diff --git a/fairmq/Device.cxx b/fairmq/Device.cxx
index bb876f2e..bfb7d87a 100644
--- a/fairmq/Device.cxx
+++ b/fairmq/Device.cxx
@@ -290,7 +290,9 @@ void Device::BindWrapper()
 
     Bind();
 
-    ChangeState(Transition::Auto);
+    if (!NewStatePending()) {
+        ChangeState(Transition::Auto);
+    }
 }
 
 void Device::ConnectWrapper()
@@ -327,7 +329,9 @@ void Device::ConnectWrapper()
 
     Connect();
 
-    ChangeState(Transition::Auto);
+    if (!NewStatePending()) {
+        ChangeState(Transition::Auto);
+    }
 }
 
 void Device::AttachChannels(vector<Channel*>& chans)
@@ -427,7 +431,9 @@ void Device::InitTaskWrapper()
 {
     InitTask();
 
-    ChangeState(Transition::Auto);
+    if (!NewStatePending()) {
+        ChangeState(Transition::Auto);
+    }
 }
 
 void Device::RunWrapper()
@@ -443,6 +449,10 @@ void Device::RunWrapper()
     if (rateLogging) {
         rateLogger = make_unique<thread>(&Device::LogSocketRates, this);
     }
+    tools::CallOnDestruction joinRateLogger([&](){
+        if (rateLogging && rateLogger->joinable()) { rateLogger->join(); }
+    });
+
 
     // notify transports to resume transfers
     for (auto& t : fTransports) {
@@ -485,10 +495,6 @@ void Device::RunWrapper()
     PostRun();
 
     cod.disable();
-
-    if (rateLogging && rateLogger->joinable()) {
-        rateLogger->join();
-    }
 }
 
 void Device::HandleSingleChannelInput()
@@ -772,7 +778,9 @@ void Device::ResetTaskWrapper()
 {
     ResetTask();
 
-    ChangeState(Transition::Auto);
+    if (!NewStatePending()) {
+        ChangeState(Transition::Auto);
+    }
 }
 
 void Device::ResetWrapper()
@@ -786,7 +794,9 @@ void Device::ResetWrapper()
     fChannels.clear();
     fTransports.clear();
     fTransportFactory.reset();
-    ChangeState(Transition::Auto);
+    if (!NewStatePending()) {
+        ChangeState(Transition::Auto);
+    }
 }
 
 Device::~Device()
diff --git a/fairmq/StateMachine.cxx b/fairmq/StateMachine.cxx
index 83baec90..140c29f8 100644
--- a/fairmq/StateMachine.cxx
+++ b/fairmq/StateMachine.cxx
@@ -187,9 +187,7 @@ struct Machine_ : public state_machine_def<Machine_>
             {
                 unique_lock<mutex> lock(fStateMtx);
 
-                while (!fNewStatePending) {
-                    fNewStatePendingCV.wait_for(lock, chrono::milliseconds(100));
-                }
+                fNewStatePendingCV.wait(lock, [this]{ return fNewStatePending.load(); });
 
                 LOG(state) << fState << " ---> " << fNewState;
                 fState = static_cast<State>(fNewState);
diff --git a/fairmq/StateQueue.h b/fairmq/StateQueue.h
index 58ce146d..1c1ad60f 100644
--- a/fairmq/StateQueue.h
+++ b/fairmq/StateQueue.h
@@ -1,5 +1,5 @@
 /********************************************************************************
- *    Copyright (C) 2019 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH    *
+ * Copyright (C) 2019-2022 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH  *
  *                                                                              *
  *              This software is distributed under the terms of the             *
  *              GNU Lesser General Public Licence (LGPL) version 3,             *
@@ -9,16 +9,14 @@
 #ifndef FAIRMQSTATEQUEUE_H_
 #define FAIRMQSTATEQUEUE_H_
 
-#include <fairmq/States.h>
-
-#include <queue>
-#include <mutex>
 #include <chrono>
-#include <utility> // pair
 #include <condition_variable>
+#include <fairmq/States.h>
+#include <mutex>
+#include <queue>
+#include <utility>   // pair
 
-namespace fair::mq
-{
+namespace fair::mq {
 
 class StateQueue
 {
@@ -33,41 +31,47 @@ class StateQueue
     fair::mq::State WaitForNext()
     {
         std::unique_lock<std::mutex> lock(fMtx);
-        while (fStates.empty()) {
-            fCV.wait_for(lock, std::chrono::milliseconds(50));
-        }
-
-        fair::mq::State state = fStates.front();
-
-        if (state == fair::mq::State::Error) {
-            throw DeviceErrorState("Controlled device transitioned to error state.");
-        }
-
-        fStates.pop();
-        return state;
+        fCV.wait(lock, [this] { return Predicate(); });
+        return PopFrontUnsafe();
     }
 
