Index: dialin/dg/__init__.py
===================================================================
diff -u -r8c39fe1f9affe360ee6a97c5e6243e58a5c27509 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/__init__.py	(.../__init__.py)	(revision 8c39fe1f9affe360ee6a97c5e6243e58a5c27509)
+++ dialin/dg/__init__.py	(.../__init__.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -1 +1 @@
+from ..utils.base import _AbstractSubSystem, _publish
Index: dialin/dg/dialysate_generator.py
===================================================================
diff -u -r5e834984727c1798784d95ae17f686cb8d72fdca -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/dialysate_generator.py	(.../dialysate_generator.py)	(revision 5e834984727c1798784d95ae17f686cb8d72fdca)
+++ dialin/dg/dialysate_generator.py	(.../dialysate_generator.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -25,10 +25,10 @@
                              DenaliMessage,
                              DenaliChannels)
 
-from ..utils.base import _AbstractSystem
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class DG(_AbstractSystem):
+class DG(_AbstractSubSystem):
     """
     Dialysate Generator (DG) Dialin object API.  It provides the basic interface to communicate with
     the DG firmware.
@@ -73,6 +73,16 @@
     DG_OP_MODE_DISINFECT = 9
     DG_OP_MODE_CHEMICAL_DISINFECT = 10
 
+    # DG sub_modes
+    DG_POST_STATE_START = 0               # Start initialize & POST mode state.
+    DG_POST_STATE_FPGA = 1                # FPGA POST test state.
+    DG_POST_STATE_WATCHDOG = 2            # Watchdog POST test state.
+    DG_POST_STATE_TEMPERATURE_SENSORS = 3 # Temperature Sensors POST state
+    DG_POST_STATE_HEATERS = 4             # Heaters POST state
+    DG_POST_STATE_COMPLETED = 5           # POST completed successfully state.
+    DG_POST_STATE_FAILED = 6              # POST failed state.
+    NUM_OF_DG_POST_STATES = 7             # Number of initialize & POST mode states.
+
     def __init__(self, can_interface="can0"):
         """
         Initializes the DG object
@@ -83,6 +93,8 @@
 
         @param can_interface:  string with can bus name, e.g. "can0"
         """
+        super().__init__()
+
         # Create listener
         self.can_interface = DenaliCanMessenger(can_interface=can_interface)
         self.can_interface.start()
@@ -136,6 +148,7 @@
         """
         return self.dg_operation_sub_mode
 
+    @_publish(["dg_version"])
     def _handler_dg_version(self, message):
         """
         Handler for response from DG regarding its version.
@@ -162,6 +175,7 @@
             print(self.dg_version)
             return self.dg_version
 
+    @_publish(["dg_operation_mode", "dg_operation_sub_mode"])
     def _handler_dg_op_mode_sync(self, message):
         """
         Handles published DG operation mode messages.  Current DG operation mode
Index: dialin/dg/drain_pump.py
===================================================================
diff -u -r7b0e7a8562d035de041244e38e1811ddba69694b -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/drain_pump.py	(.../drain_pump.py)	(revision 7b0e7a8562d035de041244e38e1811ddba69694b)
+++ dialin/dg/drain_pump.py	(.../drain_pump.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -19,9 +19,10 @@
 from .constants import RESET, NO_RESET
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class DGDrainPump:
+class DGDrainPump(_AbstractSubSystem):
     """
     Dialysate Generator (DG) Dialin API sub-class for drain pump related commands.
     """
@@ -43,6 +44,8 @@
 
         @param outer_instance: reference to the DG (outer) class.
         """
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -69,6 +72,7 @@
         """
         return self.dac_value
 
+    @_publish(["target_drain_pump_speed_RPM", "dac_value"])
     def _handler_drain_pump_sync(self, message):
         """
         Handles published drain pump data messages.  Drain pump data are captured
Index: dialin/dg/hd_proxy.py
===================================================================
diff -u -r7b0e7a8562d035de041244e38e1811ddba69694b -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/hd_proxy.py	(.../hd_proxy.py)	(revision 7b0e7a8562d035de041244e38e1811ddba69694b)
+++ dialin/dg/hd_proxy.py	(.../hd_proxy.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -17,8 +17,10 @@
 from ..utils.conversions import integer_to_bytearray
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
-class DGHDProxy:
+
+class DGHDProxy(_AbstractSubSystem):
     """
     \class DGHDProxy
 
