                    end
+                RUBY
+                write_file "config/robots/default.rb", contents
+            end
+        end
+    end
+end
diff --git a/test/cli/test_gen_main.rb b/test/cli/test_gen_main.rb
index 97ffa6b77..c746ac084 100644
--- a/test/cli/test_gen_main.rb
+++ b/test/cli/test_gen_main.rb
@@ -9,8 +9,11 @@ module CLI
             include Roby::Test::ArubaMinitest
 
             def assert_app_valid(*args)
-                syskit_run  = run_command ["syskit", "run", *args].join(" ")
-                syskit_quit = run_command "syskit quit --retry"
+                port = roby_allocate_port
+                syskit_run = run_command(
+                    ["syskit", "run", "--port=#{port}", *args].join(" ")
+                )
+                syskit_quit = run_command "syskit quit --retry --host=localhost:#{port}"
                 assert_command_stops syskit_run
                 assert_command_stops syskit_quit
 
diff --git a/test/cli/test_log_runtime_archive.rb b/test/cli/test_log_runtime_archive.rb
new file mode 100644
index 000000000..7bb32b97e
--- /dev/null
+++ b/test/cli/test_log_runtime_archive.rb
@@ -0,0 +1,629 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/cli/log_runtime_archive"
+
+module Syskit
+    module CLI
+        describe LogRuntimeArchive do
+            before do
+                @root = make_tmppath
+                @archive_path = (make_tmppath / "archive.tar")
+                @in_files = []
+            end
+
+            describe ".find_all_dataset_folders" do
+                it "returns the directories that look like a dataset path" do
+                    path = make_valid_folder("20229523-1104.1")
+                    assert_equal(
+                        [path],
+                        LogRuntimeArchive.find_all_dataset_folders(@root)
+                    )
+                end
+
+                it "sorts the entries lexicographically" do
+                    path1 = make_valid_folder("20229523-1104.1")
+                    path2 = make_valid_folder("20229423-1104.1")
+                    assert_equal(
+                        [path2, path1],
+                        LogRuntimeArchive.find_all_dataset_folders(@root)
+                    )
+                end
+
+                it "does not return paths that match the pattern but " \
+                   "do not have a info.yml file inside" do
+                    path = (@root / "20229423-1104")
+                    path.mkpath
+                    assert_equal([], LogRuntimeArchive.find_all_dataset_folders(@root))
+                end
+
+                it "does not return paths that do not match the pattern" do
+                    path = (@root / "20240223-11043")
+                    path.mkpath
+                    FileUtils.touch(path / "info.yml")
+                    assert_equal([], LogRuntimeArchive.find_all_dataset_folders(@root))
+                end
+
+                it "ignores paths that match the pattern but are not folders" do
+                    path = (@root / "20240223-1104")
+                    FileUtils.touch(path.to_s)
+                    assert_equal([], LogRuntimeArchive.find_all_dataset_folders(@root))
+                end
+            end
+
+            describe ".add_to_archive" do
+                it "adds a compressed version of the input I/O to the archive " \
+                   "and deletes the input file" do
+                    something = make_in_file "something.txt", "something"
+
+                    @archive_path.open("w") do |archive_io|
+                        @in_files.each do |in_path|
+                            LogRuntimeArchive.add_to_archive(archive_io, in_path)
+                        end
+                    end
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries.first, name: "something.txt.zst", content: "something"
+                    )
+                    refute something.exist?
+                end
+
+                it "creates a multi-file archive" do
+                    bla = make_in_file "bla.txt", "bla"
+                    blo = make_in_file "blo.txt", "blo"
+                    @archive_path.open("w") do |archive_io|
+                        @in_files.each do |in_path|
+                            LogRuntimeArchive.add_to_archive(archive_io, in_path)
+                        end
+                    end
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    assert_entry_matches(*entries[0], name: "bla.txt.zst", content: "bla")
+                    assert_entry_matches(*entries[1], name: "blo.txt.zst", content: "blo")
+                    refute bla.exist?
+                    refute blo.exist?
+                end
+
+                it "restores the file as it was and keeps the input file if zstd fails" do
+                    bla = make_in_file "bla.txt", "bla"
+                    blo = make_in_file "blo.txt", "blo"
+                    bli = make_in_file "bli.txt", "bli"
+
+                    @archive_path.open("w") do |archive_io|
+                        assert LogRuntimeArchive.add_to_archive(archive_io, bla)
+                        FlexMock.use(Process) do |mock|
+                            mock.should_receive(:waitpid2).once
+                                .and_return([10, flexmock(success?: false)])
+
+                            flexmock(Roby).should_receive(:display_exception).once
+                            assert_raises(CompressionFailed) do
+                                LogRuntimeArchive.add_to_archive(archive_io, blo)
+                            end
+                        end
+                        assert LogRuntimeArchive.add_to_archive(archive_io, bli)
+                    end
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    assert_entry_matches(*entries[0], name: "bla.txt.zst", content: "bla")
+                    assert_entry_matches(*entries[1], name: "bli.txt.zst", content: "bli")
+                    refute bla.exist?
+                    assert blo.exist?
+                    refute bli.exist?
+                end
+
+                it "restores the file as it was and keeps the input file if an " \
+                   "exception occurs" do
+                    bla = make_in_file "bla.txt", "bla"
+                    blo = make_in_file "blo.txt", "blo"
+                    bli = make_in_file "bli.txt", "bli"
+
+                    exception_m = Class.new(RuntimeError)
+                    @archive_path.open("w") do |archive_io|
+                        assert LogRuntimeArchive.add_to_archive(archive_io, bla)
+                        FlexMock.use(Process) do |mock|
+                            mock.should_receive(:waitpid2).once
+                                .and_raise(exception_m.new)
+                            flexmock(Roby).should_receive(:display_exception).once
+                            assert_raises(exception_m) do
+                                LogRuntimeArchive.add_to_archive(archive_io, blo)
+                            end
+                        end
+                        assert LogRuntimeArchive.add_to_archive(archive_io, bli)
+                    end
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    assert_entry_matches(*entries[0], name: "bla.txt.zst", content: "bla")
+                    assert_entry_matches(*entries[1], name: "bli.txt.zst", content: "bli")
+                    refute bla.exist?
+                    assert blo.exist?
+                    refute bli.exist?
+                end
+            end
+
+            describe ".archive_dataset" do
+                it "in full mode, archives only the rotated logs if there are some" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(2).pass_thru
+                        LogRuntimeArchive.archive_dataset(archive_io, dataset, full: true)
+                    end
+                    refute ret
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    entries = entries.sort_by { _1[0].full_name }
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                    assert_entry_matches(
+                        *entries[1], name: "test.1.log.zst", content: "test1"
+                    )
+                end
+
+                it "in full mode, archives the non-rotated logs " \
+                   "if there are no rotated logs" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(2).pass_thru
+                        LogRuntimeArchive.archive_dataset(archive_io, dataset, full: true)
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    entries = entries.sort_by { _1[0].full_name }
+                    assert_entry_matches(
+                        *entries[0], name: "info.yml.zst", content: ""
+                    )
+                    assert_entry_matches(
+                        *entries[1], name: "something.txt.zst", content: "something"
+                    )
+                end
+
+                it "does a partial archive of a given dataset" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false
+                        )
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                end
+
+                it "stops processing when it reaches the max size" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+                    make_in_file "test.2.log", "test2", root: dataset
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false, max_size: 4
+                        )
+                    end
+                    refute ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                end
+
+                it "orders log files according to their index" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+                    make_in_file "test.2.log", "test2", root: dataset
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:each_file_from_path)
+                            .pass_thru { |files| files.to_a.shuffle }
+
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false, max_size: 4
+                        )
+                    end
+                    refute ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                end
+
+                it "always adds at least a file, " \
+                   "regardless of the current size of the archive" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+                    make_in_file "test.2.log", "test2", root: dataset
+                    make_in_file "something.txt", "something", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(2).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false, max_size: 4
+                        )
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false, max_size: 4
+                        )
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 2, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                    assert_entry_matches(
+                        *entries[1], name: "test.1.log.zst", content: "test1"
+                    )
+                end
+
+                it "reports a complete processing in full mode if the size limit " \
+                   "is reached on the last rotated log and " \
+                   "there are no non-rotated logs" do
+                    dataset = @root / "20220434-2023"
+                    dataset.mkpath
+                    make_in_file "test.0.log", "test0", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: true, max_size: 0
+                        )
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                end
+
+                it "reports a complete processing in full mode if the size limit " \
+                   "is reached on the last non-rotated log and " \
+                   "there are no rotated logs" do
+                    dataset = make_valid_folder("20220434-2023")
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: true, max_size: 0
+                        )
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "info.yml.zst", content: ""
+                    )
+                end
+
+                it "reports a complete processing in partial mode if the size limit " \
+                   "is reached on the last log to process" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+
+                    ret = @archive_path.open("w") do |archive_io|
+                        flexmock(LogRuntimeArchive)
+                            .should_receive(:add_to_archive).times(1).pass_thru
+                        LogRuntimeArchive.archive_dataset(
+                            archive_io, dataset, full: false, max_size: 512
+                        )
+                    end
+                    assert ret
+
+                    entries = read_archive
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                end
+            end
+
+            describe ".process_root_folder" do
+                before do
+                    @archive_dir = make_tmppath
+                    @process = LogRuntimeArchive.new(@root, @archive_dir)
+                end
+
+                it "archives all folders, the last one only partially" do
+                    dataset0 = make_valid_folder("20220434-2023")
+                    dataset1 = make_valid_folder("20220434-2024")
+                    dataset2 = make_valid_folder("20220434-2025")
+
+                    should_archive_dataset(dataset0, "20220434-2023.0.tar", full: true)
+                    should_archive_dataset(dataset1, "20220434-2024.0.tar", full: true)
+                    should_archive_dataset(dataset2, "20220434-2025.0.tar", full: false)
+                    @process.process_root_folder
+
+                    assert (@archive_dir / "20220434-2023.0.tar").file?
+                    assert (@archive_dir / "20220434-2024.0.tar").file?
+                    assert (@archive_dir / "20220434-2025.0.tar").file?
+                end
+
+                it "splits the archive according to the max size" do
+                    dataset = make_valid_folder("20220434-2023")
+                    (dataset / "test.0.log")
+                        .write(test0 = Base64.encode64(Random.bytes(1024)))
+                    (dataset / "test.1.log")
+                        .write(test1 = Base64.encode64(Random.bytes(1024)))
+                    (dataset / "test.2.log").write(Base64.encode64(Random.bytes(1024)))
+                    process = LogRuntimeArchive.new(
+                        @root, @archive_dir, max_archive_size: 1024
+                    )
+                    process.process_root_folder
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.0.tar")
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: test0
+                    )
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.1.tar")
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.1.log.zst", content: test1
+                    )
+
+                    refute (@archive_dir / "20220434-2023.2.tar").exist?
+                end
+
+                it "appends to the last created archive" do
+                    dataset = make_valid_folder("20220434-2023")
+                    (dataset / "test.0.log")
+                        .write(Base64.encode64(Random.bytes(1024)))
+                    (dataset / "test.1.log")
+                        .write(test1 = Base64.encode64(Random.bytes(128)))
+                    (dataset / "test.2.log")
+                        .write(test2 = Base64.encode64(Random.bytes(128)))
+                    process = LogRuntimeArchive.new(
+                        @root, @archive_dir, max_archive_size: 1024
+                    )
+                    process.process_root_folder
+
+                    (dataset / "test.3.log").write(Base64.encode64(Random.bytes(1024)))
+                    process.process_root_folder
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.1.tar")
+                    assert_equal 2, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.1.log.zst", content: test1
+                    )
+                    assert_entry_matches(
+                        *entries[1], name: "test.2.log.zst", content: test2
+                    )
+
+                    refute (@archive_dir / "20220434-2023.2.tar").exist?
+                end
+
+                it "creates a new archive if the last archive is already " \
+                   "above the limit" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_random_file "test.0.log", root: dataset
+                    test1 = make_random_file "test.1.log", root: dataset
+                    test2 = make_random_file "test.2.log", root: dataset
+                    process = LogRuntimeArchive.new(
+                        @root, @archive_dir, max_archive_size: 1024
+                    )
+                    process.process_root_folder
+
+                    make_random_file "test.3.log", root: dataset
+                    process.process_root_folder
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.1.tar")
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.1.log.zst", content: test1
+                    )
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.2.tar")
+                    assert_equal 1, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.2.log.zst", content: test2
+                    )
+
+                    refute (@archive_dir / "20220434-2023.3.tar").exist?
+                end
+
+                it "appends to existing archives" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_in_file "test.0.log", "test0", root: dataset
+                    make_in_file "test.1.log", "test1", root: dataset
+
+                    @process.process_root_folder
+                    make_in_file "test.2.log", "test2", root: dataset
+                    @process.process_root_folder
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.0.tar")
+                    assert_equal 2, entries.size
+                    assert_entry_matches(
+                        *entries[0], name: "test.0.log.zst", content: "test0"
+                    )
+                    assert_entry_matches(
+                        *entries[1], name: "test.1.log.zst", content: "test1"
+                    )
+                end
+
+                it "gathers all non-rotated logs in the very last archive" do
+                    dataset = make_valid_folder("20220434-2023")
+                    make_valid_folder("20220434-2024")
+                    make_random_file "test.0.log", root: dataset
+                    make_random_file "test.1.log", root: dataset
+                    make_random_file "test.2.log", root: dataset
+                    make_random_file "test.txt", root: dataset
+                    make_random_file "test-PID.txt", root: dataset
+
+                    @process.process_root_folder
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.0.tar")
+                    assert_equal %w[test.0.log.zst test.1.log.zst test.2.log.zst],
+                                 entries.map { _1.first.name }.sort
+
+                    entries = read_archive(path: @archive_dir / "20220434-2023.1.tar")
+                    assert_equal %w[info.yml.zst test-PID.txt.zst test.txt.zst],
+                                 entries.map { _1.first.name }.sort
+                end
+
+                def should_archive_dataset(dataset, archive_basename, full:)
+                    flexmock(LogRuntimeArchive)
+                        .should_receive(:archive_dataset)
+                        .with(
+                            ->(p) { p.path == (@archive_dir / archive_basename).to_s },
+                            dataset, hsh(full: full)
+                        ).once.pass_thru
+                end
+            end
+
+            describe "#ensure_free_space" do
+                before do
+                    @archive_dir = make_tmppath
+                    @mocked_files_sizes = []
+
+                    10.times { |i| (@archive_dir / i.to_s).write(i.to_s) }
+
+                    @archiver = LogRuntimeArchive.new(@root, @archive_dir)
+                end
+
+                it "does nothing if there is enough free space" do
+                    mock_available_space(2)
+                    @archiver.ensure_free_space(1, 10)
+                    assert_deleted_files([])
+                end
+
+                it "removes enough files to reach the freed limit" do
+                    size_files = [6, 2, 1, 6, 7, 10, 3, 5, 8, 9]
+                    mock_files_size(size_files)
+                    mock_available_space(0.5)
+
+                    @archiver.ensure_free_space(1, 10)
+                    assert_deleted_files([0, 1, 2, 3])
+                end
+
+                it "stops removing files when there is no file in folder even if freed
+                    limit is not achieved" do
+                    size_files = Array.new(10, 1)
+                    mock_files_size(size_files)
+                    mock_available_space(0.5)
+
+                    @archiver.ensure_free_space(1, 15)
+                    assert_deleted_files([0, 1, 2, 3, 4, 5, 6, 7, 8, 9])
+                end
+
+                def mock_files_size(sizes)
+                    @mocked_files_sizes = sizes
+                    @mocked_files_sizes.each_with_index do |size, i|
+                        (@archive_dir / i.to_s).write(" " * size)
+                    end
+                end
+
+                def mock_available_space(total_available_disk_space)
+                    flexmock(Sys::Filesystem)
+                        .should_receive(:stat).with(@archive_dir)
+                        .and_return do
+                            flexmock(
+                                bytes_available: total_available_disk_space
+                            )
+                        end
+                end
+
+                def assert_deleted_files(deleted_files)
+                    if deleted_files.empty?
+                        files = @archive_dir.each_child.select(&:file?)
+                        assert_equal 10, files.size
+                    else
+                        (0..9).each do |i|
+                            if deleted_files.include?(i)
+                                refute (@archive_dir / i.to_s).exist?,
+                                       "#{i} was expected to be deleted, but has not been"
+                            else
+                                assert (@archive_dir / i.to_s).exist?,
+                                       "#{i} was expected to be present, but got deleted"
+                            end
+                        end
+                    end
+                end
+            end
+
+            def make_valid_folder(name)
+                path = (@root / name)
+                path.mkpath
+                FileUtils.touch(path / "info.yml")
+                path
+            end
+
+            def make_random_file(name, root: @root, size: 1024)
+                content = Base64.encode64(Random.bytes(size))
+                make_in_file name, content, root: root
+                content
+            end
+
+            def make_in_file(name, content, root: @root)
+                path = (root / name)
+                path.write(content)
+                @in_files << path
+                path
+            end
+
+            def read_archive(path: @archive_path)
+                tar = Archive::Tar::Minitar::Input.open(path.open("r"))
+                tar.each_entry.map { |e| [e, e.read] }
+            end
+
+            def decompress_data(data)
+                IO.popen(["zstd", "-d", "--stdout"], "r+") do |io|
+                    io.write data
+                    io.close_write
+                    io.read
+                end
+            end
+
+            def assert_entry_matches(entry, data, name:, content:)
+                assert entry.file?
+                assert_equal name, entry.full_name
+                assert_equal content, decompress_data(data)
+            end
+        end
+    end
+end
diff --git a/test/cli/test_log_runtime_archive_main.rb b/test/cli/test_log_runtime_archive_main.rb
new file mode 100644
index 000000000..e30adb9d0
--- /dev/null
+++ b/test/cli/test_log_runtime_archive_main.rb
@@ -0,0 +1,170 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/cli/log_runtime_archive_main"
+
+module Syskit
+    module CLI
+        # Tests CLI command "archive" from syskit/cli/log_runtime_archive_main.rb
+        describe LogRuntimeArchiveMain do
+            describe "#watch" do
+                before do
+                    @root = make_tmppath
+                    @archive_dir = make_tmppath
+
+                    @mocked_files_sizes = []
+                    5.times { |i| (@archive_dir / i.to_s).write(i.to_s) }
+                end
+
+                it "calls archive with the specified period" do
+                    mock_files_size([])
+                    mock_available_space(200) # 70 MB
+
+                    quit = Class.new(RuntimeError)
+                    called = 0
+                    flexmock(LogRuntimeArchive)
+                        .new_instances
+                        .should_receive(:process_root_folder)
+                        .pass_thru do
+                            called += 1
+                            raise quit if called == 3
+                        end
+
+                    tic = Time.now
+                    assert_raises(quit) do
+                        LogRuntimeArchiveMain.start(
+                            ["watch", @root, @archive_dir, "--period", 0.5]
+                        )
+                    end
+
+                    assert called == 3
+                    assert_operator(Time.now - tic, :>, 0.9)
+                end
+
+                it "retries on ENOSPC" do
+                    mock_files_size([])
+                    mock_available_space(200) # 70 MB
+
+                    quit = Class.new(RuntimeError)
+                    called = 0
+                    flexmock(LogRuntimeArchive)
+                        .new_instances
+                        .should_receive(:process_root_folder)
+                        .pass_thru do
+                            called += 1
+                            raise quit if called == 3
+
+                            raise Errno::ENOSPC
+                        end
+
+                    tic = Time.now
+                    assert_raises(quit) do
+                        LogRuntimeArchiveMain.start(
+                            ["watch", @root, @archive_dir, "--period", 0.5]
+                        )
+                    end
+                    assert_operator(Time.now - tic, :<, 1)
+                end
+            end
+
+            describe "#archive" do
+                before do
+                    @root = make_tmppath
+                    @archive_dir = make_tmppath
+                    @mocked_files_sizes = []
+
+                    5.times { |i| (@archive_dir / i.to_s).write(i.to_s) }
+                end
+
+                it "raises ArgumentError if the source directory does not exist" do
+                    e = assert_raises ArgumentError do
+                        call_archive("/does/not/exist", @archive_dir, 1, 10)
+                    end
+                    assert_equal "/does/not/exist does not exist, or is not a directory",
+                                 e.message
+                end
+
+                it "raises ArgumentError if the target directory does not exist" do
+                    e = assert_raises ArgumentError do
+                        call_archive(@root, "/does/not/exist", 1, 10)
+                    end
+                    assert_equal "/does/not/exist does not exist, or is not a directory",
+                                 e.message
+                end
+
+                it "does nothing if there is enough free space" do
+                    mock_available_space(200)
+                    call_archive(@root, @archive_dir, 100, 300) # 100 MB, 300 MB
+
+                    assert_deleted_files([])
+                end
+
+                it "removes enough files to reach the freed limit" do
+                    size_files = [75, 40, 90, 60, 70]
+                    mock_files_size(size_files)
+                    mock_available_space(70) # 70 MB
+
+                    call_archive(@root, @archive_dir, 100, 300) # 100 MB, 300 MB
+                    assert_deleted_files([0, 1, 2, 3])
+                end
+
+                it "stops removing files when there is no file in folder even if freed
+                    limit is not achieved" do
+                    size_files = Array.new(5, 10)
+                    mock_files_size(size_files)
+                    mock_available_space(80) # 80 MB
+
+                    call_archive(@root, @archive_dir, 100, 300) # 100 MB, 300 MB
+                    assert_deleted_files([0, 1, 2, 3, 4])
+                end
+
+                # Call 'archive' function instead of 'watch' to call archiver once
+                def call_archive(root_path, archive_path, low_limit, freed_limit)
+                    LogRuntimeArchiveMain.start(
+                        ["archive", root_path, archive_path,
+                         "--free-space-low-limit", low_limit,
+                         "--free-space-freed-limit", freed_limit]
+                    )
+                end
+            end
+
+            # Mock files sizes in bytes
+            # @param [Array] size of files in MB
+            def mock_files_size(sizes)
+                @mocked_files_sizes = sizes
+                @mocked_files_sizes.each_with_index do |size, i|
+                    (@archive_dir / i.to_s).write(" " * size * 1e6)
+                end
+            end
+
+            # Mock total disk available space in bytes
+            # @param [Float] total_available_disk_space total available space in MB
+            def mock_available_space(total_available_disk_space)
+                flexmock(Sys::Filesystem)
+                    .should_receive(:stat).with(@archive_dir)
+                    .and_return do
+                        flexmock(
+                            bytes_available: total_available_disk_space * 1e6
+                        )
+                    end
+            end
+
+            def assert_deleted_files(deleted_files)
+                if deleted_files.empty?
+                    files = @archive_dir.each_child.select(&:file?)
+                    assert_equal 5, files.size
+                else
+                    (0..4).each do |i|
+                        if deleted_files.include?(i)
+                            refute (@archive_dir / i.to_s).exist?,
+                                   "#{i} was expected to be deleted, but has not been"
+                        else
+                            assert (@archive_dir / i.to_s).exist?,
+                                   "#{i} was expected to be present, but got deleted"
+                        end
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/test/cli/test_main.rb b/test/cli/test_main.rb
index 02f8d26bb..05938f6d0 100644
--- a/test/cli/test_main.rb
+++ b/test/cli/test_main.rb
@@ -54,9 +54,10 @@ module CLI
                 end
 
                 it "forwards a Roby CLI command defined through Thor" do
-                    run_cmd = run_command "roby run"
-                    run_command_and_stop "roby wait"
-                    run_command_and_stop "roby quit"
+                    port = roby_allocate_port
+                    run_cmd = run_command "roby run --port=#{port}"
+                    run_command_and_stop "roby wait --host=localhost:#{port}"
+                    run_command_and_stop "roby quit --host=localhost:#{port}"
                     assert_command_stops run_cmd
                 end
             end
diff --git a/test/coordination/test_data_monitor.rb b/test/coordination/test_data_monitor.rb
index 3433b13d8..a21fa1667 100644
--- a/test/coordination/test_data_monitor.rb
+++ b/test/coordination/test_data_monitor.rb
@@ -11,6 +11,7 @@ def read_new
         end
 
         attr_reader :streams, :predicate, :data_monitor
+
         before do
             @streams = (1..3).map { StreamStub.new }
             @predicate = flexmock
diff --git a/test/coordination/test_data_monitoring_table.rb b/test/coordination/test_data_monitoring_table.rb
index aadea4138..1ad6063bd 100644
--- a/test/coordination/test_data_monitoring_table.rb
+++ b/test/coordination/test_data_monitoring_table.rb
@@ -4,6 +4,7 @@
 
 describe Syskit::Coordination::DataMonitoringTable do
     attr_reader :component_m, :table_m
+
     before do
         @component_m = Syskit::TaskContext.new_submodel { output_port "out", "/int" }
         @table_m = Syskit::Coordination::DataMonitoringTable
diff --git a/test/coordination/test_fault_response_table_extension.rb b/test/coordination/test_fault_response_table_extension.rb
index 840dfe624..c2b85f0a1 100644
--- a/test/coordination/test_fault_response_table_extension.rb
+++ b/test/coordination/test_fault_response_table_extension.rb
@@ -64,7 +64,7 @@ def syskit_wait_data_monitoring_ready(plan = self.plan)
         end
 
         plan.use_fault_response_table table_model
-        assert_equal Array[table_model.data_monitoring_tables.first.table],
+        assert_equal [table_model.data_monitoring_tables.first.table],
                      plan.data_monitoring_tables.map(&:model)
         syskit_stub_configured_deployment(component_m)
         component = syskit_deploy_configure_and_start(component_m)
diff --git a/test/coordination/test_models_task_extension.rb b/test/coordination/test_models_task_extension.rb
index ae4b2071c..024a82d14 100644
--- a/test/coordination/test_models_task_extension.rb
+++ b/test/coordination/test_models_task_extension.rb
@@ -4,6 +4,7 @@
 
 describe Syskit::Coordination::Models::TaskExtension do
     attr_reader :component_m, :action_m
+
     before do
         @component_m = Syskit::TaskContext.new_submodel name: "Task" do
             output_port "out", "/double"
diff --git a/test/coordination/test_task_script.rb b/test/coordination/test_task_script.rb
index 144fcc15b..af2d5ac8f 100644
--- a/test/coordination/test_task_script.rb
+++ b/test/coordination/test_task_script.rb
@@ -13,6 +13,7 @@
 
     describe "model-level scripts" do
         attr_reader :base_srv_m, :srv_m, :component_m, :composition_m
+
         before do
             @base_srv_m = Syskit::DataService.new_submodel do
                 input_port "base_in", "/double"
@@ -201,6 +202,7 @@ def start
 
         describe "writer disconnection at task stop" do
             attr_reader :writer, :actual_writer, :cmp
+
             before do
                 cmp_m = Syskit::Composition.new_submodel
                 cmp_m.add task_m, as: "test"
@@ -259,6 +261,7 @@ def start
 
         describe "reader disconnection at task stop" do
             attr_reader :reader, :actual_reader, :cmp
+
             before do
                 cmp_m = Syskit::Composition.new_submodel
                 cmp_m.add task_m, as: "test"
diff --git a/test/droby/test_droby_dump.rb b/test/droby/test_droby_dump.rb
index 7253a733f..39a3889e3 100644
--- a/test/droby/test_droby_dump.rb
+++ b/test/droby/test_droby_dump.rb
@@ -6,6 +6,7 @@ module Syskit
     module DRoby
         describe V5 do
             attr_reader :local_id, :remote_id, :remote_object_id, :object_manager, :marshal
+
             before do
                 @local_id = Object.new
                 @remote_id = Object.new
@@ -14,6 +15,7 @@ module DRoby
 
             describe "combus marshalling" do
                 attr_reader :combus, :message_type
+
                 before do
                     @object_manager = Roby::DRoby::ObjectManager.new(local_id)
                     @marshal = Roby::DRoby::Marshal.new(object_manager, remote_id)
@@ -37,6 +39,7 @@ module DRoby
 
             describe "Typelib object marshalling" do
                 attr_reader :type
+
                 before do
                     @object_manager = Roby::DRoby::ObjectManager.new(local_id)
                     @marshal = Roby::DRoby::Marshal.new(object_manager, remote_id)
diff --git a/test/fixtures/simple_composition_model.rb b/test/fixtures/simple_composition_model.rb
index 872188e3b..8557a790e 100644
--- a/test/fixtures/simple_composition_model.rb
+++ b/test/fixtures/simple_composition_model.rb
@@ -3,10 +3,7 @@
 module Syskit
     module Fixtures
         module SimpleCompositionModel
-            attr_reader :simple_service_model
-            attr_reader :simple_component_model
-            attr_reader :simple_task_model
-            attr_reader :simple_composition_model
+            attr_reader :simple_service_model, :simple_component_model, :simple_task_model, :simple_composition_model
 
             def create_simple_composition_model
                 stub_t = self.stub_t
diff --git a/test/gui/test_logging_configuration.rb b/test/gui/test_logging_configuration.rb
index 45d6bbfbb..03b00b33f 100644
--- a/test/gui/test_logging_configuration.rb
+++ b/test/gui/test_logging_configuration.rb
@@ -1,7 +1,7 @@
 # frozen_string_literal: true
 
 require "syskit/test/self"
-require "syskit/gui/logging_configuration.rb"
+require "syskit/gui/logging_configuration"
 
 module Syskit
     module GUI
@@ -10,10 +10,11 @@ module GUI
             attr_reader :syskit
             attr_reader :client
             attr_reader :conf
+
             before do
-                @conf = Syskit::ShellInterface::LoggingConfiguration.new true, true, {}
-                @conf.groups["images"] = Syskit::ShellInterface::LoggingGroup.new "images", true
-                @conf.groups["messages"] = Syskit::ShellInterface::LoggingGroup.new "messages", true
+                @conf = Interface::Commands::LoggingConfiguration.new true, true, {}
+                @conf.groups["images"] = Interface::Commands::LoggingGroup.new "images", true
+                @conf.groups["messages"] = Interface::Commands::LoggingGroup.new "messages", true
 
                 @client = flexmock("client")
                 @syskit = flexmock("syskit")
@@ -105,7 +106,7 @@ def assert_items_modified(items, modified = true)
             end
 
             it "adds group to view" do
-                conf.groups["events"] = Syskit::ShellInterface::LoggingGroup.new "events", true
+                conf.groups["events"] = Interface::Commands::LoggingGroup.new "events", true
 
                 subject.refresh
                 assert_view_matches_conf
diff --git a/test/gui/test_runtime_state.rb b/test/gui/test_runtime_state.rb
index 47e6537bc..f7f55e53f 100644
--- a/test/gui/test_runtime_state.rb
+++ b/test/gui/test_runtime_state.rb
@@ -6,7 +6,7 @@
 require "roby/gui/exception_view"
 require "syskit/gui/state_label"
 require "syskit/gui/runtime_state"
-require "roby/interface/async/interface"
+require "roby/interface/async"
 
 module Syskit
     module GUI
@@ -14,6 +14,7 @@ module GUI
             attr_reader :subject
             attr_reader :syskit
             attr_reader :client
+
             before do
                 @syskit = flexmock(Roby::Interface::Async::Interface.new)
                 @syskit.should_receive(:client).and_return { client }
diff --git a/test/interface/test_commands.rb b/test/interface/test_commands.rb
new file mode 100644
index 000000000..10de835b8
--- /dev/null
+++ b/test/interface/test_commands.rb
@@ -0,0 +1,287 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/interface"
+
+module Syskit
+    module Interface
+        describe Commands do
+            attr_reader :subject
+
+            before do
+                @subject = Commands.new(flexmock(plan: plan))
+                subject.execution_engine.thread = Thread.current
+                @interface_thread = nil
+            end
+
+            after do
+                @ee_thread&.join
+            end
+
+            describe "#redeploy" do
+                it "triggers a full deployment" do
+                    flexmock(Runtime).should_receive(:apply_requirement_modifications)
+                                     .with(subject.plan, force: true).once.pass_thru
+                    subject.redeploy
+                end
+            end
+
+            describe "#deployments" do
+                attr_reader :task_m, :task
+
+                before do
+                    @task_m = TaskContext.new_submodel
+                    @task = syskit_stub_deploy_configure_and_start(
+                        syskit_stub_requirements(task_m).with_conf("default")
+                    )
+                    plan.add_mission_task(task)
+                end
+
+                it "returns the list of deployments" do
+                    deployments = subject.deployments
+                    assert_equal 1, deployments.size
+                    deployment = deployments.first
+                    assert_kind_of Deployment, deployment
+                    assert_equal ::Process.pid, deployment.pid
+                    assert_equal "stubs", deployment.arguments[:on]
+                end
+            end
+
+            describe "#restart_deployments" do
+                attr_reader :task_m, :task
+
+                before do
+                    @task_m = TaskContext.new_submodel
+                    @task = syskit_stub_deploy_configure_and_start(
+                        syskit_stub_requirements(task_m).with_conf("default")
+                    )
+                    plan.add_mission_task(task)
+                end
+
+                it "stops the matching deployments and redeploys" do
+                    plug_apply_requirement_modifications
+                    expect_execution do
+                        subject.restart_deployments
+                    end.to do
+                        emit find_tasks(Commands::ShellDeploymentRestart).stop_event
+                    end
+                    assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
+                end
+
+                it "restricts the deployments to the given models" do
+                    other = syskit_stub_deploy_configure_and_start(
+                        syskit_stub_requirements(TaskContext.new_submodel)
+                    )
+                    plug_apply_requirement_modifications
+                    expect_execution do
+                        subject.restart_deployments(task.execution_agent.model)
+                    end.to do
+                        emit find_tasks(Commands::ShellDeploymentRestart).stop_event
+                        emit task.stop_event
+                        not_emit other.stop_event
+                    end
+                    assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
+                end
+
+                it "accepts task models as argument" do
+                    other = syskit_stub_deploy_configure_and_start(
+                        syskit_stub_requirements(TaskContext.new_submodel)
+                    )
+                    plug_apply_requirement_modifications
+                    expect_execution do
+                        subject.restart_deployments(task.model)
+                    end.to do
+                        emit find_tasks(Commands::ShellDeploymentRestart).stop_event
+                        emit task.stop_event
+                        not_emit other.stop_event
+                    end
+                    assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
+                end
+            end
+
+            describe "#stop_deployments" do
+                attr_reader :task_m, :task
+
+                before do
+                    @task_m = TaskContext.new_submodel
+                    @task = syskit_stub_deploy_configure_and_start(
+                        task_m.with_conf("default")
+                    )
+                    plan.add_mission_task(task)
+                end
+
+                it "stops the matching deployments" do
+                    expect_execution { subject.stop_deployments }
+                        .to do
+                            emit task.aborted_event
+                            emit task.execution_agent.stop_event
+                        end
+                    assert task.finished?
+                end
+
+                it "restricts the deployments to the given models" do
+                    other =
+                        syskit_stub_deploy_configure_and_start(task_m.with_conf("other"))
+                    subject.plan.add_mission_task(other)
+                    expect_execution do
+                        subject.stop_deployments(task.execution_agent.model)
+                    end.to do
+                        emit task.aborted_event
+                        emit task.execution_agent.stop_event
+                    end
+                    assert task.finished?
+                    assert !other.finished?
+                end
+
+                it "accepts task models as argument" do
+                    other_m = TaskContext.new_submodel
+                    other = syskit_stub_deploy_configure_and_start(other_m)
+                    subject.plan.add_mission_task(other)
+                    expect_execution do
+                        subject.stop_deployments(task.execution_agent.model)
+                    end.to do
+                        emit task.aborted_event
+                        emit task.execution_agent.stop_event
+                    end
+                    assert task.finished?
+                    assert !other.finished?
+                end
+            end
+
+            describe "the log configuration management" do
+                before { Syskit.conf.logs.create_group "test" }
+                after { Syskit.conf.logs.remove_group("test") }
+
+                it "creates a marshallable instance of the configuration" do
+                    conf = subject.logging_conf
+                    assert_equal conf.port_logs_enabled,
+                                 Syskit.conf.logs.port_logs_enabled?
+                    assert_equal conf.conf_logs_enabled,
+                                 Syskit.conf.logs.conf_logs_enabled?
+                    Syskit.conf.logs.groups.each_pair do |key, group|
+                        assert_equal group.enabled?, conf.groups[key].enabled
+                    end
+                    Marshal.dump(conf)
+                end
+
+                it "changes status of conf and port logging and redeploys" do
+                    conf = subject.logging_conf
+                    previous_port_status = Syskit.conf.logs.port_logs_enabled?
+                    previous_conf_status = Syskit.conf.logs.conf_logs_enabled?
+
+                    conf.port_logs_enabled = !previous_port_status
+                    conf.conf_logs_enabled = !previous_conf_status
+
+                    flexmock(subject).should_receive(:redeploy).once.pass_thru do
+                        assert_equal Syskit.conf.logs.port_logs_enabled?,
+                                     !previous_port_status
+                        assert_equal Syskit.conf.logs.conf_logs_enabled?,
+                                     !previous_conf_status
+                    end
+                    subject.update_logging_conf(conf)
+                end
+
+                it "changes status of an existing log group and redeploys" do
+                    conf = subject.logging_conf
+                    previous_status = Syskit.conf.logs.group_by_name("test").enabled?
+                    conf.groups["test"].enabled = !previous_status
+
+                    flexmock(subject).should_receive(:redeploy).once.pass_thru do
+                        assert_equal Syskit.conf.logs.group_by_name("test").enabled?,
+                                     !previous_status
+                    end
+                    subject.update_logging_conf(conf)
+                end
+            end
+
+            describe "the log group management" do
+                attr_reader :group
+
+                before do
+                    @group = Syskit.conf.logs.create_group "test" do |g|
+                        g.add(/base.samples.frame.Frame/)
+                    end
+                end
+
+                after do
+                    Syskit.conf.logs.remove_group("test")
+                end
+
+                it "enable_log_group enables the log group and redeploys" do
+                    group.enabled = false
+                    flexmock(subject).should_receive(:redeploy).once.ordered
+                    subject.enable_log_group "test"
+                    assert group.enabled?
+                end
+
+                it "disable_log_group enables the log group and redeploys" do
+                    group.enabled = true
+                    flexmock(subject).should_receive(:redeploy).once.ordered
+                    subject.disable_log_group "test"
+                    assert !group.enabled?
+                end
+
+                it "enable_log_group raises ArgumentError " \
+                   "if the log group does not exist" do
+                    assert_raises(ArgumentError) do
+                        subject.enable_log_group "does_not_exist"
+                    end
+                end
+
+                it "disable_log_group raises ArgumentError " \
+                   "if the log group does not exist" do
+                    assert_raises(ArgumentError) do
+                        subject.disable_log_group "does_not_exist"
+                    end
+                end
+            end
+
+            # Start a thread to do a call on the interface that is synchronized
+            # with {ExecutionEngine#execute}
+            #
+            # @example call the 'redeploy' interface command, and wait for its
+            #   result
+            #
+            #   # Call 'redeploy'. The queue method waits 50ms to give time to
+            #   # the thread to actually start the call. There's no way to be
+            #   # sure, so that might lead to random test failures
+            #   queue_execute_call { subject.redeploy }
+            #   # Force processing of the call, and wait for the thread to
+            #   # finish
+            #   process_execute_call
+            def queue_execute_call(&block)
+                if @interface_thread
+                    raise "you must call #process_execute_call after a call " \
+                          "to #queue_execute_call"
+                end
+
+                @interface_thread_sync = sync = Concurrent::CyclicBarrier.new(2)
+                @interface_thread = Thread.new do
+                    sync.wait
+                    block.call
+                    sync.wait
+                end
+                sync.wait
+                sleep 0.05
+            end
+
+            # Process the work queued with {#queue_execute_call}
+            def process_execute_call
+                subject.execution_engine.join_all_waiting_work
+                if @interface_thread.alive?
+                    @interface_thread_sync.wait
+                    @interface_thread.join
+                else
+                    # Join the thread to have it to raise an exception that
+                    # would have terminated it
+                    @interface_thread.join
+                    # If no exception was risen, fail with a less helpful
+                    # message
+                    flunck("interface thread quit unexpectedly")
+                end
+            ensure
+                @interface_thread = nil
+            end
+        end
+    end
+end
diff --git a/test/interface/v2/test_protocol.rb b/test/interface/v2/test_protocol.rb
new file mode 100644
index 000000000..26f8d67dc
--- /dev/null
+++ b/test/interface/v2/test_protocol.rb
@@ -0,0 +1,57 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/interface/v2"
+
+module Syskit
+    module Interface
+        module V2
+            module Protocol
+                describe Deployment do
+                    before do
+                        @channel = Roby::Interface::V2::Channel.new(
+                            IO.pipe.last, flexmock
+                        )
+                        Protocol.register_marshallers(@channel)
+
+                        deployment_m = Syskit::Deployment.new_submodel
+                        @deployment = deployment_m.new(
+                            process_name: "test", spawn_options: { some: "options" }
+                        )
+                    end
+
+                    it "is marshalled as if a standard Roby task" do
+                        marshalled = @channel.marshal_filter_object(@deployment)
+
+                        assert_equal "test", marshalled.arguments[:process_name]
+                        assert_equal @deployment.droby_id.id, marshalled.id
+                    end
+
+                    it "adds deployment-specific info" do
+                        flexmock(@deployment, pid: 200)
+                        handles = {
+                            "test" => Syskit::Deployment::RemoteTaskHandles.new(
+                                flexmock(
+                                    ior: "some_ior",
+                                    model: flexmock(name: "orogen::Name")
+                                )
+                            )
+                        }
+                        flexmock(@deployment, remote_task_handles: handles)
+                        marshalled = @channel.marshal_filter_object(@deployment)
+
+                        assert_equal 200, marshalled.pid
+
+                        expected_task = {
+                            name: "test",
+                            ior: "some_ior",
+                            orogen_model_name: "orogen::Name"
+                        }
+                        assert_equal [expected_task],
+                                     marshalled.deployed_tasks.map(&:to_h)
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/test/live/test_fatal_error.rb b/test/live/test_fatal_error.rb
index 42f310e0c..1000cd518 100644
--- a/test/live/test_fatal_error.rb
+++ b/test/live/test_fatal_error.rb
@@ -38,20 +38,18 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 end
             end
 
-            it "fails during network generation when attempting "\
+            it "fails during network generation when attempting " \
                "to deploy a component that is in FATAL_ERROR" do
                 # Avoid killing the deployment altogether
                 Syskit.conf.auto_restart_deployments_with_quarantines = false
                 trigger_fatal_error(@task)
 
-                e = assert_raises(Roby::Test::ExecutionExpectations::UnexpectedErrors) do
+                assert_raises(TaskContextInFatal) do
                     syskit_deploy(@task_m)
                 end
-                assert_kind_of Roby::PlanningFailedError,
-                               e.each_execution_exception.first.exception
             end
 
-            it "auto-restarts deployments with a task in FATAL_ERROR "\
+            it "auto-restarts deployments with a task in FATAL_ERROR " \
                "if configured to do so" do
                 Syskit.conf.auto_restart_deployments_with_quarantines = true
 
@@ -72,7 +70,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                            .running.first
             end
 
-            it "does not auto-restart the deployment if the tasks "\
+            it "does not auto-restart the deployment if the tasks " \
                "in FATAL_ERROR are not involved in the new network" do
                 Syskit.conf.auto_restart_deployments_with_quarantines = true
 
@@ -82,7 +80,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 assert_same @task2, new_task
             end
 
-            it "auto-restarts deployments with a quarantined task "\
+            it "auto-restarts deployments with a quarantined task " \
                "if configured to do so" do
                 Syskit.conf.auto_restart_deployments_with_quarantines = true
 
@@ -108,7 +106,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                            .running.first
             end
 
-            it "does not auto-restart the deployment if quarantined "\
+            it "does not auto-restart the deployment if quarantined " \
                "tasks are not involved in the new network" do
                 Syskit.conf.auto_restart_deployments_with_quarantines = true
 
@@ -139,7 +137,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 end
             end
 
-            it "kills the deployment if the task was the only one running on it apart "\
+            it "kills the deployment if the task was the only one running on it apart " \
                "from loggers" do
                 expect_execution { task2.stop! }.to { emit task2.stop_event }
                 trigger_fatal_error(@task) do
@@ -148,7 +146,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 end
             end
 
-            it "does kill a deployment with a fatal-errored task "\
+            it "does kill a deployment with a fatal-errored task " \
                "once all non-utility tasks have stopped" do
                 trigger_fatal_error(@task)
 
@@ -171,6 +169,23 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 trigger_fatal_error(task)
             end
 
+            it "handles a delay between the fatal error and the component " \
+               "returning from stop" do
+                task_m = OroGen.orogen_syskit_tests.FatalError
+                               .deployed_as(default_deployment_name)
+                task = syskit_deploy(task_m)
+                task.properties.stop_return_delay_after_fatal_ms = 5_000
+                syskit_configure_and_start(task)
+                plan.unmark_permanent_task(task.execution_agent)
+                flexmock(task).should_receive(:quarantined!).never
+                expect_execution { task.stop! }
+                    .garbage_collect(true).join_all_waiting_work(false)
+                    .to do
+                        emit task.fatal_error_event
+                        emit task.execution_agent.stop_event
+                    end
+            end
+
             it "marks itself as being in FATAL on its deployment" do
                 task_m = OroGen.orogen_syskit_tests.FatalError
                                .deployed_as(default_deployment_name)
@@ -184,7 +199,7 @@ class SyskitFatalErrorTests < Syskit::Test::ComponentTest
                 assert deployment.task_context_in_fatal?(default_deployment_name)
             end
 
-            it "handles the asynchronicity between a possible exception event and a "\
+            it "handles the asynchronicity between a possible exception event and a " \
                "fatal error" do
                 task_m = OroGen.orogen_syskit_tests.FatalErrorAfterExceptionAndDelay
                                .deployed_as(default_deployment_name)
diff --git a/test/live/test_state_reader_disconnection.rb b/test/live/test_state_reader_disconnection.rb
index adf8edb77..e6413a60b 100644
--- a/test/live/test_state_reader_disconnection.rb
+++ b/test/live/test_state_reader_disconnection.rb
@@ -94,7 +94,7 @@ class StateReaderDisconnectionTests < Syskit::Test::ComponentTest
                 )
             end
 
-            it "goes into quarantine, falls back to the remote state getter and "\
+            it "goes into quarantine, falls back to the remote state getter and " \
                "attempts to stop the task" do
                 expect_execution { task.state_reader.disconnect }
                     .to do
@@ -174,7 +174,7 @@ class StateReaderDisconnectionTests < Syskit::Test::ComponentTest
             end
         end
 