-    template<typename Rep, typename Period>
-    std::pair<bool, fair::mq::State> WaitForNext(std::chrono::duration<Rep, Period> const& duration)
+    template<typename Timeout>
+    std::pair<bool, fair::mq::State> WaitForNext(Timeout&& duration)
     {
         std::unique_lock<std::mutex> lock(fMtx);
-        fCV.wait_for(lock, duration);
-
-        if (fStates.empty()) {
-            return { false, fair::mq::State::Ok };
-        }
-
-        fair::mq::State state = fStates.front();
-
-        if (state == fair::mq::State::Error) {
-            throw DeviceErrorState("Controlled device transitioned to error state.");
-        }
-
-        fStates.pop();
-        return { true, state };
+        fCV.wait_for(lock, std::forward<Timeout>(duration), [this] { return Predicate(); });
+        return ReturnPairUnsafe();
     }
 
-    void WaitForState(fair::mq::State state) { while (WaitForNext() != state) {} }
+    template<typename CustomPredicate>
+    std::pair<bool, fair::mq::State> WaitForNextOrCustom(CustomPredicate&& customPredicate)
+    {
+        std::unique_lock<std::mutex> lock(fMtx);
+        fCV.wait(lock, [this, cp = std::move(customPredicate)] { return Predicate() || cp(); });
+        return ReturnPairUnsafe();
+    }
+
+    template<typename CustomPredicate>
+    std::pair<bool, fair::mq::State> WaitForCustom(CustomPredicate&& customPredicate)
+    {
+        std::unique_lock<std::mutex> lock(fMtx);
+        fCV.wait(lock, [cp = std::move(customPredicate)] { return cp(); });
+        return ReturnPairUnsafe();
+    }
+
+    void WaitForState(fair::mq::State state)
+    {
+        while (WaitForNext() != state) {}
+    }
+
+    template<typename CustomPredicate>
+    void WaitForStateOrCustom(fair::mq::State state, CustomPredicate customPredicate)
+    {
+        auto next = WaitForNextOrCustom(customPredicate);
+        while (!customPredicate() && (next.first && next.second != state)) {
+            next = WaitForNextOrCustom(customPredicate);
+        }
+    }
 
     void Push(fair::mq::State state)
     {
@@ -75,7 +79,35 @@ class StateQueue
             std::lock_guard<std::mutex> lock(fMtx);
             fStates.push(state);
         }
-        fCV.notify_all();
+        fCV.notify_one();
+    }
+
+    template<typename CustomSignal>
+    void Push(fair::mq::State state, CustomSignal&& signal)
+    {
+        {
+            std::lock_guard<std::mutex> lock(fMtx);
+            fStates.push(state);
+            signal();
+        }
+        fCV.notify_one();
+    }
+
+    template<typename CustomSignal>
+    void Notify(CustomSignal&& signal)
+    {
+        {
+            std::lock_guard<std::mutex> lock(fMtx);
+            signal();
+        }
+        fCV.notify_one();
+    }
+
+    template<typename CustomSignal>
+    void Locked(CustomSignal&& signal)
+    {
+        std::lock_guard<std::mutex> lock(fMtx);
+        signal();
     }
 
     void Clear()
@@ -88,8 +120,29 @@ class StateQueue
     std::queue<fair::mq::State> fStates;
     std::mutex fMtx;
     std::condition_variable fCV;
+
+    // must be called under locked fMtx
+    fair::mq::State PopFrontUnsafe()
+    {
+        fair::mq::State state = fStates.front();
+        if (state == fair::mq::State::Error) {
+            throw DeviceErrorState("Controlled device transitioned to error state.");
+        }
+        fStates.pop();
+        return state;
+    }
+
+    // must be called under locked fMtx
+    std::pair<bool, fair::mq::State> ReturnPairUnsafe()
+    {
+        auto const pred = Predicate();
+        return {pred, pred ? PopFrontUnsafe() : fair::mq::State::Ok};
+    }
+
+    // must be called under locked fMtx
+    bool Predicate() { return !fStates.empty(); }
 };
 