@@ -40,6 +42,7 @@
 
         @param can_interface: Denali CAN Messenger object
         """
+        super().__init__()
         self.can_interface = can_interface
 
     def cmd_switch_reservoirs(self, reservoirID=RESERVOIR1):
Index: dialin/dg/pressures.py
===================================================================
diff -u -r7b0e7a8562d035de041244e38e1811ddba69694b -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/pressures.py	(.../pressures.py)	(revision 7b0e7a8562d035de041244e38e1811ddba69694b)
+++ dialin/dg/pressures.py	(.../pressures.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -19,8 +19,9 @@
 from .constants import NO_RESET
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
-class DGPressures:
+class DGPressures(_AbstractSubSystem):
     """
     DG interface containing pressure related commands.
     """
@@ -51,6 +52,9 @@
 
         @param can_interface: The DenaliCANMessenger object
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -75,6 +79,12 @@
                 self.drain_pump_inlet_pressure,
                 self.drain_pump_outlet_pressure]
 
+    @_publish([
+        "ro_pump_inlet_pressure",
+        "ro_pump_outlet_pressure",
+        "drain_pump_inlet_pressure",
+        "drain_pump_outlet_pressure"
+    ])
     def _handler_pressures_sync(self, message):
         """
         Handles published pressure data messages.  Pressure data are captured
Index: dialin/dg/reservoirs.py
===================================================================
diff -u -r7b0e7a8562d035de041244e38e1811ddba69694b -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/reservoirs.py	(.../reservoirs.py)	(revision 7b0e7a8562d035de041244e38e1811ddba69694b)
+++ dialin/dg/reservoirs.py	(.../reservoirs.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -17,9 +17,10 @@
 import struct
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class DGReservoirs:
+class DGReservoirs(_AbstractSubSystem):
     """
     DG interface containing reservoir related commands.
     """
@@ -44,6 +45,9 @@
 
         @param can_interface: The DenaliCANMessenger object
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -66,7 +70,6 @@
         """
         return self.active_reservoir
 
-
     def get_fill_to_vol(self):
         """
         Gets the fill to volume
@@ -82,6 +85,11 @@
         """
         return self.drain_to_vol_ml
 
+    @_publish([
+        "active_reservoir",
+        "fill_to_vol_ml",
+        "drain_to_vol_ml"
+        ])
     def _handler_reservoirs_sync(self, message):
         """
         Handles published reservoir data messages.  Reservoir data are captured
Index: dialin/dg/ro_pump.py
===================================================================
diff -u -r7b0e7a8562d035de041244e38e1811ddba69694b -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/dg/ro_pump.py	(.../ro_pump.py)	(revision 7b0e7a8562d035de041244e38e1811ddba69694b)
+++ dialin/dg/ro_pump.py	(.../ro_pump.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -19,9 +19,10 @@
 from .constants import RESET, NO_RESET
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class DGROPump:
+class DGROPump(_AbstractSubSystem):
     """
     DGROPump
     Dialysate Generator (DG) Dialin API sub-class for RO pump related commands.
@@ -46,6 +47,9 @@
         """
         DGROPump constructor
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -79,6 +83,11 @@
         """
         return self.pwm_duty_cycle_pct
 
+    @_publish([
+        "target_pressure_psi",
+        "measured_flow_rate_lpm",
+        "pwm_duty_cycle_pct"
+        ])
     def _handler_ro_pump_sync(self, message):
         """
         Handles published ro pump data messages.  RO pump data are captured
Index: dialin/hd/buttons.py
===================================================================
diff -u -r02e6bbf85f0699488317daa135d2530bc5b19507 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/buttons.py	(.../buttons.py)	(revision 02e6bbf85f0699488317daa135d2530bc5b19507)
+++ dialin/hd/buttons.py	(.../buttons.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -17,9 +17,10 @@
                              DenaliChannels)
 from ..utils.conversions import integer_to_bytearray
 from .constants import RESET, NO_RESET
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class HDButtons:
+class HDButtons(_AbstractSubSystem):
     """
     Hemodialysis Device (HD) Dialin API sub-class for button related commands.
     """
@@ -35,6 +36,8 @@
         @param can_interface: the denali can interface object
         """
 
+        super().__init__()
+
         self.can_interface = can_interface
 
     def cmd_off_button_override(self, state, reset=NO_RESET):
Index: dialin/hd/hemodialysis_device.py
===================================================================
diff -u -r5e834984727c1798784d95ae17f686cb8d72fdca -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/hemodialysis_device.py	(.../hemodialysis_device.py)	(revision 5e834984727c1798784d95ae17f686cb8d72fdca)
+++ dialin/hd/hemodialysis_device.py	(.../hemodialysis_device.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -28,10 +28,10 @@
 from ..protocols.CAN import (DenaliMessage,
                              DenaliCanMessenger,
                              DenaliChannels)
-from ..utils.base import _AbstractSystem, AbstractObserver
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class HD(_AbstractSystem):
+class HD(_AbstractSubSystem):
     """
     Hemodialysis Device (HD) Dialin object API.  It provides the basic interface to communicate with
     the HD firmware.
@@ -107,6 +107,7 @@
         """
         return self.hd_operation_mode
 
