diff --git a/fairmq/sdk/Topology.h b/fairmq/sdk/Topology.h
index 180d2a7c..1ee1e654 100644
--- a/fairmq/sdk/Topology.h
+++ b/fairmq/sdk/Topology.h
@@ -68,6 +68,7 @@ const std::map<DeviceTransition, DeviceState> expectedState =
 struct DeviceStatus
 {
     bool initialized;
+    DeviceState lastState;
     DeviceState state;
     DDSTask::Id taskId;
     DDSCollection::Id collectionId;
@@ -192,13 +193,12 @@ class BasicTopology : public AsioBase<Executor, Allocator>
                 switch (cmd->GetType()) {
                     case Type::state_change: {
                         auto _cmd = static_cast<StateChange&>(*cmd);
-                        DDSTask::Id taskId(_cmd.GetTaskId());
                         if (_cmd.GetCurrentState() == DeviceState::Exiting) {
                             Cmds outCmds;
                             outCmds.Add<StateChangeExitingReceived>();
                             fDDSSession.SendCommand(outCmds.Serialize(), senderId);
                         }
-                        UpdateStateEntry(taskId, _cmd.GetCurrentState());
+                        HandleCmd(_cmd);
                     } break;
                     case Type::state_change_subscription:
                         if (static_cast<StateChangeSubscription&>(*cmd).GetResult() != Result::Ok) {
@@ -430,6 +430,212 @@ class BasicTopology : public AsioBase<Executor, Allocator>
 
     auto StateEqualsTo(DeviceState state) const -> bool { return sdk::StateEqualsTo(GetCurrentState(), state); }
 