-} // namespace fair::mq
+}   // namespace fair::mq
 
 #endif /* FAIRMQSTATEQUEUE_H_ */
diff --git a/fairmq/plugins/control/Control.cxx b/fairmq/plugins/control/Control.cxx
index 61090a25..6e90dcea 100644
--- a/fairmq/plugins/control/Control.cxx
+++ b/fairmq/plugins/control/Control.cxx
@@ -1,5 +1,5 @@
 /********************************************************************************
- * Copyright (C) 2017-2018 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH  *
+ * Copyright (C) 2017-2022 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH  *
  *                                                                              *
  *              This software is distributed under the terms of the             *
  *              GNU Lesser General Public Licence (LGPL) version 3,             *
@@ -56,11 +56,11 @@ Control::Control(const string& name, Plugin::Version version, const string& main
     SubscribeToDeviceStateChange([&](DeviceState newState) {
         LOG(trace) << "control plugin notified on new state: " << newState;
 
-        fStateQueue.Push(newState);
-
         if (newState == DeviceState::Error) {
             fPluginShutdownRequested = true;
-            fDeviceShutdownRequested = true;
+            fStateQueue.Push(newState, [this]{ fDeviceShutdownRequested = true; });
+        } else {
+            fStateQueue.Push(newState);
         }
     });
 
@@ -99,18 +99,42 @@ Control::Control(const string& name, Plugin::Version version, const string& main
 
 auto Control::RunStartupSequence() -> void
 {
-    ChangeDeviceState(DeviceStateTransition::InitDevice);
-    while (fStateQueue.WaitForNext() != DeviceState::InitializingDevice) {}
-    ChangeDeviceState(DeviceStateTransition::CompleteInit);
-    while (fStateQueue.WaitForNext() != DeviceState::Initialized) {}
-    ChangeDeviceState(DeviceStateTransition::Bind);
-    while (fStateQueue.WaitForNext() != DeviceState::Bound) {}
-    ChangeDeviceState(DeviceStateTransition::Connect);
-    while (fStateQueue.WaitForNext() != DeviceState::DeviceReady) {}
-    ChangeDeviceState(DeviceStateTransition::InitTask);
-    while (fStateQueue.WaitForNext() != DeviceState::Ready) {}
-    ChangeDeviceState(DeviceStateTransition::Run);
-    while (fStateQueue.WaitForNext() != DeviceState::Running) {}
+    using Transition = DeviceStateTransition;
+    using State = DeviceState;
+    auto shutdownRequested = [this]{ return fDeviceShutdownRequested.load(); };
+
+    ChangeDeviceState(Transition::InitDevice);
+    fStateQueue.WaitForStateOrCustom(State::InitializingDevice, shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    ChangeDeviceState(Transition::CompleteInit);
+    fStateQueue.WaitForStateOrCustom(State::Initialized,        shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    ChangeDeviceState(Transition::Bind);
+    fStateQueue.WaitForStateOrCustom(State::Binding,            shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    fStateQueue.WaitForStateOrCustom(State::Bound,              shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    ChangeDeviceState(Transition::Connect);
+    fStateQueue.WaitForStateOrCustom(State::Connecting,         shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    fStateQueue.WaitForStateOrCustom(State::DeviceReady,        shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    ChangeDeviceState(Transition::InitTask);
+    fStateQueue.WaitForStateOrCustom(State::InitializingTask,   shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    fStateQueue.WaitForStateOrCustom(State::Ready,              shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
+
+    ChangeDeviceState(Transition::Run);
+    fStateQueue.WaitForStateOrCustom(State::Running,            shutdownRequested);
+    if (fDeviceShutdownRequested) { return; /* --> shutdown sequence */ }
 }
 
 auto ControlPluginProgramOptions() -> Plugin::ProgOptions
@@ -123,10 +147,8 @@ auto ControlPluginProgramOptions() -> Plugin::ProgOptions
     return pluginOptions;
 }
 
-auto Control::InteractiveMode() -> void
-try {
-    RunStartupSequence();
-
+auto Control::RunREPL() -> void
+{
     char input = 0; // hold the user console input
     pollfd cinfd[1];
     cinfd[0].fd = fileno(stdin);
@@ -161,7 +183,7 @@ try {
                 case 'i':
                     cout << "\n --> [i] init device\n\n" << flush;
                     if (ChangeDeviceState(DeviceStateTransition::InitDevice)) {
-                        while (fStateQueue.WaitForNext() != DeviceState::InitializingDevice) {}
+                        fStateQueue.WaitForState(DeviceState::InitializingDevice);
                         ChangeDeviceState(DeviceStateTransition::CompleteInit);
                     }
                 break;
@@ -243,7 +265,19 @@ try {
         }
     }
 
-    RunShutdownSequence();
+}
+
+auto Control::InteractiveMode() -> void
+try {
+    RunStartupSequence();
+
+    if(!fDeviceShutdownRequested) {
+        RunREPL();
+    }
+
+    if(!fDeviceShutdownRequested) {
+        RunShutdownSequence();
+    }
 } catch (PluginServices::DeviceControlError& e) {
     // If we are here, it means another plugin has taken control. That's fine, just print the exception message and do nothing else.
     LOG(debug) << e.what();
@@ -366,16 +400,13 @@ auto Control::StaticMode() -> void
 try {
     RunStartupSequence();
 