+    @_publish(["hd_operation_mode"])
     def _handler_hd_op_mode_sync(self, message):
         """
         Handles published HD operation mode messages.  Current HD operation mode
Index: dialin/hd/pressure_occlusion.py
===================================================================
diff -u -rae1e423f7cf68432e1e3daf01b50a162de4563e4 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/pressure_occlusion.py	(.../pressure_occlusion.py)	(revision ae1e423f7cf68432e1e3daf01b50a162de4563e4)
+++ dialin/hd/pressure_occlusion.py	(.../pressure_occlusion.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -52,7 +52,6 @@
         """
         HDPressureOcclusion constructor
 
-        @return: HDPressureOcclusion object.
         """
         super().__init__()
         self.can_interface = can_interface
Index: dialin/hd/rtc.py
===================================================================
diff -u -r044087c3a2f8b762452ebd58eaeb27db968b31a2 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/rtc.py	(.../rtc.py)	(revision 044087c3a2f8b762452ebd58eaeb27db968b31a2)
+++ dialin/hd/rtc.py	(.../rtc.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -18,10 +18,12 @@
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
 from ..utils.conversions import integer_to_bytearray
+from ..utils.base import _AbstractSubSystem, _publish
 
-class HDRTC:
+
+class HDRTC(_AbstractSubSystem):
     """
-    Hemodialysis Device (HD) Dialin API sub-class for rtc commands.
+    Hemodialysis Device (HD) Dialin API class for rtc commands.
     """
 
     MSG_ID_SET_RTC_DATE_TIME = 0x801D
@@ -35,6 +37,9 @@
 
         @param can_interface: Denali Can Messenger object
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -52,6 +57,7 @@
         """
         return self.rtc_epoch
 
+    @_publish(["rtc_epoch"])
     def _handler_rtc_epoch(self, message):
         """
         Publishes the rtc time in epoch
Index: dialin/hd/treatment.py
===================================================================
diff -u -r044087c3a2f8b762452ebd58eaeb27db968b31a2 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/treatment.py	(.../treatment.py)	(revision 044087c3a2f8b762452ebd58eaeb27db968b31a2)
+++ dialin/hd/treatment.py	(.../treatment.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -17,12 +17,13 @@
 import struct
 from ..protocols.CAN import (DenaliMessage,
                              DenaliChannels)
+from ..utils.base import _AbstractSubSystem, _publish
 
-class HDTreatment:
+
+class HDTreatment(_AbstractSubSystem):
     """
-    \class HD_Treatment
 
-    \brief Hemodialysis Device (HD) Dialin API sub-class for treatment related commands.
+    Hemodialysis Device (HD) Dialin API class for treatment related commands.
 
     """
 
@@ -48,8 +49,11 @@
 
     def __init__(self, can_interface=None):
         """
-        HD_Treatment constructor
+        HDTreatment constructor
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         if self.can_interface is not None:
@@ -116,6 +120,11 @@
         """
         return self.saline_bolus_in_progress
 
+    @_publish([
+        "treatment_time_prescribed",
+        "treatment_time_elapsed",
+        "treatment_time_remaining"
+    ])
     def _handler_treatment_time_sync(self, message):
         """
         Handles published treatment time data messages.  treatment time data are captured
@@ -136,6 +145,11 @@
         self.treatment_time_elapsed = ela[0]
         self.treatment_time_remaining = rem[0]
 
+    @_publish([
+        "treatment_state",
+        "treatment_uf_state",
+        "saline_bolus_in_progress"
+    ])
     def _handler_treatment_state_sync(self, message):
         """
         Handles published treatment state data messages.  treatment state data are captured
Index: dialin/hd/ui_proxy.py
===================================================================
diff -u -r044087c3a2f8b762452ebd58eaeb27db968b31a2 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/ui_proxy.py	(.../ui_proxy.py)	(revision 044087c3a2f8b762452ebd58eaeb27db968b31a2)
+++ dialin/hd/ui_proxy.py	(.../ui_proxy.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -18,9 +18,10 @@
                              DenaliChannels)
 from ..utils.conversions import integer_to_bytearray, float_to_bytearray
 import struct
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class HDUIProxy:
+class HDUIProxy(_AbstractSubSystem):
     """
     Hemodialysis Device (HD) Dialin API sub-class for ui commands.
     """
@@ -112,6 +113,9 @@
 