-        describe "when only losing the remote state reader "\
+        describe "when only losing the remote state reader " \
                  "while processing an exception" do
             before do
                 @task.properties.hook = "exception"
diff --git a/test/models/test_bound_data_service.rb b/test/models/test_bound_data_service.rb
index 9ab901037..61bf3eadf 100644
--- a/test/models/test_bound_data_service.rb
+++ b/test/models/test_bound_data_service.rb
@@ -45,6 +45,7 @@ def setup_transitive_services
 
     describe "#self_port_to_component_port" do
         attr_reader :stub_t
+
         before do
             @stub_t = stub_type "/test_t"
             create_simple_composition_model
@@ -62,6 +63,7 @@ def setup_transitive_services
 
     describe "DRoby marshalling" do
         attr_reader :srv_m, :task_m, :stub_t
+
         before do
             @stub_t = stub_type "/test_t"
             create_simple_composition_model
@@ -125,6 +127,7 @@ def setup_transitive_services
 
     describe "#bind" do
         attr_reader :srv_m, :task_m
+
         before do
             srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel { provides srv_m, as: "test" }
@@ -152,6 +155,7 @@ def setup_transitive_services
 
         describe "behaviour related to placeholder models" do
             attr_reader :srv_m, :other_srv_m, :component_m, :placeholder_m, :task_m
+
             before do
                 @srv_m = Syskit::DataService.new_submodel
                 @other_srv_m = Syskit::DataService.new_submodel
@@ -224,6 +228,7 @@ def setup_transitive_services
 
     describe "#fullfills?" do
         attr_reader :base, :parent, :model, :component_model, :service
+
         before do
             @base, @parent, @model, @component_model, @service =
                 setup_transitive_services
@@ -265,6 +270,7 @@ def setup_transitive_services
 
     describe "#attach" do
         attr_reader :srv, :task_m
+
         before do
             srv_m = Syskit::DataService.new_submodel do
                 output_port "out", "/double"
@@ -301,6 +307,7 @@ def setup_transitive_services
 
     describe "#==" do
         attr_reader :parent_srv_m, :srv_m, :task_m
+
         before do
             @parent_srv_m = Syskit::DataService.new_submodel
             @srv_m = Syskit::DataService.new_submodel
@@ -320,6 +327,7 @@ def setup_transitive_services
 
     describe "#find_port_for_task_port" do
         attr_reader :stub_t, :srv_m
+
         before do
             @stub_t = stub_t = stub_type "/test_t"
             @srv_m = Syskit::DataService.new_submodel do
diff --git a/test/models/test_component.rb b/test/models/test_component.rb
index 4540d325d..bc4276590 100644
--- a/test/models/test_component.rb
+++ b/test/models/test_component.rb
@@ -7,6 +7,7 @@
     include Syskit::Fixtures::SimpleCompositionModel
 
     attr_reader :stub_t, :other_stub_t
+
     before do
         @stub_t = stub_type "/test_t"
         @other_stub_t = stub_type "/other_test_t"
@@ -22,6 +23,7 @@
 
     describe "#each_output_port" do
         attr_reader :component_m
+
         before do
             stub_t = self.stub_t
             @component_m = Syskit::TaskContext.new_submodel do
@@ -223,6 +225,7 @@
 
     describe "the dynamic service support" do
         attr_reader :task_m, :srv_m
+
         before do
             stub_t = self.stub_t
             other_stub_t = self.other_stub_t
@@ -320,6 +323,7 @@
         describe Syskit::Models::DynamicDataService do
             describe "#instanciate" do
                 attr_reader :dyn, :srv_m
+
                 before do
                     srv_m = @srv_m = self.srv_m
                     @dyn = task_m.dynamic_service srv_m, as: "dyn" do
@@ -385,6 +389,7 @@
 
             describe "#update_component_model_interface" do
                 attr_reader :subject
+
                 before do
                     @subject = flexmock(Syskit::Models::DynamicDataService)
                 end
@@ -415,6 +420,7 @@
             end
             describe "#directional_port_mapping" do
                 attr_reader :task_m, :port, :context
+
                 before do
                     @task_m = flexmock
                     @port = flexmock(name: "port_name", type: Object.new, type_name: "/bla/type")
@@ -448,6 +454,7 @@
         end
         describe Syskit::Models::DynamicDataService::InstantiationContext do
             attr_reader :dyn, :context
+
             before do
                 srv_m = self.srv_m
                 @dyn = task_m.dynamic_service srv_m, as: "dyn" do
@@ -490,6 +497,7 @@
 
     describe "#bind" do
         attr_reader :component_m
+
         before do
             @component_m = Syskit::Component.new_submodel(name: "component_m")
         end
@@ -517,6 +525,7 @@
 
     describe "#try_bind" do
         attr_reader :component_m
+
         before do
             @component_m = Syskit::Component.new_submodel(name: "component_m")
         end
@@ -770,6 +779,7 @@
 
         describe "the port mapping computation" do
             attr_reader :service
+
             before do
                 stub_t = self.stub_t
                 @service = Syskit::DataService.new_submodel { output_port "out", stub_t }
@@ -863,7 +873,7 @@
                 end
             end
 
-            it "raises if given an explicit port mapping "\
+            it "raises if given an explicit port mapping " \
                "with an invalid component port" do
                 stub_t = self.stub_t
                 component = Syskit::TaskContext.new_submodel do
@@ -941,6 +951,7 @@
 
     describe "#find_data_service_from_type" do
         attr_reader :service, :component
+
         before do
             @service   = Syskit::DataService.new_submodel
             @component = Syskit::Component.new_submodel
@@ -998,6 +1009,7 @@
 
     describe "#has_input_port?" do
         attr_reader :component_m
+
         before do
             @component_m = Syskit::TaskContext.new_submodel
             flexmock(component_m)
@@ -1014,6 +1026,7 @@
 
     describe "#has_output_port?" do
         attr_reader :component_m
+
         before do
             @component_m = Syskit::TaskContext.new_submodel
             flexmock(component_m)
@@ -1055,6 +1068,7 @@
 
     describe "#find_output_port" do
         attr_reader :model, :port_model
+
         before do
         end
         it "finds a port by its name" do
diff --git a/test/models/test_composition.rb b/test/models/test_composition.rb
index a085471ff..d6d71775e 100644
--- a/test/models/test_composition.rb
+++ b/test/models/test_composition.rb
@@ -179,7 +179,7 @@ def assert_single_export(expected_name, expected_port, exports)
         describe "#export" do
             it "promotes exported input ports by setting the new name and component model but keeps the orogen model" do
                 stub_t = self.stub_t
-                service = Syskit::DataService.new_submodel { input_port "in",  stub_t }
+                service = Syskit::DataService.new_submodel { input_port "in", stub_t }
                 composition = Syskit::Composition.new_submodel { add service, as: "srv" }
                 exported_port = composition.export composition.srv_child.in_port, as: "srv_in"
                 assert_equal Syskit::Models::InputPort.new(composition, composition.srv_child.in_port.orogen_model, "srv_in"),
@@ -362,6 +362,7 @@ def assert_single_export(expected_name, expected_port, exports)
 
     describe "#instanciate" do
         attr_reader :cmp_m, :component_m
+
         before do
             @component_m = Syskit::TaskContext.new_submodel
             @cmp_m = Syskit::Composition.new_submodel
@@ -626,6 +627,7 @@ def assert_single_export(expected_name, expected_port, exports)
 
         describe "dependency relation definition based on information in the child definition" do
             attr_reader :composition_m, :srv_child
+
             before do
                 @srv_child = simple_component_model.new
                 flexmock(simple_component_model).should_receive(:new)
@@ -750,8 +752,8 @@ def assert_dependency_contains(flags)
 
         # This is a very specific test because it is a regression test
         # The existence of connections is what triggers the bug
-        it "(regression) injects children tasks into children compositions using "\
-            "child objects within overloaded models, and with existing connections" do
+        it "(regression) injects children tasks into children compositions using " \
+           "child objects within overloaded models, and with existing connections" do
             srv_m = Syskit::DataService.new_submodel { output_port "out", "/double" }
             task_m = Syskit::TaskContext.new_submodel do
                 output_port "out", "/double"
@@ -1019,6 +1021,7 @@ def assert_dependency_contains(flags)
 
     describe "#narrow" do
         attr_reader :base_srv_m, :x_srv_m, :y_srv_m, :task_m, :cmp_m
+
         before do
             @base_srv_m = Syskit::DataService.new_submodel
             @x_srv_m = base_srv_m.new_submodel(name: "X")
@@ -1127,6 +1130,7 @@ def create_specialized_model
 
     describe "Port#connected_to?" do
         attr_reader :out_srv, :cmp
+
         before do
             in_srv = Syskit::DataService.new_submodel do
                 input_port "in", "int"
@@ -1170,6 +1174,7 @@ def create_specialized_model
 
     describe "#child_port?" do
         attr_reader :cmp_m, :task_m
+
         before do
             other_stub_t = self.other_stub_t
             srv_m = Syskit::DataService.new_submodel { output_port "out", other_stub_t }
@@ -1199,6 +1204,7 @@ def create_specialized_model
 
     describe "dynamic services" do
         attr_reader :cmp_m, :task_m, :srv_m
+
         before do
             stub_t = self.stub_t
             other_stub_t = self.other_stub_t
diff --git a/test/models/test_composition_child.rb b/test/models/test_composition_child.rb
index 7302866cb..d1d8b9a39 100644
--- a/test/models/test_composition_child.rb
+++ b/test/models/test_composition_child.rb
@@ -160,9 +160,9 @@
                 e = assert_raises(ArgumentError) do
                     @cmp_m.test_child.bind(cmp.test_child.other_srv)
                 end
-                assert_equal "cannot bind Syskit::Models::Placeholder<srv_m> to "\
-                             "#<BoundDataService: task_m:0x.other>",
-                             e.message.gsub(/0x[0-9a-f]+/, "0x")
+                assert_equal "cannot bind Syskit::Models::Placeholder<srv_m> to " \
+                             "#<BoundDataService: task_m.other>",
+                             e.message
             end
         end
 
@@ -188,10 +188,11 @@
                 e = assert_raises(ArgumentError) do
                     @cmp_m.test_child.bind(task)
                 end
-                assert_equal "cannot bind cmp_m.test_child["\
-                             "Syskit::Models::Placeholder<srv_m>] to task_m:: "\
+                assert_equal "cannot bind cmp_m.test_child[" \
+                             "Syskit::Models::Placeholder<srv_m>] to task_m<id:X>" \
+                             "(conf: default([\"default\"]), read_only: default(false)): " \
                              "it is not the child of any cmp_m composition",
-                             e.message.gsub(/:0x.*:/, "::")
+                             e.message.gsub(/<id:\d+>/, "<id:X>")
             end
             it "does not move up to parents when the role does not match" do
                 plan.add(task = @task_m.new)
@@ -200,10 +201,11 @@
                 e = assert_raises(ArgumentError) do
                     @cmp_m.test_child.bind(task)
                 end
-                assert_equal "cannot bind cmp_m.test_child[Syskit::Models::"\
-                             "Placeholder<srv_m>] to task_m:: it is the child of one "\
+                assert_equal "cannot bind cmp_m.test_child[Syskit::Models::" \
+                             "Placeholder<srv_m>] to task_m<id:X>(conf: default([\"default\"]), " \
+                             "read_only: default(false)): it is the child of one " \
                              "or more cmp_m compositions, but not with the role 'test'",
-                             e.message.gsub(/:0x.*:/, "::")
+                             e.message.gsub(/<id:\d+>/, "<id:X>")
             end
         end
     end
@@ -313,6 +315,7 @@
 
 describe Syskit::Models::InvalidCompositionChildPort do
     attr_reader :cmp_m
+
     before do
         task_m = Syskit::TaskContext.new_submodel do
             input_port "in", "/double"
diff --git a/test/models/test_composition_specialization.rb b/test/models/test_composition_specialization.rb
index fc143ea08..df558acd2 100644
--- a/test/models/test_composition_specialization.rb
+++ b/test/models/test_composition_specialization.rb
@@ -8,6 +8,7 @@
     include Syskit::Fixtures::SimpleCompositionModel
 
     attr_reader :stub_t
+
     before do
         @stub_t = stub_type "/test_t"
         create_simple_composition_model
diff --git a/test/models/test_configured_deployment.rb b/test/models/test_configured_deployment.rb
index 08420ccdf..30db82dec 100644
--- a/test/models/test_configured_deployment.rb
+++ b/test/models/test_configured_deployment.rb
@@ -48,8 +48,8 @@ module Models
                         )
                     end
                     assert_equal(
-                        "#{[/stub/]} is not a valid deployed task name or "\
-                        "pattern. The valid deployed task names are "\
+                        "#{[/stub/]} is not a valid deployed task name or " \
+                        "pattern. The valid deployed task names are " \
                         "[\"prefixed_test\"].", e.message
                     )
                 end
diff --git a/test/models/test_data_services.rb b/test/models/test_data_services.rb
index 3638053ec..f40cc6af4 100644
--- a/test/models/test_data_services.rb
+++ b/test/models/test_data_services.rb
@@ -4,8 +4,7 @@
 
 module Syskit
     module Test_DataServiceModel
-        attr_reader :service_type
-        attr_reader :dsl_service_type_name
+        attr_reader :service_type, :dsl_service_type_name
 
         DataServiceModel = Syskit::Models::DataServiceModel
 
@@ -262,6 +261,7 @@ def test_it_can_be_droby_marshalled_and_unmarshalled
 
         describe "the DSL definition" do
             attr_reader :mod
+
             before do
                 @mod = Module.new
             end
@@ -375,6 +375,7 @@ def test_it_can_be_droby_marshalled_and_unmarshalled
 
         describe "the DSL definition" do
             attr_reader :mod
+
             before do
                 @mod = Module.new
             end
@@ -477,6 +478,7 @@ def new_submodel(name: nil, message_type: "/int", &block)
 
         describe "the dynamic service definition" do
             attr_reader :combus_m, :driver_m
+
             before do
                 @combus_m = ComBus.new_submodel message_type: "/double"
                 @driver_m = TaskContext.new_submodel do
@@ -632,6 +634,7 @@ def m; end
 
         describe "#new_submodel" do
             attr_reader :combus
+
             before do
                 @test_t  = stub_type "/test_t"
                 @other_t = stub_type "/other_t"
@@ -687,6 +690,7 @@ def m; end
 
         describe "the DSL definition" do
             attr_reader :mod
+
             before do
                 @mod = Module.new
             end
diff --git a/test/models/test_deployment.rb b/test/models/test_deployment.rb
index 1515cebf8..5b942a93f 100644
--- a/test/models/test_deployment.rb
+++ b/test/models/test_deployment.rb
@@ -29,28 +29,111 @@ def test_new_submodel_registers_the_submodel
             assert submodel.has_submodel?(subsubmodel)
         end
 
-        def test_define_from_orogen
-            orogen_deployment = Models.create_orogen_deployment_model
-            orogen_task = Models.create_orogen_task_context_model
-            orogen_deployment.task "task", orogen_task
-            model = Syskit::Deployment.define_from_orogen orogen_deployment, register: false
-            assert_same model.orogen_model, orogen_deployment
-        end
+        describe "the block passed to new_submodel" do
+            it "lets the caller define the deployment model, " \
+               "using orogen models for the tasks" do
+                task1_m = Syskit::TaskContext.new_submodel
+                task2_m = Syskit::TaskContext.new_submodel
+                deployment_m = Syskit::Deployment.new_submodel do
+                    task "task1", task1_m.orogen_model
+                    task "task2", task2_m.orogen_model
+                end
+
+                assert_equal [task1_m.orogen_model, task2_m.orogen_model],
+                             deployment_m.each_orogen_deployed_task_context_model
+                                         .sort_by(&:name).map(&:task_model)
+                assert_equal [["task1", task1_m], ["task2", task2_m]],
+                             deployment_m.each_deployed_task_model
+                                         .sort_by(&:first)
+            end
+
+            it "lets the caller define the deployment model, " \
+               "using orogen model names for the tasks" do
+                project = Models.create_orogen_project
+                project.name "m"
+                task1_orogen_m = project.task_context "M"
+                task1_m = Syskit::TaskContext.new_submodel(orogen_model: task1_orogen_m)
+                task2_orogen_m = project.task_context "N"
+                task2_m = Syskit::TaskContext.new_submodel(orogen_model: task2_orogen_m)
+                deployment_m = Syskit::Deployment.new_submodel do
+                    task "task1", "m::M"
+                    task "task2", "m::N"
+                end
+
+                assert_equal [task1_m.orogen_model, task2_m.orogen_model],
+                             deployment_m.each_orogen_deployed_task_context_model
+                                         .sort_by(&:name).map(&:task_model)
+                assert_equal [["task1", task1_m], ["task2", task2_m]],
+                             deployment_m.each_deployed_task_model
+                                         .sort_by(&:first)
+            end
+
+            it "lets the caller define the deployment model, " \
+               "passing the deployment orogen model" do
+                project = Models.create_orogen_project
+                project.name "m"
+                task1_orogen_m = project.task_context "M"
+                task1_m = Syskit::TaskContext.new_submodel(orogen_model: task1_orogen_m)
+                task2_orogen_m = project.task_context "N"
+                task2_m = Syskit::TaskContext.new_submodel(orogen_model: task2_orogen_m)
+                deployment_orogen_m = project.deployment "d" do
+                    task "task1", "m::M"
+                    task "task2", "m::N"
+                end
+                deployment_m =
+                    Syskit::Deployment.new_submodel(orogen_model: deployment_orogen_m)
 
-        def test_define_from_orogen_does_not_register_anonymous_deployment
-            orogen_deployment = Models.create_orogen_deployment_model
-            orogen_task = Models.create_orogen_task_context_model
-            orogen_deployment.task "task", orogen_task
-            flexmock(::Deployments).should_receive(:const_set).never
-            Syskit::Deployment.define_from_orogen orogen_deployment, register: true
+                assert_equal [task1_m.orogen_model, task2_m.orogen_model],
+                             deployment_m.each_orogen_deployed_task_context_model
+                                         .sort_by(&:name).map(&:task_model)
+                assert_equal [["task1", task1_m], ["task2", task2_m]],
+                             deployment_m.each_deployed_task_model
+                                         .sort_by(&:first)
+            end
         end
 
-        def test_define_from_orogen_can_register_named_deployments
-            orogen_deployment = Models.create_orogen_deployment_model("motor_controller")
-            orogen_task = Models.create_orogen_task_context_model
-            orogen_deployment.task "task", orogen_task
-            model = Syskit::Deployment.define_from_orogen orogen_deployment, register: true
-            assert_same model, Deployments::MotorController
+        describe "#define_from_orogen" do
+            before do
+                @orogen_deployment = Models.create_orogen_deployment_model
+                orogen_task = Models.create_orogen_task_context_model
+                @orogen_deployment.task "task", orogen_task
+                @syskit_task_m = Syskit::TaskContext.define_from_orogen(orogen_task)
+            end
+
+            it "creates a subclass of Deployment that refers to the given orogen model" do
+                model = Syskit::Deployment.define_from_orogen(
+                    @orogen_deployment, register: false
+                )
+                assert_operator model, :<=, Syskit::Deployment
+                assert_same model.orogen_model, @orogen_deployment
+            end
+
+            it "does not register anonymous deployments" do
+                Syskit::Deployment.define_from_orogen(
+                    @orogen_deployment, register: false
+                )
+                flexmock(::Deployments).should_receive(:const_set).never
+                Syskit::Deployment.define_from_orogen @orogen_deployment, register: true
+            end
+
+            it "may register named deployments" do
+                orogen_deployment = Models.create_orogen_deployment_model("motor_controller")
+                orogen_task = Models.create_orogen_task_context_model
+                orogen_deployment.task "task", orogen_task
+                Syskit::TaskContext.define_from_orogen(orogen_task)
+                model = Syskit::Deployment.define_from_orogen(
+                    orogen_deployment, register: true
+                )
+                assert_same model, Deployments::MotorController
+            end
+
+            it "resolves the orogen-to-syskit mapping for the orogen model tasks" do
+                model = Syskit::Deployment.define_from_orogen(
+                    @orogen_deployment, register: false
+                )
+                assert_equal ["task", @syskit_task_m],
+                             model.each_deployed_task_model.first
+            end
         end
 
         def test_clear_submodels_removes_registered_submodels
@@ -74,20 +157,38 @@ def test_clear_submodels_removes_registered_submodels
     end
 end
 
-describe Syskit::Models::Deployment do
-    describe "#new_submodel" do
-        it "registers the corresponding orogen to syskit model mapping" do
-            submodel = Syskit::Deployment.new_submodel
-            subsubmodel = submodel.new_submodel
-            assert_equal subsubmodel, Syskit::Deployment.model_for(subsubmodel.orogen_model)
-        end
-    end
-    describe "#clear_submodels" do
-        it "removes the corresponding orogen to syskit model mapping" do
-            submodel = Syskit::Deployment.new_submodel
-            subsubmodel = submodel.new_submodel
-            submodel.clear_submodels
-            assert !Syskit::Deployment.has_model_for?(subsubmodel.orogen_model)
+module Syskit
+    module Models
+        describe Deployment do
+            describe "#new_submodel" do
+                it "registers the corresponding orogen to syskit model mapping" do
+                    submodel = Syskit::Deployment.new_submodel
+                    subsubmodel = submodel.new_submodel
+                    assert_equal subsubmodel,
+                                 Syskit::Deployment.model_for(subsubmodel.orogen_model)
+                end
+            end
+
+            describe "#clear_submodels" do
+                it "removes the corresponding orogen to syskit model mapping" do
+                    submodel = Syskit::Deployment.new_submodel
+                    subsubmodel = submodel.new_submodel
+                    submodel.clear_submodels
+                    assert !Syskit::Deployment.has_model_for?(subsubmodel.orogen_model)
+                end
+            end
+
+            describe "#each_deployed_task_model" do
+                it "enumerates the task names and their syskit model" do
+                    task_m = Syskit::TaskContext.new_submodel
+                    deployment_m = Syskit::Deployment.new_submodel do
+                        task "name", task_m
+                    end
+
+                    assert_equal [["name", task_m]],
+                                 deployment_m.each_deployed_task_model.to_a
+                end
+            end
         end
     end
 end
diff --git a/test/models/test_deployment_group.rb b/test/models/test_deployment_group.rb
index bb4e97615..6c78afbe1 100644
--- a/test/models/test_deployment_group.rb
+++ b/test/models/test_deployment_group.rb
@@ -6,17 +6,14 @@ module Syskit
     module Models
         describe DeploymentGroup do
             attr_reader :conf, :loader, :group
+
             before do
                 app = Roby::Application.new
                 @conf = RobyApp::Configuration.new(app)
                 @loader = OroGen::Loaders::Base.new
                 @group = DeploymentGroup.new
-                conf.register_process_server(
-                    "ruby_tasks", Orocos::RubyTasks::ProcessManager.new(loader), ""
-                )
-                conf.register_process_server(
-                    "test-mng", Orocos::RubyTasks::ProcessManager.new(loader), ""
-                )
+                register_ruby_tasks_manager("ruby_tasks", conf: conf, loader: @loader)
+                register_ruby_tasks_manager("test-mng", conf: conf, loader: @loader)
             end
 
             describe "#empty?" do
@@ -40,7 +37,7 @@ module Models
                 before do
                     @task_m = task_m = Syskit::TaskContext.new_submodel
                     @deployment_m = Syskit::Deployment.new_submodel do
-                        task "task", task_m.orogen_model
+                        task "task", task_m
                     end
                     @other_group = DeploymentGroup.new
                     @other_deployment = other_group.use_deployment(
@@ -89,8 +86,8 @@ module Models
                                  group.find_all_deployments_from_process_manager("test-mng")
                 end
 
-                it "raises if the receiver and argument have clashing task names "\
-                    "and leaves the receiver as-is" do
+                it "raises if the receiver and argument have clashing task names " \
+                   "and leaves the receiver as-is" do
                     clash = other_group.use_deployment(Hash[deployment_m => "self_"],
                                                        on: "test-mng", process_managers: conf, loader: loader).first
                     flexmock(self_deployment).should_receive(:==)
@@ -120,10 +117,11 @@ module Models
 
             describe "#task_context_deployment_candidates" do
                 attr_reader :task_m, :deployment_m
+
                 before do
                     @task_m = task_m = Syskit::TaskContext.new_submodel
                     @deployment_m = Syskit::Deployment.new_submodel do
-                        task "task", task_m.orogen_model
+                        task "task", task_m
                     end
                 end
 
@@ -167,10 +165,11 @@ module Models
 
             describe "#find_all_suitable_deployments_for" do
                 attr_reader :task_m, :deployment_m
+
                 before do
                     @task_m = task_m = Syskit::TaskContext.new_submodel
                     @deployment_m = Syskit::Deployment.new_submodel do
-                        task "task", task_m.orogen_model
+                        task "task", task_m
                     end
                 end
 
@@ -223,12 +222,12 @@ module Models
                 before do
                     @task_m = task_m = Syskit::TaskContext.new_submodel
                     @deployment_m = Syskit::Deployment.new_submodel do
-                        task "task", task_m.orogen_model
+                        task "task", task_m
                     end
                 end
 
-                it "raises TaskNameAlreadyInUse if a task of this deployment's "\
-                    "uses an existing name from another deployment" do
+                it "raises TaskNameAlreadyInUse if a task of this deployment's " \
+                   "uses an existing name from another deployment" do
                     group.register_configured_deployment(
                         ConfiguredDeployment.new("test", deployment_m,
                                                  Hash["task" => "task"])
@@ -278,6 +277,7 @@ module Models
 
             describe "#use_ruby_tasks" do
                 attr_reader :deployment_m, :task_m
+
                 before do
                     @deployment_m = Syskit::Deployment.new_submodel
                     @task_m = Syskit::RubyTaskContext.new_submodel
@@ -426,8 +426,8 @@ module Models
                         )
                     end
                     assert_equal(
-                        "#{[/wrong_name/]} is not a valid deployed task name or "\
-                        "pattern. The valid deployed task names are "\
+                        "#{[/wrong_name/]} is not a valid deployed task name or " \
+                        "pattern. The valid deployed task names are " \
                         "[\"test_task_name\"].", e.message
                     )
                 end
@@ -435,9 +435,9 @@ module Models
 
             describe "#use_unmanaged_task" do
                 attr_reader :task_m
+
                 before do
-                    conf.register_process_server("unmanaged_tasks",
-                                                 RobyApp::UnmanagedTasksManager.new, "")
+                    register_unmanaged_manager("unmanaged_tasks", conf: conf)
                     @task_m = Syskit::TaskContext.new_submodel(
                         name: "Test", orogen_model_name: "test::Task"
                     )
@@ -508,8 +508,8 @@ module Models
                         @group.use_unmanaged_task(Hash[cmp_m => "name"],
                                                   process_managers: @conf)
                     end
-                    assert_equal "expected a mapping from a task context model to "\
-                        "a name, but got #{cmp_m}", e.message
+                    assert_equal "expected a mapping from a task context model to " \
+                                 "a name, but got #{cmp_m}", e.message
                 end
                 it "raises if the model is a RubyTaskContext" do
                     task_m = Syskit::RubyTaskContext.new_submodel
@@ -517,8 +517,8 @@ module Models
                         @group.use_unmanaged_task(Hash[task_m => "name"],
                                                   process_managers: @conf)
                     end
-                    assert_equal "expected a mapping from a task context model to "\
-                        "a name, but got #{task_m}", e.message
+                    assert_equal "expected a mapping from a task context model to " \
+                                 "a name, but got #{task_m}", e.message
                 end
                 it "sets the configured deployment as read_only" do
                     configured_deployment = group.use_unmanaged_task(
@@ -577,8 +577,8 @@ module Models
                         )
                     end
                     assert_equal(
-                        "#{[/invalid_test_name/]} is not a valid deployed task name or "\
-                        "pattern. The valid deployed task names are "\
+                        "#{[/invalid_test_name/]} is not a valid deployed task name or " \
+                        "pattern. The valid deployed task names are " \
                         "[\"test_task\"].", e.message
                     )
                 end
@@ -586,6 +586,7 @@ module Models
 
             describe "#use_deployment" do
                 attr_reader :task_m, :deployment_m
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel(
                         orogen_model_name: "test::Task"
@@ -599,16 +600,8 @@ module Models
                     flexmock(loader).should_receive(:deployment_model_from_name)
                                     .with(OroGen::Spec::Project.default_deployment_name("test::Task"))
                                     .and_return(deployment_m.orogen_model)
-                    conf.register_process_server(
-                        "localhost", Orocos::RubyTasks::ProcessManager.new(
-                                         Roby.app.default_loader
-                                     ), ""
-                    )
-                    conf.register_process_server(
-                        "test", Orocos::RubyTasks::ProcessManager.new(
-                                    Roby.app.default_loader
-                                ), ""
-                    )
+                    register_ruby_tasks_manager("localhost", conf: conf)
+                    register_ruby_tasks_manager("test", conf: conf)
                 end
                 it "resolves the TaskModelClass => name syntax" do
                     expected = lambda do |configured_deployment|
@@ -635,7 +628,7 @@ module Models
                         assert_equal "test-mng", configured_deployment.process_server_name
                         assert_equal deployment_m, configured_deployment.model
                         assert_equal "test_deployment", configured_deployment.process_name
-                        expected_name_mapping = Hash[]
+                        expected_name_mapping = {}
                         assert_equal expected_name_mapping,
                                      configured_deployment.name_mappings
                         true
@@ -652,7 +645,7 @@ module Models
                         assert_equal "test-mng", configured_deployment.process_server_name
                         assert_equal deployment_m, configured_deployment.model
                         assert_equal "test_deployment", configured_deployment.process_name
-                        expected_name_mapping = Hash[]
+                        expected_name_mapping = {}
                         assert_equal expected_name_mapping,
                                      configured_deployment.name_mappings
                         true
@@ -666,8 +659,8 @@ module Models
                     assert expected[actual]
                 end
 
-                it "overrides the process server with the stub process server "\
-                    "if simulation? is true" do
+                it "overrides the process server with the stub process server " \
+                   "if simulation? is true" do
                     expected = lambda do |configured_deployment|
                         assert_equal "test-mng-sim", configured_deployment
                             .process_server_name
@@ -682,8 +675,8 @@ module Models
                     assert expected[actual]
                 end
 
-                it "sets an identity name mapping for deployments that "\
-                    "are not prefixed" do
+                it "sets an identity name mapping for deployments that " \
+                   "are not prefixed" do
                     deployment_m.orogen_model.task "task", task_m.orogen_model
                     configured_deployment = group.use_deployment(deployment_m,
                                                                  on: "test-mng", process_managers: conf, loader: loader).first
@@ -696,8 +689,8 @@ module Models
                     e = assert_raises(ArgumentError) do
                         @group.use_deployment cmp_m => "task"
                     end
-                    assert_equal "only deployment and task context models can be "\
-                        "deployed by use_deployment, got #{cmp_m}", e.message
+                    assert_equal "only deployment and task context models can be " \
+                                 "deployed by use_deployment, got #{cmp_m}", e.message
                 end
 
                 it "raises if the given model is a RubyTaskContext" do
@@ -705,8 +698,8 @@ module Models
                     e = assert_raises(ArgumentError) do
                         @group.use_deployment task_m => "task"
                     end
-                    assert_equal "only deployment and task context models can be "\
-                        "deployed by use_deployment, got #{task_m}", e.message
+                    assert_equal "only deployment and task context models can be " \
+                                 "deployed by use_deployment, got #{task_m}", e.message
                 end
 
                 it "raises if the task has no default deployment" do
@@ -715,7 +708,7 @@ module Models
                     end
                 end
 
-                it "does not raise if the same deployment is configured "\
+                it "does not raise if the same deployment is configured " \
                    "with a different mapping" do
                     deployment1_m = stub_deployment "deployment1"
                     @group.use_deployment deployment1_m
@@ -745,18 +738,18 @@ module Models
                         @group.use_deployment "does_not_exist",
                                               on: "test", process_managers: @conf
                     end
-                    assert_equal "does_not_exist is neither a task model "\
-                        "nor a deployment name", e.message
+                    assert_equal "does_not_exist is neither a task model " \
+                                 "nor a deployment name", e.message
                 end
-                it "raises TaskNameRequired if passing a task model "\
-                    "without giving an explicit name" do
+                it "raises TaskNameRequired if passing a task model " \
+                   "without giving an explicit name" do
                     e = assert_raises(Syskit::TaskNameRequired) do
                         @group.use_deployment(@task_m,
                                               on: "test", process_managers: @conf)
                     end
-                    assert_equal "you must provide a task name when starting "\
-                        "a component by type, as e.g. use_deployment "\
-                        "OroGen.xsens_imu.Task => 'imu'",
+                    assert_equal "you must provide a task name when starting " \
+                                 "a component by type, as e.g. use_deployment " \
+                                 "OroGen.xsens_imu.Task => 'imu'",
                                  e.message
                 end
                 it "sets the configured deployment as read_only" do
@@ -820,8 +813,8 @@ module Models
                         )
                     end
                     assert_equal(
-                        "#{[/invalid_task_name/]} is not a valid deployed task name or "\
-                        "pattern. The valid deployed task names are "\
+                        "#{[/invalid_task_name/]} is not a valid deployed task name or " \
+                        "pattern. The valid deployed task names are " \
                         "[\"test_task_name\"].", e.message
                     )
                 end
@@ -829,6 +822,7 @@ module Models
 
             describe "#use_deployments_from" do
                 attr_reader :task_m, :deployment_m
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel(
                         orogen_model_name: "test::Task"
@@ -879,7 +873,7 @@ module Models
             def stub_deployment(name)
                 task_m = @task_m
                 Syskit::Deployment.new_submodel(name: name) do
-                    task("task", task_m.orogen_model)
+                    task("task", task_m)
                 end
             end
         end
diff --git a/test/models/test_dynamic_port_binding.rb b/test/models/test_dynamic_port_binding.rb
index b971025cf..5bd76bcc1 100644
--- a/test/models/test_dynamic_port_binding.rb
+++ b/test/models/test_dynamic_port_binding.rb
@@ -26,18 +26,18 @@ module Models
                     e = assert_raises(ArgumentError) do
                         Models::DynamicPortBinding.create_from_matcher(@matcher)
                     end
-                    assert_equal "cannot create a dynamic data source from a matcher "\
-                                "whose type cannot be inferred", e.message
+                    assert_equal "cannot create a dynamic data source from a matcher " \
+                                 "whose type cannot be inferred", e.message
                 end
 
-                it "raises if the matcher's direction cannot be inferred "\
+                it "raises if the matcher's direction cannot be inferred " \
                    "and 'direction' is :auto" do
                     flexmock(@matcher).should_receive(try_resolve_direction: nil)
                     e = assert_raises(ArgumentError) do
                         Models::DynamicPortBinding.create_from_matcher(@matcher)
                     end
-                    assert_equal "cannot create a dynamic data source from a matcher "\
-                                "whose direction cannot be inferred", e.message
+                    assert_equal "cannot create a dynamic data source from a matcher " \
+                                 "whose direction cannot be inferred", e.message
                 end
 
                 it "sets the direction if the matcher's resolves it to :output" do
@@ -75,7 +75,7 @@ module Models
                             @matcher, direction: :something
                         )
                     end
-                    assert_equal "'something' is not a valid value for the 'direction' "\
+                    assert_equal "'something' is not a valid value for the 'direction' " \
                                  "option. Should be one of :auto, :input or :output",
                                  e.message
                 end
@@ -248,8 +248,8 @@ module Models
                         assert_equal 20, @resolver.field.__resolve(s)
                     end
 
-                    it "raises NoMethodError if trying to access a field that does not "\
-                    "exist" do
+                    it "raises NoMethodError if trying to access a field that does not " \
+                       "exist" do
                         e = assert_raises(NoMethodError) do
                             @resolver.does_not_exist
                         end
@@ -433,13 +433,13 @@ module Models
                                      e.message
                     end
 
-                    it "raises if trying to access a subfield after "\
+                    it "raises if trying to access a subfield after " \
                        "a transform block is set" do
                         resolver = @resolver.transform(&:field)
                         e = assert_raises(ArgumentError) do
                             resolver.field
                         end
-                        assert_equal "cannot refine a resolver on which "\
+                        assert_equal "cannot refine a resolver on which " \
                                      ".transform has been called", e.message
                     end
                 end
@@ -455,6 +455,29 @@ module Models
                 end
             end
 
+            describe "injecting another instantiation class" do
+                before do
+                    @port = DynamicPortBinding.new(flexmock, flexmock,
+                                                   output: true, port_resolver: nil)
+                end
+
+                it "instantiates using BoundOutputReader when klass is not passed" do
+                    b = DynamicPortBinding::BoundOutputReader.new("bla", flexmock, @port)
+                    result = b.instanciate(flexmock)
+                    assert_kind_of(Syskit::DynamicPortBinding::BoundOutputReader, result)
+                end
+
+                it "instantiates using the injected class" do
+                    klass = Class.new Syskit::DynamicPortBinding::BoundOutputReader
+
+                    b = DynamicPortBinding::BoundOutputReader.new(
+                        "bla", flexmock, @port, klass: klass
+                    )
+                    result = b.instanciate(flexmock)
+                    assert_kind_of(klass, result)
+                end
+            end
+
             def make_resolver(type)
                 app.default_loader.register_type_model(type)
 
diff --git a/test/models/test_faceted_access.rb b/test/models/test_faceted_access.rb
index f6863e990..d36cd81f8 100644
--- a/test/models/test_faceted_access.rb
+++ b/test/models/test_faceted_access.rb
@@ -4,6 +4,7 @@
 
 describe Syskit::Models::FacetedAccess do
     attr_reader :srv_m, :task_m, :sub_task_m, :facet, :stub_t, :other_stub_t
+
     before do
         @stub_t = stub_t = stub_type "/test_t"
         @other_stub_t = other_stub_t = stub_type "/other_test_t"
diff --git a/test/models/test_orogen_base.rb b/test/models/test_orogen_base.rb
new file mode 100644
index 000000000..30c1bd689
--- /dev/null
+++ b/test/models/test_orogen_base.rb
@@ -0,0 +1,135 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+
+module Syskit
+    module Models
+        describe OrogenBase do
+            before do
+                model = Module.new do
+                    include MetaRuby::ModelAsClass
+                    include OrogenBase
+
+                    attr_accessor :orogen_model
+                end
+                @root_m = Class.new do
+                    extend model
+                end
+            end
+
+            describe "#find_all_models_by_orogen" do
+                it "returns an empty array if there are no submodels" do
+                    assert_equal [], @root_m.find_all_models_by_orogen(Object.new)
+                end
+
+                it "returns the list of submodels that " \
+                   "have the provided orogen model" do
+                    orogen_model = Object.new
+                    a = @root_m.new_submodel
+                    b = @root_m.new_submodel
+                    @root_m.new_submodel
+                    a.orogen_model = b.orogen_model = orogen_model
+                    assert_equal [a, b], @root_m.find_all_models_by_orogen(orogen_model)
+                end
+            end
+
+            describe "#find_model_by_orogen" do
+                it "returns nil if there are no matches" do
+                    assert_nil @root_m.find_model_by_orogen(Object.new)
+                end
+
+                it "returns the first submodel that matches the given orogen model" do
+                    orogen_model = Object.new
+                    a = @root_m.new_submodel
+                    b = @root_m.new_submodel
+                    @root_m.new_submodel
+                    a.orogen_model = b.orogen_model = orogen_model
+                    assert_equal a, @root_m.find_model_by_orogen(orogen_model)
+                end
+            end
+
+            describe "#model_for" do
+                before do
+                    @strict_model_for = Syskit.conf.strict_model_for?
+                end
+
+                after do
+                    Syskit.conf.strict_model_for = @strict_model_for
+                end
+
+                describe "without strict_model_for" do
+                    before do
+                        Syskit.conf.strict_model_for = false
+                    end
+
+                    it "raises if there are no matches" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        e = assert_raises(ArgumentError) do
+                            @root_m.model_for(orogen_model)
+                        end
+                        assert_equal "there is no Syskit model for orogen::Model",
+                                     e.message
+                    end
+
+                    it "returns the submodel that matches the given orogen model " \
+                       "if only one matches" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        @root_m.new_submodel
+                        @root_m.new_submodel
+                        c = @root_m.new_submodel
+                        c.orogen_model = orogen_model
+                        assert_equal c, @root_m.model_for(orogen_model)
+                    end
+
+                    it "returns the first submodel that matches the given orogen model " \
+                       "if there is more than one match" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        a = @root_m.new_submodel
+                        @root_m.new_submodel
+                        c = @root_m.new_submodel
+                        a.orogen_model = c.orogen_model = orogen_model
+                        assert_equal a, @root_m.model_for(orogen_model)
+                    end
+                end
+
+                describe "with strict_model_for" do
+                    before do
+                        Syskit.conf.strict_model_for = true
+                    end
+
+                    it "raises if there are no matches" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        e = assert_raises(ArgumentError) do
+                            @root_m.model_for(orogen_model)
+                        end
+                        assert_equal "there is no Syskit model for orogen::Model",
+                                     e.message
+                    end
+
+                    it "returns the submodel that matches the given orogen model " \
+                       "if only one matches" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        @root_m.new_submodel
+                        @root_m.new_submodel
+                        c = @root_m.new_submodel
+                        c.orogen_model = orogen_model
+                        assert_equal c, @root_m.model_for(orogen_model)
+                    end
+
+                    it "raises if there is more than one match" do
+                        orogen_model = flexmock(name: "orogen::Model")
+                        a = @root_m.new_submodel
+                        @root_m.new_submodel
+                        c = @root_m.new_submodel
+                        a.orogen_model = c.orogen_model = orogen_model
+                        e = assert_raises(ArgumentError) do
+                            @root_m.model_for(orogen_model)
+                        end
+                        assert_equal "more than one Syskit model matches orogen::Model",
+                                     e.message
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/test/models/test_placeholder.rb b/test/models/test_placeholder.rb
index 76aaab080..aefaeb9ee 100644
--- a/test/models/test_placeholder.rb
+++ b/test/models/test_placeholder.rb
@@ -76,6 +76,7 @@ module Models
 
             describe "create_for" do
                 attr_reader :srv0_m, :srv1_m, :service_models, :component_model, :task_m
+
                 before do
                     @service_models = flexmock
                     @component_model = flexmock
@@ -94,8 +95,8 @@ module Models
                     assert_same placeholder_m, placeholder_m.concrete_model
                     assert placeholder_m.placeholder?
                 end
-                it "registers the created placeholder model as a submodel "\
-                    "of the component model" do
+                it "registers the created placeholder model as a submodel " \
+                   "of the component model" do
                     placeholder_m = Placeholder.create_for(service_models,
                                                            component_model: component_model)
                     assert task_m.has_submodel?(placeholder_m)
@@ -130,6 +131,7 @@ module Models
 
             describe "for" do
                 attr_reader :srv0_m, :srv1_m, :service_models, :task_m
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel(name: "T")
                     @srv0_m = Syskit::DataService.new_submodel(name: "A")
@@ -138,6 +140,7 @@ module Models
                 end
                 describe "placeholder model creation" do
                     attr_reader :placeholder_m, :placeholder_name
+
                     before do
                         @placeholder_m = task_m.new_submodel
                         @placeholder_name = flexmock
@@ -183,6 +186,7 @@ module Models
 
             describe "specialized placeholder types" do
                 attr_reader :srv0_m, :srv1_m, :task_m
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel(name: "T")
                     @srv0_m = Syskit::DataService.new_submodel(name: "A")
@@ -291,6 +295,7 @@ def specialized_placeholder?
 
             describe "#merge" do
                 attr_reader :srv0_m, :srv1_m, :task_m
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel(name: "T")
                     @srv0_m = Syskit::DataService.new_submodel(name: "A")
@@ -369,6 +374,7 @@ def specialized_placeholder?
         describe "#can_merge?" do
             describe "handling of dynamic services" do
                 attr_reader :srv0, :srv1, :task_m
+
                 before do
                     base_srv = Syskit::DataService.new_submodel
                     @srv0 = base_srv.new_submodel
diff --git a/test/models/test_port.rb b/test/models/test_port.rb
index 0141958c2..7aeed89df 100644
--- a/test/models/test_port.rb
+++ b/test/models/test_port.rb
@@ -5,6 +5,7 @@
 describe Syskit::Models::Port do
     describe "#to_component_port" do
         attr_reader :component_model
+
         before do
             @component_model = Syskit::TaskContext.new_submodel { output_port "port", "/int" }
         end
@@ -22,6 +23,7 @@
 
     describe "#connect_to" do
         attr_reader :out_task_m, :in_task_m
+
         before do
             @out_task_m = Syskit::TaskContext.new_submodel do
                 input_port "in", "/double"
@@ -74,6 +76,7 @@
 
     describe "#can_connect_to?" do
         attr_reader :srv_out, :srv_in
+
         before do
             @srv_out = Syskit::DataService.new_submodel do
                 output_port "int", "int"
diff --git a/test/models/test_ruby_task_context.rb b/test/models/test_ruby_task_context.rb
index ca10afd7e..ee44896ee 100644
--- a/test/models/test_ruby_task_context.rb
+++ b/test/models/test_ruby_task_context.rb
@@ -10,15 +10,11 @@ module Models
                     @task_m = Syskit::RubyTaskContext.new_submodel(
                         orogen_model_name: "test::Task"
                     )
-                    Syskit.conf.register_process_server(
-                        "ruby_tasks",
-                        Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader)
-                    )
+                    register_ruby_tasks_manager("ruby_tasks")
                 end
 
                 after do
                     teardown_registered_plans
-                    Syskit.conf.remove_process_server("ruby_tasks")
                 end
 
                 def self.common_behavior(c)
diff --git a/test/models/test_specialization_manager.rb b/test/models/test_specialization_manager.rb
index fffda89b1..ad0e0dc9a 100644
--- a/test/models/test_specialization_manager.rb
+++ b/test/models/test_specialization_manager.rb
@@ -295,6 +295,7 @@
 
     describe "#find_matching_specializations" do
         attr_reader :spec0, :spec1, :spec2
+
         before do
             @spec0 = mng.specialize "test" => task_m
             @spec1 = mng.specialize "test" => cmp_m
diff --git a/test/models/test_task_context.rb b/test/models/test_task_context.rb
index 621169ada..987693b8e 100644
--- a/test/models/test_task_context.rb
+++ b/test/models/test_task_context.rb
@@ -267,6 +267,15 @@ module Syskit # :nodoc:
                 assert_same model, TaskContext.define_from_orogen(orogen)
             end
 
+            it "passes arbitrary keyword options to new_submodel" do
+                model = TaskContext.new_submodel
+                orogen = Models.create_orogen_task_context_model
+                flexmock(OroGen::RTT::TaskContext)
+                    .should_receive(:new_submodel)
+                    .with(orogen_model: orogen, some: "option").once.and_return(model)
+                assert_same model, TaskContext.define_from_orogen(orogen, some: "option")
+            end
+
             it "sets the model name to the OroGen call chain" do
                 project = OroGen::Spec::Project.new(app.default_loader)
                 project.name "test"
@@ -317,6 +326,24 @@ module Syskit # :nodoc:
                 assert_same parent_model, model.superclass
             end
 
+            it "uses an explicit supermodel if one is given" do
+                orogen_parent = Models.create_orogen_task_context_model
+                orogen = Models.create_orogen_task_context_model(subclasses: orogen_parent)
+                parent_model = TaskContext.new_submodel
+                flexmock(TaskContext)
+                    .should_receive(:define_from_orogen)
+                    .with(orogen, any)
+                    .pass_thru
+                flexmock(TaskContext)
+                    .should_receive(:define_from_orogen)
+                    .with(orogen_parent, register: false)
+                    .never
+                model = TaskContext.define_from_orogen(
+                    orogen, supermodel: parent_model, register: false
+                )
+                assert_same parent_model, model.superclass
+            end
+
             it "reuses the model of the superclass if it has already been created" do
                 orogen_parent = Models.create_orogen_task_context_model
                 parent_model = TaskContext.define_from_orogen(orogen_parent)
@@ -354,6 +381,7 @@ module Syskit # :nodoc:
 
         describe "#instanciate" do
             attr_reader :task_model
+
             before { @task_model = TaskContext.new_submodel }
             it "returns a task using the receiver as model" do
                 task = task_model.instanciate(plan)
@@ -373,6 +401,7 @@ module Syskit # :nodoc:
 
         describe "#has_dynamic_input_port?" do
             attr_reader :task_m, :opaque_t, :intermediate_t
+
             before do
                 typekit = Models.create_orogen_typekit_model("test")
                 opaque_t = typekit.create_interface_opaque "/opaque", 0
@@ -395,6 +424,7 @@ module Syskit # :nodoc:
 
         describe "#has_dynamic_output_port?" do
             attr_reader :task_m, :opaque_t, :intermediate_t
+
             before do
                 typekit = Models.create_orogen_typekit_model("test")
                 opaque_t = typekit.create_interface_opaque "/opaque", 0
@@ -458,7 +488,7 @@ module Syskit # :nodoc:
                 default_name = OroGen::Spec::Project.default_deployment_name("test::Task")
                 @default_deployment_name = default_name
                 @deployment_m = Deployment.new_submodel(name: "test_deployment") do
-                    task default_name, task_m.orogen_model
+                    task default_name, task_m
                 end
                 flexmock(@loader).should_receive(:deployment_model_from_name)
                                  .with(default_name)
@@ -526,13 +556,7 @@ def self.common_behavior(c)
                     orogen_model_name: "test::Task"
                 )
                 @conf = RobyApp::Configuration.new(Roby.app)
-                @conf.register_process_server(
-                    "unmanaged_tasks", RobyApp::UnmanagedTasksManager.new
-                )
-            end
-
-            after do
-                @conf.remove_process_server("unmanaged_tasks")
+                register_unmanaged_manager("unmanaged_tasks", conf: @conf)
             end
 
             def self.common_behavior(c)
@@ -608,8 +632,8 @@ def self.common_behavior(c)
                 refute task_m.use_update_properties?
             end
 
-            it "ignores an update_properties methods defined by a module injected in "\
-            "the hierarchy" do
+            it "ignores an update_properties methods defined by a module injected in " \
+               "the hierarchy" do
                 task_m = TaskContext.new_submodel
                 task_m.class_eval { def configure; end }
                 mod = Module.new { def update_properties; end }
@@ -623,8 +647,8 @@ def self.common_behavior(c)
                 assert task_m.use_update_properties?
             end
 
