diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000..bb75eb4
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,17 @@
+<!--  Thank you for contributing to the Akri Udev Discovery Handler repo! Before submitting this PR, please make sure:
+1. Read the Contributing Guide before submitting your PR: https://docs.akri.sh/community/contributing
+1. If this PR closes another issue, add 'closes #<issue number>' somewhere in the PR summary. GitHub will automatically close that issue when this PR gets merged. Alternatively, adding 'refs #<issue number>' will not close the issue, but help provide the reviewer more context. -->
+
+**What this PR does / why we need it**:
+
+**Special notes for your reviewer**:
+
+**If applicable**:
+- [ ] this PR has an associated PR with documentation in [akri-docs](https://github.com/project-akri/akri-docs)
+- [ ] this PR contains unit tests
+- [ ] added code adheres to standard Rust formatting (`cargo fmt`)
+- [ ] code builds properly (`cargo build`)
+- [ ] code is free of common mistakes (`cargo clippy`)
+- [ ] all tests succeed (`cargo test`)
+- [ ] inline documentation builds (`cargo doc`)
+- [ ] all commits pass the [DCO bot check](https://probot.github.io/apps/dco/) by being signed off -- see the failing DCO check for instructions on how to retroactively sign commits
\ No newline at end of file
diff --git a/.github/workflows/build-container.yml b/.github/workflows/build-container.yml
new file mode 100644
index 0000000..f84139a
--- /dev/null
+++ b/.github/workflows/build-container.yml
@@ -0,0 +1,64 @@
+name: Build and Push Production Udev Discovery Handler Container
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+    - .github/workflows/build-rust-code.yml
+    - build/Dockerfile.rust
+    - '**.rs'
+    - '**/Cargo.toml'
+    - '**/Cargo.lock'
+    - version.txt
+  release:
+    types:
+      - published
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    timeout-minutes: 50
+    env:
+      AKRI_COMPONENT: "udev-discovery-handler"
+    
+    steps:
+    - name: Checkout the head commit of the branch
+      uses: actions/checkout@v3
+      with:
+        persist-credentials: false
+      
+    - name: Get discovery handler version
+      id: version-string
+      run: |
+        echo "version=$(cat version.txt)" >> $GITHUB_OUTPUT
+
+    - name: Set up QEMU
+      uses: docker/setup-qemu-action@v3
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v3
+
+    - name: Docker meta
+      uses: docker/metadata-action@v5
+      id: meta
+      with:
+        images: ghcr.io/project-akri/akri/${{ env.AKRI_COMPONENT }}
+        labels: |
+          org.opencontainers.image.title=akri-${{env.AKRI_COMPONENT}}
+        tags: |
+          type=ref,event=pr
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=raw,value=${{steps.version-string.outputs.version}},enable=${{github.event_name != 'release'}}
+
+    - name: Build and push
+      uses: docker/build-push-action@v5
+      with:
+        context: .
+        push: ${{ github.event_name != 'pull_request' }}
+        build-args: |
+          AKRI_COMPONENT=${{env.AKRI_COMPONENT}}
+          EXTRA_CARGO_ARGS=--release
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        file: build/Dockerfile.rust
+        platforms: linux/amd64,linux/arm64,linux/arm/v7
diff --git a/.github/workflows/check-rust.yml b/.github/workflows/check-rust.yml
new file mode 100644
index 0000000..a71b133
--- /dev/null
+++ b/.github/workflows/check-rust.yml
@@ -0,0 +1,55 @@
+name: Check Rust
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+    - .github/workflows/check-rust.yml
+    - '**.rs'
+    - '**/Cargo.toml'
+    - '**/Cargo.lock'
+  pull_request:
+    branches: [ main ]
+    paths:
+    - .github/workflows/check-rust.yml
+    - '**.rs'
+    - '**/Cargo.toml'
+    - '**/Cargo.lock'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+
+    steps:
+    - name: Checkout the head commit of the branch
+      uses: actions/checkout@v3
+      with:
+        persist-credentials: false
+
+    - name: Rust install
+      uses: dtolnay/rust-toolchain@master
+      with:
+        toolchain: 1.68.1
+        components: clippy, rustfmt
+    - name: Install Linux requirements
+      run: |
+        apt_dependencies="git curl libssl-dev pkg-config libudev-dev"
+        echo "Run apt update and apt install the following dependencies: $apt_dependencies"
+        sudo apt update
+        sudo apt install -y $apt_dependencies
+    - name: Check rust format
+      run: cargo fmt --all -- --check
+    - name: Check clippy
+      run: cargo clippy --all
+    - name: Check clippy for tests
+      run: cargo clippy --all-targets --all-features -- -D warnings -A clippy::derive_partial_eq_without_eq
+    - name: Run check
+      run:  cargo check
+    - name: Run tests
+      run: cargo test --workspace
+    - name: Run doc
+      run: export RUSTDOCFLAGS="-Dwarnings" && cargo doc --no-deps
diff --git a/.github/workflows/run-tarpaulin.yml b/.github/workflows/run-tarpaulin.yml
new file mode 100644
index 0000000..8dd2ffd
--- /dev/null
+++ b/.github/workflows/run-tarpaulin.yml
@@ -0,0 +1,66 @@
+name: Tarpaulin Code Coverage
+
+on:
+  push:
+    branches: [ main ]
+    paths:
+    - .github/workflows/run-tarpaulin.yml
+    - '**.rs'
+    - '**/Cargo.toml'
+  pull_request:
+    branches: [ main ]
+    paths:
+    - .github/workflows/run-tarpaulin.yml
+    - '**.rs'
+    - '**/Cargo.toml'
+
+env:
+  CARGO_TERM_COLOR: always
+  CARGO_VERSION: 1.68.1
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    # There is a second, hidden timeout in this workflow.  When the tarpaulin container is created,
+    # it is created with a CMD that sleeps for 600 minutes.  A more reasonable value could be selected,
+    # but it seems easier to make it SOOOO big that timeout-minutes is likely to never be impacted by
+    # it.