+
+
+
+
+
+
+
+
+
+
+
+
+    using WaitForStateCompletionSignature = void(std::error_code);
+
+  private:
+    struct WaitForStateOp
+    {
+        using Id = std::size_t;
+        using Count = unsigned int;
+
+        template<typename Handler>
+        WaitForStateOp(Id id,
+                       DeviceState targetLastState,
+                       DeviceState targetCurrentState,
+                       std::vector<DDSTask> tasks,
+                       Duration timeout,
+                       std::mutex& mutex,
+                       Executor const & ex,
+                       Allocator const & alloc,
+                       Handler&& handler)
+            : fId(id)
+            , fOp(ex, alloc, std::move(handler))
+            , fTimer(ex)
+            , fCount(0)
+            , fTasks(std::move(tasks))
+            , fTargetLastState(targetLastState)
+            , fTargetCurrentState(targetCurrentState)
+            , fMtx(mutex)
+            , fCompleted(false)
+        {
+            if (timeout > std::chrono::milliseconds(0)) {
+                fTimer.expires_after(timeout);
+                fTimer.async_wait([&](std::error_code ec) {
+                    if (!ec) {
+                        std::lock_guard<std::mutex> lk(fMtx);
+                        fOp.Timeout();
+                    }
+                });
+            }
+        }
+        WaitForStateOp() = delete;
+        WaitForStateOp(const WaitForStateOp&) = delete;
+        WaitForStateOp& operator=(const WaitForStateOp&) = delete;
+        WaitForStateOp(WaitForStateOp&&) = default;
+        WaitForStateOp& operator=(WaitForStateOp&&) = default;
+        ~WaitForStateOp() = default;
+
+        /// precondition: fMtx is locked.
+        auto ResetCount(const TopologyStateIndex& stateIndex, const TopologyState& stateData) -> void
+        {
+            LOG(info) << "Resetting count and expecting fTargetLastState=" << fTargetLastState << ",fTargetCurrentState=" << fTargetCurrentState;
+            fCount = std::count_if(stateIndex.cbegin(), stateIndex.cend(), [=](const auto& s) {
+                if (ContainsTask(stateData.at(s.second).taskId)) {
+                    if (stateData.at(s.second).state == fTargetCurrentState &&
+                        (stateData.at(s.second).lastState == fTargetLastState ||
+                         fTargetLastState == DeviceState::Ok)) {
+                        return true;
+                    } else {
+                        return false;
+                    }
+                } else {
+                    return false;
+                }
+            });
+        }
+
+        /// precondition: fMtx is locked.
+        auto Update(const DDSTask::Id taskId, const DeviceState lastState, const DeviceState currentState) -> void
+        {
+            if (!fCompleted && ContainsTask(taskId)) {
+                LOG(info) << "Update: lastState=" << lastState << ",currentState=" << currentState;
+                if (currentState == fTargetCurrentState &&
+                    (lastState == fTargetLastState ||
+                     fTargetLastState == DeviceState::Ok)) {
+                    ++fCount;
+                }
+                TryCompletion();
+            }
+        }
+
+        /// precondition: fMtx is locked.
+        auto TryCompletion() -> void
+        {
+            LOG(info) << "fCount: " << fCount;
+            if (!fOp.IsCompleted() && fCount == fTasks.size()) {
+                fCompleted = true;
+                fTimer.cancel();
+                fOp.Complete();
+            }
+        }
+
+      private:
+        Id const fId;
+        AsioAsyncOp<Executor, Allocator, WaitForStateCompletionSignature> fOp;
+        asio::steady_timer fTimer;
+        Count fCount;
+        std::vector<DDSTask> fTasks;
+        DeviceState fTargetLastState;
+        DeviceState fTargetCurrentState;
+        std::mutex& fMtx;
+        bool fCompleted;
+
+        /// precondition: fMtx is locked.
+        auto ContainsTask(DDSTask::Id id) -> bool
+        {
+            auto it = std::find_if(fTasks.begin(), fTasks.end(), [id](const DDSTask& t) { return t.GetId() == id; });
+            return it != fTasks.end();
+        }
+    };
+
+    auto HandleCmd(cmd::StateChange const& cmd) -> void
+    {
+        DDSTask::Id taskId(cmd.GetTaskId());
+        UpdateStateEntry(taskId, cmd.GetLastState(), cmd.GetCurrentState());
+
+        std::lock_guard<std::mutex> lk(fMtx);
+        for (auto& op : fWaitForStateOps) {
+            op.second.Update(taskId, cmd.GetLastState(), cmd.GetCurrentState());
+        }
+    }
+
+  public:
+    template<typename CompletionToken>
+    auto AsyncWaitForState(const DeviceState targetLastState,
+                           const DeviceState targetCurrentState,
+                           const std::string& path,
+                           Duration timeout,
+                           CompletionToken&& token)
+    {
+        return asio::async_initiate<CompletionToken, WaitForStateCompletionSignature>([&](auto handler) {
+            typename GetPropertiesOp::Id const id(tools::UuidHash());
+
+            // TODO Implement garbage collection of completed ops
+            std::lock_guard<std::mutex> lk(fMtx);
+            auto p = fWaitForStateOps.emplace(
+                std::piecewise_construct,
+                std::forward_as_tuple(id),
+                std::forward_as_tuple(id,
+                                      targetLastState,
+                                      targetCurrentState,
+                                      fDDSTopo.GetTasks(path),
+                                      timeout,
+                                      fMtx,
+                                      AsioBase<Executor, Allocator>::GetExecutor(),
+                                      AsioBase<Executor, Allocator>::GetAllocator(),
+                                      std::move(handler)));
+            p.first->second.ResetCount(fStateIndex, fStateData);
+            p.first->second.TryCompletion();
+        },
+        token);
+    }
+
+    template<typename CompletionToken>
+    auto AsyncWaitForState(const DeviceState targetCurrentState, CompletionToken&& token)
+    {
+        return AsyncWaitForState(DeviceState::Ok, targetCurrentState, "", Duration(0), std::move(token));
+    }
+
+    template<typename CompletionToken>
+    auto AsyncWaitForState(const DeviceState targetLastState, const DeviceState targetCurrentState, CompletionToken&& token)
+    {
+        return AsyncWaitForState(targetLastState, targetCurrentState, "", Duration(0), std::move(token));
+    }
+
+    auto WaitForState(const DeviceState targetLastState, const DeviceState targetCurrentState, const std::string& path = "", Duration timeout = Duration(0))
+        -> std::error_code
+    {
+        tools::SharedSemaphore blocker;
+        std::error_code ec;
+        AsyncWaitForState(targetLastState, targetCurrentState, path, timeout, [&, blocker](std::error_code _ec) mutable {
+            ec = _ec;
+            blocker.Signal();
+        });
+        blocker.Wait();
+        return ec;
+    }
+
+    auto WaitForState(const DeviceState targetCurrentState, const std::string& path = "", Duration timeout = Duration(0))
+        -> std::error_code
+    {
+        return WaitForState(DeviceState::Ok, targetCurrentState, path, timeout);
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
     using GetPropertiesCompletionSignature = void(std::error_code, GetPropertiesResult);
 