-            it "returns true if the submodel defines both #configure and "\
-            "#update_properties" do
+            it "returns true if the submodel defines both #configure and " \
+               "#update_properties" do
                 task_m = TaskContext.new_submodel
                 task_m.class_eval do
                     def update_properties; end
diff --git a/test/network_generation/test_async.rb b/test/network_generation/test_async.rb
index 3213a0a56..833217fbd 100644
--- a/test/network_generation/test_async.rb
+++ b/test/network_generation/test_async.rb
@@ -81,7 +81,7 @@ def assert_future_fulfilled(future)
                     subject.apply
                 end
 
-                it "carries forward options passed to prepare "\
+                it "carries forward options passed to prepare " \
                    "that are relevant to the apply step" do
                     requirements = Set[flexmock]
                     resolution = subject.prepare(
diff --git a/test/network_generation/test_dataflow_computation.rb b/test/network_generation/test_dataflow_computation.rb
new file mode 100644
index 000000000..1c28c9a1a
--- /dev/null
+++ b/test/network_generation/test_dataflow_computation.rb
@@ -0,0 +1,46 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+
+module Syskit
+    module NetworkGeneration
+        describe DataFlowComputation do
+            describe "#add_port_info" do
+                before do
+                    @computation = DataFlowComputation.new
+                end
+
+                it "sets the port info to the new information object if it did not have " \
+                   "any" do
+                    @computation.add_port_info(@task, "port", info = flexmock)
+                    assert_equal info, @computation.port_info(@task, "port")
+                end
+
+                it "calls #merge on the existing port info when it gets updated" do
+                    @computation.add_port_info(@task, "port", info = flexmock)
+                    info.should_receive(:merge).with(new_info = flexmock).once
+                    @computation.add_port_info(@task, "port", new_info)
+                end
+
+                it "sets changed? if a port that had no previous info gets some" do
+                    @computation.add_port_info(@task, "port", flexmock)
+                    assert @computation.changed?
+                end
+
+                it "sets changed? if a port with existing information is updated" do
+                    @computation.add_port_info(@task, "port", flexmock(merge: true))
+                    @computation.reset_changed
+                    refute @computation.changed?
+                    @computation.add_port_info(@task, "port", flexmock)
+                    assert @computation.changed?
+                end
+
+                it "keeps changed? set even if the port is not updated" do
+                    @computation.add_port_info(@task, "port", flexmock(merge: false))
+                    @computation.add_port_info(@task, "port", flexmock)
+                    assert @computation.changed?
+                end
+            end
+        end
+    end
+end
diff --git a/test/network_generation/test_dataflow_dynamics.rb b/test/network_generation/test_dataflow_dynamics.rb
index 7524743d3..5dfd15e8e 100644
--- a/test/network_generation/test_dataflow_dynamics.rb
+++ b/test/network_generation/test_dataflow_dynamics.rb
@@ -6,6 +6,7 @@ module Syskit
     module NetworkGeneration
         describe PortDynamics::Trigger do
             attr_reader :trigger, :trigger_name, :period, :sample_count
+
             before do
                 @trigger = PortDynamics::Trigger.new(
                     @trigger_name = "trigger_test",
@@ -59,6 +60,7 @@ module NetworkGeneration
 
         describe DataFlowDynamics do
             attr_reader :dynamics
+
             before do
                 @dynamics = NetworkGeneration::DataFlowDynamics.new(plan)
             end
@@ -103,7 +105,7 @@ module NetworkGeneration
                         @device.attach_to(@bus, client_to_bus: false)
                     end
 
-                    it "uses the attached device's information as initial information "\
+                    it "uses the attached device's information as initial information " \
                        "for the bus port" do
                         @device.period 42
                         @device.burst 21
@@ -136,9 +138,9 @@ module NetworkGeneration
                             output_port "out", "/double"
                         end
                         deployment_m = Syskit::Deployment.new_submodel do
-                            master = task("master", task_m.orogen_model)
+                            master = task("master", task_m)
                                      .periodic(0.1)
-                            slave  = task "slave", task_m.orogen_model
+                            slave  = task "slave", task_m
                             slave.slave_of(master)
                         end
 
@@ -184,11 +186,11 @@ module NetworkGeneration
                             output_port("out", "/double").triggered_on("in")
                         end
                         deployment_m = Syskit::Deployment.new_submodel do
-                            task("source", source_m.orogen_model)
+                            task("source", source_m)
                                 .periodic(0.01)
-                            master = task("master", master_m.orogen_model)
+                            master = task("master", master_m)
                                      .periodic(0.1)
-                            slave  = task "slave", sink_m.orogen_model
+                            slave  = task "slave", sink_m
                             slave.slave_of(master)
                         end
 
@@ -338,7 +340,7 @@ module NetworkGeneration
                         @dynamics.policy_for(@source_t, "does_not_exist",
                                              "in", @sink_t, nil)
                     end
-                    assert_equal "does_not_exist is not an output port "\
+                    assert_equal "does_not_exist is not an output port " \
                                  "of #{@source_t}", e.message
                 end
 
@@ -347,7 +349,7 @@ module NetworkGeneration
                         @dynamics.policy_for(@source_t, "out",
                                              "does_not_exist", @sink_t, nil)
                     end
-                    assert_equal "does_not_exist is not an input port "\
+                    assert_equal "does_not_exist is not an input port " \
                                  "of #{@sink_t}", e.message
                 end
 
@@ -356,7 +358,7 @@ module NetworkGeneration
                     assert_equal :data, policy[:type]
                 end
 
-                it "returns a buffer connection of size 1 if the sink's required "\
+                it "returns a buffer connection of size 1 if the sink's required " \
                    'connection type is "buffer"' do
                     @sink_task_m.in_port.needs_buffered_connection
                     policy = @dynamics.policy_for(@source_t, "out", "in", @sink_t, nil)
@@ -364,7 +366,7 @@ module NetworkGeneration
                     assert_equal 1, policy[:size]
                 end
 
-                it "raises if the required connection type is unknown and "\
+                it "raises if the required connection type is unknown and " \
                    "needs_reliable_connection is not set" do
                     flexmock(@sink_task_m.in_port)
                         .should_receive(:required_connection_type).explicitly
@@ -374,8 +376,8 @@ module NetworkGeneration
                     end
                 end
 
-                it "returns the value from compute_reliable_connection_policy if "\
-                    "the sink port is marked as needs_reliable_connection" do
+                it "returns the value from compute_reliable_connection_policy if " \
+                   "the sink port is marked as needs_reliable_connection" do
                     @sink_task_m.in_port.needs_reliable_connection
                     fallback_policy = flexmock
                     flexmock(@dynamics)
@@ -405,7 +407,7 @@ module NetworkGeneration
                     @source_dynamics.add_trigger("test", 1, 1)
                 end
 
-                it "computes the buffer size given the source dynamics and sink "\
+                it "computes the buffer size given the source dynamics and sink " \
                    "reading latency" do
                     @dynamics.add_port_info(@source_t, "out", @source_dynamics)
                     @dynamics.done_port_info(@source_t, "out")
diff --git a/test/network_generation/test_engine.rb b/test/network_generation/test_engine.rb
index a53c61644..ef9ff6ada 100644
--- a/test/network_generation/test_engine.rb
+++ b/test/network_generation/test_engine.rb
@@ -25,6 +25,7 @@ def mock_raw_port(task, port_name)
             end
 
             attr_reader :stub_t
+
             before do
                 @stub_t = app.default_loader.resolve_type "/int"
                 create_simple_composition_model
@@ -41,6 +42,7 @@ def work_plan
                 attr_reader :original_task
                 attr_reader :planning_task
                 attr_reader :requirements
+
                 before do
                     plan.add_mission_task(@original_task = simple_component_model.as_plan)
                     @planning_task = original_task.planning_task
@@ -92,6 +94,7 @@ def work_plan
                 attr_reader :original_task
                 attr_reader :planning_task
                 attr_reader :requirements
+
                 before do
                     plan.add_mission_task(@original_task = simple_component_model.as_plan)
                     @planning_task = original_task.planning_task
@@ -111,6 +114,7 @@ def work_plan
                 attr_reader :planning_task
                 attr_reader :final_task
                 attr_reader :required_instances
+
                 before do
                     plan.add(@original_task = simple_component_model.as_plan)
                     @planning_task = original_task.planning_task
@@ -195,61 +199,6 @@ def work_plan
                                      .with_arguments(orocos_name: task.orocos_name).to_a
                     assert_equal work_plan.wrap([task]), tasks
                 end
-
-                describe "when child of a composition" do
-                    it "ensures that the existing deployment will be garbage collected" do
-                        task_m = Syskit::TaskContext.new_submodel
-                        cmp_m  = Syskit::Composition.new_submodel
-                        cmp_m.add task_m, as: "test"
-
-                        syskit_stub_configured_deployment(task_m)
-                        cmp = syskit_deploy(cmp_m)
-                        original_task = cmp.test_child
-                        flexmock(task_m).new_instances.should_receive(:can_be_deployed_by?)
-                                        .with(->(proxy) { proxy.__getobj__ == cmp.test_child }).and_return(false)
-                        new_cmp = syskit_deploy(cmp_m)
-
-                        # Should have instanciated a new composition since the children
-                        # differ
-                        refute_equal new_cmp, cmp
-                        # Should have of course created a new task
-                        refute_equal new_cmp.test_child, cmp.test_child
-                        # And the old tasks should be ready to garbage-collect
-                        assert_equal [cmp, original_task].to_set,
-                                     execute { plan.static_garbage_collect.to_set }
-                    end
-                end
-
-                describe "when child of a task" do
-                    it "ensures that the existing deployment will be garbage collected" do
-                        child_m  = Syskit::TaskContext.new_submodel
-                        parent_m = Syskit::TaskContext.new_submodel
-                        parent_m.singleton_class.class_eval do
-                            define_method(:instanciate) do |*args, **kw|
-                                task = super(*args, **kw)
-                                task.depends_on(child_m.instanciate(*args, **kw),
-                                                role: "test")
-                                task
-                            end
-                        end
-
-                        syskit_stub_configured_deployment(child_m)
-                        parent_m = syskit_stub_requirements(parent_m)
-                        parent = syskit_deploy(parent_m)
-                        child  = parent.test_child
-
-                        flexmock(child_m).new_instances.should_receive(:can_be_deployed_by?)
-                                         .with(->(proxy) { proxy.__getobj__ == child }).and_return(false)
-                        new_parent = syskit_deploy(parent_m)
-                        new_child = new_parent.test_child
-
-                        assert_equal new_parent, parent
-                        refute_equal new_child, child
-                        # And the old tasks should be ready to garbage-collect
-                        assert_equal [child].to_set,
-                                     execute { plan.static_garbage_collect.to_set }
-                    end
-                end
             end
 
             describe "#adapt_existing_deployment" do
@@ -296,6 +245,7 @@ def work_plan
 
                 describe "there is a deployment and it cannot be reused" do
                     attr_reader :task, :existing_task
+
                     before do
                         @existing_task = existing_deployment_task.task("test", record: false)
                         @task = deployment_task.task "test"
@@ -343,6 +293,99 @@ def work_plan
                 end
             end
 
+            describe "when scheduling tasks for reconfiguration" do
+                it "ensures that the old task is gargabe collected " \
+                   "when child of a composition" do
+                    task_m = Syskit::TaskContext.new_submodel
+                    cmp_m  = Syskit::Composition.new_submodel
+                    cmp_m.add task_m, as: "test"
+
+                    syskit_stub_configured_deployment(task_m)
+                    cmp = syskit_deploy(cmp_m)
+                    original_task = cmp.test_child
+                    flexmock(task_m).new_instances.should_receive(:can_be_deployed_by?)
+                                    .with(->(proxy) { proxy.__getobj__ == cmp.test_child }).and_return(false)
+                    new_cmp = syskit_deploy(cmp_m)
+
+                    # Should have instanciated a new composition since the children
+                    # differ
+                    refute_equal new_cmp, cmp
+                    # Should have of course created a new task
+                    refute_equal new_cmp.test_child, cmp.test_child
+                    # And the old tasks should be ready to garbage-collect
+                    assert_equal [cmp, original_task].to_set,
+                                 execute { plan.static_garbage_collect.to_set }
+                end
+
+                it "ensures that the old task gets garbage collected when child " \
+                   "of another still useful task" do
+                    child_m  = Syskit::TaskContext.new_submodel
+                    parent_m = Syskit::TaskContext.new_submodel
+                    parent_m.singleton_class.class_eval do
+                        define_method(:instanciate) do |*args, **kw|
+                            task = super(*args, **kw)
+                            task.depends_on(child_m.instanciate(*args, **kw),
+                                            role: "test")
+                            task
+                        end
+                    end
+
+                    syskit_stub_configured_deployment(child_m)
+                    parent_m = syskit_stub_requirements(parent_m)
+                    parent = syskit_deploy(parent_m)
+                    child  = parent.test_child
+
+                    flexmock(child_m)
+                        .new_instances.should_receive(:can_be_deployed_by?)
+                        .with(->(proxy) { proxy.__getobj__ == child }).and_return(false)
+                    new_parent = syskit_deploy(parent_m)
+                    new_child = new_parent.test_child
+
+                    assert_equal new_parent, parent
+                    refute_equal new_child, child
+                    # And the old tasks should be ready to garbage-collect
+                    assert_equal [child].to_set,
+                                 execute { plan.static_garbage_collect.to_set }
+                end
+
+                it "ensures that the old task gets garbage collected when child " \
+                   "of a composition, itself child of a useful task" do
+                    child_m = Syskit::TaskContext.new_submodel
+                    cmp_m = Syskit::Composition.new_submodel
+                    cmp_m.add child_m, as: "task"
+                    parent_m = Syskit::TaskContext.new_submodel
+                    parent_m.singleton_class.class_eval do
+                        define_method(:instanciate) do |*args, **kw|
+                            task = super(*args, **kw)
+                            task.depends_on(cmp_m.instanciate(*args, **kw),
+                                            role: "test")
+                            task
+                        end
+                    end
+
+                    syskit_stub_configured_deployment(child_m)
+                    parent_m = syskit_stub_requirements(parent_m)
+                    parent = syskit_deploy(parent_m)
+                    child  = parent.test_child
+                    child_task = child.task_child
+
+                    flexmock(child_m)
+                        .new_instances.should_receive(:can_be_deployed_by?)
+                        .with(->(proxy) { proxy.__getobj__ == child_task })
+                        .and_return(false)
+                    new_parent = syskit_deploy(parent_m)
+                    new_child = new_parent.test_child
+                    new_child_task = new_child.task_child
+
+                    assert_equal new_parent, parent
+                    refute_equal new_child, child
+                    refute_equal new_child_task, child_task
+                    # And the old tasks should be ready to garbage-collect
+                    assert_equal [child, child_task].to_set,
+                                 execute { plan.static_garbage_collect.to_set }
+                end
+            end
+
             describe "#find_current_deployed_task" do
                 it "ignores garbage tasks that have not been finalized yet" do
                     component_m = Syskit::Component.new_submodel
@@ -406,7 +449,7 @@ def work_plan
                     end
                 end
 
-                it "updates an existing deployment, proxying the existing "\
+                it "updates an existing deployment, proxying the existing " \
                    "tasks and creating new ones" do
                     deployment_m = create_deployment_model(task_count: 3)
                     existing_deployment, (task0, task1) =
@@ -483,7 +526,7 @@ def create_deployment_model(task_count:)
 
                     Deployment.new_submodel do
                         task_m.each_with_index do |m, i|
-                            task "task#{i}", m.orogen_model
+                            task "task#{i}", m
                         end
                     end
                 end
@@ -524,6 +567,7 @@ def add_deployment_and_tasks(plan, deployment_m, task_names)
                     # syskit engine
                     execute { plan.remove_task(deployed.planning_task) }
 
+                    syskit_stub_conf task_model, "non_default"
                     new_deployed = syskit_deploy(
                         composition_model.use("child" => task_model.with_conf("non_default"))
                     )
@@ -540,6 +584,7 @@ def add_deployment_and_tasks(plan, deployment_m, task_names)
                     deployed_task = syskit_deploy(task_model)
                     planning_task = deployed_task.planning_task
                     plan.unmark_mission_task(deployed_task)
+                    syskit_stub_conf task_model, "non_default"
                     deployed_reconf = syskit_deploy(task_model.with_conf("non_default"))
                     plan.add_mission_task(deployed_reconf)
 
@@ -589,7 +634,7 @@ def add_deployment_and_tasks(plan, deployment_m, task_names)
                     assert !diff, diff.to_s
                 end
 
-                it "does not change anything if asked to deploy an empty "\
+                it "does not change anything if asked to deploy an empty " \
                    "composition twice" do
                     composition_m = Syskit::Composition.new_submodel(name: "Cmp")
                     cmp1 = syskit_deploy(composition_m)
@@ -853,8 +898,7 @@ def deploy_dev_and_bus
         end
 
         class EngineTestStubDeployment < Roby::Task
-            attr_reader :tasks
-            attr_reader :created_tasks
+            attr_reader :tasks, :created_tasks
 
             def initialize(task_m, **arguments)
                 super(**arguments)
diff --git a/test/network_generation/test_logger.rb b/test/network_generation/test_logger.rb
index 0f8f6c189..86ecb025a 100644
--- a/test/network_generation/test_logger.rb
+++ b/test/network_generation/test_logger.rb
@@ -142,7 +142,9 @@
         end
 
         it "sets up logging while sharing a logger across deployments" do
-            deployment2 = syskit_stub_deployment("deployment2", deployment_m)
+            deployment2 = syskit_stub_deployment(
+                "deployment2", deployment_m, logging_enabled: true
+            )
             task2 = deployment2.task "task"
             syskit_engine.should_receive(:deployment_tasks)
                          .and_return([@deployment, deployment2])
@@ -275,9 +277,9 @@ def create_deployment_model_with_logger
         logger_m = @logger_m = create_logger_model
 
         @deployment_m = Syskit::Deployment.new_submodel(name: "deployment") do
-            task "task", task_m.orogen_model
-            task "deployment_Logger", logger_m.orogen_model
+            task "task", task_m
+            task "deployment_Logger", logger_m
         end
-        syskit_stub_deployment("deployment", deployment_m)
+        syskit_stub_deployment("deployment", deployment_m, logging_enabled: true)
     end
 end
diff --git a/test/network_generation/test_merge_solver.rb b/test/network_generation/test_merge_solver.rb
index c8ba125b5..f0414eb29 100644
--- a/test/network_generation/test_merge_solver.rb
+++ b/test/network_generation/test_merge_solver.rb
@@ -6,6 +6,8 @@
 describe Syskit::NetworkGeneration::MergeSolver do
     include Syskit::Fixtures::SimpleCompositionModel
 
+    connection_t = Syskit::NetworkGeneration::MergeSolver::Connection
+
     attr_reader :solver
 
     before do
@@ -34,6 +36,7 @@
 
     describe "#may_merge_task_contexts?" do
         attr_reader :stub_t
+
         before do
             @stub_t = stub_type "/test_t"
             create_simple_composition_model
@@ -56,6 +59,7 @@
 
     describe "may_merge_compositions?" do
         attr_reader :task_m, :cmp_m
+
         before do
             @task_m = Syskit::TaskContext.new_submodel
             @cmp_m  = Syskit::Composition.new_submodel
@@ -143,6 +147,7 @@
 
     describe "#resolve_input_matching" do
         attr_reader :task_model, :port_model
+
         before do
             @port_model =
                 flexmock
@@ -155,11 +160,12 @@
                 .mock
         end
 
-        it "should return an empty array if given the same task" do
+        it "detects strictly identical inputs" do
             merged_task = mock_merged_task_with_concrete_input_connections(
                 [src = Object.new, "src_port", "sink_port", {}]
             )
-            assert_equal [], solver.resolve_input_matching(merged_task, merged_task)
+            assert_equal [[], nil],
+                         solver.resolve_input_matching(merged_task, merged_task)
         end
         it "should not check for multiplexing ports for ports that do match" do
             merged_task = mock_merged_task_with_concrete_input_connections(
@@ -168,44 +174,58 @@
             task_model.should_receive(:find_input_port).never
             solver.resolve_input_matching(merged_task, merged_task)
         end
-        it "should return nil if the source port name is different" do
+        it "does not match inputs that have different source port names" do
             merged_task = mock_merged_task_with_concrete_input_connections(
                 [src = Object.new, "src_port", "sink_port", {}]
             )
             task = mock_task_with_concrete_input_connections(
                 [src, "other_src_port", "sink_port", {}]
             )
-            assert !solver.resolve_input_matching(merged_task, task)
+            m_expected_connection = connection_t.new(
+                src, "src_port", {}, "sink_port", merged_task
+            )
+            expected_connection = connection_t.new(
+                src, "other_src_port", {}, "sink_port", task
+            )
+            assert_equal [nil, [m_expected_connection, expected_connection]],
+                         solver.resolve_input_matching(merged_task, task)
         end
-        it "should return nil if the policies are different" do
-            src_port = flexmock
-            merged_task = mock_merged_task_with_concrete_input_connections(
-                [src_port, "src_port", "sink_port",
-                 merged_task_policy = flexmock(empty?: false)]
+        it "does not match if the policies are different" do
+            src = flexmock
+            m_task = mock_merged_task_with_concrete_input_connections(
+                [src, "src_port", "sink_port", m_policy = mock_policy]
             )
             task = mock_task_with_concrete_input_connections(
-                [src_port, "src_port", "sink_port",
-                 policy = flexmock(empty?: false)]
+                [src, "src_port", "sink_port", policy = mock_policy]
             )
             flexmock(Syskit).should_receive(:update_connection_policy)
-                            .with(merged_task_policy, policy).and_return(nil).once
-            refute solver.resolve_input_matching(merged_task, task)
+                            .with(m_policy, policy).and_return(nil).once
+            m_connection = connection_t.new(
+                src, "src_port", m_policy, "sink_port", m_task
+            )
+            connection = connection_t.new(src, "src_port", policy, "sink_port", task)
+            assert_equal [nil, [m_connection, connection]],
+                         solver.resolve_input_matching(m_task, task)
         end
-        it "should call the task model with the input port name to get the port model if connections mismatch" do
+        it "should call the task model with the input port name " \
+           "to get the port model if connections mismatch" do
             task_model.should_receive(:find_input_port)
                       .with("sink_port").once.and_return(port_model)
-            merged_task = mock_merged_task_with_concrete_input_connections(
-                [flexmock, "src_port", "sink_port",
-                 merged_task_policy = flexmock(empty?: false)]
+            m_task = mock_merged_task_with_concrete_input_connections(
+                [m_src = flexmock, "src_port", "sink_port", m_policy = mock_policy]
             )
             task = mock_task_with_concrete_input_connections(
-                [flexmock, "src_port", "sink_port",
-                 policy = flexmock(empty?: false)]
+                [src = flexmock, "src_port", "sink_port", policy = mock_policy]
             )
             flexmock(Syskit).should_receive(:update_connection_policy)
-                            .with(merged_task_policy, policy)
-                            .and_return(nil).once
-            refute solver.resolve_input_matching(merged_task, task)
+                            .with(m_policy, policy).and_return(nil).once
+
+            m_connection = connection_t.new(
+                m_src, "src_port", m_policy, "sink_port", m_task
+            )
+            connection = connection_t.new(src, "src_port", policy, "sink_port", task)
+            assert_equal [nil, [m_connection, connection]],
+                         solver.resolve_input_matching(m_task, task)
         end
         it "returns the mismatching connection if the source port task is different" do
             merged_task = mock_merged_task_with_concrete_input_connections(
@@ -214,39 +234,46 @@
             task = mock_task_with_concrete_input_connections(
                 [src = flexmock, "src_port", "sink_port", {}]
             )
-            assert_equal [["sink_port", merged_task_src, src]],
+            m_connection = connection_t.new(
+                merged_task_src, "src_port", {}, "sink_port", merged_task
+            )
+            connection = connection_t.new(src, "src_port", {}, "sink_port", task)
+            assert_equal [[[connection, m_connection]], nil],
                          solver.resolve_input_matching(merged_task, task)
         end
-        it "returns nil if the source port tasks are different and the policies are not compatible" do
-            merged_task = mock_merged_task_with_concrete_input_connections(
-                [flexmock, "src_port", "sink_port",
-                 merged_task_policy = flexmock(empty?: false)]
+        it "returns nil if the source port tasks are different " \
+           "and the policies are not compatible" do
+            m_task = mock_merged_task_with_concrete_input_connections(
+                [m_src = flexmock, "src_port", "sink_port", m_policy = mock_policy]
             )
             task = mock_task_with_concrete_input_connections(
-                [flexmock, "src_port", "sink_port",
-                 policy = flexmock(empty?: false)]
+                [src = flexmock, "src_port", "sink_port", policy = mock_policy]
+            )
+            m_connection = connection_t.new(
+                m_src, "src_port", m_policy, "sink_port", m_task
             )
+            connection = connection_t.new(src, "src_port", policy, "sink_port", task)
             flexmock(Syskit).should_receive(:update_connection_policy)
-                            .with(merged_task_policy, policy).and_return(nil).once
-            refute solver.resolve_input_matching(merged_task, task)
+                            .with(m_policy, policy).and_return(nil).once
+            assert_equal [nil, [m_connection, connection]],
+                         solver.resolve_input_matching(m_task, task)
         end
-        it "returns an empty array if the source port is the same and "\
+        it "returns an empty array if the source port is the same and " \
            "the policies are compatible" do
             source_task = flexmock
             merged_task = mock_merged_task_with_concrete_input_connections(
-                [source_task, "src_port", "sink_port",
-                 merged_task_policy = flexmock(empty?: false)]
+                [source_task, "src_port", "sink_port", merged_task_policy = mock_policy]
             )
             task = mock_task_with_concrete_input_connections(
-                [source_task, "src_port", "sink_port",
-                 policy = flexmock(empty?: false)]
+                [source_task, "src_port", "sink_port", policy = mock_policy]
             )
             flexmock(solver).should_receive(compatible_policies?: true)
-            assert_equal([], solver.resolve_input_matching(merged_task, task))
+            assert_equal [[], nil], solver.resolve_input_matching(merged_task, task)
         end
 
         describe "connections to multiplexing inputs" do
             attr_reader :merged_task_policy, :policy
+
             before do
                 port_model.should_receive(:multiplexes?).and_return(true)
                 @merged_task_policy = flexmock(empty?: false)
@@ -255,18 +282,29 @@
                                 .with(merged_task_policy, policy)
                                 .and_return(nil).by_default
             end
-            it "returns nil if connections from the same port are connected with "\
-               "incompatible policies" do
-                src_port = flexmock
+            it "does not find a match if connections from the same port " \
+               "are connected with incompatible policies" do
+                src_task = flexmock
                 merged_task = mock_merged_task_with_concrete_input_connections(
-                    [src_port, "src_port", "sink_port", merged_task_policy]
+                    [src_task, "src_port", "sink_port", merged_task_policy]
                 )
                 task = mock_task_with_concrete_input_connections(
-                    [src_port, "src_port", "sink_port", policy]
+                    [src_task, "src_port", "sink_port", policy]
                 )
-                refute solver.resolve_input_matching(merged_task, task)
+                inputs, m_failed_connections =
+                    solver.resolve_input_matching(merged_task, task)
+                refute inputs
+                m_expected_connection = connection_t.new(
+                    src_task, "src_port", merged_task_policy, "sink_port", merged_task
+                )
+                expected_connection = connection_t.new(
+                    src_task, "src_port", policy, "sink_port", task
+                )
+
+                assert_equal [m_expected_connection, expected_connection],
+                             m_failed_connections
             end
-            it "returns an empty array if connections from the same port are "\
+            it "finds a match if connections from the same port are " \
                "connected with compatible policies" do
                 src_port = flexmock
                 merged_task = mock_merged_task_with_concrete_input_connections(
@@ -276,29 +314,29 @@
                     [src_port, "src_port", "sink_port", policy]
                 )
                 flexmock(solver).should_receive(compatible_policies?: true)
-                assert_equal [], solver.resolve_input_matching(merged_task, task)
+                assert_equal [[], nil], solver.resolve_input_matching(merged_task, task)
             end
-            it "returns an empty array for connections from different ports "\
+            it "allows connections from different ports " \
                "regardless of the connection policy" do
-                src_port = flexmock
+                src_task = flexmock
                 merged_task = mock_merged_task_with_concrete_input_connections(
-                    [src_port, "src_port", "sink_port", merged_task_policy]
+                    [src_task, "src_port", "sink_port", merged_task_policy]
                 )
                 task = mock_task_with_concrete_input_connections(
-                    [src_port, "other_src_port", "sink_port", policy]
+                    [src_task, "other_src_port", "sink_port", policy]
                 )
-                assert_equal [], solver.resolve_input_matching(merged_task, task)
+                assert_equal [[], nil], solver.resolve_input_matching(merged_task, task)
             end
-            it "returns an empty array for connections from different tasks "\
+            it "allows connections from different tasks " \
                "regardless of the connection policy" do
-                src_port = flexmock
+                src_task = flexmock
                 merged_task = mock_merged_task_with_concrete_input_connections(
-                    [src_port, "src_port", "sink_port", merged_task_policy]
+                    [src_task, "src_port", "sink_port", merged_task_policy]
                 )
                 task = mock_task_with_concrete_input_connections(
-                    [src_port, "other_src_port", "sink_port", policy]
+                    [src_task, "other_src_port", "sink_port", policy]
                 )
-                assert_equal [], solver.resolve_input_matching(merged_task, task)
+                assert_equal [[], nil], solver.resolve_input_matching(merged_task, task)
             end
         end
 
@@ -323,6 +361,7 @@ def mock_merged_task_with_concrete_input_connections(*connections)
     describe "functional tests" do
         describe "merging compositions" do
             attr_reader :plan, :srv_m, :task_m, :cmp_m
+
             before do
                 @plan = Roby::Plan.new
                 @srv_m = Syskit::DataService.new_submodel do
@@ -350,7 +389,7 @@ def mock_merged_task_with_concrete_input_connections(*connections)
             end
         end
 
-        it "successfully merges a network in which the same component "\
+        it "successfully merges a network in which the same component " \
            "is used on both sides" do
             source_task_m = Syskit::TaskContext
                             .new_submodel { output_port "out", "/double" }
@@ -373,4 +412,8 @@ def mock_merged_task_with_concrete_input_connections(*connections)
             assert_equal source_task, cmp.source_child
         end
     end
+
+    def mock_policy
+        flexmock(empty?: false)
+    end
 end
diff --git a/test/network_generation/test_system_network_deployer.rb b/test/network_generation/test_system_network_deployer.rb
index 9dddf5de5..790ca7d2a 100644
--- a/test/network_generation/test_system_network_deployer.rb
+++ b/test/network_generation/test_system_network_deployer.rb
@@ -79,6 +79,7 @@ def make_candidates(count)
 
             describe "#select_deployments" do
                 attr_reader :task_m, :task, :task_models, :deployments, :deployment_models
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel
                     plan.add(@task = task_m.new)
@@ -117,7 +118,7 @@ def make_candidates(count)
                     flexmock(deployer)
                         .should_receive(:find_suitable_deployment_for)
                         .with(task).and_return(nil)
-                    assert_equal [Hash[], Set[task]],
+                    assert_equal [{}, Set[task]],
                                  deployer.select_deployments([task])
                 end
                 it "does not select the same deployment twice" do
@@ -292,6 +293,7 @@ def make_candidates(count)
 
             describe "#find_suitable_deployment_for" do
                 attr_reader :task_m, :task
+
                 before do
                     @task_m = Syskit::TaskContext.new_submodel
                     plan.add(@task = task_m.new)
@@ -344,10 +346,10 @@ def make_candidates(count)
                     ]
                     @deployment_models = [
                         Deployment.new_submodel do
-                            task "task", task_models[0].orogen_model
+                            task "task", task_models[0]
                         end,
                         Deployment.new_submodel do
-                            task "other_task", task_models[1].orogen_model
+                            task "other_task", task_models[1]
                         end
                     ]
 
@@ -415,8 +417,8 @@ def make_candidates(count)
                     root.depends_on(task1 = task_m.new(orocos_name: "t1"), role: "t1")
 
                     deployment_m = Deployment.new_submodel do
-                        task "t0", task_m.orogen_model
-                        task "t1", task_m.orogen_model
+                        task "t0", task_m
+                        task "t1", task_m
                     end
 
                     task0.requirements.use_configured_deployment(
@@ -443,54 +445,98 @@ def make_candidates(count)
             end
 
             describe "#validate_deployed_network" do
-                it "raises if some tasks are not deployed" do
-                    task_m = Syskit::TaskContext.new_submodel
-                    deployment_m.orogen_model.task "task", task_m.orogen_model
-                    plan.add(task_m.new)
-                    assert_raises(MissingDeployments) do
-                        deployer.validate_deployed_network
+                describe "validation that all tasks are deployed" do
+                    it "raises if some tasks are not deployed" do
+                        task_m = Syskit::TaskContext.new_submodel
+                        deployment_m.orogen_model.task "task", task_m.orogen_model
+                        plan.add(task_m.new)
+                        assert_raises(MissingDeployments) do
+                            deployer.validate_deployed_network
+                        end
+                    end
+
+                    it "formats candidate deployments" do
+                        task_m = Syskit::TaskContext.new_submodel
+                        d0 = syskit_stub_deployment_model task_m, "task0"
+                        deployer.default_deployment_group
+                                .use_deployment(d0 => "test0_")
+                        deployer.default_deployment_group
+                                .use_deployment(d0 => "test1_")
+
+                        plan.add(task = task_m.new)
+                        e = assert_raises(MissingDeployments) do
+                            deployer.validate_deployed_network
+                        end
+
+                        info = e.tasks[task]
+                        assert_equal [], info[0] # parents
+                        candidates = info[1]
+                        assert_equal [d0, d0],
+                                     candidates.map { |c, _| c.configured_deployment.model }
+                        assert_equal %w[test0_task0 test1_task0],
+                                     candidates.map { |c, _| c.mapped_task_name }
+                        assert_equal Set[], info[2]
                     end
-                end
 
-                it "formats candidate deployments" do
-                    task_m = Syskit::TaskContext.new_submodel
-                    d0 = syskit_stub_deployment_model task_m, "task0"
-                    deployer.default_deployment_group
-                            .use_deployment(d0 => "test0_")
-                    deployer.default_deployment_group
-                            .use_deployment(d0 => "test1_")
+                    it "snapshots the task's parents at the exception point" do
+                        task_m = Syskit::TaskContext.new_submodel
+                        d0 = syskit_stub_deployment_model task_m, "task0"
+                        deployer.default_deployment_group
+                                .use_deployment(d0 => "test0_")
+                        deployer.default_deployment_group
+                                .use_deployment(d0 => "test1_")
+
+                        plan.add(parent = task_m.new)
+                        parent.depends_on(task = task_m.new, role: "test")
+                        e = assert_raises(MissingDeployments) do
+                            deployer.validate_deployed_network
+                        end
 
-                    plan.add(task = task_m.new)
-                    e = assert_raises(MissingDeployments) do
-                        deployer.validate_deployed_network
+                        info = e.tasks[task]
+                        assert_equal [["test", parent]], info[0] # parents
                     end
+                end
 
-                    info = e.tasks[task]
-                    assert_equal [], info[0] # parents
-                    candidates = info[1]
-                    assert_equal [d0, d0],
-                                 candidates.map { |c, _| c.configured_deployment.model }
-                    assert_equal %w[test0_task0 test1_task0],
-                                 candidates.map { |c, _| c.mapped_task_name }
-                    assert_equal Set[], info[2]
-                end
-
-                it "snapshots the task's parents at the exception point" do
-                    task_m = Syskit::TaskContext.new_submodel
-                    d0 = syskit_stub_deployment_model task_m, "task0"
-                    deployer.default_deployment_group
-                            .use_deployment(d0 => "test0_")
-                    deployer.default_deployment_group
-                            .use_deployment(d0 => "test1_")
-
-                    plan.add(parent = task_m.new)
-                    parent.depends_on(task = task_m.new, role: "test")
-                    e = assert_raises(MissingDeployments) do
-                        deployer.validate_deployed_network
+                describe "validation that all configurations are defined" do
+                    it "raises if some configurations are not defined" do
+                        task_m = Syskit::TaskContext.new_submodel
+                        deployment_m.orogen_model.task "task", task_m.orogen_model
+                        plan.add(
+                            deployment = deployment_m.new(
+                                name_mappings: { "task" => "task" }
+                            )
+                        )
+                        plan.add(task = deployment.task("task"))
+                        task.conf = %w[default something]
+                        e = assert_raises(MissingConfigurationSection) do
+                            deployer.validate_deployed_network
+                        end
+                        assert_equal(
+                            { task => ["something"] },
+                            e.missing_sections_by_task
+                        )
                     end
 
-                    info = e.tasks[task]
-                    assert_equal [["test", parent]], info[0] # parents
+                    it "properly formats the MissingConfigurationSection error" do
+                        task_m = Syskit::TaskContext.new_submodel
+                        deployment_m.orogen_model.task "task", task_m.orogen_model
+                        plan.add(
+                            deployment = deployment_m.new(
+                                name_mappings: { "task" => "task" }
+                            )
+                        )
+                        plan.add(task = deployment.task("task"))
+                        task.conf = %w[default something]
+                        e = assert_raises(MissingConfigurationSection) do
+                            deployer.validate_deployed_network
+                        end
+                        expected = <<~MESSAGE
+                            the following configuration sections are used but do not exist
+                            'something', in use by:
+                              #{task} (#{task.orogen_model.name})
+                        MESSAGE
+                        assert_equal expected, PP.pp(e, +"")
+                    end
                 end
             end
 
diff --git a/test/network_generation/test_system_network_generator.rb b/test/network_generation/test_system_network_generator.rb
index d73aee186..d0f672254 100644
--- a/test/network_generation/test_system_network_generator.rb
+++ b/test/network_generation/test_system_network_generator.rb
@@ -7,6 +7,7 @@ module NetworkGeneration
         describe SystemNetworkGenerator do
             describe "#instanciate" do
                 attr_reader :component_m, :requirements
+
                 before do
                     @component_m = Syskit::Component.new_submodel
                     @requirements = component_m.to_instance_requirements
@@ -68,6 +69,7 @@ def arg=(value)
 
             describe "#allocate_devices" do
                 attr_reader :dev_m, :task_m, :cmp_m, :device, :cmp, :task
+
                 before do
                     dev_m = @dev_m = Syskit::Device.new_submodel name: "Driver"
                     @task_m = Syskit::TaskContext.new_submodel(name: "Task") { driver_for dev_m, as: "driver" }
@@ -114,6 +116,7 @@ def arg=(value)
             describe "#generate" do
                 describe "handling of optional dependencies" do
                     attr_reader :cmp_m, :srv_m, :task_m, :syskit_engine
+
                     before do
                         @srv_m = Syskit::DataService.new_submodel
                         @cmp_m = Syskit::Composition.new_submodel
@@ -163,6 +166,45 @@ def compute_system_network(*requirements)
                         SystemNetworkGenerator.new(plan).validate_generated_network
                     end
                 end
+
+                it "validates that devices are allocated at most once" do
+                    device_m = Device.new_submodel(name: "D")
+                    task_m = TaskContext.new_submodel(name: "T")
+                    task_m.argument :arg
+                    task_m.driver_for device_m, as: "test"
+                    robot = Robot::RobotDefinition.new
+                    robot.device device_m, as: "test"
+
+                    plan.add(task1 = task_m.new(arg: 1, test_dev: robot.test_dev))
+                    plan.add(task2 = task_m.new(arg: 2, test_dev: robot.test_dev))
+                    e = assert_raises(ConflictingDeviceAllocation) do
+                        SystemNetworkGenerator.new(plan).validate_generated_network
+                    end
+
+                    assert_equal Set[task1, task2], e.tasks.to_set
+                    formatted = PP.pp(e, +"")
+                    expected = <<~MSG
+                        device 'test' of type D is assigned to two tasks that cannot be merged
+                        Chain 1 cannot be merged in chain 2:
+                        Chain 1:
+                          T<id:X>
+                            no owners
+                            arguments:
+                              arg: 2,
+                              test_dev: MasterDeviceInstance(test[D]_dev),
+                              conf: default(["default"]),
+                              read_only: default(false)
+                        Chain 2:
+                          T<id:X>
+                            no owners
+                            arguments:
+                              arg: 1,
+                              test_dev: MasterDeviceInstance(test[D]_dev),
+                              conf: default(["default"]),
+                              read_only: default(false)
+                    MSG
+                    assert_equal expected, formatted.gsub(/<id:\d+>/, "<id:X>")
+                end
             end
 