         @param can_interface: the denali can interface object
         """
+
+        super().__init__()
+
         self.can_interface = can_interface
 
         # register function to handle HD response to UF change requests
@@ -333,6 +337,9 @@
         """
         return self.target_dialysate_flow_rate
 
+    @_publish([
+        "hd_version"
+    ])
     def _handler_hd_version(self, message):
         """
         Handler for response from HD regarding its version.
@@ -359,6 +366,14 @@
             print(self.hd_version)
             return self.hd_version
 
+    @_publish([
+        "min_treatment_duration_min",
+        "max_treatment_duration_min",
+        "min_uf_volume_ml",
+        "max_uf_volume_ml",
+        "min_dialysate_flow_rate_ml_min",
+        "max_dialysate_flow_rate_ml_min"
+    ])
     def _handler_treatment_param_ranges(self, message):
         """
         Handler for response from HD regarding valid treatment parameter ranges.
@@ -393,6 +408,12 @@
         self.min_dialysate_flow_rate_ml_min = mindialrt[0]
         self.max_dialysate_flow_rate_ml_min = maxdialrt[0]
 
+    @_publish([
+        "duration_change_succeeded",
+        "duration_change_reject_reason",
+        "duration_change_time_min",
+        "duration_change_uf_vol_ml"
+    ])
     def _handler_treatment_duration_change_response(self, message):
         """
         Handler for response from HD regarding treatment duration change request.
@@ -419,6 +440,12 @@
         self.duration_change_time_min = tim[0]
         self.duration_change_uf_vol_ml = vol[0]
 
+    @_publish([
+        "blood_and_dialysate_flow_rate_change_succeeded",
+        "blood_and_dialysate_flow_rate_change_reject_reason",
+        "target_blood_flow_rate",
+        "target_dialysate_flow_rate"
+    ])
     def _handler_blood_and_dialysate_change_response(self, message):
         """
         Handler for response from HD regarding blood & dialysate flow rate change request.
@@ -449,6 +476,15 @@
         self.target_blood_flow_rate = bld[0]
         self.target_dialysate_flow_rate = dil[0]
 
+    @_publish([
+        "uf_change_succeeded",
+        "uf_change_reject_reason",
+        "uf_change_volume_ml",
+        "uf_change_time_min",
+        "uf_change_time_diff",
+        "uf_change_rate_ml_min",
+        "uf_change_rate_diff"
+    ])
     def _handler_uf_change_response(self, message):
         """
         Handler for response from HD regarding UF change request.
Index: dialin/hd/watchdog.py
===================================================================
diff -u -r044087c3a2f8b762452ebd58eaeb27db968b31a2 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/hd/watchdog.py	(.../watchdog.py)	(revision 044087c3a2f8b762452ebd58eaeb27db968b31a2)
+++ dialin/hd/watchdog.py	(.../watchdog.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -18,9 +18,10 @@
                              DenaliChannels)
 from ..utils.conversions import integer_to_bytearray
 from .constants import RESET, NO_RESET
+from ..utils.base import _AbstractSubSystem, _publish
 
 
-class HDWatchdog:
+class HDWatchdog(_AbstractSubSystem):
     """
     Hemodialysis Device (HD) Dialin API sub-class for watchdog related commands.
     """
@@ -34,6 +35,8 @@
         @param can_interface: the denali can interface object
         """
 
+        super().__init__()
+
         self.can_interface = can_interface
 
     def cmd_watchdog_task_check_in_override(self, state, task, reset=NO_RESET):
Index: dialin/utils/base.py
===================================================================
diff -u -rb612ddd4cabc1078e2bc2e6d28385210df80a874 -rca7f6eff65d988c19ccce8cde5efd1ef537e2095
--- dialin/utils/base.py	(.../base.py)	(revision b612ddd4cabc1078e2bc2e6d28385210df80a874)
+++ dialin/utils/base.py	(.../base.py)	(revision ca7f6eff65d988c19ccce8cde5efd1ef537e2095)
@@ -79,18 +79,3 @@
     return _decorator
 
 
-class _AbstractSystem(ABC):
-    """
-    Parent class for all system classes
-    """
-
-    @abstractmethod
-    def __init__(self):
-        """
-        Initialization function for the system
-
-        """
-        pass
-
-
-