   private:
@@ -762,6 +968,7 @@ class BasicTopology : public AsioBase<Executor, Allocator>
 
     std::unordered_map<typename SetPropertiesOp::Id, SetPropertiesOp> fSetPropertiesOps;
     std::unordered_map<typename GetPropertiesOp::Id, GetPropertiesOp> fGetPropertiesOps;
+    std::unordered_map<typename WaitForStateOp::Id, WaitForStateOp> fWaitForStateOps;
 
     auto makeTopologyState() -> void
     {
@@ -770,19 +977,20 @@ class BasicTopology : public AsioBase<Executor, Allocator>
         int index = 0;
 
         for (const auto& task : fDDSTopo.GetTasks()) {
-            fStateData.push_back(DeviceStatus{false, DeviceState::Ok, task.GetId(), task.GetCollectionId()});
+            fStateData.push_back(DeviceStatus{false, DeviceState::Ok, DeviceState::Ok, task.GetId(), task.GetCollectionId()});
             fStateIndex.emplace(task.GetId(), index);
             index++;
         }
     }
 
-    auto UpdateStateEntry(const DDSTask::Id taskId, const DeviceState state) -> void
+    auto UpdateStateEntry(const DDSTask::Id taskId, const DeviceState lastState, const DeviceState currentState) -> void
     {
         try {
             std::lock_guard<std::mutex> lk(fMtx);
             DeviceStatus& task = fStateData.at(fStateIndex.at(taskId));
             task.initialized = true;
-            task.state = state;
+            task.lastState = lastState;
+            task.state = currentState;
             if (task.state == fChangeStateTarget) {
                 ++fTransitionedCount;
             }
diff --git a/test/sdk/_topology.cxx b/test/sdk/_topology.cxx
index 93b9fb0f..e5ea101b 100644
--- a/test/sdk/_topology.cxx
+++ b/test/sdk/_topology.cxx
@@ -26,8 +26,8 @@ TEST(TopologyHelper, MakeTopology)
     sdk::DDSEnv env(CMAKE_CURRENT_BINARY_DIR);
     /////////////////////////////////////
 
-    dds::topology_api::CTopology nativeTopo(
-        tools::ToString(SDK_TESTSUITE_SOURCE_DIR, "/test_topo.xml"));
+    std::string topoFile(tools::ToString(SDK_TESTSUITE_SOURCE_DIR, "/test_topo.xml"));
+    dds::topology_api::CTopology nativeTopo(topoFile);
     auto nativeSession(std::make_shared<dds::tools_api::CSession>());
     nativeSession->create();
     EXPECT_THROW(sdk::MakeTopology(nativeTopo, nativeSession, env), sdk::RuntimeError);
@@ -219,6 +219,27 @@ TEST_F(Topology, ChangeStateFullDeviceLifecycle)
     }
 }
 
+TEST_F(Topology, WaitForStateFullDeviceLifecycle)
+{
+    using namespace fair::mq;
+    using fair::mq::sdk::TopologyTransition;
+
+    sdk::Topology topo(mDDSTopo, mDDSSession);
+    for (auto transition : {TopologyTransition::InitDevice,
+                            TopologyTransition::CompleteInit,
+                            TopologyTransition::Bind,
+                            TopologyTransition::Connect,
+                            TopologyTransition::InitTask,
+                            TopologyTransition::Run,
+                            TopologyTransition::Stop,
+                            TopologyTransition::ResetTask,
+                            TopologyTransition::ResetDevice,
+                            TopologyTransition::End}) {
+        LOG(info) << topo.ChangeState(transition).first;
+        ASSERT_EQ(topo.WaitForState(sdk::expectedState.at(transition)), std::error_code());
+    }
+}
+
 TEST_F(Topology, ChangeStateFullDeviceLifecycle2)
 {
     using namespace fair::mq;