             describe "#verify_no_multiplexing_connections" do
diff --git a/test/roby_app/remote_processes/cert-private.crt b/test/process_managers/cert-private.crt
similarity index 100%
rename from test/roby_app/remote_processes/cert-private.crt
rename to test/process_managers/cert-private.crt
diff --git a/test/roby_app/remote_processes/cert.crt b/test/process_managers/cert.crt
similarity index 100%
rename from test/roby_app/remote_processes/cert.crt
rename to test/process_managers/cert.crt
diff --git a/test/roby_app/remote_processes/invalid-cert-private.crt b/test/process_managers/invalid-cert-private.crt
similarity index 100%
rename from test/roby_app/remote_processes/invalid-cert-private.crt
rename to test/process_managers/invalid-cert-private.crt
diff --git a/test/roby_app/remote_processes/invalid-cert.crt b/test/process_managers/invalid-cert.crt
similarity index 100%
rename from test/roby_app/remote_processes/invalid-cert.crt
rename to test/process_managers/invalid-cert.crt
diff --git a/test/process_managers/test_in_process.rb b/test/process_managers/test_in_process.rb
new file mode 100644
index 000000000..4b49f64e5
--- /dev/null
+++ b/test/process_managers/test_in_process.rb
@@ -0,0 +1,177 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+
+module Syskit
+    module ProcessManagers
+        describe InProcess do
+            attr_reader :deployment_task
+
+            before do
+                @process_manager = register_in_process_manager("in_process_tasks")
+
+                Roby.app.using_task_library "orogen_syskit_tests"
+                @deployment_group = Syskit::Models::DeploymentGroup.new
+            end
+
+            after do
+                if deployment_task&.running?
+                    expect_execution { deployment_task.stop! }
+                        .to { emit deployment_task.stop_event }
+                end
+            end
+
+            it "follows the lifecycle of a deployment" do
+                deployment_task = create_deployment(
+                    OroGen.orogen_syskit_tests.TriggeredEcho => "some_name"
+                )
+                expect_execution { deployment_task.start! }
+                    .to { emit deployment_task.ready_event }
+                expect_execution { deployment_task.stop! }
+                    .to { emit deployment_task.success_event }
+            end
+
+            it "deploys a usable triggered task" do
+                task = define_and_start(
+                    OroGen.orogen_syskit_tests.TriggeredEcho => "some_name"
+                )
+
+                value =
+                    expect_execution
+                    .poll { syskit_write task.in_port, 10 }
+                    .to { have_one_new_sample task.out_port }
+                assert_equal 10, value
+            end
+
+            it "deploys a usable periodic task" do
+                task = define_and_start(
+                    OroGen.orogen_syskit_tests.PeriodicEcho => "some_name"
+                )
+
+                values =
+                    expect_execution { syskit_write task.in_port, 10 }
+                    .to { have_new_samples task.out_port, 10 }
+                assert_equal [10] * 10, values
+            end
+
+            it "overrides the activity to a triggered task" do
+                task = define_and_start(
+                    OroGen.orogen_syskit_tests.PeriodicEcho => "some_name",
+                    activity: { type: :triggered }
+                )
+
+                value =
+                    expect_execution { syskit_write task.in_port, 10 }
+                    .to { have_one_new_sample task.out_port }
+                assert_equal 10, value
+
+                expect_execution
+                    .to { have_no_new_sample task.out_port, at_least_during: 0.5 }
+            end
+
+            it "overrides the activity to a slave task" do
+                task = define_and_start(
+                    OroGen.orogen_syskit_tests.PeriodicEcho => "some_name",
+                    activity: { type: :slave }
+                )
+
+                expect_execution { syskit_write task.in_port, 10 }
+                    .to { have_no_new_sample task.out_port, at_least_during: 0.5 }
+
+                value =
+                    expect_execution
+                    .poll { task.orocos_task.execute }
+                    .to { have_one_new_sample task.out_port }
+                assert_equal 10, value
+            end
+
+            it "kills the task when shut down" do
+                configured_deployment = @deployment_group.use_in_process_tasks(
+                    OroGen.orogen_syskit_tests.Empty => "some_name"
+                ).first
+
+                plan.add(@deployment_task = configured_deployment.new)
+                expect_execution { deployment_task.start! }
+                    .to { emit deployment_task.ready_event }
+
+                task = deployment_task.task("some_name")
+                syskit_configure_and_start task
+                orocos_task = task.orocos_task
+
+                expect_execution { task.stop! }
+                    .to { emit task.stop_event }
+
+                # orocos_task should still be valid
+                Orocos.allow_blocking_calls { orocos_task.ping }
+                expect_execution { deployment_task.stop! }
+                    .to { emit deployment_task.stop_event }
+
+                assert_raises(Orocos::ComError) do
+                    Orocos.allow_blocking_calls { orocos_task.ping }
+                end
+            end
+
+            describe "in-process logging" do
+                before do
+                    Roby.app.using_task_library "logger"
+                end
+
+                after do
+                    InProcess::Manager.deregister_default_logger_deployment(app)
+                end
+
+                it "registers an in-process logger" do
+                    InProcess::Manager.register_default_logger_deployment(app)
+
+                    t = InProcess::Manager.default_logger_task(app.plan)
+                    assert_kind_of app.syskit_logger_m, t
+                    assert_equal InProcess::Manager::DEFAULT_LOGGER_NAME, t.orocos_name
+                end
+
+                it "reuses an existing in-process logger" do
+                    InProcess::Manager.register_default_logger_deployment(app)
+
+                    t1 = InProcess::Manager.default_logger_task(plan)
+                    assert_same t1, InProcess::Manager.find_default_logger_task(plan)
+                    t2 = InProcess::Manager.default_logger_task(plan)
+                    assert_same t1, t2
+                end
+
+                it "selects the in-process logger specifically" do
+                    plan.add_permanent_task(Roby.app.syskit_logger_m)
+
+                    assert_nil InProcess::Manager.find_default_logger_task(plan)
+                end
+
+                it "reuses the in-process logger deployment if it exists" do
+                    InProcess::Manager.register_default_logger_deployment(app)
+
+                    deployment_task = plan.add_permanent_task(
+                        Roby.app.syskit_in_process_logger_deployment.new
+                    )
+                    t = InProcess::Manager.default_logger_task(plan)
+                    assert_same deployment_task, t.execution_agent
+                end
+            end
+
+            def create_deployment(**spec)
+                configured_deployment =
+                    @deployment_group.use_in_process_tasks(**spec).first
+
+                plan.add(@deployment_task = configured_deployment.new)
+                @deployment_task
+            end
+
+            def define_and_start(**spec)
+                deployment_task = create_deployment(**spec)
+                expect_execution { deployment_task.start! }
+                    .to { emit deployment_task.ready_event }
+
+                task = deployment_task.task("some_name")
+                syskit_configure_and_start task
+
+                task
+            end
+        end
+    end
+end
diff --git a/test/process_managers/test_remote.rb b/test/process_managers/test_remote.rb
new file mode 100644
index 000000000..de6ac680b
--- /dev/null
+++ b/test/process_managers/test_remote.rb
@@ -0,0 +1,601 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/process_managers/remote/server"
+
+describe Syskit::ProcessManagers::Remote do
+    attr_reader :server
+    attr_reader :client
+    attr_reader :root_loader
+
+    before do
+        @app = Roby::Application.new
+        @process_server_log_base_path = make_tmppath
+        @app.log_base_dir = @process_server_log_base_path.to_s
+        @__server_current_log_level =
+            Syskit::ProcessManagers::Remote::Server.logger.level
+        Syskit::ProcessManagers::Remote::Server.logger.level = Logger::WARN
+        @__orocos_current_log_level = Orocos.logger.level
+        Orocos.logger.level = Logger::FATAL
+
+        @root_loader = OroGen::Loaders::Aggregate.new
+        OroGen::Loaders::RTT.setup_loader(root_loader)
+    end
+
+    after do
+        if @server_thread&.alive?
+            @server.quit
+            @server_thread.join
+        end
+        @server&.close
+
+        if @__server_current_log_level
+            Syskit::ProcessManagers::Remote::Server.logger.level =
+                @__server_current_log_level
+        end
+
+        if @gdb_pid
+            Process.kill "KILL", @gdb_pid
+            Process.wait @gdb_pid
+        end
+
+        Orocos.logger.level = @__orocos_current_log_level if @__orocos_current_log_level
+    end
+
+    describe "#initialize" do
+        it "registers the loader exactly once on the provided root loader" do
+            start_server
+            client = Syskit::ProcessManagers::Remote::Manager.new(
+                "localhost", server.port,
+                root_loader: root_loader
+            )
+            assert_equal [client.loader], root_loader.loaders
+        end
+    end
+
+    describe "#pid" do
+        before do
+            @client = start_and_connect_to_server
+        end
+
+        it "returns the process server's PID" do
+            assert_equal Process.pid, client.server_pid
+        end
+    end
+
+    describe "#loader" do
+        attr_reader :loader
+
+        before do
+            @client = start_and_connect_to_server
+            @loader = client.loader
+        end
+
+        it "knows about the available projects" do
+            assert loader.available_projects.key?("orogen_syskit_tests")
+        end
+
+        it "knows about the available typekits" do
+            assert loader.available_typekits.key?("orogen_syskit_tests")
+        end
+
+        it "knows about the available deployments" do
+            assert loader.available_deployments.key?("syskit_tests_empty")
+        end
+
+        it "can load a remote project model" do
+            assert loader.project_model_from_name("orogen_syskit_tests")
+        end
+
+        it "can load a remote typekit model" do
+            assert loader.typekit_model_from_name("orogen_syskit_tests")
+        end
+
+        it "can load a remote deployment model" do
+            assert loader.deployment_model_from_name("syskit_tests_empty")
+        end
+    end
+
+    describe "#start" do
+        before do
+            @client = start_and_connect_to_server
+        end
+
+        it "returns a proper error message if the deployment does not exist remotely" do
+            deployment_m = Syskit::Deployment.new_submodel(name: "does_not_exist")
+            flexmock(client.root_loader)
+                .should_receive(:deployment_model_from_name)
+                .with("does_not_exist").and_return(deployment_m)
+            flexmock(client.loader)
+                .should_receive(:has_deployment?)
+                .with("does_not_exist").and_return(true)
+            e = assert_raises(Syskit::ProcessManagers::Remote::Manager::Failed) do
+                client.start(
+                    "some_name", "does_not_exist",
+                    { "does_not_exist" => "some_name" },
+                    oro_logfile: "/dev/null", output: "/dev/null"
+                )
+            end
+            assert_equal(
+                "failed to start some_name: cannot find deployment does_not_exist",
+                e.message
+            )
+        end
+
+        it "can start a process on the server" do
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: "/dev/null", output: "/dev/null"
+            )
+            assert process.alive?
+        end
+
+        it "redirects the task's output to the process server's log dir" do
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: "/dev/null"
+            )
+            assert process.alive?
+
+            pid = process.pid
+            path = @process_server_log_base_path.each_child.first / \
+                   "syskit_tests_empty-#{pid}.txt"
+            assert path.exist?
+        end
+
+        it "executes the task under valgrind if configured to do so" do
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: "/dev/null",
+                execution_mode: { type: :valgrind }
+            )
+            assert process.alive?
+            wait_running_process(process, timeout: 60)
+
+            pid = process.pid
+            path = @process_server_log_base_path.each_child.first / \
+                   "syskit_tests_empty-#{pid}.valgrind.txt"
+            assert path.exist?
+        end
+
+        it "executes the task under gdb if configured to do so" do
+            skip "gdbserver support is known to be broken"
+
+            port = allocate_gdb_port
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: "/dev/null",
+                execution_mode: { type: :gdbserver, port: port }
+            )
+
+            binfile = Roby.app.default_pkgconfig_loader
+                          .find_deployment_binfile("syskit_tests_empty")
+            wait_for_gdb_ready(port)
+            $stderr.puts "READY"
+            puts <<~SCRIPT
+                file #{binfile}
+                target remote 127.0.0.1:#{port}
+                continue
+                quit
+            SCRIPT
+            $stdin.readline
+            execute_gdb_script(<<~SCRIPT)
+                file #{binfile}
+                target remote 127.0.0.1:#{port}
+                continue
+                quit
+            SCRIPT
+
+            wait_running_process(process)
+        end
+
+        it "raises if the deployment does not exist on the remote server" do
+            assert_raises(OroGen::DeploymentModelNotFound) do
+                client.start "bla", "bla", Hash["sink" => "test"]
+            end
+        end
+
+        it "raises if the deployment does exist locally but not on the remote server" do
+            project    = OroGen::Spec::Project.new(root_loader)
+            deployment = project.deployment "test"
+            root_loader.register_deployment_model(deployment)
+            assert_raises(OroGen::DeploymentModelNotFound) do
+                client.start "test", "test"
+            end
+        end
+
+        it "uses the deployment model loaded on the root loader" do
+            project    = OroGen::Spec::Project.new(root_loader)
+            deployment = project.deployment "syskit_tests_empty"
+            root_loader.register_deployment_model(deployment)
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty", {},
+                oro_logfile: nil, output: "/dev/null"
+            )
+
+            assert_same deployment, process.model
+        end
+
+        it "registers the task on the name server if directed to do so" do
+            project    = OroGen::Spec::Project.new(root_loader)
+            deployment = project.deployment "syskit_tests_empty"
+            root_loader.register_deployment_model(deployment)
+            task_name = "syskit-remote-process-tests-#{Process.pid}"
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => task_name },
+                oro_logfile: nil, output: "/tmp/out",
+                register_on_name_server: true
+            )
+            result = wait_running_process(process)
+            task = Orocos.allow_blocking_calls { Orocos.name_service.get task_name }
+            assert_equal result[:iors][task_name],
+                         task.ior
+        end
+
+        it "does not register the task on the name server if registration is disabled" do
+            project    = OroGen::Spec::Project.new(root_loader)
+            deployment = project.deployment "syskit_tests_empty"
+            root_loader.register_deployment_model(deployment)
+            task_name = "syskit-remote-process-tests-#{Process.pid}"
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => task_name },
+                oro_logfile: nil, output: "/tmp/out",
+                register_on_name_server: false
+            )
+            result = wait_running_process(process)
+            task = Orocos.allow_blocking_calls { Orocos.name_service.get task_name }
+            refute_equal result[:iors][task_name],
+                         task.ior
+        rescue Orocos::NotFound
+            # Expected behavior
+            assert(true)
+        end
+    end
+
+    describe "waits for the process to be running" do
+        before do
+            @client = start_and_connect_to_server
+        end
+
+        it "eventually returns a hash with information about a process and its tasks" do
+            process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: nil, output: "/dev/null"
+            )
+            result = wait_running_process(process)
+
+            assert_match(
+                /^IOR/,
+                result[:iors]["syskit_tests_empty"]
+            )
+        end
+
+        it "returns a hash without any info when the process didnt get its tasks ior" do
+            client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: nil, output: "/dev/null"
+            )
+            result = client.wait_running("syskit_tests_empty")
+            assert_equal({ "syskit_tests_empty" => nil }, result)
+        end
+
+        it "reports when a runtime error occured" do
+            runtime_error_message = "some runtime error occured"
+            flexmock(Syskit::ProcessManagers::Remote::Server::Process)
+                .new_instances
+                .should_receive(:wait_running)
+                .and_raise(RuntimeError, runtime_error_message)
+
+            client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: nil, output: "/dev/null"
+            )
+            result = client.wait_running("syskit_tests_empty")
+            expected = {
+                "syskit_tests_empty" => { error: runtime_error_message }
+            }
+            assert_equal(expected, result)
+        end
+    end
+
+    describe "stopping a remote process" do
+        attr_reader :process
+
+        before do
+            @client = start_and_connect_to_server
+            @process = client.start(
+                "syskit_tests_empty", "syskit_tests_empty",
+                { "syskit_tests_empty" => "syskit_tests_empty" },
+                oro_logfile: nil, output: "/dev/null"
+            )
+        end
+
+        it "kills an already started process" do
+            process.kill
+            process.join
+            assert_raises Orocos::NotFound do
+                Orocos.allow_blocking_calls do
+                    Orocos.get "syskit_tests_empty"
+                end
+            end
+        end
+
+        it "gets notified if a remote process dies" do
+            Process.kill "KILL", process.pid
+            dead_processes = client.wait_termination
+            assert dead_processes[process]
+            assert !process.alive?
+        end
+    end
+
+    describe "stopping all remote processes" do
+        before do
+            @client = start_and_connect_to_server
+            @processes = 10.times.map do |i|
+                client.start(
+                    "syskit_tests_empty_#{i}", "syskit_tests_empty",
+                    { "syskit_tests_empty" => "syskit_tests_empty_#{i}",
+                      "syskit_tests_empty_Logger" => "syskit_tests_empty_#{i}_Logger" },
+                    oro_logfile: nil, output: "/dev/null"
+                )
+            end
+        end
+
+        it "kills all remote processes and waits for all of them to stop" do
+            killed = client.kill_all
+            killed_names = killed.map { |process_name, _| process_name }
+            assert_equal killed_names.to_set, @processes.map(&:name).to_set
+
+            @processes.all? do |p|
+                Process.wait2(p.pid, Process::WNOHANG)
+                flunk("#{p.pid} has either not been killed or not been reaped")
+            rescue Errno::ECHILD
+                assert(true)
+            end
+        end
+
+        it "does not send for a notification that the process died" do
+            client.kill_all
+            sleep 2
+            assert client.wait_termination(0).empty?
+        end
+    end
+
+    describe "#log_upload_file" do
+        before do
+            @client = start_and_connect_to_server
+            @port, @certificate = spawn_log_transfer_server
+            @logfile = Pathname(@app.log_dir) / "logfile.log"
+            create_logfile(547)
+        end
+
+        after do
+            @log_transfer_server&.stop
+            @log_transfer_server&.join
+        end
+
+        it "uploads a file" do
+            path = File.join(@temp_serverdir, "logfile.log")
+            refute File.exist?(path)
+            client.log_upload_file(
+                "localhost", @port, @certificate,
+                @user, @password, @logfile
+            )
+            assert_upload_succeeds
+            assert_equal @logfile_contents, File.read(path)
+            refute File.exist?(@logfile)
+        end
+
+        it "rate-limits the file transfer" do
+            create_logfile(1024 * 1024)
+            tic = Time.now
+            client.log_upload_file(
+                "localhost", @port, @certificate,
+                @user, @password, @logfile,
+                max_upload_rate: 500 * 1024
+            )
+            assert_upload_succeeds(timeout: 5)
+            toc = Time.now
+
+            assert_includes(
+                (1.8..2.2), toc - tic,
+                "transfer took #{toc - tic} instead of the expected 2s"
+            )
+            path = File.join(@temp_serverdir, "logfile.log")
+            assert_equal @logfile_contents, File.read(path)
+        end
+
+        it "rejects a wrong user" do
+            client.log_upload_file(
+                "localhost", @port, @certificate,
+                "somethingsomething", @password, @logfile
+            )
+
+            state = wait_for_upload_completion
+            result = state.each_result.first
+            assert_equal @logfile, result.file
+            refute result.success?
+            assert_match(/Login incorrect/, result.message)
+        end
+
+        it "rejects a wrong password" do
+            client.log_upload_file(
+                "localhost", @port, @certificate,
+                @user, "somethingsomething", @logfile
+            )
+
+            state = wait_for_upload_completion
+            result = state.each_result.first
+            assert_equal @logfile, result.file
+            refute result.success?
+            assert_match(/Login incorrect/, result.message)
+        end
+
+        it "refuses to overwrite an existing file" do
+            FileUtils.touch File.join(@temp_serverdir, "logfile.log")
+            client.log_upload_file(
+                "localhost", @port, @certificate,
+                @user, @password, @logfile
+            )
+
+            state = wait_for_upload_completion
+            result = state.each_result.first
+            assert_equal @logfile, result.file
+            refute result.success?
+            assert_match(/File already exists/, result.message)
+            # Does not delete the file
+            assert File.file?(@logfile)
+        end
+
+        it "fails on an invalid certificate" do
+            certfile_path = File.join(__dir__, "invalid-cert.crt")
+            client.log_upload_file(
+                "localhost", @port, File.read(certfile_path),
+                @user, @password, @logfile
+            )
+
+            state = wait_for_upload_completion
+            result = state.each_result.first
+            assert_equal @logfile, result.file
+            refute result.success?
+            assert_match(/certificate verify failed/, result.message)
+        end
+
+        def create_logfile(size)
+            @logfile.write(SecureRandom.random_bytes(size))
+            @logfile_contents = @logfile.read
+        end
+
+        def spawn_log_transfer_server
+            @temp_serverdir = make_tmpdir
+            @user = "test.user"
+            @password = "password123"
+            @log_transfer_server = TestLogTransferServer.new(
+                @temp_serverdir, @user, @password
+            )
+            [@log_transfer_server.port, File.read(@log_transfer_server.certfile_path)]
+        end
+
+        def wait_for_upload_completion(poll_period: 0.01, timeout: 1)
+            deadline = Time.now + timeout
+            loop do
+                if Time.now > deadline
+                    flunk("timed out while waiting for upload completion")
+                end
+
+                state = client.log_upload_state
+                return state if state.pending_count == 0
+
+                sleep poll_period
+            end
+        end
+
+        def assert_upload_succeeds(timeout: 1)
+            wait_for_upload_completion(timeout: timeout).each_result do |r|
+                flunk("upload failed: #{r.message}") unless r.success?
+            end
+        end
+    end
+
+    class TestLogTransferServer < Syskit::RobyApp::LogTransferServer::SpawnServer
+        attr_reader :certfile_path
+
+        def initialize(target_dir, user, password)
+            @certfile_path = File.join(__dir__, "cert.crt")
+            private_cert = File.join(__dir__, "cert-private.crt")
+            super(target_dir, user, password, private_cert)
+        end
+    end
+
+    def start_server
+        raise "server already started" if @server
+
+        @server = Syskit::ProcessManagers::Remote::Server::Server.new(
+            @app, port: 0, name_service_ip: "127.0.0.1"
+        )
+        server.open
+        @server_thread = Thread.new { server.listen }
+    end
+
+    def connect_to_server
+        client = Syskit::ProcessManagers::Remote::Manager.new(
+            "localhost", server.port, root_loader: root_loader
+        )
+
+        client.create_log_dir(Roby.app.time_tag)
+        client
+    end
+
+    def start_and_connect_to_server
+        start_server
+        connect_to_server
+    end
+
+    def wait_running_process(process, timeout: 20)
+        deadline = Time.now + timeout
+        while Time.now < deadline
+            if (r = query_process_running(process))
+                return r
+            end
+
+            sleep 0.01
+        end
+        flunk("did not manage to get a running #{process} in #{timeout} seconds")
+    end
+
+    # Query {#client} to check whether the given process is running
+    #
+    # @return [nil,Hash] nil if the process is not ready, and the process-specific hash
+    #   returned by the process server otherwise
+    # @raise if the process finished or died, or if the remote process server reports
+    #   an error
+    def query_process_running(process)
+        result = client.wait_running(process.name)
+        return unless (r = result[process.name])
+        return r if r.key?(:iors)
+
+        result = client.wait_termination
+        raise "process #{process.name} unexpectedly terminated" if result[process]
+
+        raise r[:error]
+    end
+
+    def allocate_gdb_port
+        server = TCPServer.new(0)
+        server.local_address.ip_port
+    ensure
+        server&.close
+    end
+
+    def wait_for_gdb_ready(port, timeout: 5)
+        deadline = Time.now + timeout
+
+        until deadline
+            begin
+                TCPSocket.new(port).close
+                break
+            rescue StandardError
+                sleep 0.1
+            end
+        end
+    end
+
+    def execute_gdb_script(script)
+        @gdb_script = Tempfile.open("w")
+        @gdb_script.write script
+        @gdb_script.flush
+        puts script
+        sleep 1
+
+        @gdb_pid = spawn("gdb", "-x", @gdb_script.path)
+    end
+end
diff --git a/test/process_managers/test_unmanaged.rb b/test/process_managers/test_unmanaged.rb
new file mode 100644
index 000000000..b549f4b0c
--- /dev/null
+++ b/test/process_managers/test_unmanaged.rb
@@ -0,0 +1,205 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+
+module Syskit
+    module ProcessManagers
+        describe Unmanaged do
+            attr_reader :process_manager, :task_model, :unmanaged_task, :deployment_task
+
+            before do
+                @unmanaged_task_name =
+                    "syskit-unmanaged_deployment_test-#{Process.pid}-#{rand}"
+            end
+
+            describe "using the default name service" do
+                before do
+                    @task_model = Syskit::TaskContext.new_submodel
+                    @process_manager = register_unmanaged_manager("unmanaged_tasks")
+                    use_unmanaged_task task_model => @unmanaged_task_name
+                    @task = syskit_deploy(task_model)
+                    @deployment_task = @task.execution_agent
+                    plan.unmark_mission_task(@task)
+                end
+
+                after do
+                    if deployment_task.running?
+                        expect_execution { deployment_task.stop! }
+                            .to { emit deployment_task.stop_event }
+                    end
+
+                    unmanaged_task&.dispose
+                end
+
+                it "sets the deployment's process name's to the specified name" do
+                    assert_equal @unmanaged_task_name, deployment_task.process_name
+                end
+
+                it "readies the execution agent when the task becomes available" do
+                    expect_execution { deployment_task.start! }
+                        .join_all_waiting_work(false)
+                        .to do
+                            emit deployment_task.start_event
+                            not_emit deployment_task.ready_event
+                        end
+
+                    create_unmanaged_task
+                    expect_execution.to { emit deployment_task.ready_event }
+                    task = deployment_task.task(@unmanaged_task_name)
+                    assert_equal unmanaged_task, task.orocos_task
+                end
+
+                it "stopping the process causes the monitor thread to quit" do
+                    make_deployment_ready
+                    execute { plan.remove_task(@task) }
+                    monitor_thread = deployment_task.orocos_process.monitor_thread
+                    expect_execution { deployment_task.stop! }
+                        .to { emit deployment_task.success_event }
+                    refute deployment_task.orocos_process.monitor_thread.alive?
+                    assert deployment_task.orocos_process.dead?
+                    refute monitor_thread.alive?
+                end
+
+                it "allows to kill a started deployment that was not ready" do
+                    expect_execution { deployment_task.start! }
+                        .join_all_waiting_work(false)
+                        .to { emit deployment_task.start_event }
+                    expect_execution { deployment_task.stop! }
+                        .join_all_waiting_work(false)
+                        .to { emit deployment_task.stop_event }
+                end
+
+                it "allows to kill a deployment that is ready" do
+                    make_deployment_ready
+                    expect_execution { deployment_task.stop! }
+                        .to { emit deployment_task.stop_event }
+                end
+
+                it "aborts the execution agent if the monitor thread fails " \
+                   "in unexpected ways" do
+                    make_deployment_ready
+
+                    process_died = capture_log(deployment_task, :warn) do
+                        background_thread_died =
+                            capture_log(deployment_task.orocos_process, :fatal) do
+                                expect_execution do
+                                    deployment_task
+                                        .orocos_process.monitor_thread
+                                        .raise RuntimeError
+                                end.to { emit deployment_task.failed_event }
+                            end
+                        assert_equal ["assuming #{deployment_task.orocos_process} died " \
+                                      "because the background thread died with",
+                                      "RuntimeError (RuntimeError)"],
+                                     background_thread_died
+                    end
+                    assert_equal ["#{@unmanaged_task_name} unexpectedly died " \
+                                  "on process server unmanaged_tasks"],
+                                 process_died
+                end
+
+                it "deregisters the process object of the process whose thread failed" do
+                    make_deployment_ready
+                    process = deployment_task.orocos_process
+                    process_manager = process.process_manager
+                    begin
+                        flexmock(process).should_receive(dead?: true)
+                        flexmock(process)
+                            .should_receive(:verify_threads_state)
+                            .and_raise(RuntimeError)
+                        capture_log(process, :fatal) do
+                            assert_equal [process],
+                                         process_manager.wait_termination(0).keys
+                            assert_equal({}, process_manager.wait_termination(0))
+                        end
+                    ensure (
+                        process_manager.processes[@unmanaged_task_name] = process
+                    )
+                    end
+                end
+
+                it "stops the deployment if the remote task becomes unavailable" do
+                    make_deployment_ready
+                    messages = capture_log(deployment_task, :warn) do
+                        expect_execution do
+                            delete_unmanaged_task
+                            # Synchronize on the monitor thread explicitely, otherwise
+                            # the RTT state read might kick in first and bypass the
+                            # whole purpose of the test
+                            assert_raises(Orocos::ComError) do
+                                deployment_task.orocos_process.monitor_thread.join
+                            end
+                            assert deployment_task.orocos_process.dead?
+                        end.to { emit deployment_task.failed_event }
+                    end
+                    assert_equal ["#{@unmanaged_task_name} unexpectedly died on " \
+                                  "process server unmanaged_tasks"],
+                                 messages
+                end
+
+                # This is really a heisentest .... previous versions of
+                # UnmanagedProcess would fail when this happened but the current
+                # implementation should be completely imprevious
+                it "handles concurrently having the monitor fail and #kill being called" \
+                do
+                    make_deployment_ready
+                    expect_execution do
+                        delete_unmanaged_task
+                        deployment_task.orocos_process.kill
+                    end.to { emit deployment_task.stop_event }
+                end
+            end
+
+            describe "specifying the name service" do
+                attr_reader :name_service
+
+                before do
+                    @task_model = Syskit::TaskContext.new_submodel
+                    @name_service = Orocos::Local::NameService.new
+                    @process_manager =
+                        register_unmanaged_manager("new_unmanaged_tasks").manager
+                    use_unmanaged_task(task_model => @unmanaged_task_name,
+                                       on: "new_unmanaged_tasks")
+                    @task = syskit_deploy(task_model)
+                    @deployment_task = @task.execution_agent
+                    plan.unmark_mission_task(@task)
+                end
+
+                it "allows to specify the name service used to resolve tasks" do
+                    create_unmanaged_task
+                    name_service.register @unmanaged_task
+
+                    process = process_manager.start(
+                        @unmanaged_task_name, deployment_task.model.orogen_model
+                    )
+                    result = process.wait_running
+                    assert_includes(result, @unmanaged_task_name)
+                    assert_kind_of(String, result[@unmanaged_task_name])
+                    assert_match(/^IOR:/, result[@unmanaged_task_name])
+                end
+            end
+
+            def create_unmanaged_task
+                raise ArgumentError, "unmanaged task already created" if @unmanaged_task
+
+                @unmanaged_task = Orocos.allow_blocking_calls do
+                    Orocos::RubyTasks::TaskContext.from_orogen_model(
+                        @unmanaged_task_name, task_model.orogen_model
+                    )
+                end
+            end
+
+            def make_deployment_ready
+                expect_execution do
+                    create_unmanaged_task
+                    deployment_task.start!
+                end.to { emit deployment_task.ready_event }
+            end
+
+            def delete_unmanaged_task
+                unmanaged_task.dispose
+                @unmanaged_task = nil
+            end
+        end
+    end
+end
diff --git a/test/queries/test_component_matcher.rb b/test/queries/test_component_matcher.rb
index 0a03bd236..bb5c65fb9 100644
--- a/test/queries/test_component_matcher.rb
+++ b/test/queries/test_component_matcher.rb
@@ -20,8 +20,8 @@ module Queries
                     @task_m.provides @srv_m, as: "test"
                 end
 
-                it "resolves data services through the matcher returned "\
-                "by the _srv accessor" do
+                it "resolves data services through the matcher returned " \
+                   "by the _srv accessor" do
                     plan.add(task = @task_m.new)
                     assert_matcher_finds [task.test_srv], @task_m.match.test_srv
                 end
@@ -49,7 +49,7 @@ module Queries
                     plan.add(@task = @task_m.new)
                 end
 
-                it "resolves task context ports through the matcher returned "\
+                it "resolves task context ports through the matcher returned " \
                    "by the _port accessor" do
                     assert_matcher_finds [@task.out_port], @task_m.match.out_port
                 end
@@ -66,8 +66,8 @@ module Queries
                     matcher = ComponentMatcher.new.with_model([@task_m, other_srv_m])
                     e = assert_raises(Ambiguous) { matcher.out_port }
                     assert_equal(
-                        "more than one port named 'out' exist on composite model "\
-                        "#{@task_m}, #{other_srv_m}. Select a data service explicitly "\
+                        "more than one port named 'out' exist on composite model " \
+                        "#{@task_m}, #{other_srv_m}. Select a data service explicitly " \
                         "to disambiguate", e.message
                     )
                 end
diff --git a/test/queries/test_data_service_matcher.rb b/test/queries/test_data_service_matcher.rb
index 10a99cccd..014885e46 100644
--- a/test/queries/test_data_service_matcher.rb
+++ b/test/queries/test_data_service_matcher.rb
@@ -6,10 +6,10 @@ module Syskit
     module Queries
         describe DataServiceMatcher do
             before do
-                @task_m = Syskit::TaskContext.new_submodel do
+                @task_m = Syskit::TaskContext.new_submodel(name: "T") do
                     output_port "out", "/double"
                 end
-                @srv_m = Syskit::DataService.new_submodel do
+                @srv_m = Syskit::DataService.new_submodel(name: "S") do
                     output_port "srv_out", "/double"
                 end
                 @task_m.provides @srv_m, as: "test"
@@ -22,6 +22,11 @@ module Queries
                 assert_matcher_finds [task.test_srv], matcher
             end
 
+            it "displays itself meaningfully string" do
+                matcher = @task_m.match.test_srv
+                assert_equal "T.data_service(model: S, name: test)", matcher.to_s
+            end
+
             describe "from a bound data service model" do
                 it "can be created from a bound data service model" do
                     plan.add(task = @task_m.new)
@@ -58,7 +63,7 @@ module Queries
                     assert_matcher_finds [task.test_srv.srv_out_port], port_matcher
                 end
 
-                it "accepts task matcher predicates when created "\
+                it "accepts task matcher predicates when created " \
                    "on a data service model" do
                     matcher = @srv_m.match.abstract
                     plan.add(task = @task_m.new)
@@ -104,7 +109,7 @@ module Queries
                     e = assert_raises(ArgumentError) do
                         @task_m.test_srv.match.as(srv_m)
                     end
-                    assert_equal "cannot refine match from "\
+                    assert_equal "cannot refine match from " \
                                  "#{@derived_srv_m} to #{srv_m}", e.message
                 end
 
@@ -113,7 +118,7 @@ module Queries
                     e = assert_raises(ArgumentError) do
                         matcher.as(@derived_srv_m)
                     end
-                    assert_equal "cannot refine match from "\
+                    assert_equal "cannot refine match from " \
                                  "#{@base_srv_m} to #{@derived_srv_m}", e.message
                 end
             end
diff --git a/test/queries/test_port_matcher.rb b/test/queries/test_port_matcher.rb
index 2bda65c25..ab22e9221 100644
--- a/test/queries/test_port_matcher.rb
+++ b/test/queries/test_port_matcher.rb
@@ -68,14 +68,14 @@ module Queries
                     assert_nil matcher.try_resolve_type
                 end
 
-                it "returns the type of the underlying component's port "\
+                it "returns the type of the underlying component's port " \
                    "if an explicit name is given" do
                     component_matcher = @task_m.match
                     matcher = PortMatcher.new(component_matcher).with_name("out_d")
                     assert_equal "/double", matcher.try_resolve_type.name
                 end
 
-                it "returns nil if the underlying component matcher cannot "\
+                it "returns nil if the underlying component matcher cannot " \
                    "resolve the port by name" do
                     component_matcher = @task_m.match
                     flexmock(component_matcher)
@@ -106,19 +106,19 @@ module Queries
                     assert_nil matcher.try_resolve_direction
                 end
 
-                it "returns :output if the underlying component's port "\
+                it "returns :output if the underlying component's port " \
                    "is an output and an explicit name is given" do
                     matcher = PortMatcher.new(@task_m.match).with_name("out_d")
                     assert_equal :output, matcher.try_resolve_direction
                 end
 
-                it "returns :input if the underlying component's port "\
+                it "returns :input if the underlying component's port " \
                    "is an input and an explicit name is given" do
                     matcher = PortMatcher.new(@task_m.match).with_name("in_d")
                     assert_equal :input, matcher.try_resolve_direction
                 end
 
-                it "returns nil if the underlying component matcher cannot "\
+                it "returns nil if the underlying component matcher cannot " \
                    "resolve the port by name" do
                     component_matcher = @task_m.match
                     flexmock(component_matcher)
diff --git a/test/robot/test_device.rb b/test/robot/test_device.rb
index f5b1c49dc..27e164eec 100644
--- a/test/robot/test_device.rb
+++ b/test/robot/test_device.rb
@@ -5,6 +5,7 @@
 describe Syskit::Robot::MasterDeviceInstance do
     attr_reader :task_m, :device_m
     attr_reader :device
+
     before do
         device_m = @device_m = Syskit::Device.new_submodel
         @task_m = Syskit::TaskContext.new_submodel do
@@ -36,6 +37,7 @@
     describe "combus attachment" do
         attr_reader :combus_m, :device_m, :driver_m
         attr_reader :robot, :bus, :dev
+
         before do
             @device_m = Syskit::Device.new_submodel
             @combus_m = Syskit::ComBus.new_submodel message_type: "/double"
@@ -158,6 +160,7 @@
 describe Syskit::Robot::SlaveDeviceInstance do
     attr_reader :task_m, :device_m, :slave_m
     attr_reader :device, :slave_device
+
     before do
         device_m = @device_m = Syskit::Device.new_submodel
         slave_m = @slave_m = Syskit::DataService.new_submodel
diff --git a/test/robot/test_master_device_instance.rb b/test/robot/test_master_device_instance.rb
index c7df8428f..03a311fb8 100644
--- a/test/robot/test_master_device_instance.rb
+++ b/test/robot/test_master_device_instance.rb
@@ -7,6 +7,7 @@ module Robot
         describe MasterDeviceInstance do
             describe "#==" do
                 attr_reader :device, :device_m, :driver_m, :robot_m
+
                 before do
                     @device_m = Device.new_submodel
                     @driver_m = TaskContext.new_submodel
@@ -31,7 +32,7 @@ module Robot
                     )
                     refute(device == other_device)
                 end
-                it "returns if this is the device of a given name "\
+                it "returns if this is the device of a given name " \
                    "on the same robot object" do
                     mock = flexmock(kind_of?: true, robot: robot_m, name: device.name)
                     assert(device == mock)
@@ -95,7 +96,7 @@ module Robot
                     assert_equal client_to_bus, @device.combus_client_out_srv
                 end
 
-                it "uses the bus-to-client and client-to-bus options as service "\
+                it "uses the bus-to-client and client-to-bus options as service " \
                    "names if they are strings" do
                     flexmock(@device).should_receive(:resolve_combus_client_srv)
                                      .with(@com_bus_m::ClientInSrv, "in_name",
@@ -183,11 +184,11 @@ module Robot
                                 @srv_m, nil, @com_bus, "bus_to_client"
                             )
                         end
-                        assert_equal "Driver does not provide a service "\
-                                     "of type ClientInSrv, needed "\
-                                     "to connect to the bus 'com_bus'. Either disable "\
-                                     "the bus-to-client communication by passing "\
-                                     "bus_to_client: false, or change Driver's "\
+                        assert_equal "Driver does not provide a service " \
+                                     "of type ClientInSrv, needed " \
+                                     "to connect to the bus 'com_bus'. Either disable " \
+                                     "the bus-to-client communication by passing " \
+                                     "bus_to_client: false, or change Driver's " \
                                      "definition to provide the data service",
                                      e.message
                     end
@@ -200,10 +201,10 @@ module Robot
                                 @srv_m, nil, @com_bus, "bus_to_client"
                             )
                         end
-                        assert_equal "Driver provides more than one service "\
-                                     "of type ClientInSrv "\
-                                     "to connect to the bus 'com_bus'. Select "\
-                                     "one explicitely using the bus_to_client option. "\
+                        assert_equal "Driver provides more than one service " \
+                                     "of type ClientInSrv " \
+                                     "to connect to the bus 'com_bus'. Select " \
+                                     "one explicitely using the bus_to_client option. " \
                                      "Available services: srv0, srv1",
                                      e.message
                     end
@@ -223,13 +224,13 @@ module Robot
                                 @srv_m, "not_exist", @com_bus, "bus_to_client"
                             )
                         end
-                        assert_equal "not_exist is specified as a client service on "\
-                                     "device dev for combus com_bus, but it is not a "\
+                        assert_equal "not_exist is specified as a client service on " \
+                                     "device dev for combus com_bus, but it is not a " \
                                      "data service on Driver",
                                      e.message
                     end
 
-                    it "raises if the explicitly selected service does fullfill "\
+                    it "raises if the explicitly selected service does fullfill " \
                        "the service model" do
                         @other_srv_m = Syskit::DataService.new_submodel
                         @dev_driver_m.provides @other_srv_m, as: "srv"
@@ -238,8 +239,8 @@ module Robot
                                 @srv_m, "srv", @com_bus, "bus_to_client"
                             )
                         end
-                        assert_equal "srv is specified as a client service on "\
-                                     "device dev for combus com_bus, but it does not "\
+                        assert_equal "srv is specified as a client service on " \
+                                     "device dev for combus com_bus, but it does not " \
                                      "provide the required service ClientInSrv",
                                      e.message
                     end
@@ -258,7 +259,7 @@ module Robot
                                    .default_deployment_name("test::Task")
                     @default_deployment_name = default_name
                     @deployment_m = Syskit::Deployment.new_submodel(name: "d") do
-                        task default_name, driver_m.orogen_model
+                        task default_name, driver_m
                     end
                     flexmock(@loader).should_receive(:deployment_model_from_name)
                                      .with(default_name)
@@ -293,16 +294,13 @@ module Robot
                     @driver_m = driver_m
                     @driver_m.driver_for @device_m, as: "dev"
                     @conf = Syskit::RobyApp::Configuration.new(Roby.app)
-                    @conf.register_process_server(
-                        "unmanaged_tasks", Syskit::RobyApp::UnmanagedTasksManager.new
-                    )
+                    register_unmanaged_manager("unmanaged_tasks", conf: @conf)
 
                     @robot_m = RobotDefinition.new
                     @device = @robot_m.device @device_m, as: "test", using: @driver_m
                 end
 
                 after do
-                    @conf.remove_process_server("unmanaged_tasks")
                 end
 
                 it "declares an unmanaged deployment of the its driver model" do
diff --git a/test/robot/test_robot_definition.rb b/test/robot/test_robot_definition.rb
index 63e52a74b..51b9e62f2 100644
--- a/test/robot/test_robot_definition.rb
+++ b/test/robot/test_robot_definition.rb
@@ -5,6 +5,7 @@
 describe Syskit::Robot::RobotDefinition do
     describe "#device" do
         attr_reader :device_m, :driver_m
+
         before do
             @device_m = Syskit::Device.new_submodel
             @driver_m = Syskit::TaskContext.new_submodel
diff --git a/test/robot/test_slave_device_instance.rb b/test/robot/test_slave_device_instance.rb
index 5fd352ce7..da8660202 100644
--- a/test/robot/test_slave_device_instance.rb
+++ b/test/robot/test_slave_device_instance.rb
@@ -7,6 +7,7 @@ module Robot
         describe MasterDeviceInstance do
             describe "#==" do
                 attr_reader :master_device, :slave_device, :device_m, :slave_device_m, :driver_m, :robot_m
+
                 before do
                     @slave_device_m = Device.new_submodel
                     @device_m = Device.new_submodel
diff --git a/test/roby_app/remote_processes/test_remote_processes.rb b/test/roby_app/remote_processes/test_remote_processes.rb
deleted file mode 100644
index 1c0287a7b..000000000
--- a/test/roby_app/remote_processes/test_remote_processes.rb
+++ /dev/null
@@ -1,341 +0,0 @@
-# frozen_string_literal: true
-
-require "securerandom"
-require "syskit/test/self"
-require "syskit/roby_app/remote_processes"
-require "syskit/roby_app/remote_processes/server"
-require "syskit/roby_app/log_transfer_server"
-
-describe Syskit::RobyApp::RemoteProcesses do
-    attr_reader :server
-    attr_reader :client
-    attr_reader :root_loader
-
-    before do
-        @app = Roby::Application.new
-        @app.log_dir = make_tmpdir
-        @__server_current_log_level =
-            Syskit::RobyApp::RemoteProcesses::Server.logger.level
-        Syskit::RobyApp::RemoteProcesses::Server.logger.level = Logger::WARN
-        @__orocos_current_log_level = Orocos.logger.level
-        Orocos.logger.level = Logger::FATAL
-    end
-
-    after do
-        if @server_thread&.alive?
-            @server.quit
-            @server_thread.join
-        end
-        @server&.close
-
-        if @__server_current_log_level
-            Syskit::RobyApp::RemoteProcesses::Server.logger.level =
-                @__server_current_log_level
-        end
-
-        Orocos.logger.level = @__orocos_current_log_level if @__orocos_current_log_level
-    end
-
-    describe "#initialize" do
-        it "registers the loader exactly once on the provided root loader" do
-            start_server
-            root_loader = OroGen::Loaders::Aggregate.new
-            OroGen::Loaders::RTT.setup_loader(root_loader)
-            client = Syskit::RobyApp::RemoteProcesses::Client.new(
-                "localhost",
-                server.port,
-                root_loader: root_loader
-            )
-            assert_equal [client.loader], root_loader.loaders
-        end
-    end
-
-    describe "#pid" do
-        before do
-            start_and_connect_to_server
-        end
-
-        it "returns the process server's PID" do
-            assert_equal Process.pid, client.server_pid
-        end
-    end
-
-    describe "#loader" do
-        attr_reader :loader
-        before do
-            start_and_connect_to_server
-            @loader = client.loader
-        end
-
-        it "knows about the available projects" do
-            assert loader.available_projects.key?("orogen_syskit_tests")
-        end
-
-        it "knows about the available typekits" do
-            assert loader.available_typekits.key?("orogen_syskit_tests")
-        end
-
-        it "knows about the available deployments" do
-            assert loader.available_deployments.key?("syskit_tests_empty")
-        end
-
-        it "can load a remote project model" do
-            assert loader.project_model_from_name("orogen_syskit_tests")
-        end
-
-        it "can load a remote typekit model" do
-            assert loader.typekit_model_from_name("orogen_syskit_tests")
-        end
-
-        it "can load a remote deployment model" do
-            assert loader.deployment_model_from_name("syskit_tests_empty")
-        end
-    end
-
-    describe "#start" do
-        before do
-            start_and_connect_to_server
-        end
-
-        it "can start a process on the server synchronously" do
-            process = client.start(
-                "syskit_tests_empty", "syskit_tests_empty",
-                { "syskit_tests_empty" => "syskit_tests_empty" },
-                wait: true, oro_logfile: nil, output: "/dev/null"
-            )
-            assert process.alive?
-            assert(Orocos.allow_blocking_calls { Orocos.get("syskit_tests_empty") })
-        end
-
-        it "raises if the deployment does not exist on the remote server" do
-            assert_raises(OroGen::DeploymentModelNotFound) do
-                client.start "bla", "bla", Hash["sink" => "test"], wait: true
-            end
-        end
-
-        it "raises if the deployment does exist locally but not on the remote server" do
-            project    = OroGen::Spec::Project.new(root_loader)
-            deployment = project.deployment "test"
-            root_loader.register_deployment_model(deployment)
-            assert_raises(OroGen::DeploymentModelNotFound) do
-                client.start "test", "test"
-            end
-        end
-
-        it "uses the deployment model loaded on the root loader" do
-            project    = OroGen::Spec::Project.new(root_loader)
-            deployment = project.deployment "syskit_tests_empty"
-            root_loader.register_deployment_model(deployment)
-            process = client.start(
-                "syskit_tests_empty", "syskit_tests_empty", {},
-                wait: true, oro_logfile: nil, output: "/dev/null"
-            )
-            assert_same deployment, process.model
-        end
-    end
-
-    describe "stopping a remote process" do
-        attr_reader :process
-        before do
-            start_and_connect_to_server
-            @process = client.start(
-                "syskit_tests_empty", "syskit_tests_empty",
-                { "syskit_tests_empty" => "syskit_tests_empty" },
-                wait: true, oro_logfile: nil, output: "/dev/null"
-            )
-        end
-
-        it "kills an already started process" do
-            process.kill(true)
-            assert_raises Orocos::NotFound do
-                Orocos.allow_blocking_calls do
-                    Orocos.get "syskit_tests_empty"
-                end
-            end
-        end
-
-        it "gets notified if a remote process dies" do
-            Process.kill "KILL", process.pid
-            dead_processes = client.wait_termination
-            assert dead_processes[process]
-            assert !process.alive?
-        end
-    end
-
-    describe "stopping all remote processes" do
-        before do
-            start_and_connect_to_server
-            @processes = 10.times.map do |i|
-                client.start(
-                    "syskit_tests_empty_#{i}", "syskit_tests_empty",
-                    { "syskit_tests_empty" => "syskit_tests_empty_#{i}",
-                      "syskit_tests_empty_Logger" => "syskit_tests_empty_#{i}_Logger" },
-                    wait: false, oro_logfile: nil, output: "/dev/null"
-                )
-            end
-        end
-
-        it "kills all remote processes and waits for all of them to stop" do
-            killed = client.kill_all
-            killed_names = killed.map { |process_name, _| process_name }
-            assert_equal killed_names.to_set, @processes.map(&:name).to_set
-
-            @processes.all? do |p|
-                Process.wait2(p.pid, ::Process::WNOHANG)
-                flunk("#{p.pid} has either not been killed or not been reaped")
-            rescue Errno::ECHILD
-                assert(true)
-            end
-        end
-
-        it "does not send for a notification that the process died" do
-            client.kill_all
-            sleep 2
-            assert client.wait_termination(0).empty?
-        end
-    end
-
-    describe "#log_upload_file" do
-        before do
-            start_and_connect_to_server
-            @port, @certificate = spawn_log_transfer_server
-            @logfile = File.join(make_tmpdir, "logfile.log")
-            File.open(@logfile, "wb") do |f|
-                f.write(SecureRandom.random_bytes(547)) # create random 5 MB file
-            end
-        end
-
-        after do
-            @log_transfer_server&.stop
-            @log_transfer_server&.join
-        end
-
-        it "uploads a file" do
-            path = File.join(@temp_serverdir, "logfile.log")
-            refute File.exist?(path)
-            client.log_upload_file(
-                "localhost", @port, @certificate,
-                @user, @password, @logfile
-            )
-            assert_upload_succeeds
-            assert_equal File.read(path), File.read(@logfile)
-        end
-
-        it "rejects a wrong user" do
-            client.log_upload_file(
-                "localhost", @port, @certificate,
-                "somethingsomething", @password, @logfile
-            )
-
-            state = wait_for_upload_completion
-            result = state.each_result.first
-            assert_equal @logfile, result.file
-            refute result.success?
-            assert_match(/Login incorrect/, result.message)
-        end
-
-        it "rejects a wrong password" do
-            client.log_upload_file(
-                "localhost", @port, @certificate,
-                @user, "somethingsomething", @logfile
-            )
-
-            state = wait_for_upload_completion
-            result = state.each_result.first
-            assert_equal @logfile, result.file
-            refute result.success?
-            assert_match(/Login incorrect/, result.message)
-        end
-
-        it "refuses to overwrite an existing file" do
-            FileUtils.touch File.join(@temp_serverdir, "logfile.log")
-            client.log_upload_file(
-                "localhost", @port, @certificate,
-                @user, @password, @logfile
-            )
-
-            state = wait_for_upload_completion
-            result = state.each_result.first
-            assert_equal @logfile, result.file
-            refute result.success?
-            assert_match(/File already exists/, result.message)
-        end
-
-        it "fails on an invalid certificate" do
-            certfile_path = File.join(__dir__, "invalid-cert.crt")
-            client.log_upload_file(
-                "localhost", @port, File.read(certfile_path),
-                @user, @password, @logfile
-            )
-
-            state = wait_for_upload_completion
-            result = state.each_result.first
-            assert_equal @logfile, result.file
-            refute result.success?
-            assert_match(/certificate verify failed/, result.message)
-        end
-
-        def spawn_log_transfer_server
-            @temp_serverdir = make_tmpdir
-            @user = "test.user"
-            @password = "password123"
-            @log_transfer_server = TestLogTransferServer.new(
-                @temp_serverdir, @user, @password
-            )
-            [@log_transfer_server.port, File.read(@log_transfer_server.certfile_path)]
-        end
-
-        def wait_for_upload_completion(poll_period: 0.01, timeout: 1)
-            deadline = Time.now + timeout
-            loop do
-                if Time.now > deadline
-                    flunk("timed out while waiting for upload completion")
-                end
-
-                state = client.log_upload_state
-                return state if state.pending_count == 0
-
-                sleep poll_period
-            end
-        end
-
-        def assert_upload_succeeds
-            wait_for_upload_completion.each_result do |r|
-                flunk("upload failed: #{r.message}") unless r.success?
-            end
-        end
-    end
-
-    class TestLogTransferServer < Syskit::RobyApp::LogTransferServer::SpawnServer
-        attr_reader :certfile_path
-
-        def initialize(target_dir, user, password)
-            @certfile_path = File.join(__dir__, "cert.crt")
-            private_cert = File.join(__dir__, "cert-private.crt")
-            super(target_dir, user, password, private_cert)
-        end
-    end
-
-    def start_server
-        raise "server already started" if @server
-
-        @server = Syskit::RobyApp::RemoteProcesses::Server.new(@app, port: 0)
-        server.open
-        @server_thread = Thread.new { server.listen }
-    end
-
-    def connect_to_server
-        @root_loader = OroGen::Loaders::Aggregate.new
-        OroGen::Loaders::RTT.setup_loader(root_loader)
-        @client = Syskit::RobyApp::RemoteProcesses::Client.new(
-            "localhost",
-            server.port,
-            root_loader: root_loader
-        )
-    end
-
-    def start_and_connect_to_server
-        start_server
-        connect_to_server
-    end
-end
diff --git a/test/roby_app/spawn_server/test_spawn_server.rb b/test/roby_app/spawn_server/test_spawn_server.rb
index d8e1ef4c6..38e4fef78 100644
--- a/test/roby_app/spawn_server/test_spawn_server.rb
+++ b/test/roby_app/spawn_server/test_spawn_server.rb
@@ -4,113 +4,124 @@
 require "syskit/roby_app/log_transfer_server"
 require "net/ftp"
 
-describe Syskit::RobyApp::LogTransferServer::SpawnServer do
-    class TestServer < Syskit::RobyApp::LogTransferServer::SpawnServer
-        attr_accessor :user, :password, :certfile_path
-
-        def initialize(target_dir, user, password)
-            @certfile_path = File.join(__dir__, "..", "remote_processes", "cert.crt")
-            private_key_path = File.join(
-                __dir__, "..", "remote_processes", "cert-private.crt"
-            )
-            super(target_dir, user, password, private_key_path)
-            @user = user
-            @password = password
-        end
-    end
-
-    ### AUXILIARY FUNCTIONS ###
-    def spawn_server
-        @temp_serverdir = make_tmpdir
-        @user = "test.user"
-        @password = "test.password"
-        @server = TestServer.new(@temp_serverdir, @user, @password)
-    end
-
-    def ftp_open(certfile_path: @server.certfile_path, &block)
-        Net::FTP.open(
-            "localhost",
-            port: @server.port,
-            ssl: { verify_mode: OpenSSL::SSL::VERIFY_PEER, verify_hostname: false,
-                   ca_file: certfile_path },
-            &block
-        )
-    end
-
-    def upload_log(user, password, localfile, certfile_path: @server.certfile_path)
-        ftp_open(certfile_path: certfile_path) do |ftp|
-            ftp.login(user, password)
-            File.open(localfile) do |lf|
-                ftp.storbinary("STOR #{File.basename(localfile)}",
-                               lf, Net::FTP::DEFAULT_BLOCKSIZE)
-            end
-        end
-    end
-
-    def upload_testfile
-        File.open(File.join(@temp_srcdir, "testfile"), "w+") do |tf|
-            upload_log(@server.user, @server.password, tf)
-        end
-    end
-
-    ### TESTS ###
-    describe "#LogTransferServerTests" do
-        before do
-            spawn_server
-            @temp_srcdir = make_tmpdir
-        end
-
-        after do
-            @server.stop
-            @server.join
-        end
-
-        it "logs in successfully with the correct user and password" do
-            ftp_open do |ftp|
-                # Raises on error
-                ftp.login(@server.user, @server.password)
-            end
-        end
-
-        it "rejects an invalid user" do
-            ftp_open do |ftp|
-                assert_raises(Net::FTPPermError) { ftp.login("user", @server.password) }
-            end
-        end
-
-        it "rejects an invalid password" do
-            ftp_open do |ftp|
-                assert_raises(Net::FTPPermError) { ftp.login(@server.user, "password") }
-            end
-        end
-
-        it "refuses to connect if the server's certificate is unexpected" do
-            invalid_certfile_path = File.join(
-                __dir__, "..", "remote_processes", "invalid-cert.crt"
-            )
+module Syskit
+    module RobyApp
+        module LogTransferServer
+            describe SpawnServer do
+                ### AUXILIARY FUNCTIONS ###
+                def spawn_server
+                    @temp_serverdir = make_tmpdir
+                    @user = "test.user"
+                    @password = "test.password"
+                    @certfile_path =
+                        File.join(__dir__, "..", "..", "process_managers", "cert.crt")
+                    private_key_path =
+                        File.join(__dir__, "..", "..", "process_managers",
+                                  "cert-private.crt")
+
+                    @implicit_ftps = LogTransferServer.use_implicit_ftps?
+                    @server = SpawnServer.new(
+                        @temp_serverdir, @user, @password,
+                        private_key_path,
+                        implicit_ftps: @implicit_ftps
+                    )
+                end
 