-    {
-        // Wait for next state, which is DeviceState::Ready,
-        // or for device shutdown request (Ctrl-C)
-        pair<bool, fair::mq::State> result;
-        do {
-            result = fStateQueue.WaitForNext(chrono::milliseconds(50));
-        } while (result.first == false && !fDeviceShutdownRequested);
-    }
+    // Wait for next state, which is DeviceState::Ready,
+    // or for device shutdown request (Ctrl-C)
+    fStateQueue.WaitForNextOrCustom([this]{ return fDeviceShutdownRequested.load(); });
 
-    RunShutdownSequence();
+    if(!fDeviceShutdownRequested) {
+        RunShutdownSequence();
+    }
 } catch (PluginServices::DeviceControlError& e) {
     // If we are here, it means another plugin has taken control. That's fine, just print the exception message and do nothing else.
     LOG(debug) << e.what();
@@ -387,16 +418,12 @@ auto Control::GUIMode() -> void
 try {
     RunStartupSequence();
 
-    {
-        // Wait for next state, which is DeviceState::Ready,
-        // or for device shutdown request (Ctrl-C)
-        pair<bool, fair::mq::State> result;
-        do {
-            result = fStateQueue.WaitForNext(chrono::milliseconds(50));
-        } while (!fDeviceShutdownRequested);
-    }
+    // Wait for device shutdown request (Ctrl-C)
+    fStateQueue.WaitForCustom([this]{ return fDeviceShutdownRequested.load(); });
 
-    RunShutdownSequence();
+    if(!fDeviceShutdownRequested) {
+        RunShutdownSequence();
+    }
 } catch (PluginServices::DeviceControlError& e) {
     // If we are here, it means another plugin has taken control. That's fine, just print the
     // exception message and do nothing else.
@@ -416,10 +443,10 @@ auto Control::SignalHandler() -> void
         LOG(info) << "Waiting for graceful device shutdown. Hit Ctrl-C again to abort immediately.";
 
         // Signal and wait for controller thread, if we are controller
-        fDeviceShutdownRequested = true;
+        fStateQueue.Notify([this] { fDeviceShutdownRequested = true; });
         {
             unique_lock<mutex> lock(fControllerMutex);
-            if (fControllerThread.joinable()) fControllerThread.join();
+            if (fControllerThread.joinable()) { fControllerThread.join(); }
         }
 
         if (!fDeviceHasShutdown) {
@@ -462,6 +489,12 @@ auto Control::RunShutdownSequence() -> void
             case DeviceState::Running:
                 ChangeDeviceState(DeviceStateTransition::Stop);
                 break;
+            case DeviceState::Binding:
+            case DeviceState::Connecting:
+            case DeviceState::InitializingTask:
+            case DeviceState::ResettingTask:
+            case DeviceState::ResettingDevice:
+                ChangeDeviceState(DeviceStateTransition::Auto);
             default:
                 // LOG(debug) << "Controller ignoring event: " << nextState;
                 break;
@@ -481,9 +514,9 @@ Control::~Control()
 
     {
         unique_lock<mutex> lock(fControllerMutex);
-        if (fControllerThread.joinable()) fControllerThread.join();
+        if (fControllerThread.joinable()) { fControllerThread.join(); }
     }
-    if (fSignalHandlerThread.joinable()) fSignalHandlerThread.join();
+    if (fSignalHandlerThread.joinable()) { fSignalHandlerThread.join(); }
 
     UnsubscribeFromDeviceStateChange();
 }
diff --git a/fairmq/plugins/control/Control.h b/fairmq/plugins/control/Control.h
index b1c7d24d..30e61ef2 100644
--- a/fairmq/plugins/control/Control.h
+++ b/fairmq/plugins/control/Control.h
@@ -1,5 +1,5 @@
 /********************************************************************************
- *    Copyright (C) 2017 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH    *
+ * Copyright (C) 2017-2022 GSI Helmholtzzentrum fuer Schwerionenforschung GmbH  *
  *                                                                              *
  *              This software is distributed under the terms of the             *
  *              GNU Lesser General Public Licence (LGPL) version 3,             *
@@ -46,6 +46,7 @@ class Control : public Plugin
     auto GUIMode() -> void;
     auto SignalHandler() -> void;
     auto RunShutdownSequence() -> void;
+    auto RunREPL() -> void;
     auto RunStartupSequence() -> void;
 
     std::thread fControllerThread;