-            e = assert_raises(OpenSSL::SSL::SSLError) do
-                ftp_open(certfile_path: invalid_certfile_path)
-            end
-            assert_match(/certificate verify failed/, e.message)
-        end
+                def ftp_open(certfile_path: @certfile_path, &block)
+                    Net::FTP.open(
+                        "localhost",
+                        port: @server.port,
+                        implicit_ftps: @implicit_ftps,
+                        ssl: { verify_mode: OpenSSL::SSL::VERIFY_PEER,
+                               verify_hostname: false,
+                               ca_file: certfile_path },
+                        &block
+                    )
+                end
 
-        it "uploads a file to the server's directory" do
-            upload_testfile
-            assert File.exist?("#{@temp_serverdir}/testfile")
-        end
+                def upload_log(user, password, localfile, certfile_path: @certfile_path)
+                    ftp_open(certfile_path: certfile_path) do |ftp|
+                        ftp.login(user, password)
+                        File.open(localfile) do |lf|
+                            ftp.storbinary(
+                                "STOR #{File.basename(localfile)}",
+                                lf, Net::FTP::DEFAULT_BLOCKSIZE
+                            )
+                        end
+                    end
+                end
 
-        it "refuses to upload a file that already exists" do
-            upload_testfile
-            assert_raises(Net::FTPPermError) { upload_testfile }
-        end
+                def upload_testfile
+                    File.open(File.join(@temp_srcdir, "testfile"), "w+") do |tf|
+                        upload_log(@user, @password, tf)
+                    end
+                end
 
-        it "refuses to GET a file" do
-            upload_testfile
-            ftp_open do |ftp|
-                ftp.login(@server.user, @server.password)
-                assert_raises(Net::FTPPermError) do
-                    ftp.get("#{@temp_serverdir}/testfile")
+                ### TESTS ###
+                describe "#LogTransferServerTests" do
+                    before do
+                        spawn_server
+                        @temp_srcdir = make_tmpdir
+                    end
+
+                    after do
+                        @server.stop
+                        @server.join
+                    end
+
+                    it "logs in successfully with the correct user and password" do
+                        ftp_open do |ftp|
+                            # Raises on error
+                            ftp.login(@user, @password)
+                        end
+                    end
+
+                    it "rejects an invalid user" do
+                        ftp_open do |ftp|
+                            assert_raises(Net::FTPPermError) do
+                                ftp.login("user", @password)
+                            end
+                        end
+                    end
+
+                    it "rejects an invalid password" do
+                        ftp_open do |ftp|
+                            assert_raises(Net::FTPPermError) do
+                                ftp.login(@user, "password")
+                            end
+                        end
+                    end
+
+                    it "refuses to connect if the server's certificate is unexpected" do
+                        invalid_certfile_path = File.join(
+                            __dir__, "..", "remote_processes", "invalid-cert.crt"
+                        )
+
+                        e = assert_raises(OpenSSL::SSL::SSLError) do
+                            ftp_open(certfile_path: invalid_certfile_path)
+                        end
+                        assert_match(/certificate verify failed/, e.message)
+                    end
+
+                    it "uploads a file to the server's directory" do
+                        upload_testfile
+                        assert File.exist?("#{@temp_serverdir}/testfile")
+                    end
+
+                    it "refuses to upload a file that already exists" do
+                        upload_testfile
+                        assert_raises(Net::FTPPermError) { upload_testfile }
+                    end
+
+                    it "refuses to GET a file" do
+                        upload_testfile
+                        ftp_open do |ftp|
+                            ftp.login(@user, @password)
+                            assert_raises(Net::FTPPermError) do
+                                ftp.get("#{@temp_serverdir}/testfile")
+                            end
+                        end
+                    end
                 end
             end
         end
diff --git a/test/roby_app/test_configuration.rb b/test/roby_app/test_configuration.rb
index 49e66022a..734ea10b3 100644
--- a/test/roby_app/test_configuration.rb
+++ b/test/roby_app/test_configuration.rb
@@ -1,22 +1,22 @@
 # frozen_string_literal: true
 
 require "syskit/test/self"
-require "syskit/roby_app/remote_processes"
 
 describe Syskit::RobyApp::Configuration do
     describe "#use_deployment" do
         attr_reader :task_m, :conf
+
         before do
             @task_m = Syskit::TaskContext.new_submodel(name: "test::Task")
             @conf = Syskit::RobyApp::Configuration.new(Roby.app)
-            conf.register_process_server("localhost", Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader), "")
-            conf.register_process_server("test", Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader), "")
+            register_ruby_tasks_manager("localhost", conf: @conf)
+            register_ruby_tasks_manager("test", conf: @conf)
         end
 
         def stub_deployment(name)
             task_m = @task_m
             Syskit::Deployment.new_submodel(name: name) do
-                task("task", task_m.orogen_model)
+                task("task", task_m)
             end
         end
 
@@ -39,8 +39,7 @@ def stub_deployment(name)
         before do
             @task_m = Syskit::RubyTaskContext.new_submodel
             @conf = Syskit::RobyApp::Configuration.new(Roby.app)
-            @conf.register_process_server("ruby_tasks",
-                                          Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader), "")
+            register_ruby_tasks_manager("ruby_tasks", conf: @conf)
         end
 
         it "defines a deployment for a given ruby task context model" do
@@ -55,8 +54,7 @@ def stub_deployment(name)
         before do
             @task_m = Syskit::TaskContext.new_submodel
             @conf = Syskit::RobyApp::Configuration.new(Roby.app)
-            @conf.register_process_server("unmanaged_tasks",
-                                          Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader), "")
+            register_unmanaged_manager("unmanaged_tasks", conf: @conf)
         end
         it "defines a configured deployment from a task model and name" do
             configured_deployments = @conf.use_unmanaged_task @task_m => "name"
@@ -69,7 +67,7 @@ def stub_deployment(name)
         end
     end
 
-    describe "#connect_to_orocos_process_server" do
+    describe "#register_remote_manager" do
         before do
             @conf = Syskit::RobyApp::Configuration.new(Roby.app)
             @mock_process = flexmock(pid: 20)
@@ -80,8 +78,8 @@ def stub_deployment(name)
             @available_typekit_names = []
             @available_deployment_names = ["deployment"]
 
-            set_log_level ::Robot, Logger::FATAL + 1
-            set_log_level Syskit::RobyApp::RemoteProcesses::Server, Logger::FATAL + 1
+            set_log_level Robot, Logger::FATAL + 1
+            set_log_level Syskit::ProcessManagers::Remote::Server, Logger::FATAL + 1
         end
 
         after do
@@ -90,12 +88,14 @@ def stub_deployment(name)
 
         describe "process startup" do
             attr_reader :ruby_task, :deployment_m
+
             before do
                 @ruby_task = ruby_task = Orocos.allow_blocking_calls do
                     Orocos::RubyTasks::TaskContext.new "remote-task"
                 end
+                task_m = Syskit::TaskContext.new_submodel(orogen_model: ruby_task.model)
                 @deployment_m = Syskit::Deployment.new_submodel do
-                    task "name", ruby_task.model
+                    task "name", task_m
                 end
                 server = process_server_create
                 server.should_receive(:start_process)
@@ -109,32 +109,25 @@ def stub_deployment(name)
             it "starts the process and reports its PID" do
                 process_server_start
 
-                client = @conf.connect_to_orocos_process_server(
+                client = register_remote_manager(
                     "test-remote", "localhost",
-                    port: process_server_port
+                    port: process_server_port,
+                    conf: @conf
                 )
 
                 process = client.start "deployment", deployment_m.orogen_model
                 assert_equal 20, process.pid
             end
 
-            it "allows to specify the name service used to resolve the process' task" do
+            it "marks the process server as supporting log transfer" do
                 process_server_start
-
-                name_service = Orocos::Local::NameService.new
-                name_service.register ruby_task, "resolved-remote-name"
-                client = @conf.connect_to_orocos_process_server(
+                register_remote_manager(
                     "test-remote", "localhost",
                     port: process_server_port,
-                    name_service: name_service
-                )
-
-                process = client.start(
-                    "deployment", deployment_m.orogen_model,
-                    { "name" => "resolved-remote-name" }
+                    conf: @conf
                 )
-                tasks = process.resolve_all_tasks
-                assert_equal({ "resolved-remote-name" => ruby_task }, tasks)
+                config = @conf.process_server_config_for("test-remote")
+                assert config.supports_log_transfer?
             end
         end
 
@@ -150,7 +143,7 @@ def process_server_create
             @server_loader.should_receive(:each_available_project_name)
                           .and_return { @available_project_names }
 
-            @server = Syskit::RobyApp::RemoteProcesses::Server.new(
+            @server = Syskit::ProcessManagers::Remote::Server::Server.new(
                 Roby.app, port: 0, loader: @server_loader
             )
             flexmock(@server)
@@ -174,4 +167,38 @@ def process_server_stop
             @server_thread = nil
         end
     end
+
+    describe "log transfer" do
+        before do
+            @conf = Syskit::RobyApp::Configuration.new(Roby.app)
+            @log_transfer = @conf.log_transfer
+        end
+
+        describe "#max_upload_rate_for" do
+            it "returns the default rate if the max_upload_rates hash " \
+               "has no entry for the given server" do
+                default = flexmock
+                @log_transfer.default_max_upload_rate = default
+                assert_equal default, @log_transfer.max_upload_rate_for("test")
+            end
+
+            it "lets the caller set a different default" do
+                default = flexmock
+                assert_equal default,
+                             @log_transfer.max_upload_rate_for("test", default: default)
+            end
+
+            it "finds a process server by name" do
+                actual = flexmock
+                @log_transfer.max_upload_rates["test"] = actual
+                assert_equal actual, @log_transfer.max_upload_rate_for("test")
+            end
+
+            it "finds a process server by object" do
+                actual = flexmock
+                @log_transfer.max_upload_rates["test"] = actual
+                assert_equal actual, @log_transfer.max_upload_rate_for(flexmock(name: "test"))
+            end
+        end
+    end
 end
diff --git a/test/roby_app/test_log_transfer_manager.rb b/test/roby_app/test_log_transfer_manager.rb
new file mode 100644
index 000000000..55f2e3edf
--- /dev/null
+++ b/test/roby_app/test_log_transfer_manager.rb
@@ -0,0 +1,174 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/test/roby_app_helpers"
+require "syskit/process_managers/remote/server"
+
+module Syskit
+    module RobyApp
+        describe LogTransferManager do
+            before do
+                @server_threads = []
+                @process_servers = []
+                @process_server = create_process_server
+
+                @conf = LogTransferManager::Configuration.new(
+                    ip: "127.0.0.1",
+                    self_spawned: true,
+                    max_upload_rates: {},
+                    implicit_ftps: LogTransferServer.use_implicit_ftps?
+                )
+                @conf.target_dir = make_tmpdir
+                @manager = nil
+            end
+
+            after do
+                @manager&.dispose(@process_servers)
+                close_process_servers
+            end
+
+            it "sets an in-process server and allows file transfers" do
+                @conf.ip = "127.0.0.1"
+                file_path = create_test_file(@process_server.log_dir)
+                @manager = LogTransferManager.new(@conf)
+                assert @manager.server_started?
+                @manager.transfer([[@process_server, [file_path.basename]]])
+                assert_upload_succeeds(file_path, @process_server)
+            end
+
+            it "stops the in-process server on dispose" do
+                @conf.ip = "127.0.0.1"
+                @manager = LogTransferManager.new(@conf)
+                # Check that the server is reachable
+                TCPSocket.new(@conf.ip, @conf.port).close
+                @manager.dispose([@process_server])
+                assert_raises(Errno::ECONNREFUSED) do
+                    TCPSocket.new(@conf.ip, @conf.port)
+                end
+            end
+
+            it "refuses to upload a file that is outside the log dir" do
+                @conf.ip = "127.0.0.1"
+                @manager = LogTransferManager.new(@conf)
+                other_path = make_tmppath
+                passwd_abs = other_path / "passwd"
+                passwd_rel = passwd_abs.relative_path_from(@process_server.log_dir).to_s
+                passwd_abs.write("test")
+                @manager.transfer([[@process_server, [passwd_rel]]])
+                assert_upload_fails(
+                    @process_server,
+                    /cannot upload files not within the app's log directory/
+                )
+                @manager.transfer([[@process_server, [passwd_abs]]])
+                assert_upload_fails(
+                    @process_server,
+                    /cannot upload files not within the app's log directory/
+                )
+            end
+
+            it "handles an externally started server" do
+                @conf.ip = "127.0.0.1"
+                @conf.self_spawned = false
+                @conf.user = "user"
+                @conf.password = "password"
+                target_path = make_tmppath
+                @conf.target_dir = target_path.to_s
+                ca = TmpRootCA.new("127.0.0.1")
+                @conf.certificate = ca.certificate
+                server = LogTransferServer::SpawnServer.new(
+                    target_path.to_s, "user", "password",
+                    ca.private_certificate_path
+                )
+                @conf.port = server.port
+
+                file_path = create_test_file(@process_server.log_dir)
+                @manager = LogTransferManager.new(@conf)
+                @manager.transfer([[@process_server, [file_path.basename]]])
+                assert_upload_succeeds(file_path, @process_server)
+                @manager.dispose([@process_server])
+            ensure
+                server&.dispose
+            end
+
+            # Spawn a process server
+            #
+            # @return [(ProcessManagers::Remote::Manager,Pathname)]
+            def create_process_server
+                app.log_base_dir = make_tmppath
+                server = ProcessManagers::Remote::Server::Server.new(app, port: 0)
+                server.make_own_logger("", Logger::FATAL)
+                server.open
+                thread = Thread.new { server.listen }
+                @server_threads << thread
+
+                connect_to_process_server("localhost", server.port)
+            rescue StandardError
+                server.quit_and_join
+                raise
+            end
+
+            def connect_to_process_server(host, port)
+                client = ProcessManagers::Remote::Manager.new(host, port)
+                log_dir = config_log_dir(client)
+                config = Configuration::ProcessServerConfig.new(
+                    name: "test", client: client, log_dir: log_dir,
+                    logging_enabled: false, register_on_name_server: false
+                )
+                @process_servers << config
+                config
+            end
+
+            def config_log_dir(client)
+                client.create_log_dir(
+                    Roby.app.time_tag,
+                    { "parent" => Roby.app.app_metadata }
+                )
+                Pathname(app.log_dir)
+            end
+
+            def close_process_servers
+                @process_servers.each do |c|
+                    c.client.quit_server
+                    c.client.close
+                end
+
+                @server_threads.each(&:join)
+            end
+
+            def create_test_file(dir_path)
+                file_path = dir_path / "testfile.log"
+                file_path.write(SecureRandom.random_bytes(547))
+                file_path
+            end
+
+            def assert_upload_fails(client, match)
+                result = assert_upload_with_single_result(@manager, client)
+
+                refute result.success?
+                assert_match(match, result.message)
+            end
+
+            def assert_upload_succeeds(test_file_path, client)
+                expected_content = test_file_path.read
+                result = assert_upload_with_single_result(@manager, client)
+
+                assert result.success?, "transfer failed, message: #{result.message}"
+                assert_equal test_file_path.basename.to_s, result.file
+                actual_content = File.read(
+                    File.join(@conf.target_dir, result.file)
+                )
+                assert_equal expected_content, actual_content
+            end
+
+            def assert_upload_with_single_result(manager, client)
+                transfers = nil
+                capture_log(::Robot, :info) do
+                    transfers = manager.flush([client], timeout: 1)
+                end
+                assert_equal [client], transfers.keys
+                assert_equal 1, transfers[client].size
+                transfers[client].first
+            end
+        end
+    end
+end
diff --git a/test/roby_app/test_logging_configuration.rb b/test/roby_app/test_logging_configuration.rb
index d570648c3..7f0949603 100644
--- a/test/roby_app/test_logging_configuration.rb
+++ b/test/roby_app/test_logging_configuration.rb
@@ -81,6 +81,7 @@ module RobyApp
 
                 describe "a configuration with groups" do
                     attr_reader :group0, :group1
+
                     before do
                         @group0 = flexmock(subject.create_group("group0", enabled: true))
                         @group1 = flexmock(subject.create_group("group1", enabled: false))
diff --git a/test/roby_app/test_logging_group.rb b/test/roby_app/test_logging_group.rb
index 6a436a03f..ce2943743 100644
--- a/test/roby_app/test_logging_group.rb
+++ b/test/roby_app/test_logging_group.rb
@@ -12,7 +12,7 @@ module RobyApp
                     output_port "out", "/double"
                 end
                 @deployment_m = Syskit::Deployment.new_submodel(name: "TestDeployment") do
-                    task "task", task_m.orogen_model
+                    task "task", task_m
                 end
             end
 
diff --git a/test/roby_app/test_plugin.rb b/test/roby_app/test_plugin.rb
index e4d70b847..ad94b8088 100644
--- a/test/roby_app/test_plugin.rb
+++ b/test/roby_app/test_plugin.rb
@@ -2,31 +2,36 @@
 
 require "syskit/test/self"
 require "syskit/test/roby_app_helpers"
-require "syskit/roby_app/remote_processes"
+require "syskit/process_managers/remote/server"
 
 module Syskit
     module RobyApp
+        RemoteServer = ProcessManagers::Remote::Server::Server
+
         describe Plugin do
             describe "remote model loading" do
                 def create_process_server(name)
                     app = Roby::Application.new
                     loader = OroGen::Loaders::Files.new
                     OroGen::Loaders::RTT.setup_loader(loader)
-                    loader.register_orogen_file(File.join(data_dir, "plugin_remote_model_loading.orogen"))
+                    loader.register_orogen_file(
+                        File.join(data_dir, "plugin_remote_model_loading.orogen")
+                    )
 
-                    server = RemoteProcesses::Server.new(app, port: 0, loader: loader)
+                    server = RemoteServer.new(app, port: 0, loader: loader)
                     server.open
 
                     thread = Thread.new do
                         server.listen
                     end
-                    client = Syskit.conf.connect_to_orocos_process_server(
+                    client = Syskit.conf.register_remote_manager(
                         name, "localhost", port: server.port
                     )
                     @process_servers << [name, thread, client]
                 end
 
                 attr_reader :server0, :server1
+
                 before do
                     Syskit.conf.only_load_models = false
                     @process_servers = []
@@ -35,8 +40,8 @@ def create_process_server(name)
                 end
 
                 after do
-                    capture_log(Syskit::RobyApp::RemoteProcesses::Server, :fatal) do
-                        capture_log(Syskit::RobyApp::RemoteProcesses::Server, :warn) do
+                    capture_log(RemoteServer, :fatal) do
+                        capture_log(RemoteServer, :warn) do
                             @process_servers.each do |name, thread, client|
                                 client.close
                                 Syskit.conf.remove_process_server(name)
@@ -60,6 +65,7 @@ def create_process_server(name)
                                 m1.orogen_model.find_task_by_name("m1task").task_model
                 end
             end
+
             describe "local process server startup" do
                 before do
                     Syskit.conf.remove_process_server "localhost"
@@ -172,8 +178,7 @@ def perform_app_assertion(result)
                                   "models/pack/orogen/reload.orogen"
                     copy_into_app "config/robots/reload_orogen.rb",
                                   "config/robots/default.rb"
-                    pid = roby_app_spawn "run", silent: true
-                    interface = assert_roby_app_is_running(pid)
+                    pid, interface = roby_app_start "run", silent: true
                     copy_into_app "models/pack/orogen/reload-2.orogen",
                                   "models/pack/orogen/reload.orogen"
                     perform_app_assertion interface.unit_tests.orogen_deployment_exists?
@@ -187,8 +192,7 @@ def perform_app_assertion(result)
                                   "models/compositions/reload_ruby_task.rb"
                     copy_into_app "config/robots/reload_ruby_task.rb",
                                   "config/robots/default.rb"
-                    pid = roby_app_spawn "run", silent: true
-                    interface = assert_roby_app_is_running(pid)
+                    pid, interface = roby_app_start "run", silent: true
                     copy_into_app "models/compositions/reload_ruby_task-2.rb",
                                   "models/compositions/reload_ruby_task.rb"
                     perform_app_assertion interface.unit_tests.orogen_deployment_exists?
@@ -202,8 +206,7 @@ def perform_app_assertion(result)
                                   "models/pack/orogen/reload.orogen"
                     copy_into_app "config/robots/reload_unmanaged_task.rb",
                                   "config/robots/default.rb"
-                    pid = roby_app_spawn "run", silent: true
-                    interface = assert_roby_app_is_running(pid)
+                    pid, interface = roby_app_start "run", silent: true
                     copy_into_app "models/pack/orogen/reload-2.orogen",
                                   "models/pack/orogen/reload.orogen"
                     perform_app_assertion interface.unit_tests.orogen_deployment_exists?
@@ -213,112 +216,24 @@ def perform_app_assertion(result)
                 end
             end
 
-            describe "Local Log Transfer Server" do
+            describe "log rotation and transfer" do
                 before do
-                    @server_threads = []
-                    @process_servers = []
-                    register_process_server("test_ps")
-                    app.log_transfer_ip = "127.0.0.1"
+                    Syskit.conf.log_rotation_period = 600
+                    Syskit.conf.log_transfer.ip = "127.0.0.1"
+                    Syskit.conf.log_transfer.self_spawned = false
+                    Syskit.conf.log_transfer.target_dir = make_tmpdir
                 end
 
                 after do
-                    close_process_servers
-                    app.log_transfer_ip = nil
-                end
-
-                it "raises if tries to spawn server when there is already a server running" do
-                    app.setup_local_log_transfer_server
-                    assert_raises(RuntimeError) { app.setup_local_log_transfer_server }
-                end
-
-                it "uploads file from Process Server" do
-                    app.setup_local_log_transfer_server
-                    ps_logfile = create_test_file(@ps_log_dir)
-                    path = File.join(app.log_dir, "logfile.log")
-                    refute File.exist?(path)
-                    client = app.send_file_transfer_command("test_ps", ps_logfile)
-                    assert_upload_succeeds(client)
-                    assert_equal File.read(path), File.read(ps_logfile)
+                    Syskit.conf.log_rotation_period = nil
+                    Syskit.conf.log_transfer.ip = nil
+                    app.syskit_log_transfer_shutdown
                 end
 
-                it "raises if tries to upload when there is no server running" do
-                    ps_logfile = create_test_file(@ps_log_dir)
-                    path = File.join(app.log_dir, "logfile.log")
-                    refute File.exist?(path)
-                    assert_raises(RuntimeError) { app.send_file_transfer_command("test_ps", ps_logfile) }
-                end
-
-                def register_process_server(name)
-                    server = RemoteProcesses::Server.new(app, port: 0)
-                    server.open
-
-                    thread = Thread.new { server.listen }
-                    @server_threads << thread
-
-                    client = Syskit.conf.connect_to_orocos_process_server(
-                        name, "localhost",
-                        port: server.port,
-                        model_only_server: false
-                    )
-                    @process_servers << [name, client]
-
-                    config_log_dir(client)
-                end
-
-                def config_log_dir(client)
-                    @ps_log_dir = make_tmpdir
-                    client.create_log_dir(
-                        @ps_log_dir, Roby.app.time_tag,
-                        { "parent" => Roby.app.app_metadata }
-                    )
-                end
-
-                def close_process_servers
-                    @process_servers.each do |name, client|
-                        client.close
-                        Syskit.conf.remove_process_server(name)
-                    end
-                    @server_threads.each do |thread|
-                        thread.raise Interrupt
-                        thread.join
-                    end
-                end
-
-                def create_test_file(ps_log_dir)
-                    logfile = File.join(ps_log_dir, "logfile.log")
-                    File.open(logfile, "wb") do |f|
-                        f.write(SecureRandom.random_bytes(547))
-                    end
-                    logfile
-                end
-
-                def wait_for_upload_completion(client, poll_period: 0.01, timeout: 1)
-                    deadline = Time.now + timeout
-                    loop do
-                        if Time.now > deadline
-                            flunk("timed out while waiting for upload completion")
-                        end
-
-                        state = client.log_upload_state
-                        return state if state.pending_count == 0
-
-                        sleep poll_period
-                    end
-                end
-
-                def assert_upload_succeeds(client)
-                    wait_for_upload_completion(client).each_result do |r|
-                        flunk("upload failed: #{r.message}") unless r.success?
-                    end
-                end
-            end
-
-            describe "Log Rotation" do
-                before do
+                it "rotates logs and returns which logs were rotated" do
                     task_m = Syskit::TaskContext.new_submodel
+                    task_m.provides Syskit::LoggerService
                     task_m.class_eval do
-                        provides Syskit::LoggerService
-
                         def log_server_name
                             "stubs"
                         end
@@ -327,12 +242,64 @@ def rotate_log
                             ["old_log_file.log"]
                         end
                     end
-                    @task = syskit_stub_deploy_configure_and_start(task_m)
-                end
 
-                it "rotates log" do
-                    rotated_logs = app.rotate_logs
-                    assert_equal({ "stubs" => ["old_log_file.log"] }, rotated_logs)
+                    @task = syskit_stub_deploy_configure_and_start(task_m)
+                    rotated_logs = app.syskit_rotate_logs
+
+                    stubs = Syskit.conf.process_server_config_for("stubs")
+                    assert_equal({ stubs => ["old_log_file.log"] }, rotated_logs)
+                end
+
+                it "returns an empty list of process servers " \
+                   "if log transfer is disabled" do
+                    conf = Syskit.conf.process_server_config_for("localhost")
+                    flexmock(conf).should_receive(supports_log_transfer?: true)
+                    assert_equal [], app.syskit_log_transfer_process_servers
+                end
+
+                it "returns the list of process servers whose logs we want to transfer" do
+                    app.syskit_log_transfer_prepare
+
+                    conf = Syskit.conf.process_server_config_for("localhost")
+                    flexmock(conf).should_receive(on_localhost?: false)
+                    flexmock(conf).should_receive(supports_log_transfer?: true)
+                    assert_equal [conf], app.syskit_log_transfer_process_servers
+                end
+
+                it "ignores local process servers" do
+                    Syskit.conf.log_transfer.target_dir = app.log_dir
+                    app.syskit_log_transfer_prepare
+
+                    conf = Syskit.conf.process_server_config_for("localhost")
+                    flexmock(conf).should_receive(supports_log_transfer?: true)
+                    assert_equal [], app.syskit_log_transfer_process_servers
+                end
+
+                it "transfers data for the selected process servers" do
+                    Syskit.conf.log_transfer.user = "user"
+                    Syskit.conf.log_transfer.password = "pass"
+                    Syskit.conf.log_transfer.certificate = "cert"
+                    Syskit.conf.log_transfer.port = 42
+                    Syskit.conf.log_transfer.implicit_ftps = false
+                    conf = Syskit.conf.process_server_config_for("localhost")
+                    flexmock(conf).should_receive(on_localhost?: false)
+                    flexmock(conf).should_receive(supports_log_transfer?: true)
+                    flexmock(app)
+                        .should_receive(:syskit_rotate_logs)
+                        .and_return(
+                            { conf => ["old_log_file.log"],
+                              Configuration::ProcessServerConfig.new => ["some_file"] }
+                        )
+
+                    app.syskit_log_transfer_prepare
+                    flexmock(conf.client)
+                        .should_receive(:log_upload_file).explicitly
+                        .with("127.0.0.1", 42, "cert", "user", "pass",
+                              Pathname("old_log_file.log"),
+                              max_upload_rate: Float::INFINITY,
+                              implicit_ftps: false)
+                        .once
+                    app.syskit_log_perform_rotation_and_transfer
                 end
             end
 
@@ -353,12 +320,8 @@ def use_model_on_group(model, name, server)
                     @app = Roby::Application.new
                     @conf = RobyApp::Configuration.new(@app)
                     @loader = OroGen::Loaders::Base.new
-                    @conf.register_process_server(
-                        "localhost", Orocos::RubyTasks::ProcessManager.new(@loader), ""
-                    )
-                    @conf.register_process_server(
-                        "test-mng", Orocos::RubyTasks::ProcessManager.new(@loader), ""
-                    )
+                    register_ruby_tasks_manager("localhost", conf: @conf)
+                    register_ruby_tasks_manager("test-mng", conf: @conf)
                     @group = Syskit::Models::DeploymentGroup.new
                     model_m = Syskit::TaskContext.new_submodel(
                         orogen_model_name: "test::Task"
diff --git a/test/roby_app/test_rest_api.rb b/test/roby_app/test_rest_api.rb
index 7f7fc3f89..2acfdcfec 100644
--- a/test/roby_app/test_rest_api.rb
+++ b/test/roby_app/test_rest_api.rb
@@ -61,7 +61,7 @@ def setup_deployed_task(deployed_task)
                         expected = Hash[
                             "name" => "test_deployment",
                             "project_name" => "test",
-                            "tasks" => Array[
+                            "tasks" => [
                                 Hash["task_name" => "test_task", "task_model_name" => "test::Task"]
                             ],
                             "default_deployment_for" => nil,
@@ -77,23 +77,33 @@ def setup_deployed_task(deployed_task)
                         assert_equal "test::Task", result["deployments"][0]["default_deployment_for"]
                     end
                     it "identifies default loggers and reports them" do
-                        setup_deployed_task(OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
-                                                "test_deployment_Logger", "test_deployment", "logger::Logger", "test"
-                                            ))
+                        setup_deployed_task(
+                            OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
+                                "test_deployment_Logger", "test_deployment",
+                                "logger::Logger", "test"
+                            )
+                        )
                         result = get_json "/deployments/available"
-                        assert_equal "test_deployment_Logger", result["deployments"][0]["default_logger"]
+                        assert_equal "test_deployment_Logger",
+                                     result["deployments"][0]["default_logger"]
                     end
                     it "uses the model name to identify default loggers" do
-                        setup_deployed_task(OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
-                                                "test_deployment_Logger", "test_deployment", "something::Else", "test"
-                                            ))
+                        setup_deployed_task(
+                            OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
+                                "test_deployment_Logger", "test_deployment",
+                                "something::Else", "test"
+                            )
+                        )
                         result = get_json "/deployments/available"
                         assert_nil result["deployments"][0]["default_logger"]
                     end
                     it "uses the task name pattern to identify default loggers" do
-                        setup_deployed_task(OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
-                                                "custom_logger", "test_deployment", "logger::Logger", "test"
-                                            ))
+                        setup_deployed_task(
+                            OroGen::Loaders::PkgConfig::AvailableDeployedTask.new(
+                                "custom_logger", "test_deployment",
+                                "logger::Logger", "test"
+                            )
+                        )
                         result = get_json "/deployments/available"
                         assert_nil result["deployments"][0]["default_logger"]
                     end
@@ -102,14 +112,17 @@ def setup_deployed_task(deployed_task)
                 describe "/registered" do
                     before do
                         @configured_deployments = []
-                        flexmock(Syskit.conf.deployment_group).should_receive(:each_configured_deployment)
-                                                              .and_return { @configured_deployments }
+                        flexmock(Syskit.conf.deployment_group)
+                            .should_receive(:each_configured_deployment)
+                            .and_return { @configured_deployments }
                         Syskit.conf.register_process_server(
                             "localhost",
-                            flexmock(:on, Syskit::RobyApp::RemoteProcesses::Client)
+                            flexmock(:on, ProcessManagers::Remote::Manager)
+                        )
+                        Syskit.conf.register_process_server(
+                            "unmanaged_tasks",
+                            flexmock(:on, ProcessManagers::Unmanaged::Manager)
                         )
-                        Syskit.conf.register_process_server("unmanaged_tasks",
-                                                            flexmock(:on, UnmanagedTasksManager))
                         Syskit.conf.register_process_server("something_else",
                                                             flexmock)
 
@@ -118,9 +131,11 @@ def setup_deployed_task(deployed_task)
                         @syskit_task_m = Syskit::TaskContext.define_from_orogen(
                             orogen_task_m
                         )
-                        orogen_deployment_m = Models.create_orogen_deployment_model("test_deployment")
+                        orogen_deployment_m =
+                            Models.create_orogen_deployment_model("test_deployment")
                         orogen_deployment_m.task "test_task", orogen_task_m
-                        @deployment_m = Syskit::Deployment.define_from_orogen(orogen_deployment_m)
+                        @deployment_m =
+                            Syskit::Deployment.define_from_orogen(orogen_deployment_m)
                     end
                     after do
                         @syskit_task_m.clear_model
@@ -135,7 +150,7 @@ def setup_deployed_task(deployed_task)
                     it "returns the deployments as registered in Syskit" do
                         configured_deployment = Models::ConfiguredDeployment.new(
                             "localhost", @deployment_m,
-                            Hash["test_task" => "mapped_test_task"], "test_deployment", {}
+                            Hash["test_task" => "mapped_test_task"], "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         expected = Hash[
@@ -156,7 +171,7 @@ def setup_deployed_task(deployed_task)
 
                     it "returns a deployment type of 'orocos' for an orocos remote process server" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "localhost", @deployment_m, Hash[], "test_deployment", {}
+                            "localhost", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         assert_equal "orocos",
@@ -165,7 +180,7 @@ def setup_deployed_task(deployed_task)
 
                     it "returns a deployment type of 'unmanaged' for an unmanaged task" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "unmanaged_tasks", @deployment_m, Hash[], "test_deployment", {}
+                            "unmanaged_tasks", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         assert_equal "unmanaged",
@@ -174,7 +189,7 @@ def setup_deployed_task(deployed_task)
 
                     it "ignores tasks whose process server type is not exported" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "something_else", @deployment_m, Hash[], "test_deployment", {}
+                            "something_else", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         assert_equal [], get_json("/deployments/registered")["registered_deployments"]
@@ -182,7 +197,7 @@ def setup_deployed_task(deployed_task)
 
                     it "reports if a deployment has not been created by the REST API" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "localhost", @deployment_m, Hash[], "test_deployment", {}
+                            "localhost", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         flexmock(RESTDeploymentManager).new_instances
@@ -194,7 +209,7 @@ def setup_deployed_task(deployed_task)
 
                     it "reports if a deployment has been created by the REST API" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "localhost", @deployment_m, Hash[], "test_deployment", {}
+                            "localhost", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         flexmock(RESTDeploymentManager).new_instances
@@ -206,10 +221,10 @@ def setup_deployed_task(deployed_task)
 
                     it "reports overriden deployments but not the tasks they are replaced by" do
                         configured_deployment = Models::ConfiguredDeployment.new(
-                            "unmanaged_tasks", @deployment_m, Hash[], "test_deployment", {}
+                            "unmanaged_tasks", @deployment_m, {}, "test_deployment"
                         )
                         overriden = Models::ConfiguredDeployment.new(
-                            "localhost", @deployment_m, Hash[], "test_deployment", {}
+                            "localhost", @deployment_m, {}, "test_deployment"
                         )
                         @configured_deployments << configured_deployment
                         mock = flexmock(RESTDeploymentManager).new_instances
diff --git a/test/roby_app/test_rest_deployment_manager.rb b/test/roby_app/test_rest_deployment_manager.rb
index 325af28dd..6fdaba54c 100644
--- a/test/roby_app/test_rest_deployment_manager.rb
+++ b/test/roby_app/test_rest_deployment_manager.rb
@@ -8,7 +8,7 @@ module RobyApp
             before do
                 @roby_app = Roby::Application.new
                 @conf = Configuration.new(@roby_app)
-                @localhost = flexmock(:on, Syskit::RobyApp::RemoteProcesses::Client)
+                @localhost = flexmock(:on, ProcessManagers::Remote::Manager)
                 @conf.register_process_server("localhost", @localhost)
                 @unmanaged_tasks = flexmock
                 @conf.register_process_server("unmanaged_tasks", @unmanaged_tasks)
diff --git a/test/roby_app/test_unmanaged_tasks.rb b/test/roby_app/test_unmanaged_tasks.rb
deleted file mode 100644
index 9c1f4de02..000000000
--- a/test/roby_app/test_unmanaged_tasks.rb
+++ /dev/null
@@ -1,166 +0,0 @@
-# frozen_string_literal: true
-
-require "syskit/test/self"
-
-module Syskit
-    module RobyApp
-        describe UnmanagedTasksManager do
-            attr_reader :process_manager, :task_model, :unmanaged_task, :deployment_task
-
-            before do
-                @task_model = Syskit::TaskContext.new_submodel
-                Syskit.conf.register_process_server(
-                    "unmanaged_tasks", UnmanagedTasksManager.new
-                )
-                @process_manager = Syskit.conf.process_server_for("unmanaged_tasks")
-                use_unmanaged_task task_model => "unmanaged_deployment_test"
-                @task = syskit_deploy(task_model)
-                @deployment_task = @task.execution_agent
-                plan.unmark_mission_task(@task)
-            end
-
-            after do
-                if deployment_task.running?
-                    expect_execution { deployment_task.stop! }
-                        .to { emit deployment_task.stop_event }
-                end
-
-                unmanaged_task&.dispose
-
-                Syskit.conf.remove_process_server("unmanaged_tasks")
-            end
-
-            def create_unmanaged_task
-                raise ArgumentError, "unmanaged task already created" if @unmanaged_task
-
-                @unmanaged_task = Orocos.allow_blocking_calls do
-                    Orocos::RubyTasks::TaskContext.from_orogen_model(
-                        "unmanaged_deployment_test", task_model.orogen_model
-                    )
-                end
-            end
-
-            def make_deployment_ready
-                expect_execution do
-                    create_unmanaged_task
-                    deployment_task.start!
-                end.to { emit deployment_task.ready_event }
-            end
-
-            def delete_unmanaged_task
-                unmanaged_task.dispose
-                @unmanaged_task = nil
-            end
-
-            it "sets the deployment's process name's to the specified name" do
-                assert_equal "unmanaged_deployment_test", deployment_task.process_name
-            end
-
-            it "readies the execution agent when the task becomes available" do
-                expect_execution { deployment_task.start! }
-                    .join_all_waiting_work(false)
-                    .to do
-                        emit deployment_task.start_event
-                        not_emit deployment_task.ready_event
-                    end
-
-                create_unmanaged_task
-                expect_execution.to { emit deployment_task.ready_event }
-                task = deployment_task.task("unmanaged_deployment_test")
-                assert_equal unmanaged_task, task.orocos_task
-            end
-
-            it "stopping the process causes the monitor thread to quit" do
-                make_deployment_ready
-                monitor_thread = deployment_task.orocos_process.monitor_thread
-                expect_execution { deployment_task.stop! }
-                    .to { emit deployment_task.stop_event }
-                refute deployment_task.orocos_process.monitor_thread.alive?
-                assert deployment_task.orocos_process.dead?
-                refute monitor_thread.alive?
-            end
-
-            it "allows to kill a started deployment that was not ready" do
-                expect_execution { deployment_task.start! }
-                    .join_all_waiting_work(false)
-                    .to { emit deployment_task.start_event }
-                expect_execution { deployment_task.stop! }
-                    .join_all_waiting_work(false)
-                    .to { emit deployment_task.stop_event }
-            end
-
-            it "allows to kill a deployment that is ready" do
-                make_deployment_ready
-                expect_execution { deployment_task.stop! }
-                    .to { emit deployment_task.stop_event }
-            end
-
-            it "aborts the execution agent if the monitor thread fails "\
-               "in unexpected ways" do
-                make_deployment_ready
-
-                process_died = capture_log(deployment_task, :warn) do
-                    background_thread_died =
-                        capture_log(deployment_task.orocos_process, :fatal) do
-                            expect_execution do
-                                deployment_task
-                                    .orocos_process.monitor_thread
-                                    .raise RuntimeError
-                            end.to { emit deployment_task.failed_event }
-                        end
-                    assert_equal ["assuming #{deployment_task.orocos_process} died "\
-                                  "because the background thread died with",
-                                  "RuntimeError (RuntimeError)"], background_thread_died
-                end
-                assert_equal ["unmanaged_deployment_test unexpectedly died "\
-                              "on process server unmanaged_tasks"],
-                             process_died
-            end
-
-            it "deregisters the process object of the process whose thread failed" do
-                make_deployment_ready
-                process = deployment_task.orocos_process
-                process_manager = process.process_manager
-                begin
-                    flexmock(process).should_receive(dead?: true)
-                    flexmock(process)
-                        .should_receive(:verify_threads_state)
-                        .and_raise(RuntimeError)
-                    capture_log(process, :fatal) do
-                        assert_equal [process], process_manager.wait_termination(0).to_a
-                        assert_equal Set[], process_manager.wait_termination(0)
-                    end
-                ensure process_manager.processes["unmanaged_deployment_test"] = process
-                end
-            end
-
-            it "stops the deployment if the remote task becomes unavailable" do
-                make_deployment_ready
-                messages = capture_log(deployment_task, :warn) do
-                    expect_execution do
-                        delete_unmanaged_task
-                        # Synchronize on the monitor thread explicitely, otherwise
-                        # the RTT state read might kick in first and bypass the
-                        # whole purpose of the test
-                        deployment_task.orocos_process.monitor_thread.join
-                        assert deployment_task.orocos_process.dead?
-                    end.to { emit deployment_task.failed_event }
-                end
-                assert_equal ["unmanaged_deployment_test unexpectedly died on "\
-                              "process server unmanaged_tasks"],
-                             messages
-            end
-
-            # This is really a heisentest .... previous versions of
-            # UnmanagedProcess would fail when this happened but the current
-            # implementation should be completely imprevious
-            it "handles concurrently having the monitor fail and #kill being called" do
-                make_deployment_ready
-                expect_execution do
-                    delete_unmanaged_task
-                    deployment_task.orocos_process.kill
-                end.to { emit deployment_task.stop_event }
-            end
-        end
-    end
-end
diff --git a/test/ros/test_task_context.rb b/test/ros/test_task_context.rb
index 0c9294013..8ccdc1ee4 100644
--- a/test/ros/test_task_context.rb
+++ b/test/ros/test_task_context.rb
@@ -25,7 +25,7 @@
     end
 
     after do
-        ::Process.kill("INT", @pid)
+        Process.kill("INT", @pid)
     end
 
     describe "#initialize" do
diff --git a/test/runtime/test_apply_requirement_modifications.rb b/test/runtime/test_apply_requirement_modifications.rb
index a41939554..f4d642aa6 100644
--- a/test/runtime/test_apply_requirement_modifications.rb
+++ b/test/runtime/test_apply_requirement_modifications.rb
@@ -44,7 +44,33 @@ module Runtime
                 execute { Runtime.apply_requirement_modifications(plan) }
 
                 assert_resolution_cancelled do
-                    execute { plan.unmark_permanent_task(requirement_task) }
+                    expect_execution do
+                        plan.unmark_permanent_task(requirement_task)
+                        requirement_task.planning_task.stop!
+                    end.to { have_error_matching Roby::PlanningFailedError.match }
+                end
+
+                refute plan.syskit_current_resolution
+            end
+
+            it "ignores resolution errors if all requirements have been " \
+               "stopped in the meantime" do
+                cmp_m = Composition.new_submodel
+                requirement_task =
+                    plan.add_permanent_task(cmp_m.to_instance_requirements.as_plan)
+                execute { requirement_task.planning_task.start! }
+                execute { Runtime.apply_requirement_modifications(plan) }
+
+                error_m = Class.new(RuntimeError)
+                flexmock(plan.syskit_current_resolution)
+                    .should_receive(:apply).and_raise(error_m)
+
+                assert_resolution_cancelled do
+                    expect_execution do
+                        plan.unmark_permanent_task(requirement_task)
+                        requirement_task.planning_task.stop!
+                    end.to { have_error_matching Roby::PlanningFailedError.match }
+                    Runtime.apply_requirement_modifications(plan)
                 end
 
                 refute plan.syskit_current_resolution
@@ -69,7 +95,7 @@ module Runtime
                              plan.syskit_current_resolution.future.requirement_tasks
             end
 
-            it "cancels an async resolution if one of the IR tasks "\
+            it "cancels an async resolution if one of the IR tasks " \
                "has been interrupted" do
                 cmp_m = Composition.new_submodel
                 requirement_task = plan.add_permanent_task(cmp_m)
diff --git a/test/runtime/test_connection_management.rb b/test/runtime/test_connection_management.rb
index c33886022..338b7c5ca 100644
--- a/test/runtime/test_connection_management.rb
+++ b/test/runtime/test_connection_management.rb
@@ -147,6 +147,7 @@ def mock_raw_port(task, port_name)
             describe "#removed_connections_require_network_update?" do
                 let(:management) { ConnectionManagement.new(plan) }
                 attr_reader :source_task, :sink_task
+
                 before do
                     @source_task = syskit_stub_and_deploy("source") do
                         output_port "out", "/double"
@@ -229,6 +230,7 @@ def mock_raw_port(task, port_name)
             describe "#update" do
                 describe "interaction between connections and task states" do
                     attr_reader :source_task, :sink_task
+
                     before do
                         @source_task = syskit_stub_and_deploy("source") do
                             output_port "out", "/double"
@@ -252,7 +254,7 @@ def mock_raw_port(task, port_name)
                                                        .once.ordered.pass_thru
                         source_task.connect_to(sink_task)
                         refute sink_task.ready_for_setup?,
-                               "#{sink_task} is ready_for_setup? but its inputs are "\
+                               "#{sink_task} is ready_for_setup? but its inputs are " \
                                "not connected yet"
                         ConnectionManagement.update(plan)
                         assert sink_task.ready_for_setup?
@@ -260,8 +262,8 @@ def mock_raw_port(task, port_name)
                     end
 
                     describe "handling of static ports" do
-                        it "triggers a redeployment if "\
-                            "#removed_connections_require_network_update? returns true" do
+                        it "triggers a redeployment if " \
+                           "#removed_connections_require_network_update? returns true" do
                             expected = dataflow_graph.pending_changes =
                                 [Set.new, flexmock(:base, {}, empty?: false),
                                  flexmock(:base, {}, empty?: false)]
@@ -439,8 +441,8 @@ def pre_operational_task.configure
                                              edge_info
                             end
 
-                            it "handles an old task still present in the plan while the "\
-                                "new task's connection is added, both tasks not setup" do
+                            it "handles an old task still present in the plan while the " \
+                               "new task's connection is added, both tasks not setup" do
                                 plan.unmark_mission_task(source_task)
                                 plan.add(new_source_task = source_task
                                     .execution_agent.task(source_task.orocos_name))
@@ -455,9 +457,9 @@ def pre_operational_task.configure
                                              edge_info
                             end
 
-                            it "handles an old task still present in the plan while "\
-                                "the new task's connection is added, the old task "\
-                                "being running" do
+                            it "handles an old task still present in the plan while " \
+                               "the new task's connection is added, the old task " \
+                               "being running" do
                                 syskit_configure_and_start(source_task)
                                 plan.unmark_mission_task(source_task)
                                 plan.add_mission_task(new_source_task = source_task
@@ -540,8 +542,8 @@ def pre_operational_task.configure
                     end
                 end
 
-                it "triggers a deployment if a connection to a static port is removed "\
-                    "on an already setup task" do
+                it "triggers a deployment if a connection to a static port is removed " \
+                   "on an already setup task" do
                     task_m = TaskContext.new_submodel do
                         input_port("in", "/double").static
                         output_port "out", "/double"
@@ -562,8 +564,8 @@ def pre_operational_task.configure
                     refute_equal sink, sink_srv.to_task
                 end
 
-                it "detects and applies removed connections between ports, "\
-                    "even if the two underlying tasks still have connections" do
+                it "detects and applies removed connections between ports, " \
+                   "even if the two underlying tasks still have connections" do
                     source_task = syskit_stub_deploy_and_configure("source") do
                         output_port "out1", "/double"
                         output_port "out2", "/double"
@@ -708,6 +710,7 @@ def create_new_source
             describe "connections involving finalized task" do
                 attr_reader :source, :sink, :task_m
                 attr_reader :source_orocos_task, :sink_orocos_task
+
                 before do
                     unplug_connection_management
                     @task_m = TaskContext.new_submodel do
@@ -763,7 +766,7 @@ def assert_is_disconnected(source_alive: true, sink_alive: true)
                     stop_and_collect_execution_agents(source)
                     flexmock(ConnectionManagement)
                         .new_instances.should_receive(:warn)
-                        .with(Regexp.new("error while disconnecting|I am assuming that "\
+                        .with(Regexp.new("error while disconnecting|I am assuming that " \
                                          "the disconnection is actually effective"))
                     ConnectionManagement.update(plan)
                     assert_is_disconnected(source_alive: false)
@@ -773,7 +776,7 @@ def assert_is_disconnected(source_alive: true, sink_alive: true)
                     stop_and_collect_execution_agents(sink)
                     flexmock(ConnectionManagement)
                         .new_instances.should_receive(:warn)
-                        .with(Regexp.new("error while disconnecting|I am assuming that "\
+                        .with(Regexp.new("error while disconnecting|I am assuming that " \
                                          "the disconnection is actually effective"))
                     ConnectionManagement.update(plan)
                     assert_is_disconnected(sink_alive: false)
@@ -811,6 +814,7 @@ def assert_is_disconnected(source_alive: true, sink_alive: true)
 
             describe "#partition_early_late" do
                 attr_reader :manager, :connections, :source, :sink
+
                 before do
                     @manager = ConnectionManagement.new(plan)
                     @source = flexmock
@@ -1011,6 +1015,7 @@ def make_syskit_task_map(source_state, sink_state)
 
             describe "handling of dead deployments" do
                 attr_reader :source_task, :sink_task, :source_agent, :sink_agent, :source_orocos, :sink_orocos
+
                 before do
                     unplug_connection_management
                     task_m = Syskit::TaskContext.new_submodel do
@@ -1030,7 +1035,7 @@ def make_syskit_task_map(source_state, sink_state)
 
                 def assert_disconnection_fails_and_warns(source_orocos_task, source_port, sink_orocos_task, sink_port, reference_match = ".*")
                     first_line  = "error while disconnecting #{source_orocos_task}:#{source_port} => #{sink_orocos_task}:#{sink_port}"
-                    second_line = "I am assuming that the disconnection is actually effective, since one port does not exist anymore and\/or the task cannot be contacted \(i\.e\. assumed to be dead)"
+                    second_line = "I am assuming that the disconnection is actually effective, since one port does not exist anymore and/or the task cannot be contacted (i.e. assumed to be dead)"
                     manager = flexmock(ConnectionManagement).new_instances
                     manager.should_receive(:warn).with(/#{Regexp.quote(first_line)}: #{reference_match}/).once
                     manager.should_receive(:warn).with(second_line).once
diff --git a/test/runtime/test_update_deployment_state.rb b/test/runtime/test_update_deployment_state.rb
index 3eb405e05..ff9810f04 100644
--- a/test/runtime/test_update_deployment_state.rb
+++ b/test/runtime/test_update_deployment_state.rb
@@ -4,16 +4,186 @@
 
 module Syskit
     module Runtime
+        class ProcessServerFixture
+            attr_reader :loader, :processes, :killed_processes
+
+            def initialize
+                @killed_processes = []
+                @processes = {}
+                @loader = FlexMock.undefined
+            end
+
+            def wait_termination(*)
+                dead_processes = @killed_processes
+                @killed_processes = []
+                dead_processes
+            end
+
+            def start(name, *)
+                processes.fetch(name)
+            end
+
+            def wait_running(*process_names)
+                resolved = {}
+                process_names.each do |p_name|
+                    resolved[p_name] = {}
+                    @processes.each_value do |p|
+                        resolved[p_name] = p.ior_mappings
+                    end
+                end
+                resolved
+            end
+
+            def disconnect; end
+        end
+
         describe ".update_deployment_states" do
-            it "calls #dead! on the dead deployments" do
-                client = flexmock
-                flexmock(Syskit.conf).should_receive(:each_process_server_config)
-                                     .and_return([flexmock(client: client)])
-                client.should_receive(:wait_termination).and_return([[p = flexmock, s = flexmock]])
-                flexmock(Deployment).should_receive(:deployment_by_process).with(p)
-                                    .and_return(d = flexmock(finishing?: true))
-                d.should_receive(:dead!).with(s).once
-                Runtime.update_deployment_states(plan)
+            describe "#handle_dead_deployments" do
+                it "calls #dead! on the dead deployments" do
+                    client = flexmock
+                    flexmock(Syskit.conf).should_receive(:each_process_server_config)
+                                         .and_return([flexmock(client: client)])
+                    client.should_receive(:wait_termination)
+                          .and_return([[p = flexmock, s = flexmock]])
+                    flexmock(Deployment).should_receive(:deployment_by_process).with(p)
+                                        .and_return(d = flexmock(finishing?: true))
+                    d.should_receive(:dead!).with(s).once
+                    Runtime.update_deployment_states(plan)
+                end
+            end
+
+            describe "#trigger_ready_deployments" do
+                attr_reader :mocked_remote_tasks
+                attr_reader :process_server_config
+
+                before do
+                    @mocked_remote_tasks = {
+                        "first_process" => {
+                            iors: {
+                                "task_name" => "IOR",
+                                "task2" => "IOR2"
+                            }
+                        },
+                        "other_process" => {
+                            iors: {
+                                "third_task" => "IOR3",
+                                "fourth_task" => "IOR4"
+                            }
+                        }
+                    }
+                    process_server = ProcessServerFixture.new
+                    @process_server_config = Syskit.conf.register_process_server(
+                        "fixture", process_server, flexmock("log_dir")
+                    )
+                end
+
+                it "updates the deployments remote tasks when they are ready" do
+                    client_mock = flexmock(process_server_config.client)
+                    d1 = mocked_deployment(
+                        "first_process", "fixture", mocked_remote_tasks["first_process"]
+                    )
+                    d2 = mocked_deployment(
+                        "other_process", "fixture", mocked_remote_tasks["other_process"]
+                    )
+
+                    flexmock(Runtime)
+                        .should_receive(:find_all_not_ready_deployments)
+                        .and_return({ fixture: [d1, d2] })
+                    flexmock(Syskit.conf)
+                        .should_receive(:process_server_config_for)
+                        .and_return(process_server_config)
+                    client_mock.should_receive(:wait_running)
+                               .and_return(mocked_remote_tasks)
+                    Runtime.update_deployment_states(plan)
+                end
+
+                it "emits that the ready event failed and an error was received" do
+                    mocked_remote_tasks["other_process"] = { error: "some error" }
+                    client_mock = flexmock(process_server_config.client)
+                    d1 = mocked_deployment(
+                        "first_process", "fixture", mocked_remote_tasks["first_process"]
+                    )
+                    d2 = mocked_deployment(
+                        "other_process", "fixture", mocked_remote_tasks["other_process"]
+                    )
+
+                    flexmock(Runtime)
+                        .should_receive(:find_all_not_ready_deployments)
+                        .and_return({ fixture: [d1, d2] })
+                    flexmock(Syskit.conf)
+                        .should_receive(:process_server_config_for)
+                        .and_return(process_server_config)
+                    client_mock.should_receive(:wait_running)
+                               .and_return(mocked_remote_tasks)
+                    Runtime.update_deployment_states(plan)
+                end
+
+                it "ignores the deployment when it hasnt received a result from " \
+                   "wait running" do
+                    client_mock = flexmock(process_server_config.client)
+                    d1 = mocked_deployment(
+                        "first_process", "fixture", mocked_remote_tasks["first_process"]
+                    )
+
+                    flexmock(Runtime)
+                        .should_receive(:find_all_not_ready_deployments)
+                        .and_return({ fixture: [d1] })
+                    flexmock(Syskit.conf)
+                        .should_receive(:process_server_config_for)
+                        .and_return(process_server_config)
+                    client_mock.should_receive(:wait_running)
+                               .and_return({ first_process: nil })
+                    flexmock(d1.ready_event).should_receive(:emit_failed).never
+                    flexmock(d1).should_receive(:update_remote_tasks).never
+                    Runtime.update_deployment_states(plan)
+                end
+
+                it "ignores the deployment when its ready event is pending" do
+                    client_mock = flexmock(process_server_config.client)
+                    d1 = mocked_deployment(
+                        "first_process", "fixture", mocked_remote_tasks["first_process"],
+                        pending: true
+                    )
+
+                    flexmock(Runtime)
+                        .should_receive(:find_all_not_ready_deployments)
+                        .and_return({ fixture: [d1] })
+                    flexmock(Syskit.conf)
+                        .should_receive(:process_server_config_for)
+                        .and_return(process_server_config)
+                    client_mock.should_receive(:wait_running)
+                               .and_return({
+                                               "first_process" => {
+                                                   iors: {
+                                                       "task_name" => "IOR",
+                                                       "task2" => "IOR2"
+                                                   }
+                                               }
+                                           })
+                    flexmock(d1.ready_event).should_receive(:emit_failed).never
+                    flexmock(d1).should_receive(:update_remote_tasks).never
+                    Runtime.update_deployment_states(plan)
+                end
+
+                def mocked_deployment(
+                    process_name, process_server_name, remote_tasks, pending: false
+                )
+                    ready_event = flexmock({ pending?: pending })
+                    mock = flexmock({ process_name: process_name,
+                                      arguments: { on: process_server_name },
+                                      ready_event: ready_event })
+
+                    error = remote_tasks[:error]
+                    if error
+                        mock.ready_event.should_receive(:emit_failed).with(error)
+                        mock.should_receive(:update_remote_tasks).never
+                    else
+                        mock.should_receive(:ready_event).never
+                        mock.should_receive(:update_remote_tasks)
+                            .with(remote_tasks[:iors])
+                    end
+                    mock
+                end
             end
         end
     end
diff --git a/test/runtime/test_update_task_states.rb b/test/runtime/test_update_task_states.rb
index 159aec5c7..af792c13f 100644
--- a/test/runtime/test_update_task_states.rb
+++ b/test/runtime/test_update_task_states.rb
@@ -6,6 +6,7 @@ module Syskit
     module Runtime
         describe ".update_task_states" do
             attr_reader :task
+
             before do
                 task_m = Syskit::TaskContext.new_submodel
                 @task = syskit_stub_and_deploy(task_m)
@@ -49,7 +50,7 @@ def task.configure
                                 Deployment::STATE_READER_BUFFER_SIZE
                 expected = []
                 expected <<
-                    "got #{state_changes.size} state updates for #{@task}, we might "\
+                    "got #{state_changes.size} state updates for #{@task}, we might " \
                     "have lost some state updates in the process. Received:"
                 state_changes.each { |s| expected << "  #{s}" }
 
diff --git a/test/telemetry/agent/test_client_server.rb b/test/telemetry/agent/test_client_server.rb
new file mode 100644
index 000000000..cba80710a
--- /dev/null
+++ b/test/telemetry/agent/test_client_server.rb
@@ -0,0 +1,240 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/telemetry/agent/server"
+require "syskit/telemetry/agent/client"
+
+module Syskit
+    module Telemetry
+        module Agent
+            describe "Client and Server" do
+                before do
+                    @rpc = GRPC::RpcServer.new
+                    @rpc_port = @rpc.add_http2_port("localhost:0", :this_port_is_insecure)
+
+                    @name_service = Orocos::Local::NameService.new
+                    @server = Server.new(@name_service)
+                    @rpc.handle(@server)
+                    @client =
+                        Client.new("localhost:#{@rpc_port}", :this_channel_is_insecure)
+
+                    @rpc_thread = Thread.new do
+                        @rpc.run_till_terminated
+                    end
+                    @rpc.wait_till_running(10)
+                end
+
+                after do
+                    @rpc.stop
+                    @rpc_thread.join
+                    Orocos.allow_blocking_calls { @server.dispose }
+
+                    @name_service.each_task(&:dispose)
+                end
+
+                it "raises if trying to monitor a port without an established channel" do
+                    e = assert_raises(GRPC::Unknown) do
+                        @client.monitor_port(
+                            "task", "out", period: 0.1, type: :buffer, size: 20
+                        )
+                    end
+                    assert_match(/NotConnected/, e.message)
+                end
+
+                describe "with an established data channel" do
+                    before do
+                        @data_channel = DataChannel.setup(@client)
+                    end
+
+                    after do
+                        @data_channel.dispose
+                        @data_channel.join
+                    end
+
+                    it "sends port updates when a monitored port is updated" do
+                        task = create_task_and_port("task", "out")
+                        monitor_id, _disposable = @client.monitor_port(
+                            "task", "out", period: 0.1, type: :buffer, size: 20
+                        )
+
+                        assert_client_receives(
+                            { monitor_id => { type: task.out.type, values: [42] } }
+                        ) do
+                            task.out.write 42
+                        end
+                    end
+
+                    it "stops monitoring a port when the monitor is disposed of" do
+                        task = create_task_and_port("task", "out")
+                        _monitor_id, disposable = @client.monitor_port(
+                            "task", "out", period: 0.1, type: :buffer, size: 20
+                        )
+                        disposable.dispose
+
+                        assert_client_receives_nothing do
+                            task.out.write 42
+                        end
+                    end
+
+                    it "raises if trying to monitor a non-existent port" do
+                        create_task_and_port("task", "out")
+                        e = assert_raises(GRPC::Unknown) do
+                            @client.monitor_port(
+                                "task", "does_not_exist",
+                                period: 0.1, type: :buffer, size: 20
+                            )
+                        end
+                        assert_match(/NotFound/, e.message)
+                    end
+
+                    it "raises if trying to monitor a non-existent task" do
+                        e = assert_raises(GRPC::Unknown) do
+                            @client.monitor_port(
+                                "task", "out", period: 0.1, type: :buffer, size: 20
+                            )
+                        end
+                        assert_match(/NotFound/, e.message)
+                    end
+
+                    it "raises if a data channel is already registered for this peer" do
+                        e = assert_raises(GRPC::Unknown) do
+                            @client.data(Grpc::Void.new) {}
+                        end
+                        assert_match(/Duplicate/, e.message)
+                    end
+
+                    def assert_client_receives(expected, timeout: 10)
+                        @data_channel.clear
+
+                        yield
+
+                        until expected.empty?
+                            sample = @data_channel.deq(timeout)
+                            assert_client_received_expected(expected, sample)
+                        end
+                    end
+
+                    def assert_client_receives_nothing(timeout: 1)
+                        @data_channel.clear
+
+                        yield
+
+                        @data_channel.deq(timeout)
+                        flunk("received sample on channel but none were expected")
+                    rescue Syskit::Telemetry::Agent::QueueWithTimeout::WaitTimedOut
+                        assert(true) # to count assertions
+                    end
+                end
+
+                def create_task_and_port(task_name, port_name)
+                    task = Orocos.allow_blocking_calls do
+                        task = Orocos::RubyTasks::TaskContext.new(task_name)
+                        task.create_output_port port_name, "/double"
+                        task
+                    end
+                    @name_service.register(task)
+                    @name_service.register(task, name: task_name)
+                end
+
+                class QueueWithTimeout
+                    def initialize
+                        @queue = []
+                        @mu = Mutex.new
+                        @cv = ConditionVariable.new
+                    end
+
+                    def enq(element)
+                        @mu.synchronize do
+                            @queue << element
+                            @cv.signal
+                        end
+                    end
+
+                    def deq(timeout)
+                        @mu.synchronize do
+                            wait_locked(timeout) if @queue.empty?
+                            @queue.shift
+                        end
+                    end
+
+                    def clear
+                        @mu.synchronize { @queue.clear }
+                    end
+
+                    class WaitTimedOut < RuntimeError; end
+
+                    def wait_locked(timeout)
+                        deadline = Time.now + timeout
+
+                        loop do
+                            @cv.wait(@mu, timeout)
+
+                            if @queue.empty?
+                                next if Time.now < deadline
+
+                                raise WaitTimedOut,
+                                      "timed out waiting for queue to have elements"
+                            end
+
+                            return @queue.first
+                        end
+                    end
+                end
+
+                DataChannel = Struct.new :op, :queue, :thread, keyword_init: true do
+                    def self.setup(client, timeout: 5)
+                        data_op = client.data(Grpc::Void.new, return_op: true)
+                        sample_queue = QueueWithTimeout.new
+
+                        channel_ready = Concurrent::Event.new
+                        pull_thread = Thread.new do
+                            enum = data_op.execute
+                            enum.each do |sample|
+                                # We ignore the first sample. It is sent as a way to
+                                # confirm that the channel is successfully established
+                                sample_queue.enq(sample) unless channel_ready.try?
+                            end
+                        rescue GRPC::Core::CallError, GRPC::Cancelled # rubocop:disable Lint/SuppressedException
+                        end
+
+                        unless channel_ready.wait(timeout)
+                            flunk("failed to get the channel ready")
+                        end
+
+                        new(op: data_op, queue: sample_queue, thread: pull_thread)
+                    end
+
+                    def clear
+                        queue.clear
+                    end
+
+                    def dispose
+                        cancel
+                    end
+
+                    def cancel
+                        op.cancel
+                    end
+
+                    def join
+                        thread.join
+                    end
+
+                    def deq(timeout)
+                        queue.deq(timeout)
+                    end
+                end
+
+                def assert_client_received_expected(expected, sample)
+                    assert(id_expectations = expected[sample.id])
+                    type = id_expectations[:type]
+
+                    values = id_expectations[:values]
+                    next_value = values.shift
+                    assert_equal(next_value, type.from_buffer(sample.data))
+                    expected.delete(sample.id) if values.empty?
+                end
+            end
+        end
+    end
+end
diff --git a/test/telemetry/ui/test_name_service.rb b/test/telemetry/ui/test_name_service.rb
new file mode 100644
index 000000000..8dee62362
--- /dev/null
+++ b/test/telemetry/ui/test_name_service.rb
@@ -0,0 +1,125 @@
+# frozen_string_literal: true
+
+require "syskit/test/self"
+require "syskit/telemetry/ui/name_service"
+
+module Syskit
+    module Telemetry
+        module UI
+            describe NameService do
+                before do
+                    @name_service = NameService.new
+                end
+
+                describe "on_task_added" do
+                    it "calls the block when a new task is registered" do
+                        mock = flexmock
+                        mock.should_receive(:registered).with("test").once
+                        @name_service.on_task_added { |name| mock.registered(name) }
+                        @name_service.register(flexmock, name: "test")
+                    end
+
+                    it "already has registered the task when the callback is called" do
+                        test_task = flexmock
+                        mock = flexmock
+                        mock.should_receive(:registered).with(test_task).once
+                        @name_service.on_task_added do |name|
+                            mock.registered(@name_service.get(name))
+                        end
+
+                        @name_service.register(test_task, name: "test")
+                    end
+
+                    it "accepts more than one callback" do
+                        mock = flexmock
+                        mock.should_receive(:registered).with("test", 1).once
+                        mock.should_receive(:registered).with("test", 2).once
+                        @name_service.on_task_added { |name| mock.registered(name, 1) }
+                        @name_service.on_task_added { |name| mock.registered(name, 2) }
+
+                        @name_service.register(flexmock, name: "test")
+                    end
+
+                    it "processes all callbacks even if one raises" do
+                        mock = flexmock
+                        mock.should_receive(:registered).with("test", 1).once
+                        mock.should_receive(:registered).with("test", 2).once
+                        error_m = Class.new(RuntimeError)
+                        @name_service.on_task_added do |name|
+                            mock.registered(name, 1)
+                            raise error_m
+                        end
+                        @name_service.on_task_added { |name| mock.registered(name, 2) }
+
+                        assert_raises(error_m) do
+                            @name_service.register(flexmock, name: "test")
+                        end
+                    end
+
+                    it "stops calling after the callback is disposed" do
+                        mock = flexmock
+                        mock.should_receive(:registered).never
+                        @name_service.on_task_added { |name| mock.registered(name) }
+                                     .dispose
+
+                        @name_service.register(flexmock, name: "test")
+                    end
+                end
+
+                describe "on_task_removed" do
+                    before do
+                        @name_service.register(@test_task = flexmock, name: "test")
+                    end
+
+                    it "calls the block when a task is removed" do
+                        mock = flexmock
+                        mock.should_receive(:removed).with("test").once
+                        @name_service.on_task_removed { |name| mock.removed(name) }
+                        @name_service.deregister("test")
+                    end
+
+                    it "already has removed the task when the callback is called" do
+                        @name_service.on_task_removed do |name|
+                            refute @name_service.include?(name)
+                        end
+
+                        @name_service.deregister("test")
+                    end
+
+                    it "accepts more than one callback" do
+                        mock = flexmock
+                        mock.should_receive(:removed).with("test", 1).once
+                        mock.should_receive(:removed).with("test", 2).once
+                        @name_service.on_task_removed { |name| mock.removed(name, 1) }
+                        @name_service.on_task_removed { |name| mock.removed(name, 2) }
+
+                        @name_service.deregister("test")
+                    end
+
+                    it "processes all callbacks even if one raises" do
+                        mock = flexmock
+                        mock.should_receive(:removed).with("test", 1).once
+                        mock.should_receive(:removed).with("test", 2).once
+                        error_m = Class.new(RuntimeError)
+                        @name_service.on_task_removed do |name|
+                            mock.removed(name, 1)
+                            raise error_m
+                        end
+                        @name_service.on_task_removed { |name| mock.removed(name, 2) }
+
+                        assert_raises(error_m) { @name_service.deregister("test") }
+                    end
+
+                    it "stops calling after the callback is disposed" do
+                        mock = flexmock
+                        mock.should_receive(:removed).never
+                        @name_service.on_task_removed { |name| mock.removed(name) }
+                                     .dispose
+
+                        @name_service.deregister("test")
+                    end
+                end
+            end
+        end
+    end
+end
diff --git a/test/test/test_execution_expectations.rb b/test/test/test_execution_expectations.rb
index 2ff92050b..db5519696 100644
--- a/test/test/test_execution_expectations.rb
+++ b/test/test/test_execution_expectations.rb
@@ -40,7 +40,7 @@ module Test
                             .timeout(0.01)
                             .to { have_one_new_sample task.in_port }
                     end
-                    assert_equal "#{task.in_port} should have received 1 new "\
+                    assert_equal "#{task.in_port} should have received 1 new " \
                                  "sample(s), but got 0",
                                  e.message.split("\n")[1]
                 end
@@ -125,7 +125,7 @@ module Test
                             .timeout(0.01)
                             .to { have_one_new_sample(task.in_port).matching { false } }
                     end
-                    assert_equal "#{task.in_port} should have received 1 new "\
+                    assert_equal "#{task.in_port} should have received 1 new " \
                                  "sample(s) matching the given predicate, but got 0",
                                  e.message.split("\n")[1]
                 end
@@ -158,7 +158,7 @@ module Test
             end
 
             describe "#have_new_samples" do
-                it "passes if the task emits the required number of samples "\
+                it "passes if the task emits the required number of samples " \
                    "and returns them" do
                     value = expect_execution { syskit_write task.in_port, 10, 20 }
                             .to { have_new_samples task.in_port, 2 }
@@ -181,7 +181,7 @@ module Test
                             .timeout(0.01)
                             .to { have_new_samples task.in_port, 2 }
                     end
-                    assert_equal "#{task.in_port} should have received 2 new "\
+                    assert_equal "#{task.in_port} should have received 2 new " \
                                  "sample(s), but got 1", e.message.split("\n")[1]
                 end
                 it "provides the backtrace from the point of call by default" do
@@ -250,15 +250,31 @@ module Test
                             ).matching { |v| v >= default_size }
                         end
                 end
+                it "produces a specific message if there were no rejected samples" do
+                    e = assert_raises(Roby::Test::ExecutionExpectations::Unmet) do
+                        expect_execution { syskit_write task.in_port, 2 }
+                            .timeout(0.01)
+                            .to { have_new_samples(task.in_port, 2).matching(&:even?) }
+                    end
+                    expected_msg = <<~MSG.chomp
+                        #{task.in_port} should have received 2 new sample(s) matching the given predicate, but got 1
+                          No samples were rejected by the #matching predicate
+                    MSG
+                    assert_equal expected_msg, e.message.split("\n")[1, 4].join("\n")
+                end
                 it "fails if the task does not emit enough matching samples" do
                     e = assert_raises(Roby::Test::ExecutionExpectations::Unmet) do
                         expect_execution { syskit_write task.in_port, 1, 2, 3 }
                             .timeout(0.01)
                             .to { have_new_samples(task.in_port, 2).matching(&:even?) }
                     end
-                    assert_match "#{task.in_port} should have received 2 new "\
-                                 "sample(s) matching the given predicate, "\
-                                 "but got 1", e.message.split("\n")[1]
+                    expected_msg = <<~MSG.chomp
+                        #{task.in_port} should have received 2 new sample(s) matching the given predicate, but got 1
+                          2 samples were rejected by the #matching predicate:
+                            1
+                            3
+                    MSG
+                    assert_equal expected_msg, e.message.split("\n")[1, 4].join("\n")
                 end
                 it "provides the backtrace from the point of call by default" do
                     expectation = nil
@@ -310,8 +326,8 @@ module Test
                             .timeout(0.01)
                             .to { have_no_new_sample task.in_port }
                     end
-                    assert_equal "#{task.in_port} should not have received a new "\
-                        "sample, but it received one: 10", e.message.split("\n")[1]
+                    assert_equal "#{task.in_port} should not have received a new " \
+                                 "sample, but it received one: 10", e.message.split("\n")[1]
                 end
                 it "provides the backtrace from the point of call by default" do
                     expectation = nil
@@ -359,7 +375,7 @@ module Test
                         .timeout(0.01)
                         .to { have_no_new_sample task.in_port }
                 end
-                it "validates if the task emits samples that don't "\
+                it "validates if the task emits samples that don't " \
                    "match the predicate" do
                     expect_execution { syskit_write task.in_port, 10 }
                         .timeout(0.01)
@@ -388,7 +404,7 @@ module Test
                                     .matching { |s| s == 10 }
                             end
                     end
-                    assert_equal "#{task.in_port} should not have received a new sample "\
+                    assert_equal "#{task.in_port} should not have received a new sample " \
                                  "matching the given predicate, but it received one: 10",
                                  e.message.split("\n")[1]
                 end
diff --git a/test/test/test_network_manipulation.rb b/test/test/test_network_manipulation.rb
index 02e2aacdc..17589ccf6 100644
--- a/test/test/test_network_manipulation.rb
+++ b/test/test/test_network_manipulation.rb
@@ -232,6 +232,14 @@ module Test
                     task = syskit_deploy(@task_m)
                     assert_equal "test_level", task.orocos_name
                 end
+
+                it "on error, it filters out the planning failed and mission failed " \
+                   "error caused by itself" do
+                    task_m = Syskit::TaskContext.new_submodel
+                    assert_raises(MissingDeployments) do
+                        syskit_deploy(task_m)
+                    end
+                end
             end
 
             describe "#syskit_generate_network" do
diff --git a/test/test/test_profile_assertions.rb b/test/test/test_profile_assertions.rb
index ebd19980c..6d7ed0134 100644
--- a/test/test/test_profile_assertions.rb
+++ b/test/test/test_profile_assertions.rb
@@ -15,12 +15,62 @@ module Test
                 @cmp_m.add @srv_m, as: "test"
             end
 
+            describe "ActionModels" do
+                include ProfileAssertions
+
+                before do
+                    @profile_m = Syskit::Actions::Profile.new
+                    @profile_m.define "test", @cmp_m
+                    @interface_m = Roby::Actions::Interface.new_submodel
+                    @interface_m.use_profile @profile_m
+                end
+
+                it "resolves an instance requirements action" do
+                    assert_equal [@interface_m.test_def.model],
+                                 ActionModels(@interface_m.test_def)
+                end
+
+                it "resolves a method action" do
+                    task_m = Roby::Task.new_submodel
+                    @interface_m.class_eval do
+                        describe("act").returns(task_m)
+                        define_method :act do
+                        end
+                    end
+
+                    assert_equal [@interface_m.act.model], ActionModels(@interface_m.act)
+                end
+
+                it "handles array of actions as argument" do
+                    @interface_m.class_eval do
+                        describe("act")
+                        define_method(:act) {}
+                    end
+
+                    assert_equal [@interface_m.act.model, @interface_m.test_def.model],
+                                 ActionModels([@interface_m.act, @interface_m.test_def])
+                end
+
+                it "resolves an action state machine" do
+                    task_m = Roby::Task.new_submodel
+                    @interface_m.class_eval do
+                        describe("act").returns(task_m)
+                        action_state_machine :act do
+                            start state(task_m)
+                        end
+                    end
+
+                    assert_equal [@interface_m.act.model], ActionModels(@interface_m.act)
+                end
+            end
+
             describe "Actions" do
                 include ProfileAssertions
 
                 before do
                     @profile_m = Syskit::Actions::Profile.new
                     @profile_m.define "test", @cmp_m
+                    @profile_m.define "test2", @cmp_m
                     @interface_m = Roby::Actions::Interface.new_submodel
                     @interface_m.use_profile @profile_m
                 end
@@ -29,7 +79,22 @@ module Test
                     assert_equal [@interface_m.test_def], Actions(@interface_m.test_def)
                 end
 
-                it "resolves a method action that returns a task with "\
+                it "accepts an array as argument" do
+                    task_m = Roby::Task.new_submodel
+                    @interface_m.class_eval do
+                        describe("act").returns(task_m)
+                        define_method(:act) do
+                            root = task_m.new
+                            root.depends_on(test2_def)
+                            root
+                        end
+                    end
+
+                    assert_equal [@interface_m.test2_def, @interface_m.test_def],
+                                 Actions([@interface_m.act, @interface_m.test_def])
+                end
+
+                it "resolves a method action that returns a task with " \
                    "a coordination model" do
                     task_m = Roby::Task.new_submodel
                     @interface_m.class_eval do
@@ -46,7 +111,7 @@ module Test
                     assert_equal [@interface_m.test_def], Actions(@interface_m.act)
                 end
 
-                it "resolves a method action that returns a task with children "\
+                it "resolves a method action that returns a task with children " \
                    "that are itself method actions" do
                     task_m = Roby::Task.new_submodel
                     @interface_m.class_eval do
@@ -68,7 +133,7 @@ module Test
                     assert_equal [@interface_m.test_def], Actions(@interface_m.act)
                 end
 
-                it "resolves a method action that returns a task with children "\
+                it "resolves a method action that returns a task with children " \
                    "that are themselves instance requirement tasks" do
                     @interface_m.class_eval do
                         task_m = Roby::Task.new_submodel
@@ -84,6 +149,162 @@ module Test
                 end
             end
 
+            describe "BulkAssertAtomicActions" do
+                include ProfileAssertions
+
+                before do
+                    @profile_m = Syskit::Actions::Profile.new
+                    @profile_m.define "test", @cmp_m
+                    @interface_m = Roby::Actions::Interface.new_submodel
+                    @interface_m.use_profile @profile_m
+                end
+
+                it "lists all actions that can be resolved from its argument" do
+                    @interface_m.describe(:sm)
+                    @interface_m.action_state_machine :sm do
+                        start state(test_def)
+                    end
+
+                    assert_equal [[@interface_m.test_def], []],
+                                 BulkAssertAtomicActions(@interface_m.sm)
+                end
+
+                it "excludes actions from the models listed in 'exclude'" do
+                    @interface_m.describe(:sm)
+                    @interface_m.action_state_machine :sm do
+                        start state(test_def)
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(
+                        @interface_m.sm, exclude: [@interface_m.test_def]
+                    )
+                    assert_equal [], found
+                    assert_equal [], skipped
+                end
+
+                it "reports actions that cannot be instanciated " \
+                   "because of missing arguments" do
+                    @interface_m.describe(:m_action).required_arg(:test, "some docs")
+                    @interface_m.define_method(:m_action) do |test:|
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(@interface_m.m_action)
+                    assert_equal [], found
+                    assert_equal [@interface_m.m_action], skipped
+                end
+
+                it "reports actions that cannot be instanciated " \
+                   "because of missing arguments within a state machine" do
+                    @interface_m.describe(:m_action).required_arg(:test, "some docs")
+                    @interface_m.define_method(:m_action) do |test:|
+                    end
+                    @interface_m.describe(:sm)
+                    @interface_m.action_state_machine :sm do
+                        start state(m_action)
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(@interface_m.sm)
+                    assert_equal [], found
+                    assert_equal [@interface_m.m_action], skipped
+                end
+
+                it "lets the caller exclude atomic actions" do
+                    @interface_m.describe(:sm)
+                    @interface_m.action_state_machine :sm do
+                        start state(test_def)
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(
+                        @interface_m.sm, exclude: [@interface_m.sm]
+                    )
+                    assert_equal [@interface_m.test_def], found
+                    assert_equal [], skipped
+                end
+
+                it "lets the caller exclude method actions with missing arguments" do
+                    @interface_m.describe(:m_action).required_arg(:test, "")
+                    @interface_m.define_method :m_action do |test:|
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(
+                        @interface_m.m_action, exclude: [@interface_m.m_action]
+                    )
+                    assert_equal [], found
+                    assert_equal [], skipped
+                end
+
+                it "uses example arguments in place of required arguments " \
+                   "when available" do
+                    @interface_m.describe(:m_action).required_arg(:test, "", example: 10)
+                    @interface_m.define_method :m_action do |test:|
+                    end
+
+                    found, skipped = BulkAssertAtomicActions(
+                        @interface_m.m_action
+                    )
+                    assert_equal [@interface_m.m_action.with_arguments(test: 10)], found
+                    assert_equal [], skipped
+                end
+            end
+
+            describe "syskit deploy in bulk" do
+                include ProfileAssertions
+
+                before do
+                    @profile_m = Syskit::Actions::Profile.new
+                    @interface_m = Roby::Actions::Interface.new_submodel
+                end
+
+                it "manages to deploy multiple actions that depend on each other from " \
+                   "the same action interface" do
+                    sub_task_m = Syskit::Composition.new_submodel do
+                        argument :somearg, example: 20
+                        argument :arg_with_default, default: 42
+                    end
+                    main_task_m = Syskit::Composition.new_submodel do
+                        argument :an_arg, default: 5
+
+                        add(sub_task_m, as: "sub_task")
+                            .with_arguments(somearg: from(:parent_task).an_arg)
+                    end
+                    @profile_m.define "task_with_subtask", main_task_m
+                    @profile_m.define "subtask_standalone", sub_task_m
+
+                    @interface_m.use_profile @profile_m
+
+                    @interface_m.describe(:m_sub_action)
+                                .required_arg(:testarg, "", example: 10)
+                                .required_arg(:otherarg, "", example: 10)
+                                .returns(main_task_m)
+                    @interface_m.action_state_machine :m_sub_action do
+                        beginning = state task_with_subtask_def(an_arg: testarg)
+                        final = state subtask_standalone_def(somearg: otherarg)
+
+                        transition beginning.success_event, final
+                        final.success_event.forward_to success_event
+
+                        start beginning
+                    end
+
+                    root_m = Roby::Task.new_submodel do
+                        terminates
+                    end
+                    @interface_m.describe(:m_action)
+                                .required_arg(:testarg, "", example: 10)
+                                .returns(root_m)
+                    @interface_m.define_method :m_action do |testarg:|
+                        root = root_m.new
+                        root.depends_on(m_sub_action(testarg: testarg, otherarg: 42))
+                        root
+                    end
+
+                    syskit_run_deploy_in_bulk(
+                        [@interface_m.m_action, @interface_m.m_sub_action],
+                        compute_policies: true, compute_deployments: true
+                    )
+                end
+            end
+
             describe "assert_is_self_contained" do
                 include ProfileAssertions
 
@@ -136,6 +357,24 @@ module Test
                     @test_profile.tag "test", @srv_m
                     assert_is_self_contained(@cmp_m.use(@srv_m => @test_profile.test_tag))
                 end
+
+                it "fails if some actions are not resolvable" do
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(action = flexmock, exclude: (excluded = flexmock))
+                        .and_return([[],
+                                     [flexmock(name: "some"), flexmock(name: "action")]])
+
+                    e = assert_raises(Minitest::Assertion) do
+                        assert_is_self_contained(action, exclude: excluded)
+                    end
+                    message = "could not validate some non-Syskit actions: 'action', " \
+                              "'some', probably because of required arguments. Pass " \
+                              "the action to the 'exclude' option of " \
+                              "assert_is_self_contained, and add a separate assertion " \
+                              "test with the arguments added explicitly"
+                    assert_equal message, e.message
+                end
             end
 
             describe "assert_can_instanciate" do
@@ -164,7 +403,8 @@ module Test
                     end
                     assert_match(
                         /cannot\ find\ a\ concrete\ implementation.*
-                         TestProfile.test_tag/mx, e.message
+                         TestProfile.test_tag/mx,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -175,7 +415,8 @@ module Test
                     end
                     assert_match(
                         /cannot\ find\ a\ concrete\ implementation.*
-                         Models::Placeholder<Srv>/mx, e.message
+                         Models::Placeholder<Srv>/mx,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -190,8 +431,8 @@ module Test
                         assert_can_instanciate(@test_profile)
                     end
                     assert_match(
-                        /cannot find a concrete implementation.*profile:Other.test_tag/m,
-                        e.message
+                        /cannot find a concrete implementation.*Other.test_tag/m,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -209,6 +450,51 @@ module Test
                         assert_equal 9, t.bla
                     end
                 end
+
+                it "fails if some actions are not resolvable" do
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(action = flexmock, exclude: (excluded = flexmock))
+                        .and_return([[],
+                                     [flexmock(name: "some"), flexmock(name: "action")]])
+
+                    e = assert_raises(Minitest::Assertion) do
+                        assert_can_instanciate(action, exclude: excluded)
+                    end
+                    message = "could not validate some non-Syskit actions: 'action', " \
+                              "'some', probably because of required arguments. Pass " \
+                              "the action to the 'exclude' option of " \
+                              "assert_can_instanciate, and add a separate assertion " \
+                              "test with the arguments added explicitly"
+                    assert_equal message, e.message
+                end
+
+                it "fails if some actions in together_with are not resolvable" do
+                    action, together_with, exclude = 3.times.map { flexmock }
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(action, exclude: exclude)
+                        .and_return([[], []])
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(together_with, exclude: exclude)
+                        .and_return([[],
+                                     [flexmock(name: "some"), flexmock(name: "action")]])
+
+                    e = assert_raises(Minitest::Assertion) do
+                        assert_can_instanciate(
+                            action, exclude: exclude, together_with: together_with
+                        )
+                    end
+                    message =
+                        "could not validate some non-Syskit actions given " \
+                        "to `together_with` in assert_can_instanciate: 'action', " \
+                        "'some', probably because of " \
+                        "missing arguments. If you are passing a profile or action " \
+                        "interface and do not require to test against that particular " \
+                        "action, pass it to the 'exclude' argument"
+                    assert_equal message, e.message
+                end
             end
 
             describe "assert_can_deploy" do
@@ -239,7 +525,7 @@ module Test
 
                     assert_match(
                         /cannot deploy the following tasks.*Task.*child test of Cmp/m,
-                        e.message
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -253,7 +539,8 @@ module Test
                     end
                     assert_match(
                         /cannot\ find\ a\ concrete\ implementation.*
-                         TestProfile.test_tag/mx, e.message
+                         TestProfile.test_tag/mx,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -264,7 +551,8 @@ module Test
                     end
                     assert_match(
                         /cannot\ find\ a\ concrete\ implementation.*
-                         Models::Placeholder<Srv>/mx, e.message
+                         Models::Placeholder<Srv>/mx,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -279,8 +567,8 @@ module Test
                         assert_can_deploy(@test_profile)
                     end
                     assert_match(
-                        /cannot find a concrete implementation.*profile:Other.test_tag/m,
-                        e.message
+                        /cannot find a concrete implementation.*Other.test_tag/m,
+                        PP.pp(e.each_original_exception.first, +"")
                     )
                 end
 
@@ -301,6 +589,71 @@ module Test
                                               .use_deployment(@deployment_m)
                     )
                 end
+
+                it "fails if some actions are not resolvable" do
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(action = flexmock, exclude: (excluded = flexmock))
+                        .and_return([[],
+                                     [flexmock(name: "some"), flexmock(name: "action")]])
+
+                    e = assert_raises(Minitest::Assertion) do
+                        assert_can_deploy(action, exclude: excluded)
+                    end
+                    message = "could not validate some non-Syskit actions: 'action', " \
+                              "'some', probably because of required arguments. Pass " \
+                              "the action to the 'exclude' option of " \
+                              "assert_can_deploy, and add a separate assertion " \
+                              "test with the arguments added explicitly"
+                    assert_equal message, e.message
+                end
+
+                it "fails if some actions in together_with are not resolvable" do
+                    action, together_with, exclude = 3.times.map { flexmock }
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(action, exclude: exclude)
+                        .and_return([[], []])
+                    flexmock(self)
+                        .should_receive(:BulkAssertAtomicActions)
+                        .with(together_with, exclude: exclude)
+                        .and_return([[],
+                                     [flexmock(name: "some"), flexmock(name: "action")]])
+
+                    e = assert_raises(Minitest::Assertion) do
+                        assert_can_deploy(
+                            action, exclude: exclude, together_with: together_with
+                        )
+                    end
+                    message =
+                        "could not validate some non-Syskit actions given " \
+                        "to `together_with` in assert_can_deploy: 'action', " \
+                        "'some', probably because of " \
+                        "missing arguments. If you are passing a profile or action " \
+                        "interface and do not require to test against that particular " \
+                        "action, pass it to the 'exclude' argument"
+                    assert_equal message, e.message
+                end
+            end
+
+            describe ".each_combination" do
+                it "calculates and yields each possible combination of its arguments" do
+                    result = ProfileAssertions.each_combination(
+                        [1, 2, 3],
+                        [4, 5],
+                        [6, 7, 8]
+                    ).to_a
+
+                    expected = [
+                        [1, 4, 6], [1, 4, 7], [1, 4, 8],
+                        [1, 5, 6], [1, 5, 7], [1, 5, 8],
+                        [2, 4, 6], [2, 4, 7], [2, 4, 8],
+                        [2, 5, 6], [2, 5, 7], [2, 5, 8],
+                        [3, 4, 6], [3, 4, 7], [3, 4, 8],
+                        [3, 5, 6], [3, 5, 7], [3, 5, 8]
+                    ]
+                    assert_equal expected, result
+                end
             end
         end
     end
diff --git a/test/test_component.rb b/test/test_component.rb
index d302b1a74..169a26065 100644
--- a/test/test_component.rb
+++ b/test/test_component.rb
@@ -5,6 +5,7 @@
 describe Syskit::Component do
     describe "#specialize" do
         attr_reader :task, :task_m
+
         before do
             @task_m = Syskit::TaskContext.new_submodel
             @task = task_m.new
@@ -110,11 +111,12 @@
 
     describe "#require_dynamic_service" do
         attr_reader :task_m, :srv_m, :dyn, :task
+
         before do
             @task_m = Syskit::TaskContext.new_submodel do
                 output_port "out", "int"
-                dynamic_output_port /\w+_out/, "bool"
-                dynamic_input_port /\w+_in/, "double"
+                dynamic_output_port(/\w+_out/, "bool")
+                dynamic_input_port(/\w+_in/, "double")
             end
             srv_m = @srv_m = Syskit::DataService.new_submodel do
                 output_port "out", "bool"
@@ -191,6 +193,7 @@
 
     describe "#can_merge?" do
         attr_reader :srv_m, :task_m, :testing_task, :tested_task
+
         before do
             srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel do
@@ -241,14 +244,14 @@
                       .with_arguments(arg: Roby::Task.from(:parent_task).arg)
             end
 
-            it "does not merge if the two tasks have from(:parent_task) ... arguments that "\
-                "resolve to different values" do
+            it "does not merge if the two tasks have from(:parent_task) ... arguments that " \
+               "resolve to different values" do
                 testing_cmp = @cmp_m.with_arguments(arg: 5).instanciate(plan)
                 tested_cmp  = @cmp_m.with_arguments(arg: 10).instanciate(plan)
                 refute testing_cmp.test_child.can_merge?(tested_cmp.test_child)
             end
-            it "does merge if the two tasks have from(:parent_task) ... arguments that "\
-                "resolve to the same value" do
+            it "does merge if the two tasks have from(:parent_task) ... arguments that " \
+               "resolve to the same value" do
                 testing_cmp = @cmp_m.with_arguments(arg: 10).instanciate(plan)
                 tested_cmp  = @cmp_m.with_arguments(arg: 10).instanciate(plan)
                 assert testing_cmp.test_child.can_merge?(tested_cmp.test_child)
@@ -260,6 +263,7 @@
 
     describe "#merge" do
         attr_reader :srv_m, :task_m, :task, :merged_task
+
         before do
             srv_m = @srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel do
@@ -348,6 +352,7 @@
         end
         describe "handling of default arguments" do
             attr_reader :task_m, :default_arg
+
             before do
                 @task_m = Syskit::Component.new_submodel do
                     argument :arg
@@ -512,7 +517,7 @@
 
         it "creates dynamic ports" do
             task_m = Syskit::TaskContext.new_submodel do
-                dynamic_output_port /\w+/, nil
+                dynamic_output_port(/\w+/, nil)
             end
             dynport = task_m.orogen_model.dynamic_ports.find { true }
 
@@ -645,6 +650,13 @@
             assert_equal task.out_port, reader.resolved_accessor.port
         end
 
+        it "creates a bound accessor with the specified policy" do
+            reader = @support_task_m.data_reader(
+                @task_m.out_port, type: :buffer, size: 20, as: "test"
+            )
+            assert_equal({ type: :buffer, size: 20 }, reader.policy)
+        end
+
         it "enumerates the bound readers with each_data_reader" do
             @support_task_m.data_reader @task_m.match.out_port, as: "test"
             support_task = syskit_stub_and_deploy(@support_task_m)
@@ -664,6 +676,21 @@
             expect_execution.to { achieve { reader.connected? } }
             assert_equal task.out_port, reader.resolved_accessor.port
         end
+
+        it "injects a new class instead of using BoundOutputReader" do
+            injected = Class.new Syskit::DynamicPortBinding::BoundOutputReader
+
+            @support_task_m.data_reader(
+                @task_m.match.running.out_port, as: "test", klass: injected
+            )
+            support_task = syskit_stub_deploy_configure_and_start(@support_task_m)
+            task = syskit_stub_deploy_configure_and_start(@task_m)
+            reader = support_task.test_reader
+
+            assert reader.kind_of? injected
+            expect_execution.to { achieve { reader.connected? } }
+            assert_equal task.out_port, reader.resolved_accessor.port
+        end
     end
 
     describe Syskit::Component::DataAccessorInterface do
@@ -717,6 +744,32 @@
         end
     end
 
+    describe "managing registers for data reader and data writer" do
+        before do
+            @task_m = Syskit::TaskContext.new_submodel do
+                input_port "in", "/double"
+                output_port "out", "/double"
+            end
+            flexmock(Syskit::DynamicPortBinding::BoundOutputReader)
+        end
+
+        it "register and deregister a data reader" do
+            task = syskit_stub_deploy_and_configure(@task_m)
+            reader = task.data_reader(@task_m.out_port, as: "test")
+            assert_equal reader, task.find_registered_data_reader(reader.name)
+            task.deregister_data_reader(reader.name)
+            assert_nil task.find_registered_data_reader(reader.name)
+        end
+
+        it "register and deregister a data writer" do
+            task = syskit_stub_deploy_and_configure(@task_m)
+            writer = task.data_writer(@task_m.in_port, as: "test")
+            assert_equal writer, task.find_registered_data_writer(writer.name)
+            task.deregister_data_writer(writer.name)
+            assert_nil task.find_registered_data_writer(writer.name)
+        end
+    end
+
     describe "#data_reader" do
         before do
             @task_m = Syskit::TaskContext.new_submodel do
@@ -728,6 +781,13 @@
             @task = syskit_stub_deploy_and_configure(@task_m)
         end
 
+        it "instanciates new data readers on dup" do
+            @task_m.data_reader @task_m.out_port, as: "test"
+            task1 = @task_m.new
+            task2 = task1.dup
+            refute_equal task1.test_reader, task2.test_reader
+        end
+
         describe "without a given accessor name" do
             it "creates an unbound accessor" do
                 reader = @task.data_reader(@task_m.out_port)
@@ -823,6 +883,30 @@
             syskit_stop(@task)
         end
 
+        it "uses injected class to update read samples" do
+            injected = Class.new Syskit::DynamicPortBinding::BoundOutputReader
+            injected.class_eval do
+                def read_new
+                    return unless (sample = super)
+
+                    22 + sample
+                end
+            end
+
+            @task_m.data_reader(
+                @task_m.match.running.out_port, as: "test", klass: injected
+            )
+            task = syskit_stub_deploy_configure_and_start(@task_m, remote_task: false)
+
+            reader = task.test_reader
+            assert_kind_of injected, reader
+            expect_execution.to { achieve { reader.connected? } }
+
+            expect_execution { syskit_write task.out_port, 20 }.to do
+                achieve { reader.read_new == 42 }
+            end
+        end
+
         describe "deprecated string-based arguments" do
             before do
                 @task = syskit_stub_and_deploy(@task_m)
@@ -832,7 +916,7 @@
                 e = assert_raises(ArgumentError) do
                     @task.data_reader("out", as: "test")
                 end
-                assert_equal "cannot provide the 'as' option to the deprecated "\
+                assert_equal "cannot provide the 'as' option to the deprecated " \
                              "string-based call to #data_reader", e.message
             end
 
@@ -856,7 +940,7 @@
                 assert_equal cmp.test_child.out_port, writer.port
             end
 
-            it "falls back to Roby's notion of role if accessing children "\
+            it "falls back to Roby's notion of role if accessing children " \
                "from a non-composition" do
                 parent_task = syskit_stub_and_deploy(@task_m)
                 parent_task.depends_on @task, role: "test"
@@ -886,7 +970,7 @@
 
             it "raises if the given port does not exist" do
                 e = assert_raises(ArgumentError) { @task.data_reader("does_not_exist") }
-                assert_equal "'does_not_exist' is not a port of #{@task}. Known "\
+                assert_equal "'does_not_exist' is not a port of #{@task}. Known " \
                              "ports are: in, out, state", e.message
             end
         end
@@ -914,6 +998,13 @@
             assert_equal task.in_port, reader.resolved_accessor.port
         end
 
+        it "creates a bound accessor with the specified policy" do
+            writer = @support_task_m.data_writer(
+                @task_m.in_port, type: :buffer, size: 20, as: "test"
+            )
+            assert_equal({ type: :buffer, size: 20 }, writer.policy)
+        end
+
         it "enumerates the bound writers with each_data_writer" do
             @support_task_m.data_writer @task_m.match.in_port, as: "test"
             support_task = syskit_stub_and_deploy(@support_task_m)
@@ -946,6 +1037,13 @@
             @task = syskit_stub_deploy_and_configure(@task_m)
         end
 
+        it "instanciates new data writers on dup" do
+            @task_m.data_writer @task_m.in_port, as: "test"
+            task1 = @task_m.new
+            task2 = task1.dup
+            refute_equal task1.test_writer, task2.test_writer
+        end
+
         describe "without a given accessor name" do
             it "creates an unbound accessor" do
                 writer = @task.data_writer(@task_m.in_port)
@@ -1030,7 +1128,7 @@
                 e = assert_raises(ArgumentError) do
                     @task.data_writer("in", as: "test")
                 end
-                assert_equal "cannot provide the 'as' option to the deprecated "\
+                assert_equal "cannot provide the 'as' option to the deprecated " \
                              "string-based call to #data_writer", e.message
             end
 
@@ -1054,7 +1152,7 @@
                 assert_equal cmp.test_child.in_port, writer.port
             end
 
-            it "falls back to Roby's notion of role if accessing children "\
+            it "falls back to Roby's notion of role if accessing children " \
                "from a non-composition" do
                 parent_task = syskit_stub_and_deploy(@task_m)
                 parent_task.depends_on @task, role: "test"
@@ -1078,13 +1176,13 @@
 
             it "raises if the given port is an output port" do
                 e = assert_raises(ArgumentError) { @task.data_writer("out") }
-                assert_equal "#{@task}.out is an output port, expected an input "\
+                assert_equal "#{@task}.out is an output port, expected an input " \
                              "port", e.message
             end
 
             it "raises if the given port does not exist" do
                 e = assert_raises(ArgumentError) { @task.data_writer("does_not_exist") }
-                assert_equal "'does_not_exist' is not a port of #{@task}. Known "\
+                assert_equal "'does_not_exist' is not a port of #{@task}. Known " \
                              "ports are: in, out, state", e.message
             end
         end
@@ -1172,7 +1270,7 @@ def test_disconnect_ports
         assert(source_task.connected_to?("out", sink_task, "out"))
         assert(source_task.connected_to?("out", sink_task, "other"))
 
-        source_task.disconnect_ports(sink_task, [%w{out other}])
+        source_task.disconnect_ports(sink_task, [%w[out other]])
         assert_equal(
             {
                 %w[out out] => { type: :buffer, size: 20 }
diff --git a/test/test_composition.rb b/test/test_composition.rb
index 06d5a115a..9f8b4742b 100644
--- a/test/test_composition.rb
+++ b/test/test_composition.rb
@@ -8,6 +8,7 @@
 
     describe "#find_required_composition_child_from_role" do
         attr_reader :composition_m, :base_srv_m, :srv_m, :task_m
+
         before do
             @base_srv_m = Syskit::DataService.new_submodel name: "BaseSrv"
             @srv_m = Syskit::DataService.new_submodel name: "Srv"
@@ -67,6 +68,7 @@
 
     describe "port access" do
         attr_reader :cmp, :child, :srv_m, :task_m
+
         before do
             @srv_m = Syskit::DataService.new_submodel(name: "Srv") do
                 output_port "srv_out", "/double"
@@ -195,6 +197,7 @@
 
     describe "handling of connection modifications" do
         attr_reader :task_m, :child_cmp_m, :cmp_m, :cmp, :task, :dataflow_graph
+
         before do
             @task_m = Syskit::TaskContext.new_submodel do
                 input_port "in", "/double"
@@ -257,8 +260,8 @@
             cmp.remove_child cmp.test_child
             assert_equal Set[task, grandchild], dataflow_graph.modified_tasks.to_set
         end
-        it "handles a child that is connected to the composition through "\
-            "a non-forwarding connection" do
+        it "handles a child that is connected to the composition through " \
+           "a non-forwarding connection" do
             provider_srv_m = Syskit::DataService.new_submodel do
                 output_port "out", "/double"
             end
diff --git a/test/test_connection_graph.rb b/test/test_connection_graph.rb
index faa28e148..ca4afbd39 100644
--- a/test/test_connection_graph.rb
+++ b/test/test_connection_graph.rb
@@ -18,6 +18,7 @@ module Syskit
             end
         end
         attr_reader :source, :sink
+
         before do
             plan.add(@source = source_m.new)
             plan.add(@sink = sink_m.new)
diff --git a/test/test_data_flow.rb b/test/test_data_flow.rb
index eebc7d6aa..a7567189c 100644
--- a/test/test_data_flow.rb
+++ b/test/test_data_flow.rb
@@ -20,6 +20,7 @@ module Syskit
         end
 
         attr_reader :tasks, :cmp
+
         before do
             @cmp   = []
             @tasks = []
@@ -37,6 +38,7 @@ module Syskit
 
         describe "#forward_input_ports" do
             attr_reader :cmp, :task, :dataflow_graph, :plan
+
             before do
                 @plan = Roby::Plan.new
                 @dataflow_graph = plan.task_relation_graph_for(Syskit::DataFlow)
@@ -73,6 +75,7 @@ module Syskit
 
         describe "#forward_output_ports" do
             attr_reader :cmp, :task, :dataflow_graph, :plan
+
             before do
                 @plan = Roby::Plan.new
                 @dataflow_graph = plan.task_relation_graph_for(Syskit::DataFlow)
@@ -109,6 +112,7 @@ module Syskit
 
         describe "#connect_ports" do
             attr_reader :source, :sink, :dataflow_graph, :plan
+
             before do
                 @plan = Roby::Plan.new
                 @dataflow_graph = plan.task_relation_graph_for(Syskit::DataFlow)
@@ -214,8 +218,8 @@ module Syskit
                                   .and_iterates([source1 = Object.new, "out", "in", {}],
                                                 [source2 = Object.new, "out", "in", {}])
                 expected = [
-                    [source1, task, %w[out in] => {}],
-                    [source2, task, %w[out in] => {}]
+                    [source1, task, { %w[out in] => {} }],
+                    [source2, task, { %w[out in] => {} }]
                 ]
 
                 graph = dataflow.compute_concrete_connection_graph
@@ -248,6 +252,7 @@ module Syskit
 
         describe "transaction-related behaviour" do
             attr_reader :source, :sink
+
             before do
                 @source = tasks[0]
                 @sink   = tasks[1]
diff --git a/test/test_data_service.rb b/test/test_data_service.rb
index 820c9233e..ddfed3c83 100644
--- a/test/test_data_service.rb
+++ b/test/test_data_service.rb
@@ -4,6 +4,7 @@
 
 describe Syskit::Device do
     attr_reader :task_m, :device_m, :devices
+
     before do
         @task_m = Syskit::TaskContext.new_submodel
         @device_m = Syskit::Device.new_submodel
@@ -14,6 +15,7 @@
 
     describe "#find_device_attached_to" do
         attr_reader :dev0
+
         before do
             task_m.driver_for device_m, as: "dev0"
             @dev0 = robot.device device_m, as: "DEV0"
@@ -42,6 +44,7 @@
 
     describe "#each_master_device" do
         attr_reader :dev0, :dev1
+
         before do
             task_m.driver_for device_m, as: "dev0"
             task_m.driver_for device_m, as: "dev1"
@@ -90,6 +93,7 @@
 
 describe Syskit::ComBus do
     attr_reader :device_driver_m, :combus_driver_m, :combus_m, :combus, :device, :device_m
+
     before do
         combus_m = @combus_m = Syskit::ComBus.new_submodel(message_type: "/double")
         device_m = @device_m = Syskit::Device.new_submodel
@@ -176,6 +180,7 @@ def mock_bus_direction(client_to_bus: false, bus_to_client: false)
     describe "#attach" do
         describe "lazy_attach set" do
             attr_reader :combus_task, :device_task
+
             before do
                 combus_m.lazy_dispatch = true
                 @combus_task = combus.instanciate(plan).to_task
diff --git a/test/test_dependency_injection.rb b/test/test_dependency_injection.rb
index 52ab5a303..d40d1e47b 100644
--- a/test/test_dependency_injection.rb
+++ b/test/test_dependency_injection.rb
@@ -98,6 +98,7 @@
 
     describe "#add" do
         attr_reader :di, :explicit_m, :default_m
+
         before do
             @di = flexmock(Syskit::DependencyInjection.new)
             @explicit_m = Syskit::TaskContext.new_submodel
@@ -185,6 +186,7 @@
 
     describe "#merge" do
         attr_reader :model0, :model1, :di0, :di1
+
         before do
             @model0 = flexmock(Syskit::InstanceRequirements.new)
             @model1 = flexmock(Syskit::InstanceRequirements.new)
diff --git a/test/test_deployment.rb b/test/test_deployment.rb
index 83a7d6c02..d72fe8318 100644
--- a/test/test_deployment.rb
+++ b/test/test_deployment.rb
@@ -4,12 +4,11 @@
 
 module Syskit
     class ProcessServerFixture
-        attr_reader :loader
-        attr_reader :tasks
-        attr_reader :killed_processes
+        attr_reader :loader, :processes, :killed_processes
+
         def initialize
             @killed_processes = []
-            @tasks = {}
+            @processes = {}
             @loader = FlexMock.undefined
         end
 
@@ -20,20 +19,36 @@ def wait_termination(*)
         end
 
         def start(name, *)
-            tasks.fetch(name)
+            processes.fetch(name)
+        end
+
+        def wait_running(*process_names)
+            resolved = {}
+            process_names.each do |p_name|
+                resolved[p_name] = {}
+                @processes.each_value do |p|
+                    resolved[p_name] = { iors: p.ior_mappings }
+                end
+            end
+            resolved
         end
 
         def disconnect; end
     end
+
     class ProcessFixture
-        attr_reader :process_server
-        attr_reader :name_mappings
+        attr_reader :process_server, :name_mappings, :ior_mappings, :property_names
+        attr_accessor :tasks
+
         def initialize(process_server)
             @process_server = process_server
             @name_mappings = Hash["task" => "mapped_task_name"]
+            @ior_mappings = { "mapped_task_name" => "IOR" }
+            @property_names = []
+            @tasks = {}
         end
 
-        def get_mapped_name(name)
+        def mapped_name_of(name)
             name_mappings.fetch(name)
         end
 
@@ -41,7 +56,13 @@ def kill(*, **)
             process_server.killed_processes << self
         end
 
-        def resolve_all_tasks(*); end
+        def define_ior_mappings(ior_mappings)
+            @ior_mappings = ior_mappings
+        end
+
+        def resolve_all_tasks
+            tasks
+        end
     end
 
     describe Deployment do
@@ -56,13 +77,13 @@ def resolve_all_tasks(*); end
 
             @process_server = ProcessServerFixture.new
             @process = ProcessFixture.new(process_server)
-            process_server.tasks["mapped_task_name"] = process
             @log_dir = flexmock("log_dir")
             @process_server_config =
                 Syskit.conf.register_process_server("fixture", process_server, log_dir)
             @deployment_task = deployment_m
                                .new(process_name: "mapped_task_name", on: "fixture",
                                     name_mappings: { "task" => "mapped_task_name" })
+            process_server.processes["mapped_task_name"] = process
             plan.add_permanent_task(@deployment_task)
 
             flexmock(process_server)
@@ -212,6 +233,45 @@ def mock_raw_port(task, port_name)
                 assert_equal true, task.read_only
             end
 
+            it "does not cleanup read-only tasks on shutdown" do
+                task_m = Syskit::TaskContext.new_submodel
+                deployment = syskit_stub_deployment(
+                    "test", task_model: task_m, read_only: %w[test]
+                )
+                expect_execution { deployment.start! }.to { emit deployment.ready_event }
+
+                task = deployment.task("test")
+                Orocos.allow_blocking_calls do
+                    task.orocos_task.configure
+                end
+                flexmock(task.orocos_task).should_receive(:cleanup).never
+                expect_execution { deployment.stop! }.to { emit deployment.stop_event }
+            end
+
+            it "handles a readonly task being stopped and cleaned up in a single cycle" do
+                # The bug this tests against was Syskit receiving stopped and
+                # pre operational in a single cycle. TaskContext#handle_state_changes
+                # would try to find an event for that transition and boom
+                task_m = Syskit::TaskContext.new_submodel
+                deployment = syskit_stub_deployment(
+                    "test", task_model: task_m, read_only: %w[test]
+                )
+                expect_execution { deployment.start! }.to { emit deployment.ready_event }
+
+                task = deployment.task("test")
+                Orocos.allow_blocking_calls do
+                    task.orocos_task.configure
+                    task.orocos_task.start
+                end
+                expect_execution { task.start! }.to { emit task.start_event }
+
+                Orocos.allow_blocking_calls do
+                    task.orocos_task.stop
+                    task.orocos_task.cleanup
+                end
+                execute_one_cycle
+            end
+
             describe "slave tasks" do
                 before do
                     @task_m = TaskContext.new_submodel do
@@ -280,14 +340,6 @@ def mock_raw_port(task, port_name)
                         .join_all_waiting_work(false)
                         .to_run
                 end
-                it "passes the process server's log dir as working directory" do
-                    process_server.should_receive(:start).once
-                                  .with(any, any, any, hsh(working_directory: log_dir))
-                                  .and_return(process)
-                    expect_execution { deployment_task.start! }
-                        .join_all_waiting_work(false)
-                        .to_run
-                end
                 it "passes the model-level run command line options to the process server start command" do
                     cmdline_options = { valgrind: true }
                     deployment_m.default_run_options.merge!(cmdline_options)
@@ -308,7 +360,7 @@ def mock_raw_port(task, port_name)
                         )
                     end
                     assert_equal \
-                        "there is no registered process server called does_not_exist, "\
+                        "there is no registered process server called does_not_exist, " \
                         "existing servers are: fixture, localhost, stubs",
                         exception.error.message
                 end
@@ -318,15 +370,91 @@ def mock_raw_port(task, port_name)
                         .join_all_waiting_work(false)
                         .to { not_emit deployment_task.ready_event }
                 end
+
+                describe "name server registration" do
+                    before do
+                        @orocos_task = Orocos.allow_blocking_calls do
+                            Orocos::RubyTasks::TaskContext.new "test"
+                        end
+                        process.tasks["mapped_task_name"] = @orocos_task
+                    end
+
+                    after do
+                        @orocos_task.dispose
+                    end
+
+                    describe "while enabled on the process server config" do
+                        before do
+                            flexmock(@process_server_config) \
+                                .should_receive(register_on_name_server?: true)
+                        end
+
+                        it "spawns the deployment with name service if " \
+                           "register_on_name_server is true" do
+                            flexmock(deployment_task, register_on_name_server: true)
+                            expect_registers_on_name_server(true)
+                        end
+                        it "spawns the deployment without name service if " \
+                           "register_on_name_server is false" do
+                            flexmock(deployment_task, register_on_name_server: false)
+                            expect_registers_on_name_server(false)
+                        end
+                        it "spawns the deployment with name service if " \
+                           "register_on_name_server is nil" do
+                            flexmock(deployment_task, register_on_name_server: nil)
+                            expect_registers_on_name_server(true)
+                        end
+                    end
+
+                    describe "while disabled on the process server config" do
+                        before do
+                            flexmock(@process_server_config) \
+                                .should_receive(register_on_name_server?: false)
+                        end
+
+                        it "spawns the deployment with name service if " \
+                           "register_on_name_server is true" do
+                            flexmock(deployment_task, register_on_name_server: true)
+                            expect_registers_on_name_server(true)
+                        end
+                        it "spawns the deployment without name service if " \
+                           "register_on_name_server is false" do
+                            flexmock(deployment_task, register_on_name_server: false)
+                            expect_registers_on_name_server(false)
+                        end
+                        it "spawns the deployment without name service if " \
+                           "register_on_name_server is nil" do
+                            flexmock(deployment_task, register_on_name_server: nil)
+                            expect_registers_on_name_server(false)
+                        end
+                    end
+
+                    def expect_registers_on_name_server(enabled)
+                        check = ->(h) { !(enabled ^ h[:register_on_name_server]) }
+
+                        flexmock(@process_server)
+                            .should_receive(:start)
+                            .once.with(any, any, any, check)
+                            .pass_thru
+                        assert_deployment_ready(deployment_task)
+                    end
+
+                    def assert_deployment_ready(deployment_task)
+                        expect_execution { deployment_task.start! }
+                            .to { emit deployment_task.ready_event }
+                    end
+                end
             end
 
             describe "monitoring for ready" do
                 attr_reader :orocos_task
+
                 before do
-                    process_server.should_receive(:start).and_return(process)
                     @orocos_task = Orocos.allow_blocking_calls do
                         Orocos::RubyTasks::TaskContext.new "test"
                     end
+                    process.tasks["mapped_task_name"] = @orocos_task
+                    process_server.should_receive(:start).and_return(process)
                 end
                 after do
                     orocos_task.dispose
@@ -335,28 +463,63 @@ def mock_raw_port(task, port_name)
                 it "does not emit ready if the process is not ready yet" do
                     expect_execution { deployment_task.start! }
                         .join_all_waiting_work(false).to_run
-                    sync = Concurrent::Event.new
-                    process.should_receive(:resolve_all_tasks)
-                           .and_return do
-                               sync.set
-                               nil
-                           end
-                    sync.wait
-                    expect_execution { sync.wait }
+                    client_mock = flexmock(process_server_config.client)
+                    client_mock
+                        .should_receive(:wait_running)
+                        .and_return({})
+                    expect_execution
                         .join_all_waiting_work(false)
                         .to { not_emit deployment_task.ready_event }
                 end
 
-                it "is interrupted by the stop command" do
+                it "does not try resolving the task handles when resolve all" \
+                   "tasks raises an exception" do
+                    flexmock(process)
+                        .should_receive(:resolve_all_tasks)
+                        .and_raise(StandardError, "some error")
                     expect_execution do
                         deployment_task.start!
-                        deployment_task.stop!
                     end.to do
-                        not_emit deployment_task.ready_event
-                        emit deployment_task.stop_event
+                        have_error_matching(
+                            Roby::EmissionFailed
+                            .match.with_origin(deployment_task.ready_event)
+                        )
                     end
                 end
 
+                it "does not emit_failed the ready event when the asynchronous part of " \
+                   "the ready codepath is interrupted by the stop command" do
+                    expect_execution { deployment_task.start! }
+                        .join_all_waiting_work(false)
+                        .to { emit deployment_task.start_event }
+
+                    # Use a barrier to make sure we do the ready event
+                    # processing after we actually stopped the deployment
+                    barrier = Concurrent::CyclicBarrier.new(2)
+                    flexmock(deployment_task)
+                        .should_receive(:resolve_remote_task_handles)
+                        .and_return do
+                            barrier.wait
+                            raise "fail the remote calls"
+                        end
+
+                    # Wait for the deployment ready codepath to reach the barrier
+                    expect_execution.join_all_waiting_work(false).to do
+                        achieve { barrier.number_waiting == 1 }
+                    end
+
+                    plan.unmark_permanent_task(deployment_task)
+                    expect_execution { deployment_task.stop! }
+                        .join_all_waiting_work(false)
+                        .to do
+                            not_emit deployment_task.ready_event
+                            emit deployment_task.stop_event
+                        end
+
+                    barrier.wait
+                    expect_execution.to_run
+                end
+
                 def make_deployment_ready
                     unless execution_engine.in_propagation_context?
                         return expect_execution { make_deployment_ready }
@@ -372,6 +535,7 @@ def add_deployed_task(name: "mapped_task_name")
                     task_m = Class.new(Roby::Task) do
                         argument :orocos_name
                         attr_accessor :orocos_task
+
                         terminates
                         def initialize_remote_handles(handles); end
                     end
@@ -381,34 +545,13 @@ def initialize_remote_handles(handles); end
                 end
 
                 it "polls for process readiness" do
-                    sync = Concurrent::Event.new
-                    process.should_receive(:resolve_all_tasks)
-                           .and_return do
-                        if !sync.set?
-                            sync.set
-                            nil
-                        else Hash["mapped_task_name" => orocos_task]
-                        end
-                    end
-
                     expect_execution { deployment_task.start! }
                         .join_all_waiting_work(false).to_run
-                    sync.wait
-                    expect_execution { sync.wait }
+                    expect_execution
+                        .poll { Syskit::Runtime.update_deployment_states(plan) }
                         .to { emit deployment_task.ready_event }
                 end
-                it "fails the ready event if the ready event monitor raises" do
-                    expect_execution do
-                        process.should_receive(:resolve_all_tasks)
-                               .and_raise(RuntimeError.new("some message"))
-                        deployment_task.start!
-                    end.to do
-                        have_error_matching(
-                            Roby::EmissionFailed
-                            .match.with_origin(deployment_task.ready_event)
-                        )
-                    end
-                end
+
                 it "emits ready when the process is ready" do
                     make_deployment_ready
                     assert deployment_task.ready?
@@ -450,7 +593,6 @@ def initialize_remote_handles(handles); end
                     task = add_deployed_task
                     task.orocos_task = orocos_task
                     process.should_receive(:resolve_all_tasks).once
-                           .with("mapped_task_name" => orocos_task)
                            .and_return("mapped_task_name" => orocos_task)
 
                     make_deployment_ready
@@ -469,8 +611,8 @@ def initialize_remote_handles(handles); end
                     end
                                 .exception
 
-                    assert_equal "expected #{process}'s reported tasks to include "\
-                                 "'mapped_task_name' (mapped from 'task'), but got "\
+                    assert_equal "expected #{process}'s reported tasks to include " \
+                                 "'mapped_task_name' (mapped from 'task'), but got " \
                                  "handles only for invalid_name",
                                  exception.original_exceptions.first.message
                 end
@@ -494,6 +636,7 @@ def initialize_remote_handles(handles); end
 
             describe "stop event" do
                 attr_reader :orocos_task
+
                 before do
                     process_server.should_receive(:start).and_return(process)
                     @orocos_task = Orocos.allow_blocking_calls do
@@ -518,48 +661,48 @@ def initialize_remote_handles(handles); end
                     execute { deployment_task.stop! }
                     assert deployment_task.ready_to_die?
                 end
-                it "kills the process gracefully, but does not ask "\
+                it "kills the process gracefully, but does not ask " \
                    "the process server to clean it up" do
                     process.should_receive(:kill).once
-                           .with(false, cleanup: false, hard: false).pass_thru
+                           .with(hard: false).pass_thru
                     expect_execution { deployment_task.stop! }
                         .to do
                             emit deployment_task.stop_event
                             not_emit deployment_task.kill_event
                         end
                 end
-                it "does not attempt to cleanup if some tasks have a representation in "\
+                it "does not attempt to cleanup if some tasks have a representation in " \
                    "the plan" do
                     deployment_task.task("mapped_task_name")
                     orocos_task.should_receive(:rtt_state).never
                     orocos_task.should_receive(:cleanup).never
                     process.should_receive(:kill).once
-                           .with(false, cleanup: false, hard: true).pass_thru
+                           .with(hard: true).pass_thru
                     expect_execution { deployment_task.stop! }
                         .to do
                             emit deployment_task.stop_event
                             emit deployment_task.kill_event
                         end
                 end
-                it "does attempt to gracefully shutdown the deployment "\
+                it "does attempt to gracefully shutdown the deployment " \
                    "if present tasks are finished" do
                     task = deployment_task.task("mapped_task_name")
                     syskit_configure_and_start(task)
                     expect_execution { task.stop! }.to { emit task.stop_event }
                     process.should_receive(:kill).once
-                           .with(false, cleanup: false, hard: false).pass_thru
+                           .with(hard: false).pass_thru
                     expect_execution { deployment_task.stop! }
                         .to do
                             emit deployment_task.stop_event
                             not_emit deployment_task.kill_event
                         end
                 end
-                it "does not cleanup and hard-kills the process if "\
+                it "does not cleanup and hard-kills the process if " \
                    "the kill event is called" do
                     orocos_task.should_receive(:rtt_state).never
                     orocos_task.should_receive(:cleanup).never
                     process.should_receive(:kill).once
-                           .with(false, cleanup: false, hard: true).pass_thru
+                           .with(hard: true).pass_thru
                     expect_execution { deployment_task.kill! }
                         .to do
                             emit deployment_task.stop_event
@@ -581,8 +724,10 @@ def initialize_remote_handles(handles); end
 
         describe "#dead!" do
             attr_reader :process
+
             describe "emitted terminal events" do
                 attr_reader :orocos_task
+
                 before do
                     deployment_m.event :terminal_e, terminal: true
                     execute { plan.clear }
@@ -645,15 +790,17 @@ def initialize_remote_handles(handles); end
         end
 
         describe "using the ruby process server" do
-            attr_reader :task_m, :deployment_m, :deployment
+            attr_reader :task_name, :task_m, :deployment_m, :deployment
+
             before do
-                Syskit.conf.register_process_server("test", Orocos::RubyTasks::ProcessManager.new, "")
+                register_ruby_tasks_manager("test")
                 task_m = @task_m = TaskContext.new_submodel do
                     input_port "in", "/double"
                     output_port "out", "/double"
                 end
+                @task_name = task_name = "syskit-ruby-tasks-test-#{Process.pid}"
                 @deployment_m = Deployment.new_submodel(name: "deployment") do
-                    task "task", task_m.orogen_model
+                    task task_name, task_m
                 end
                 Syskit.conf.process_server_for("test")
                       .register_deployment_model(deployment_m.orogen_model)
@@ -662,43 +809,78 @@ def initialize_remote_handles(handles); end
                     .to { emit deployment.ready_event }
             end
             it "can start tasks defined on a ruby process server" do
-                task = deployment.task("task")
+                task = deployment.task(task_name)
                 assert task.orocos_task
                 assert "task", task.orocos_task.name
             end
             it "sets the orocos_task attribute to a RubyTaskContext" do
-                assert_kind_of Orocos::RubyTasks::TaskContext, deployment.task("task").orocos_task
+                assert_kind_of Orocos::RubyTasks::TaskContext,
+                               deployment.task(task_name).orocos_task
             end
             it "makes sure that the Ruby tasks are disposed when the deployment is stopped" do
-                flexmock(deployment.task("task").orocos_task).should_receive(:dispose).once.pass_thru
+                flexmock(deployment.task(task_name).orocos_task)
+                    .should_receive(:dispose).once.pass_thru
                 expect_execution { deployment.stop! }
                     .to { emit deployment.stop_event }
             end
+            it "does not register the task on the name server by default, " \
+               "as specified on the process server config" do
+                task = Orocos.allow_blocking_calls { Orocos.name_service.get @task_name }
+                # Check for equality in case we have a leftover from another failed test
+                refute_equal(
+                    task.ior, deployment.remote_task_handles[@task_name].handle.ior
+                )
+            rescue Orocos::NotFound
+                # Expected
+            end
+            it "registers the task on the name server if told to do so" do
+                expect_execution { deployment.stop! }.to { emit deployment.stop_event }
+
+                deployment = deployment_m.new(on: "test", register_on_name_server: true)
+                plan.add(deployment)
+                expect_execution { deployment.start! }.to { emit deployment.ready_event }
+                task = Orocos.allow_blocking_calls { Orocos.name_service.get @task_name }
+                assert_equal(
+                    task.ior,
+                    deployment.remote_task_handles[@task_name].handle.ior
+                )
+            end
+            it "deregisters the task on stop" do
+                expect_execution { deployment.stop! }.to { emit deployment.stop_event }
+
+                deployment = deployment_m.new(on: "test", register_on_name_server: true)
+                plan.add(deployment)
+                expect_execution { deployment.start! }.to { emit deployment.ready_event }
+                expect_execution { deployment.stop! }.to { emit deployment.stop_event }
+                Orocos.allow_blocking_calls { Orocos.name_service.get @task_name }
+                flunk("task name was not deregistered on stop")
+            rescue Orocos::NotFound
+                # Expected
+            end
         end
 
         stub_process_server_deployment_helpers = Module.new do
             attr_reader :deployment_m, :deployment0, :deployment1
+
             def setup
                 super
+
                 @deployment_m = Deployment.new_submodel
-                @stub_process_servers = []
+                @name_sequence_id = 0
             end
 
-            def teardown
-                @stub_process_servers.each do |ps|
-                    Syskit.conf.remove_process_server(ps.name)
-                end
-                super
+            def create_unique_name
+                "#{name}-#{@name_sequence_id += 1}"
             end
 
-            def create_deployment(host_id, name: flexmock)
+            def create_deployment(host_id, name: create_unique_name)
                 process_server = ProcessServerFixture.new
                 process = ProcessFixture.new(process_server)
-                process_server.tasks["mapped_task_name"] = process
+                process_server.processes["mapped_task_name"] = process
                 log_dir = flexmock("log_dir")
-                process_server_config =
-                    Syskit.conf.register_process_server(name, process_server, log_dir, host_id: host_id)
-                @stub_process_servers << process_server_config
+                Syskit.conf.register_process_server(
+                    name, process_server, log_dir, host_id: host_id
+                )
                 deployment_m.new(on: name)
             end
         end
diff --git a/test/test_dynamic_port_binding.rb b/test/test_dynamic_port_binding.rb
index 7c1ea018c..759225df9 100644
--- a/test/test_dynamic_port_binding.rb
+++ b/test/test_dynamic_port_binding.rb
@@ -282,18 +282,18 @@ module Syskit
                 @expected_port = @cmp_m.test_child.out_port.bind(@cmp.test_child)
             end
 
-            it "returns [true, port] the first time if the underlying component "\
+            it "returns [true, port] the first time if the underlying component " \
                "is not finalized" do
                 assert_equal [true, @expected_port], @port_binding.update
             end
 
-            it "returns [false, port] the second time if the underlying component "\
+            it "returns [false, port] the second time if the underlying component " \
                "is still not finalized" do
                 @port_binding.update
                 assert_equal [false, @expected_port], @port_binding.update
             end
 
-            it "returns [false, ni] the first time if the underlying component "\
+            it "returns [false, ni] the first time if the underlying component " \
                "is already finalized" do
                 expect_execution { plan.unmark_mission_task(@cmp) }
                     .garbage_collect(true)
@@ -301,7 +301,7 @@ module Syskit
                 assert_equal [false, nil], @port_binding.update
             end
 
-            it "returns [false, ni] after a successful update if the underlying "\
+            it "returns [false, ni] after a successful update if the underlying " \
                "component is finalized" do
                 @port_binding.update
                 expect_execution { plan.unmark_mission_task(@cmp) }
@@ -337,7 +337,7 @@ module Syskit
                 @port_binding = @port_binding_m.instanciate.attach_to_task(@cmp)
             end
 
-            it "returns [true, port] the first time if the underlying component "\
+            it "returns [true, port] the first time if the underlying component " \
                "is not finalized" do
                 updated, port = @port_binding.update
                 assert updated
@@ -345,7 +345,7 @@ module Syskit
                 assert_equal @cmp.test_child.out_port, port.to_component_port
             end
 
-            it "returns [false, port] the second time if the underlying component "\
+            it "returns [false, port] the second time if the underlying component " \
                "is still not finalized" do
                 @port_binding.update
                 updated, port = @port_binding.update
@@ -354,7 +354,7 @@ module Syskit
                 assert_equal @cmp.test_child.out_port, port.to_component_port
             end
 
-            it "returns [false, ni] the first time if the underlying component "\
+            it "returns [false, ni] the first time if the underlying component " \
                "is already finalized" do
                 expect_execution { plan.unmark_mission_task(@cmp) }
                     .garbage_collect(true)
@@ -362,7 +362,7 @@ module Syskit
                 assert_equal [false, nil], @port_binding.update
             end
 
-            it "returns [false, ni] after a successful update if the underlying "\
+            it "returns [false, ni] after a successful update if the underlying " \
                "component is finalized" do
                 @port_binding.update
                 expect_execution { plan.unmark_mission_task(@cmp) }
@@ -406,7 +406,7 @@ module Syskit
                 refute @accessor.connected?
             end
 
-            it "returns true and creates an accessor to the found port if the port "\
+            it "returns true and creates an accessor to the found port if the port " \
                "matcher found something" do
                 @port_binding.should_receive(:update).and_return([true, @task.out_port])
                 assert @accessor.update
@@ -426,7 +426,7 @@ module Syskit
                 assert_same real_accessor, @accessor.resolved_accessor
             end
 
-            it "disconnects the current accessor if the current port is not matching "\
+            it "disconnects the current accessor if the current port is not matching " \
                "anymore" do
                 @port_binding.should_receive(:update)
                              .and_return([true, @task.out_port])
@@ -573,6 +573,14 @@ def wait_until_connected(accessor)
                 assert_equal 2, @reader.read_new
             end
 
+            it "handles 'false' as a valid value" do
+                @reader.attach_to_task(@task)
+                wait_until_connected @reader
+                flexmock(@reader.resolved_accessor)
+                    .should_receive(:read_new).and_return(false)
+                assert_equal false, @reader.read_new
+            end
+
             it "processes the samples through the given value resolver" do
                 @value_resolver.should_receive(:__resolve).with(2).and_return(42)
                 @reader.attach_to_task(@task)
@@ -638,6 +646,14 @@ def wait_until_connected(source)
                 assert_equal 2, @reader.read
             end
 
+            it "handles 'false' as a valid value" do
+                @reader.attach_to_task(@task)
+                wait_until_connected @reader
+                flexmock(@reader.resolved_accessor)
+                    .should_receive(:read).and_return(false)
+                assert_equal false, @reader.read
+            end
+
             it "processes the samples through the given value resolver" do
                 @value_resolver.should_receive(:__resolve).with(2.0).and_return(42)
                 @reader.attach_to_task(@task)
diff --git a/test/test_exceptions.rb b/test/test_exceptions.rb
index eeea96d7e..af3b71b08 100644
--- a/test/test_exceptions.rb
+++ b/test/test_exceptions.rb
@@ -2,12 +2,168 @@
 
 require "syskit/test/self"
 
-describe Syskit::InvalidAutoConnection do
-    describe "#pretty_print" do
-        it "should not raise" do
-            source = flexmock(each_output_port: [], each_input_port: [])
-            sink   = flexmock(each_output_port: [], each_input_port: [])
-            PP.pp(Syskit::InvalidAutoConnection.new(source, sink), "".dup)
+module Syskit
+    describe InvalidAutoConnection do
+        describe "#pretty_print" do
+            it "should not raise" do
+                source = flexmock(each_output_port: [], each_input_port: [])
+                sink   = flexmock(each_output_port: [], each_input_port: [])
+                PP.pp(Syskit::InvalidAutoConnection.new(source, sink), "".dup)
+            end
+        end
+    end
+
+    describe ConflictingDeviceAllocation do
+        it "displays the two driver tasks if they are the ones not mergeable" do
+            device_m = Device.new_submodel(name: "D")
+            driver_m = TaskContext.new_submodel(name: "T")
+            driver_m.driver_for device_m, as: "test"
+            robot = Robot::RobotDefinition.new
+            robot.device device_m, as: "test"
+
+            plan.add(task1 = driver_m.new(arg: 1, test_dev: robot.test_dev))
+            plan.add(task2 = driver_m.new(arg: 2, test_dev: robot.test_dev))
+            e = assert_raises(ConflictingDeviceAllocation) do
+                NetworkGeneration::SystemNetworkGenerator
+                    .new(plan).validate_generated_network
+            end
+
+            assert_equal Set[task1, task2], e.tasks.to_set
+            formatted = PP.pp(e, +"")
+
+            expected = <<~PP.chomp
+                device 'test' of type D is assigned to two tasks that cannot be merged
+                Chain 1 cannot be merged in chain 2:
+                Chain 1:
+                  T<id:ID>
+                    no owners
+                    arguments:
+                      arg: 2,
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      conf: default(["default"]),
+                      read_only: default(false)
+                Chain 2:
+                  T<id:ID>
+                    no owners
+                    arguments:
+                      arg: 1,
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      conf: default(["default"]),
+                      read_only: default(false)
+            PP
+            assert_equal expected, formatted.gsub(/<id:\d+>/, "<id:ID>").chomp
+        end
+
+        it "displays definitions that depend on the conflicting tasks" do
+            device_m = Device.new_submodel(name: "D")
+            driver_m = TaskContext.new_submodel(name: "T")
+            driver_m.argument :arg
+            driver_m.driver_for device_m, as: "test"
+            robot = Robot::RobotDefinition.new
+            robot.device device_m, as: "test"
+
+            cmp_m = Composition.new_submodel
+            cmp_m.add device_m, as: "test"
+            profile = Actions::Profile.new("Test")
+            profile.define("test1", cmp_m)
+                   .use("test" => robot.test_dev.with_arguments(arg: 1))
+            profile.define("test2", cmp_m)
+                   .use("test" => robot.test_dev.with_arguments(arg: 2))
+
+            self.syskit_run_planner_validate_network = true
+            e = assert_raises(ConflictingDeviceAllocation) do
+                run_planners([profile.test1_def, profile.test2_def])
+            end
+
+            formatted = PP.pp(e, +"")
+            expected = <<~PP.chomp
+                device 'test' of type D is assigned to two tasks that cannot be merged
+                Chain 1 cannot be merged in chain 2:
+                Chain 1:
+                  T<id:ID>
+                    no owners
+                    arguments:
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      arg: 2,
+                      conf: ["default"],
+                      read_only: false
+                Chain 2:
+                  T<id:ID>
+                    no owners
+                    arguments:
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      arg: 1,
+                      conf: ["default"],
+                      read_only: false
+                Chain 1 is needed by the following definitions:
+                  Test.test2_def
+                Chain 2 is needed by the following definitions:
+                  Test.test1_def
+            PP
+            assert_equal expected, formatted.gsub(/<id:\d+>/, "<id:ID>").chomp
+        end
+
+        it "displays merge chains to explain why devices are duplicated" do
+            device_m = Device.new_submodel(name: "D")
+            driver_m = TaskContext.new_submodel(name: "Driver") do
+                input_port "in", "/double"
+            end
+            driver_m.driver_for device_m, as: "test"
+            task_m = TaskContext.new_submodel(name: "Task") do
+                argument :arg
+                output_port "out", "/double"
+            end
+
+            robot = Robot::RobotDefinition.new
+            robot.device device_m, as: "test"
+
+            plan.add(driver1 = driver_m.new(test_dev: robot.test_dev))
+            plan.add(driver2 = driver_m.new(test_dev: robot.test_dev))
+            plan.add(task1 = task_m.new(arg: 1))
+            plan.add(task2 = task_m.new(arg: 2))
+            task1.out_port.connect_to driver1.in_port
+            task2.out_port.connect_to driver2.in_port
+            e = assert_raises(ConflictingDeviceAllocation) do
+                NetworkGeneration::SystemNetworkGenerator
+                    .new(plan).validate_generated_network
+            end
+
+            assert_equal Set[driver1, driver2], e.tasks.to_set
+            formatted = PP.pp(e, +"")
+
+            expected = <<~PP.chomp
+                device 'test' of type D is assigned to two tasks that cannot be merged
+                Chain 1 cannot be merged in chain 2:
+                Chain 1:
+                  Driver<id:ID>
+                    no owners
+                    arguments:
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      conf: default(["default"]),
+                      read_only: default(false)
+                  sink in_port connected via policy {} to source out_port of
+                  Task<id:ID>
+                    no owners
+                    arguments:
+                      arg: 1,
+                      conf: default(["default"]),
+                      read_only: default(false)
+                Chain 2:
+                  Driver<id:ID>
+                    no owners
+                    arguments:
+                      test_dev: MasterDeviceInstance(test[D]_dev),
+                      conf: default(["default"]),
+                      read_only: default(false)
+                  sink in_port connected via policy {} to source out_port of
+                  Task<id:ID>
+                    no owners
+                    arguments:
+                      arg: 2,
+                      conf: default(["default"]),
+                      read_only: default(false)
+            PP
+            assert_equal expected, formatted.gsub(/<id:\d+>/, "<id:ID>").chomp
         end
     end
 end
diff --git a/test/test_instance_requirements.rb b/test/test_instance_requirements.rb
index 66e4d6241..72bd27279 100644
--- a/test/test_instance_requirements.rb
+++ b/test/test_instance_requirements.rb
@@ -7,6 +7,7 @@
     include Syskit::Fixtures::SimpleCompositionModel
 
     attr_reader :stub_t
+
     before do
         @stub_t = stub_type "/test_t"
         create_simple_composition_model
@@ -14,6 +15,7 @@
 
     describe "#with_arguments" do
         attr_reader :req, :not_marshallable
+
         before do
             @task_m = Syskit::TaskContext.new_submodel do
                 argument :key
@@ -113,6 +115,7 @@
 
     describe "#find_port" do
         attr_reader :req
+
         before do
             @req = Syskit::InstanceRequirements.new([simple_task_model])
         end
@@ -137,6 +140,7 @@
 
     describe "#find_data_service" do
         attr_reader :req
+
         before do
             @req = Syskit::InstanceRequirements.new([simple_task_model])
         end
@@ -152,6 +156,7 @@
 
     describe "#find_child" do
         attr_reader :req
+
         before do
             @req = simple_composition_model.use(simple_task_model)
         end
@@ -169,6 +174,7 @@
 
     describe "#method_missing" do
         attr_reader :req
+
         before do
             @req = Syskit::InstanceRequirements.new([simple_task_model])
         end
@@ -193,6 +199,7 @@
 
     describe "an InstanceRequirements with a data service selected" do
         attr_reader :req
+
         before do
             spec = Syskit::InstanceRequirements.new([simple_task_model])
             @req = spec.find_data_service("srv")
@@ -207,6 +214,7 @@
     describe "the child of an InstanceRequirements" do
         attr_reader :req
         attr_reader :child
+
         before do
             @req = simple_composition_model.use(simple_task_model)
             @child = req.find_child("srv")
@@ -274,6 +282,7 @@
 
     describe "#use" do
         attr_reader :srv_m, :cmp_m, :task_m
+
         before do
             @srv_m = Syskit::DataService.new_submodel
             @cmp_m = Syskit::Composition.new_submodel
@@ -364,8 +373,8 @@
             assert_raises(ArgumentError) { req.select_service(task_m.srv_srv) }
         end
 
-        it "accepts selecting services from placeholder tasks "\
-           "if the set of models in the task matches the set of models "\
+        it "accepts selecting services from placeholder tasks " \
+           "if the set of models in the task matches the set of models " \
            "in the instance requirements" do
             srv_m  = Syskit::DataService.new_submodel
             task_m = srv_m.placeholder_model
@@ -500,6 +509,7 @@
 
     describe "#narrow_model" do
         attr_reader :srv_m, :task_m, :cmp_m
+
         before do
             srv_m = @srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel
@@ -522,6 +532,7 @@
 
     describe "#merge" do
         attr_reader :srv_m, :task_m, :with_service, :without_service
+
         before do
             @srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel
@@ -582,6 +593,7 @@
 
     describe "#as_plan" do
         attr_reader :task_m, :srv_m
+
         before do
             @srv_m = Syskit::DataService.new_submodel
             @task_m = Syskit::TaskContext.new_submodel
@@ -637,6 +649,7 @@
 
     describe "#as" do
         attr_reader :parent_srv_m, :srv_m, :task_m
+
         before do
             @parent_srv_m = Syskit::DataService.new_submodel
             @srv_m = Syskit::DataService.new_submodel
diff --git a/test/test_instance_requirements_task.rb b/test/test_instance_requirements_task.rb
index e20523a9e..7333fcb55 100644
--- a/test/test_instance_requirements_task.rb
+++ b/test/test_instance_requirements_task.rb
@@ -9,6 +9,7 @@
     attr_reader :cmp_m
 
     attr_reader :stub_t
+
     before do
         @stub_t = stub_type "/test_t"
         create_simple_composition_model
diff --git a/test/test_instance_selection.rb b/test/test_instance_selection.rb
index 68908b207..2a4723a34 100644
--- a/test/test_instance_selection.rb
+++ b/test/test_instance_selection.rb
@@ -7,6 +7,7 @@
     include Syskit::Fixtures::SimpleCompositionModel
 
     attr_reader :stub_t, :other_stub_t
+
     before do
         @stub_t = stub_type "/test_t"
         @other_stub_t = stub_type "/other_test_t"
diff --git a/test/test_orogen_namespace.rb b/test/test_orogen_namespace.rb
index dbf755eed..886482f03 100644
--- a/test/test_orogen_namespace.rb
+++ b/test/test_orogen_namespace.rb
@@ -88,7 +88,7 @@ module Syskit
                 @object.does_not_exist.Other
             end
             assert_equal(
-                "undefined method `does_not_exist' for #{@object}, "\
+                "undefined method `does_not_exist' for #{@object}, " \
                 "available OroGen projects: project",
                 e.message
             )
@@ -151,14 +151,14 @@ module Syskit
                     @m.does_not_exist
                 end
                 assert_equal(
-                    "no deployment registered with the name 'does_not_exist', "\
+                    "no deployment registered with the name 'does_not_exist', " \
                     "available deployments are: depl1, depl2",
                     e.message
                 )
             end
 
             describe "constant registration" do
-                it "registers the deployments as constants on ::Deployments if "\
+                it "registers the deployments as constants on ::Deployments if " \
                    "OroGen.syskit_model_constant_registration is set" do
                     OroGen.syskit_model_constant_registration = true
                     depl_m = Deployment.new_submodel(name: "depl")
diff --git a/test/test_port.rb b/test/test_port.rb
index faf37d29d..60ee2414f 100644
--- a/test/test_port.rb
+++ b/test/test_port.rb
@@ -5,6 +5,7 @@
 describe Syskit::Port do
     describe "#to_component_port" do
         attr_reader :component, :port
+
         before do
             component_model = Syskit::TaskContext.new_submodel do
                 output_port "port", "/int"
@@ -26,6 +27,7 @@
 
     describe "#connect_to" do
         attr_reader :out_task, :in_task
+
         before do
             @out_task = Syskit::TaskContext.new_submodel do
                 input_port "in", "/double"
@@ -73,7 +75,7 @@
                 out_task.out_port.connect_to out_task.out_port
             end
         end
-        it "raises SelfConnection if the source and sink are part "\
+        it "raises SelfConnection if the source and sink are part " \
            "of the same component" do
             assert_raises(Syskit::SelfConnection) do
                 out_task.out_port.connect_to out_task.in_port
@@ -82,6 +84,7 @@
 
         describe "in transaction context" do
             attr_reader :task_m, :source, :sink, :transaction
+
             before do
                 @task_m = Syskit::TaskContext.new_submodel do
                     input_port "in", "/double"
@@ -102,6 +105,7 @@
     describe "#disconnect_from" do
         describe "in transaction context" do
             attr_reader :task_m, :source, :sink, :transaction
+
             before do
                 @task_m = Syskit::TaskContext.new_submodel do
                     input_port "in", "/double"
@@ -122,6 +126,7 @@
 
     describe "#connected_to?" do
         attr_reader :task_m, :source, :sink, :transaction
+
         before do
             @task_m = Syskit::TaskContext.new_submodel do
                 input_port "in", "/double"
@@ -175,6 +180,7 @@
 
 describe Syskit::InputWriter do
     attr_reader :task_m
+
     before do
         @task_m = Syskit::TaskContext.new_submodel do
             input_port "in", "/double"
@@ -210,7 +216,7 @@ def configure
         cmp_m.add in_srv_m, as: "in"
         cmp_m.export cmp_m.in_child.in_port
         task_m = @task_m.specialize
-        in_srv =  task_m.require_dynamic_service "in", as: "in2"
+        in_srv = task_m.require_dynamic_service "in", as: "in2"
 
         cmp = syskit_stub_and_deploy(cmp_m.use("in" => in_srv), remote_task: false)
         port_reader = cmp.in_port.writer
@@ -222,7 +228,7 @@ def configure
             achieve { port_reader.ready? }
         end
     end
-    it "queues a PortAccessFailure error on the port's component if creating "\
+    it "queues a PortAccessFailure error on the port's component if creating " \
        "the port failed" do
         error = Class.new(RuntimeError)
         task = syskit_stub_deploy_and_configure(task_m)
@@ -262,6 +268,7 @@ def configure
 
     describe "#disconnect" do
         attr_reader :task, :writer
+
         before do
             @task = syskit_stub_deploy_and_configure(task_m)
             @writer = task.in_port.writer
@@ -273,7 +280,7 @@ def configure
             expect_execution.to { achieve { !writer.connected? } }
         end
 
-        it "ensures that the port will not become ready if called "\
+        it "ensures that the port will not become ready if called " \
            "before the resolution starts" do
             task = syskit_stub_deploy_and_configure(task_m)
             writer = task.in_port.writer
@@ -298,6 +305,7 @@ def configure
 
         describe "automatic disconnection" do
             attr_reader :cmp, :child, :orocos_writer
+
             before do
                 cmp_m = Syskit::Composition.new_submodel
                 cmp_m.add task_m, as: "c"
@@ -320,7 +328,7 @@ def configure
                 expect_execution.to { achieve { !orocos_writer.connected? } }
             end
 
-            it "automatically disconnects when the port's actual component "\
+            it "automatically disconnects when the port's actual component " \
                "is finalized" do
                 cmp.remove_child child
 
@@ -334,6 +342,7 @@ def configure
 
 describe Syskit::OutputReader do
     attr_reader :task_m
+
     before do
         @task_m = Syskit::TaskContext.new_submodel do
             output_port "out", "/double"
@@ -369,7 +378,7 @@ def configure
         cmp_m.add out_srv_m, as: "out"
         cmp_m.export cmp_m.out_child.out_port
         task_m = @task_m.specialize
-        out_srv =  task_m.require_dynamic_service "out", as: "out2"
+        out_srv = task_m.require_dynamic_service "out", as: "out2"
 
         cmp = syskit_stub_and_deploy(cmp_m.use("out" => out_srv), remote_task: false)
         port_reader = cmp.out_port.reader
@@ -381,7 +390,7 @@ def configure
             achieve { port_reader.ready? }
         end
     end
-    it "queues a PortAccessFailure error on the port's component "\
+    it "queues a PortAccessFailure error on the port's component " \
        "if creating the port failed" do
         error = Class.new(RuntimeError)
         task = syskit_stub_deploy_and_configure(task_m)
@@ -547,6 +556,7 @@ def configure
 
     describe "#disconnect" do
         attr_reader :task, :reader
+
         before do
             @task = syskit_stub_deploy_and_configure(task_m)
             @reader = task.out_port.reader
@@ -558,7 +568,7 @@ def configure
             expect_execution.to { achieve { !reader.connected? } }
         end
 
-        it "ensures that the port will not become ready if called before the "\
+        it "ensures that the port will not become ready if called before the " \
            "resolution starts" do
             task = syskit_stub_deploy_and_configure(task_m)
             reader = task.out_port.reader
@@ -583,6 +593,7 @@ def configure
 
         describe "automatic disconnection" do
             attr_reader :cmp, :child, :orocos_reader
+
             before do
                 cmp_m = Syskit::Composition.new_submodel
                 cmp_m.add task_m, as: "c"
@@ -605,7 +616,7 @@ def configure
                 expect_execution.to { achieve { !orocos_reader.connected? } }
             end
 
-            it "automatically disconnects when the port's actual component "\
+            it "automatically disconnects when the port's actual component " \
                "is finalized" do
                 cmp.remove_child child
 
diff --git a/test/test_properties.rb b/test/test_properties.rb
index 469a255ea..48e9d3c06 100644
--- a/test/test_properties.rb
+++ b/test/test_properties.rb
@@ -5,6 +5,7 @@
 module Syskit
     describe Properties do
         attr_reader :task, :property, :properties
+
         before do
             @property = flexmock(:on, Property)
             @task = flexmock(:on, TaskContext)
diff --git a/test/test_property.rb b/test/test_property.rb
index 4702f225c..983760da8 100644
--- a/test/test_property.rb
+++ b/test/test_property.rb
@@ -5,6 +5,7 @@
 module Syskit
     describe Property do
         attr_reader :property
+
         before do
             task_m = Syskit::TaskContext.new_submodel do
                 property "test", "/double"
diff --git a/test/test_remote_state_getter.rb b/test/test_remote_state_getter.rb
index d6123c9ee..0f1e1b9ca 100644
--- a/test/test_remote_state_getter.rb
+++ b/test/test_remote_state_getter.rb
@@ -5,6 +5,7 @@
 module Syskit
     describe RemoteStateGetter do
         attr_reader :getter, :task, :task_m
+
         before do
             @task = RemoteStateGetterStubTaskContext.new
             @getter = RemoteStateGetter.new(task)
diff --git a/test/test_ruby_tasks_context.rb b/test/test_ruby_task_context.rb
similarity index 62%
rename from test/test_ruby_tasks_context.rb
rename to test/test_ruby_task_context.rb
index afe510f3d..d900016b4 100644
--- a/test/test_ruby_tasks_context.rb
+++ b/test/test_ruby_task_context.rb
@@ -5,20 +5,13 @@
 module Syskit
     describe RubyTaskContext do
         attr_reader :task_m
+
         before do
             @task_m = RubyTaskContext.new_submodel do
                 input_port "in", "/double"
                 output_port "out", "/double"
             end
-            Syskit.conf.register_process_server(
-                "ruby_tasks",
-                Orocos::RubyTasks::ProcessManager.new(Roby.app.default_loader)
-            )
-        end
-
-        after do
-            teardown_registered_plans
-            Syskit.conf.remove_process_server("ruby_tasks")
+            @ruby_tasks_manager = register_ruby_tasks_manager("ruby_tasks")
         end
 
         it "allows to specify a component interface and have it deployed" do
@@ -27,7 +20,9 @@ module Syskit
             assert_kind_of RubyTaskContext, task
             assert_equal "test", task.orocos_name
 
-            remote_task = Orocos.allow_blocking_calls { Orocos.name_service.get("test") }
+            remote_task = Orocos.allow_blocking_calls do
+                Orocos::TaskContext.new(task.orocos_task.ior)
+            end
             assert_equal remote_task, task.orocos_task
             Orocos.allow_blocking_calls do
                 assert_equal remote_task.in, task.orocos_task.in
@@ -68,5 +63,32 @@ module Syskit
             task = syskit_deploy_configure_and_start(task_m)
             assert_kind_of Orocos::RubyTasks::RemoteTaskContext, task.orocos_task
         end
+
+        describe "logging" do
+            before do
+                Roby.app.using_task_library "logger"
+                register_in_process_manager("in_process_tasks")
+                ProcessManagers::InProcess::Manager
+                    .register_default_logger_deployment(Roby.app)
+                assert Roby.app.syskit_logger_m
+                assert Roby.app.syskit_in_process_logger_deployment
+                @ruby_tasks_manager.logging_enabled = true
+            end
+
+            after do
+                @ruby_tasks_manager.logging_enabled = false
+                ProcessManagers::InProcess::Manager
+                    .deregister_default_logger_deployment(Roby.app)
+            end
+
+            it "uses the in-process logger if available" do
+                Roby.app.using_task_library "logger"
+
+                use_ruby_tasks({ task_m => "test" }, remote_task: true)
+                task = syskit_deploy_configure_and_start(task_m)
+                assert task.execution_agent.logging_enabled?
+                assert task.execution_agent.logger_task
+            end
+        end
     end
 end
diff --git a/test/test_shell_interface.rb b/test/test_shell_interface.rb
deleted file mode 100644
index 716a48769..000000000
--- a/test/test_shell_interface.rb
+++ /dev/null
@@ -1,249 +0,0 @@
-# frozen_string_literal: true
-
-require "syskit/test/self"
-require "syskit/shell_interface"
-
-module Syskit
-    describe ShellInterface do
-        attr_reader :subject
-
-        before do
-            @subject = ShellInterface.new(flexmock(plan: plan))
-            subject.execution_engine.thread = Thread.current
-            @interface_thread = nil
-        end
-
-        after do
-            @ee_thread&.join
-        end
-
-        describe "#redeploy" do
-            it "triggers a full deployment" do
-                flexmock(Runtime).should_receive(:apply_requirement_modifications)
-                                 .with(subject.plan, force: true).once.pass_thru
-                subject.redeploy
-            end
-        end
-
-        describe "#restart_deployments" do
-            attr_reader :task_m, :task
-            before do
-                @task_m = TaskContext.new_submodel
-                @task = syskit_stub_deploy_configure_and_start(
-                    syskit_stub_requirements(task_m).with_conf("default")
-                )
-                plan.add_mission_task(task)
-            end
-
-            it "stops the matching deployments and redeploys" do
-                plug_apply_requirement_modifications
-                expect_execution do
-                    subject.restart_deployments
-                end.to do
-                    emit find_tasks(ShellInterface::ShellDeploymentRestart).stop_event
-                end
-                assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
-            end
-
-            it "restricts the deployments to the given models" do
-                other = syskit_stub_deploy_configure_and_start(
-                    syskit_stub_requirements(TaskContext.new_submodel)
-                )
-                plug_apply_requirement_modifications
-                expect_execution do
-                    subject.restart_deployments(task.execution_agent.model)
-                end.to do
-                    emit find_tasks(ShellInterface::ShellDeploymentRestart).stop_event
-                    emit task.stop_event
-                    not_emit other.stop_event
-                end
-                assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
-            end
-
-            it "accepts task models as argument" do
-                other = syskit_stub_deploy_configure_and_start(
-                    syskit_stub_requirements(TaskContext.new_submodel)
-                )
-                plug_apply_requirement_modifications
-                expect_execution do
-                    subject.restart_deployments(task.model)
-                end.to do
-                    emit find_tasks(ShellInterface::ShellDeploymentRestart).stop_event
-                    emit task.stop_event
-                    not_emit other.stop_event
-                end
-                assert_equal 1, plan.find_tasks(task_m).pending.to_a.size
-            end
-        end
-
-        describe "#stop_deployments" do
-            attr_reader :task_m, :task
-            before do
-                @task_m = TaskContext.new_submodel
-                @task = syskit_stub_deploy_configure_and_start(task_m.with_conf("default"))
-                plan.add_mission_task(task)
-            end
-
-            it "stops the matching deployments" do
-                expect_execution { subject.stop_deployments }
-                    .to do
-                        emit task.aborted_event
-                        emit task.execution_agent.stop_event
-                    end
-                assert task.finished?
-            end
-
-            it "restricts the deployments to the given models" do
-                other = syskit_stub_deploy_configure_and_start(task_m.with_conf("other"))
-                subject.plan.add_mission_task(other)
-                expect_execution { subject.stop_deployments(task.execution_agent.model) }
-                    .to do
-                        emit task.aborted_event
-                        emit task.execution_agent.stop_event
-                    end
-                assert task.finished?
-                assert !other.finished?
-            end
-
-            it "accepts task models as argument" do
-                other_m = TaskContext.new_submodel
-                other = syskit_stub_deploy_configure_and_start(other_m)
-                subject.plan.add_mission_task(other)
-                expect_execution { subject.stop_deployments(task.execution_agent.model) }
-                    .to do
-                        emit task.aborted_event
-                        emit task.execution_agent.stop_event
-                    end
-                assert task.finished?
-                assert !other.finished?
-            end
-        end
-
-        describe "the log configuration management" do
-            before { Syskit.conf.logs.create_group "test" }
-            after { Syskit.conf.logs.remove_group("test") }
-
-            it "creates a marshallable instance of the configuration" do
-                conf = subject.logging_conf
-                assert_equal conf.port_logs_enabled, Syskit.conf.logs.port_logs_enabled?
-                assert_equal conf.conf_logs_enabled, Syskit.conf.logs.conf_logs_enabled?
-                Syskit.conf.logs.groups.each_pair do |key, group|
-                    assert_equal group.enabled?, conf.groups[key].enabled
-                end
-                Marshal.dump(conf)
-            end
-
-            it "changes status of conf and port logging and redeploys" do
-                conf = subject.logging_conf
-                previous_port_status = Syskit.conf.logs.port_logs_enabled?
-                previous_conf_status = Syskit.conf.logs.conf_logs_enabled?
-
-                conf.port_logs_enabled = !previous_port_status
-                conf.conf_logs_enabled = !previous_conf_status
-
-                flexmock(subject).should_receive(:redeploy).once.pass_thru do
-                    assert_equal Syskit.conf.logs.port_logs_enabled?, !previous_port_status
-                    assert_equal Syskit.conf.logs.conf_logs_enabled?, !previous_conf_status
-                end
-                subject.update_logging_conf(conf)
-            end
-
-            it "changes status of an existing log group and redeploys" do
-                conf = subject.logging_conf
-                previous_status = Syskit.conf.logs.group_by_name("test").enabled?
-                conf.groups["test"].enabled = !previous_status
-
-                flexmock(subject).should_receive(:redeploy).once.pass_thru do
-                    assert_equal Syskit.conf.logs.group_by_name("test").enabled?, !previous_status
-                end
-                subject.update_logging_conf(conf)
-            end
-        end
-
-        describe "the log group management" do
-            attr_reader :group
-            before do
-                @group = Syskit.conf.logs.create_group "test" do |g|
-                    g.add /base.samples.frame.Frame/
-                end
-            end
-
-            after do
-                Syskit.conf.logs.remove_group("test")
-            end
-
-            it "enable_log_group enables the log group and redeploys" do
-                group.enabled = false
-                flexmock(subject).should_receive(:redeploy).once.ordered
-                subject.enable_log_group "test"
-                assert group.enabled?
-            end
-
-            it "disable_log_group enables the log group and redeploys" do
-                group.enabled = true
-                flexmock(subject).should_receive(:redeploy).once.ordered
-                subject.disable_log_group "test"
-                assert !group.enabled?
-            end
-
-            it "enable_log_group raises ArgumentError if the log group does not exist" do
-                assert_raises(ArgumentError) do
-                    subject.enable_log_group "does_not_exist"
-                end
-            end
-
-            it "disable_log_group raises ArgumentError if the log group does not exist" do
-                assert_raises(ArgumentError) do
-                    subject.disable_log_group "does_not_exist"
-                end
-            end
-        end
-
-        # Start a thread to do a call on the interface that is synchronized
-        # with {ExecutionEngine#execute}
-        #
-        # @example call the 'redeploy' interface command, and wait for its
-        #   result
-        #
-        #   # Call 'redeploy'. The queue method waits 50ms to give time to
-        #   # the thread to actually start the call. There's no way to be
-        #   # sure, so that might lead to random test failures
-        #   queue_execute_call { subject.redeploy }
-        #   # Force processing of the call, and wait for the thread to
-        #   # finish
-        #   process_execute_call
-        def queue_execute_call(&block)
-            if @interface_thread
-                raise "you must call #process_execute_call after a call "\
-                      "to #queue_execute_call"
-            end
-
-            @interface_thread_sync = sync = Concurrent::CyclicBarrier.new(2)
-            @interface_thread = Thread.new do
-                sync.wait
-                block.call
-                sync.wait
-            end
-            sync.wait
-            sleep 0.05
-        end
-
-        # Process the work queued with {#queue_execute_call}
-        def process_execute_call
-            subject.execution_engine.join_all_waiting_work
-            if !@interface_thread.alive?
-                # Join the thread to have it to raise an exception that
-                # would have terminated it
-                @interface_thread.join
-                # If no exception was risen, fail with a less helpful
-                # message
-                flunck("interface thread quit unexpectedly")
-            else
-                @interface_thread_sync.wait
-                @interface_thread.join
-            end
-        ensure
-            @interface_thread = nil
-        end
-    end
-end
diff --git a/test/test_task_context.rb b/test/test_task_context.rb
index 08e6e1f83..dc3d0b893 100644
--- a/test/test_task_context.rb
+++ b/test/test_task_context.rb
@@ -20,6 +20,7 @@ def mock_raw_port(task, port_name)
 
         describe "#can_merge?" do
             attr_reader :merging_task, :merged_task
+
             before do
                 task_m = TaskContext.new_submodel
                 @merging_task = task_m.new
@@ -139,27 +140,26 @@ def mock_raw_port(task, port_name)
 
         stub_process_server_deployment_helpers = Module.new do
             attr_reader :deployment_m, :deployment0, :deployment1
+
             def setup
                 super
                 @deployment_m = Deployment.new_submodel
-                @stub_process_servers = []
+                @name_sequence_id = 0
             end
 
-            def teardown
-                @stub_process_servers.each do |ps|
-                    Syskit.conf.remove_process_server(ps.name)
-                end
-                super
+            def create_unique_name
+                "#{name}-#{@name_sequence_id += 1}"
             end
 
-            def create_task_from_host_id(host_id, name: flexmock)
-                process_server = RobyApp::UnmanagedTasksManager.new
-                RobyApp::UnmanagedProcess.new(process_server, "test", nil)
+            def create_task_from_host_id(host_id, name: create_unique_name)
                 log_dir = flexmock("log_dir")
-                process_server_config = Syskit.conf.register_process_server(
-                    name, process_server, log_dir, host_id: host_id
+                process_server_config = register_unmanaged_manager(
+                    name, log_dir: log_dir, host_id: host_id
+                )
+
+                ProcessManagers::Unmanaged::Process.new(
+                    process_server_config.manager, "test", nil
                 )
-                @stub_process_servers << process_server_config
                 deployment = deployment_m.new(on: name)
                 plan.add(task = task_m.new)
                 task.executed_by(deployment)
@@ -171,6 +171,7 @@ def create_task_from_host_id(host_id, name: flexmock)
             include stub_process_server_deployment_helpers
 
             attr_reader :task_m, :deployment_m
+
             before do
                 @task_m = TaskContext.new_submodel
                 @deployment_m = Deployment.new_submodel
@@ -183,8 +184,8 @@ def create_task_from_host_id(host_id, name: flexmock)
                 task = create_task_from_host_id "localhost"
                 assert_equal TaskContext::D_SAME_HOST, task.distance_to_syskit
             end
-            it "returns D_DIFFERENT_HOSTS if the task is not running "\
-                "on syskit or localhost" do
+            it "returns D_DIFFERENT_HOSTS if the task is not running " \
+               "on syskit or localhost" do
                 task = create_task_from_host_id "test"
                 assert_equal TaskContext::D_DIFFERENT_HOSTS, task.distance_to_syskit
             end
@@ -194,6 +195,7 @@ def create_task_from_host_id(host_id, name: flexmock)
             include stub_process_server_deployment_helpers
 
             attr_reader :task_m, :deployment_m
+
             before do
                 @task_m = TaskContext.new_submodel
                 @deployment_m = Deployment.new_submodel
@@ -204,8 +206,8 @@ def create_task_from_host_id(host_id, name: flexmock)
             it "returns false if the task is running on localhost" do
                 refute create_task_from_host_id("localhost").in_process?
             end
-            it "returns false if the task is running on any other host_id "\
-                "than syskit and localhost" do
+            it "returns false if the task is running on any other host_id " \
+               "than syskit and localhost" do
                 refute create_task_from_host_id("test").in_process?
             end
         end
@@ -214,6 +216,7 @@ def create_task_from_host_id(host_id, name: flexmock)
             include stub_process_server_deployment_helpers
 
             attr_reader :task_m, :deployment_m
+
             before do
                 @task_m = TaskContext.new_submodel
                 @deployment_m = Deployment.new_submodel
@@ -224,8 +227,8 @@ def create_task_from_host_id(host_id, name: flexmock)
             it "returns true if the task is running on localhost" do
                 assert create_task_from_host_id("localhost").on_localhost?
             end
-            it "returns false if the task is running on any other host_id "\
-                "than syskit and localhost" do
+            it "returns false if the task is running on any other host_id " \
+               "than syskit and localhost" do
                 refute create_task_from_host_id("test").on_localhost?
             end
         end
@@ -234,6 +237,7 @@ def create_task_from_host_id(host_id, name: flexmock)
             include stub_process_server_deployment_helpers
 
             attr_reader :task_m, :deployment_m
+
             before do
                 @task_m = TaskContext.new_submodel
                 @deployment_m = Deployment.new_submodel
@@ -253,8 +257,8 @@ def create_task_from_host_id(host_id, name: flexmock)
                 task1 = create_task_from_host_id "test"
                 assert_equal TaskContext::D_SAME_HOST, task0.distance_to(task1)
             end
-            it "returns D_DIFFERENT_HOSTS if both tasks are from processes "\
-                "from different hosts" do
+            it "returns D_DIFFERENT_HOSTS if both tasks are from processes " \
+               "from different hosts" do
                 task0 = create_task_from_host_id "here"
                 task1 = create_task_from_host_id "there"
                 assert_equal TaskContext::D_DIFFERENT_HOSTS, task0.distance_to(task1)
@@ -269,6 +273,7 @@ def create_task_from_host_id(host_id, name: flexmock)
 
         describe "#find_input_port" do
             attr_reader :task
+
             before do
                 @task = syskit_stub_deploy_and_configure "Task" do
                     input_port "in", "int"
@@ -292,6 +297,7 @@ def create_task_from_host_id(host_id, name: flexmock)
 
         describe "#find_output_port" do
             attr_reader :task
+
             before do
                 @task = syskit_stub_deploy_and_configure "Task" do
                     input_port "in", "int"
@@ -315,6 +321,7 @@ def create_task_from_host_id(host_id, name: flexmock)
 
         describe "start_event" do
             attr_reader :task, :task_m, :orocos_task
+
             before do
                 @task_m = TaskContext.new_submodel do
                     input_port "in", "/double"
@@ -419,6 +426,7 @@ def start_task
 
         describe "stop_event" do
             attr_reader :task, :orocos_task
+
             before do
                 @task = syskit_stub_deploy_configure_and_start(TaskContext.new_submodel)
                 @orocos_task = flexmock(task.orocos_task)
@@ -438,8 +446,8 @@ def start_task
                         emit task.aborted_event
                     end
             end
-            it "emits interrupt if orocos_task#stop raises StateTransitionFailed "\
-                "but the task is in a stopped state" do
+            it "emits interrupt if orocos_task#stop raises StateTransitionFailed " \
+               "but the task is in a stopped state" do
                 task.orocos_task.should_receive(:stop).and_return do
                     Orocos::TaskContext.instance_method(:stop)
                                        .call(task.orocos_task, false)
@@ -456,6 +464,7 @@ def start_task
 
         describe "#handle_state_changes" do
             attr_reader :task, :task_m, :orocos_task
+
             before do
                 @task_m = TaskContext.new_submodel do
                     input_port "in", "/double"
@@ -488,8 +497,8 @@ def start_task
                     not_emit task.start_event
                 end
             end
-            it "emits start as soon as a runtime state has been received, "\
-                "and emits the event mapped by #state_event" do
+            it "emits start as soon as a runtime state has been received, " \
+               "and emits the event mapped by #state_event" do
                 task.should_receive(:orogen_state).and_return(:blabla)
                 orocos_task.should_receive(:runtime_state?).with(:blabla)
                            .and_return(true)
@@ -507,8 +516,8 @@ def start_task
                 e = assert_raises(ArgumentError) do
                     task.handle_state_changes
                 end
-                assert_equal "#{task} reports state blabla, but I don't have an event "\
-                    "for this state transition", e.message
+                assert_equal "#{task} reports state blabla, but I don't have an event " \
+                             "for this state transition", e.message
             end
             it "emits the 'running' event when transitioning out of an error state" do
                 syskit_start(task)
@@ -519,8 +528,8 @@ def start_task
                     .to { emit task.running_event }
                 assert_equal 2, task.running_event.history.size
             end
-            it "does not emit the 'running' event if the last state "\
-                "was not an error state" do
+            it "does not emit the 'running' event if the last state " \
+               "was not an error state" do
                 syskit_start(task)
                 task.should_receive(:last_orogen_state).and_return(:BLA)
                 orocos_task.should_receive(:error_state?)
@@ -532,55 +541,88 @@ def start_task
 
         describe "#update_orogen_state" do
             attr_reader :task, :orocos_task
+
             before do
                 @task_m = TaskContext.new_submodel
                 task = syskit_stub_and_deploy(@task_m)
                 @task = flexmock(task)
                 syskit_start_execution_agents(task)
                 @orocos_task = flexmock(task.orocos_task)
+                setup_task_state_queue(task)
+            end
+
+            def setup_task_state_queue(task)
                 flexmock(task.state_reader)
+                @current_state = nil
+                @state_queue = []
+                task.state_reader.should_receive(:read)
+                    .at_most.once
+                    .by_default
+                    .and_return do
+                        if @state_queue.empty?
+                            @current_state
+                        else
+                            @current_state = @state_queue.shift
+                        end
+                    end
+                task.state_reader.should_receive(:read_new)
+                    .by_default
+                    .and_return { @current_state = @state_queue.shift }
+            end
+
+            def push_task_state(state)
+                @state_queue << state
             end
 
             # NOTE: handling of errors related to the state readers is done
             # in live/test_state_reader_disconnection.rb
 
             it "is provided a connected state reader by its execution agent" do
-                syskit_start_execution_agents(task)
                 assert task.state_reader.connected?
             end
-            it "sets orogen_state with the new state" do
+            it "reads the last known state on initialization " \
+               "if there is no state transition" do
+                task.state_reader.should_receive(:read_new).and_return(nil)
+                task.state_reader.should_receive(:read).and_return(state = Object.new)
+                assert_equal state, task.update_orogen_state
+                refute task.last_orogen_state
+            end
+            it "does not read the last known state once it is initialized" do
+                task.state_reader.should_receive(:read)
+                    .once.and_return(state = Object.new)
                 task.state_reader.should_receive(:read_new)
-                    .and_return(state = Object.new)
+                    .once.and_return(nil)
+                assert_equal state, task.update_orogen_state
+                assert_nil task.update_orogen_state
+            end
+            it "sets orogen_state with the new state" do
+                push_task_state(state = Object.new)
                 task.update_orogen_state
                 assert_equal state, task.orogen_state
             end
             it "updates last_orogen_state with the current state" do
-                task.state_reader.should_receive(:read_new)
-                    .and_return(last_state = Object.new)
-                    .and_return(Object.new)
+                push_task_state(last_state = Object.new)
+                push_task_state(Object.new)
                 task.update_orogen_state
                 task.update_orogen_state
                 assert_equal last_state, task.last_orogen_state
             end
             it "returns nil if no new state has been received" do
-                task.state_reader.should_receive(:read_new)
-                assert !task.update_orogen_state
+                refute task.update_orogen_state
             end
-            it "does not change the last and current states if no new states "\
-                "have been received" do
-                task.state_reader.should_receive(:read_new)
-                    .and_return(last_state = Object.new)
-                    .and_return(state = Object.new)
-                    .and_return(nil)
+            it "does not change the last and current states if no new states " \
+               "have been received" do
+                push_task_state(last_state = Object.new)
+                push_task_state(state = Object.new)
+                push_task_state(nil)
                 task.update_orogen_state
                 task.update_orogen_state
-                assert !task.update_orogen_state
+                refute task.update_orogen_state
                 assert_equal last_state, task.last_orogen_state
                 assert_equal state, task.orogen_state
             end
             it "returns the new state if there is one" do
-                task.state_reader.should_receive(:read_new)
-                    .and_return(state = Object.new)
+                push_task_state(state = Object.new)
                 assert_equal state, task.update_orogen_state
             end
             it "emits the exception event when transitioned to exception" do
@@ -592,6 +634,7 @@ def start_task
 
         describe "#ready_for_setup?" do
             attr_reader :task, :orocos_task
+
             before do
                 task = syskit_stub_and_deploy("Task") {}
                 syskit_start_execution_agents(task)
@@ -599,12 +642,12 @@ def start_task
                 @orocos_task = flexmock(task.orocos_task)
             end
 
-            it "returns true for a fully instanciated task whose state "\
-                "is PRE_OPERATIONAL" do
+            it "returns true for a fully instanciated task whose state " \
+               "is PRE_OPERATIONAL" do
                 assert task.ready_for_setup?
             end
-            it "returns false if a task context representing the same component "\
-                "is being configured" do
+            it "returns false if a task context representing the same component " \
+               "is being configured" do
                 task = syskit_stub_and_deploy "ConcurrentConfigurationTask"
                 syskit_start_execution_agents(task)
                 plan.add_permanent_task(
@@ -616,8 +659,8 @@ def start_task
                 execution_engine.join_all_waiting_work
                 assert task.ready_for_setup?
             end
-            it "returns true if a task context representing the same component "\
-                "has started configuring and the configuration failed" do
+            it "returns true if a task context representing the same component " \
+               "has started configuring and the configuration failed" do
                 task = syskit_stub_and_deploy "ConcurrentConfigurationTask"
                 syskit_start_execution_agents(task)
                 plan.add(other_task = task.execution_agent.task(task.orocos_name))
@@ -649,8 +692,8 @@ def start_task
                 task.should_receive(:read_current_state).and_return(nil)
                 refute task.ready_for_setup?
             end
-            it "returns false if the task's current state is not one "\
-                "from which we can configure" do
+            it "returns false if the task's current state is not one " \
+               "from which we can configure" do
                 task.should_receive(:read_current_state).and_return(Object.new)
                 refute task.ready_for_setup?
             end
@@ -668,10 +711,24 @@ def start_task
                 task.should_receive(:read_current_state).and_return(:STOPPED)
                 assert task.ready_for_setup?
             end
+
+            it "returns false if the task is read_only and the component is not running" do
+                task.should_receive(:read_only?).and_return(true)
+                refute task.ready_for_setup?
+            end
+
+            it "returns true if the task is read_only and the component is in a running " \
+               "state" do
+                task.should_receive(:read_only?).and_return(true)
+                orocos_task.should_receive(:runtime_state?)
+                           .and_return(true)
+                assert task.ready_for_setup?
+            end
         end
 
         describe "#read_current_state" do
             attr_reader :task, :state_reader
+
             before do
                 @task = syskit_stub_and_deploy("Task") {}
                 syskit_start_execution_agents(task)
@@ -695,6 +752,7 @@ def start_task
 
         describe "#setup_successful!" do
             attr_reader :task
+
             before do
                 task = syskit_stub_and_deploy(TaskContext.new_submodel)
                 syskit_start_execution_agents(task)
@@ -725,6 +783,7 @@ def start_task
 
         describe "needs_reconfiguration" do
             attr_reader :task_m
+
             before do
                 @task_m = TaskContext.new_submodel
             end
@@ -801,6 +860,7 @@ def start_task
         describe "reconfiguration behavior" do
             describe "without #update_properties" do
                 attr_reader :task_m
+
                 before do
                     @task_m =
                         RubyTaskContext.new_submodel(name: "#{class_name}##{name}") do
@@ -842,7 +902,7 @@ def start_task
                     messages = configure_task_with_capture(task)
                     assert_includes(
                         messages,
-                        "not reconfiguring #{task}: the task is already configured "\
+                        "not reconfiguring #{task}: the task is already configured " \
                         "as required"
                     )
                 end
@@ -879,7 +939,7 @@ def start_task
                     messages = configure_task_with_capture(task)
                     assert_includes messages, "cleaning up #{task}"
                 end
-                it "reconfigures a task which was previously explicitly "\
+                it "reconfigures a task which was previously explicitly " \
                    "marked as needing to" do
                     warmup_to_configure(&:needs_reconfiguration!)
 
@@ -887,7 +947,7 @@ def start_task
                     messages = configure_task_with_capture(task)
                     assert_includes messages, "cleaning up #{task}"
                 end
-                it "reconfigures if the state is STOPPED but the task "\
+                it "reconfigures if the state is STOPPED but the task " \
                    "has never been configured by Syskit" do
                     task = deploy_task
                     syskit_start_execution_agents(task)
@@ -928,6 +988,7 @@ def configure_task_with_capture(task)
 
             describe "with #update_properties" do
                 attr_reader :task_m
+
                 before do
                     @task_m = RubyTaskContext.new_submodel(name: name.upcase) do
                         property "config", "/double", 0
@@ -968,11 +1029,11 @@ def configure_task_with_capture(task)
                     messages = capture_log(task, :info) { syskit_configure(task) }
                     assert_includes(
                         messages,
-                        "not reconfiguring #{task}: the task is already configured "\
+                        "not reconfiguring #{task}: the task is already configured " \
                         "as required"
                     )
                 end
-                it "does no reconfigure a task with an unchanged but "\
+                it "does no reconfigure a task with an unchanged but " \
                    "non-default configuration" do
                     # This is a regression test. The pre-update_properties world
                     # would reconfigure a task if its configuration was non-default
@@ -989,7 +1050,7 @@ def configure_task_with_capture(task)
                     messages = capture_log(task, :info) { syskit_configure(task) }
                     assert_includes(
                         messages,
-                        "not reconfiguring #{task}: the task is already configured "\
+                        "not reconfiguring #{task}: the task is already configured " \
                         "as required"
                     )
                 end
@@ -1010,7 +1071,7 @@ def configure_task_with_capture(task)
                     messages = capture_log(task, :info) { syskit_configure(task) }
                     assert_includes messages, "cleaning up #{task}"
                 end
-                it "reconfigures a task which was previously explicitly "\
+                it "reconfigures a task which was previously explicitly " \
                    "marked as needing to" do
                     warmup_to_configure(&:needs_reconfiguration!)
 
@@ -1018,7 +1079,7 @@ def configure_task_with_capture(task)
                     messages = capture_log(task, :info) { syskit_configure(task) }
                     assert_includes messages, "cleaning up #{task}"
                 end
-                it "reconfigures if the state is STOPPED but the task "\
+                it "reconfigures if the state is STOPPED but the task " \
                    "has never been configured by Syskit" do
                     task = deploy_task
                     syskit_start_execution_agents(task)
@@ -1052,6 +1113,7 @@ def task.configure
 
             describe "handling of dynamic ports" do
                 attr_reader :task_m
+
                 before do
                     @task_m = RubyTaskContext.new_submodel(name: name.upcase) do
                         property "config", "/double", 0
@@ -1122,7 +1184,7 @@ def task.configure
                     warmup(test1_m) { |task| syskit_configure(task) }
                 end
 
-                it "does not reconfigure a task whose list of dynamic services "\
+                it "does not reconfigure a task whose list of dynamic services " \
                    "did not change" do
                     # NOTE: we explicitly re-specialize the model. From syskit's
                     # perspective the two specialized models are equivalent
@@ -1133,7 +1195,7 @@ def task.configure
                     syskit_configure(task)
                 end
 
-                it "reconfigures a task if two dynamic services have the same model "\
+                it "reconfigures a task if two dynamic services have the same model " \
                    "and name, but not arguments" do
                     # NOTE: we explicitly re-specialize the model. From syskit's
                     # perspective the two specialized models are equivalent
@@ -1144,7 +1206,7 @@ def task.configure
                     syskit_configure(task)
                 end
 
-                it "reconfigures a task if two dynamic services have the same name "\
+                it "reconfigures a task if two dynamic services have the same name " \
                    "and model, but from a different dynamic service" do
                     # NOTE: we explicitly re-specialize the model. From syskit's
                     # perspective the two specialized models are equivalent
@@ -1155,7 +1217,7 @@ def task.configure
                     syskit_configure(task)
                 end
 
-                it "reconfigures a task if two dynamic services have the same name "\
+                it "reconfigures a task if two dynamic services have the same name " \
                    "but the model differs" do
                     # NOTE: we explicitly re-specialize the model. From syskit's
                     # perspective the two specialized models are equivalent
@@ -1216,6 +1278,7 @@ def warmup_to_exception
 
         describe "#setup" do
             attr_reader :task, :orocos_task, :recorder
+
             before do
                 @recorder = flexmock
                 recorder.should_receive(:called)
@@ -1363,6 +1426,7 @@ def setup_task(task = self.task, expected_messages: nil)
 
         describe "interrupt_event" do
             attr_reader :task, :orocos_task, :deployment
+
             it "calls stop on the task if it has an execution agent in nominal state" do
                 task = syskit_stub_deploy_configure_and_start(TaskContext.new_submodel)
                 flexmock(task.orocos_task).should_receive(:stop).once.pass_thru
@@ -1468,6 +1532,7 @@ def setup_task(task = self.task, expected_messages: nil)
             def self.handling_of_static_ports(input: false)
                 attr_reader :transaction
                 attr_reader :source_task, :sink_task
+
                 before do
                     @source_task = syskit_stub_and_deploy "SourceTask" do
                         p = output_port("out", "int")
@@ -1484,7 +1549,8 @@ def self.handling_of_static_ports(input: false)
                 let(:source_task_p) { transaction[source_task] }
                 let(:task_p) do
                     if input then sink_task_p
-                    else source_task_p
+                    else
+                        source_task_p
                     end
                 end
 
@@ -1587,6 +1653,7 @@ def configure_tasks
 
         describe "property handling" do
             attr_reader :double_t, :task_m, :task
+
             before do
                 @double_t = double_t = stub_type "/double"
                 @task_m = RubyTaskContext.new_submodel do
@@ -1672,8 +1739,8 @@ def configure_tasks
                         assert_match(/^undefined method `does_not_exist_property' for/,
                                      exception.message)
                     end
-                    it "passes through to method resolution if the name "\
-                        "does not end with _property" do
+                    it "passes through to method resolution if the name " \
+                       "does not end with _property" do
                         stub_t = stub_type "/test"
                         task_m = TaskContext.new_submodel do
                             output_port "port_test", stub_t
@@ -1743,6 +1810,7 @@ def configure_tasks
             describe "property updates at runtime" do
                 describe "a running task" do
                     attr_reader :task, :property
+
                     before do
                         @task = syskit_stub_deploy_configure_and_start(task_m)
                         @property = task.test_property
@@ -1750,6 +1818,7 @@ def configure_tasks
                             @remote_test_property = task.orocos_task.raw_property("test")
                             @remote_test_property.write(0.2)
                         end
+                        @property.update_remote_value(0.2)
                     end
                     def mock_remote_property
                         property.remote_property = @remote_test_property
@@ -1794,6 +1863,7 @@ def mock_remote_property
 
                 describe "a non-setup task" do
                     attr_reader :task, :property
+
                     before do
                         @task = syskit_stub_and_deploy(task_m)
                         syskit_start_execution_agents(task)
@@ -1824,16 +1894,17 @@ def mock_remote_property
 
                 describe "a setup but not started task" do
                     attr_reader :task, :property
+
                     before do
                         @task = syskit_stub_and_deploy(task_m)
                         syskit_start_execution_agents(task)
                         @property = task.test_property
                         Orocos.allow_blocking_calls do
                             @remote_test_property = task.orocos_task.raw_property("test")
-                            @test_property_initial_value = @remote_test_property.read
                             @remote_test_property.write(0.2)
                         end
                     end
+
                     def mock_remote_property
                         property.remote_property = @remote_test_property
                         flexmock(@remote_test_property)
@@ -1914,6 +1985,7 @@ def task.configure
 
             describe "#commit_properties" do
                 attr_reader :task, :stub_property, :remote_test_property
+
                 before do
                     @task = syskit_stub_and_deploy(task_m)
                     syskit_start_execution_agents(task)
@@ -1922,6 +1994,7 @@ def task.configure
                         @remote_test_property = task.orocos_task.raw_property("test")
                         remote_test_property.write(0.2)
                     end
+                    @stub_property.update_remote_value(0.2)
                     @guard = syskit_guard_against_start_and_configure
                 end
                 def mock_remote_property
@@ -1988,7 +2061,7 @@ def mock_remote_property
                     end
                     promises.each(&:execute)
                     execution_engine.join_all_waiting_work
-                    assert_equal (0...100).to_a, finished
+                    assert_equal (0...100).to_a, finished.sort
                 end
 
                 it "is serialized with the initial commit in task setup" do
@@ -2061,8 +2134,8 @@ def wait_until_promise_stops_on_barrier(barrier = @barrier, &block)
                         expect_execution.to { emit task.exception_event }
                     end
 
-                    it "does not do anything in the property update promise if the "\
-                       "task got in the meantime in a state in which it would not use "\
+                    it "does not do anything in the property update promise if the " \
+                       "task got in the meantime in a state in which it would not use " \
                        "the update" do
                         task.properties.test = 21
                         wait_until_promise_stops_on_barrier
@@ -2097,6 +2170,7 @@ def wait_until_promise_stops_on_barrier(barrier = @barrier, &block)
 
                 describe "initial values" do
                     attr_reader :task
+
                     before do
                         task_m = Syskit::TaskContext.new_submodel do
                             property "p", "/int"
@@ -2200,18 +2274,13 @@ def assert_process_events_does_not_block
 
         describe "deployment shortcuts" do
             before do
-                Syskit.conf.register_process_server(
-                    "unmanaged_tasks", RobyApp::UnmanagedTasksManager.new
-                )
+                register_unmanaged_manager("unmanaged_tasks")
 
                 Roby.app.using_task_library "orogen_syskit_tests"
                 @task_m = TaskContext.find_model_from_orogen_name(
                     "orogen_syskit_tests::Empty"
                 )
             end
-            after do
-                Syskit.conf.remove_process_server("unmanaged_tasks")
-            end
 
             it "allows to declare a 'default' deployment" do
                 name = "#{Process.pid}#{name}"
@@ -2242,81 +2311,114 @@ def assert_process_events_does_not_block
         end
 
         describe "read_only" do
+            attr_reader :deployment, :handle
+
             before do
                 task_m = TaskContext.new_submodel do
                     property "p", "/double"
                 end
 
-                @task =
-                    syskit_stub_deploy_and_configure(task_m.with_arguments(read_only: true))
+                @deployment = syskit_stub_deployment(
+                    "test", task_model: task_m, read_only: ["test"]
+                )
+                expect_execution { deployment.start! }.to { emit deployment.ready_event }
 
-                Orocos.allow_blocking_calls { @task.orocos_task.configure(false) }
+                @handle = deployment.remote_task_handles["test"].handle
             end
 
-            it "raises when attempting to change a property" do
-                task = @task
+            it "emits start when the task is create and started " \
+               "while the component is running" do
+                Orocos.allow_blocking_calls { handle.configure(false) }
+                Orocos.allow_blocking_calls { handle.start(false) }
+                create_configure_and_start_task
+            end
 
-                assert_raises(InvalidReadOnlyOperation) do
-                    task.properties.p = 2.0
+            it "does not let itself be configured if the component is not configured" do
+                assert_raises(Syskit::Test::NetworkManipulation::NoConfigureFixedPoint) do
+                    create_and_configure_task
                 end
             end
 
-            it "emits start when the task is started while the component is running" do
-                task = @task
-                Orocos.allow_blocking_calls { task.orocos_task.start(false) }
+            it "does not let itself be configured if the component is not started" do
+                Orocos.allow_blocking_calls { handle.configure(false) }
+                assert_raises(Syskit::Test::NetworkManipulation::NoConfigureFixedPoint) do
+                    create_and_configure_task
+                end
+            end
 
-                assert state(task.orocos_task) == :RUNNING
+            it "raises when attempting to change a property" do
+                Orocos.allow_blocking_calls { handle.configure(false) }
+                Orocos.allow_blocking_calls { handle.start(false) }
+                task = create_configure_and_start_task
 
-                expect_execution { task.start! }
-                    .to { emit task.start_event }
+                assert_raises(InvalidReadOnlyOperation) do
+                    task.properties.p = 2.0
+                end
             end
 
-            it "does not emit start " \
-            "if the task is started while the component is not running" do
-                task = @task
+            it "does not perform setup on configuration" do
+                task = deployment.task("test")
+                flexmock(task).should_receive(:perform_setup).once.pass_thru
+                flexmock(task).should_receive(:prepare_for_setup).never
 
-                assert state(task.orocos_task) != :RUNNING
+                Orocos.allow_blocking_calls { handle.configure(false) }
+                Orocos.allow_blocking_calls { handle.start(false) }
+                syskit_configure(task)
+            end
 
-                expect_execution { task.start! }
-                    .to { not_emit task.start_event }
+            describe "stopping behavior" do
+                attr_reader :task
 
-                # just to avoid: "TeardownFailedError: failed to tear down plan"
-                execute { task.stop! }
-            end
+                before do
+                    Orocos.allow_blocking_calls { handle.configure(false) }
+                    Orocos.allow_blocking_calls { handle.start(false) }
+                    @task = create_configure_and_start_task
+                end
 
-            it "emits start when the component is started while the task is starting" do
-                task = @task
-                execute { task.start! }
+                it "does not emit interrupted " \
+                   "if the task is stopped while the component is running" do
+                    expect_execution { task.stop! }.to do
+                        not_emit task.interrupt_event
+                        emit task.stop_event
+                    end
+                end
 
-                assert task.starting?
+                it "does not stop the component if the task is stopped" do
+                    expect_execution { task.stop! }.to { emit task.stop_event }
+                    assert state(handle) == :RUNNING
+                end
 
-                expect_execution do
-                    Orocos.allow_blocking_calls { task.orocos_task.start(false) }
-                end.to { emit task.start_event }
+                it "emits stop when the component is stopped while the task is running" do
+                    expect_execution do
+                        Orocos.allow_blocking_calls { handle.stop(false) }
+                    end.to { emit task.stop_event }
+                end
             end
 
-            it "does not emit interrupted " \
-            "if the task is stopped while the component is running" do
-                task = @task
-                Orocos.allow_blocking_calls { task.orocos_task.start(false) }
-                execute { task.start! }
+            it "handles being restarted on the same running component" do
+                Orocos.allow_blocking_calls { handle.configure(false) }
+                Orocos.allow_blocking_calls { handle.start(false) }
 
-                assert task.running? && state(task.orocos_task) == :RUNNING
-
-                expect_execution { task.stop! }
-                    .to { not_emit task.interrupt_event }
+                2.times do
+                    task = deployment.task("test")
+                    syskit_configure(task)
+                    expect_execution { task.start! }.to { emit task.start_event }
+                    expect_execution { task.stop! }.to { emit task.stop_event }
+                end
             end
 
-            it "emits stop when the component is stopped while the task is running" do
-                task = @task
-                Orocos.allow_blocking_calls { task.orocos_task.start(false) }
-                execute { task.start! }
+            def create_and_configure_task
+                task = @deployment.task("test")
+                syskit_configure(task)
+                task
+            end
 
-                assert task.running?
+            def create_configure_and_start_task
+                task = create_and_configure_task
+                expect_execution { task.start! }.to { emit task.start_event }
 
-                expect_execution do
-                    Orocos.allow_blocking_calls { task.orocos_task.stop(false) }
-                end.to { emit task.stop_event }
+                assert task.running? && state(handle) == :RUNNING
+                task
             end
 
             def state(component)