+    #
+    # But, if this workflow is mysteriously timing out after 600 minutes, make changes to the docker
+    # create command in the Create tarpaulin instance step.
+    timeout-minutes: 30
+
+    steps:
+    - name: Checkout the head commit of the branch
+      uses: actions/checkout@v3
+      with:
+        persist-credentials: false
+
+    - name: Create tarpaulin instance
+      run: docker create --network host --security-opt seccomp=unconfined -v "${PWD}:/volume" xd009642/tarpaulin:0.25.1 bash -c "echo 'sleep 600m; echo bye' > /tmp/keep_alive.sh; chmod 777 /tmp/keep_alive.sh; /tmp/keep_alive.sh" > container_id.txt
+    - name: Start tarpaulin instance
+      run: docker start $(cat container_id.txt)
+    - name: Install linux requirement in tarpaulin instance
+      run: docker exec $(cat container_id.txt) sh -c "echo Run apt update and apt install the following dependencies - git curl libssl-dev pkg-config libudev-dev ; apt update ; apt install -y git curl libssl-dev pkg-config libudev-dev"
+    - name: Install desired rust version
+      run: docker exec $(cat container_id.txt) sh -c "rustup install $CARGO_VERSION"
+    - name: Tell cargo to use desired rust version
+      run: docker exec $(cat container_id.txt) sh -c "rustup override set $CARGO_VERSION"
+    - name: Install rust requirements in tarpaulin instance
+      run: docker exec $(cat container_id.txt) sh -c "rustup component add rustfmt"
+    - name: Run tarpaulin
+      run: docker exec $(cat container_id.txt) sh -c "RUST_LOG=trace cargo tarpaulin -v --all-features --out Xml"
+
+    - name: Upload report to codecov for push
+      if: (!(startsWith(github.event_name, 'pull_request')))
+      uses: codecov/codecov-action@v3
+      with:
+        token: ${{secrets.CODECOV_TOKEN}}
+        fail_ci_if_error: true
+        verbose: true
+
+    - name: Archive code coverage results
+      uses: actions/upload-artifact@v3
+      with:
+        name: code-coverage-report
+        path: cobertura.xml
diff --git a/.github/workflows/run-test-cases.yml b/.github/workflows/run-test-cases.yml
new file mode 100644
index 0000000..48271bf
--- /dev/null
+++ b/.github/workflows/run-test-cases.yml
@@ -0,0 +1,239 @@
+name: Test K3s, Kubernetes, and MicroK8s
+
+on:
+  pull_request:
+    branches: [main]
+    paths:
+      - e2e/**
+      - .github/workflows/run-test-cases.yml
+      - build/Dockerfile.rust
+      - version.txt
+      - Makefile
+  push:
+    branches: [main]
+    paths:
+      - e2e/**
+      - .github/workflows/run-test-cases.yml
+      - build/Dockerfile.rust
+      - version.txt
+      - Makefile
+  release:
+    types:
+      - published
+
+jobs:
+  build-containers:
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+
+    steps:
+      - name: Checkout the head commit of the branch
+        uses: actions/checkout@v3
+        with:
+          persist-credentials: false
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build local containers for PR tests
+        if: startsWith(github.event_name, 'pull_request')
+        env:
+          PREFIX: ghcr.io/project-akri/akri
+          LABEL_PREFIX: pr
+        run: |
+          make LOAD=1
+          docker save ${PREFIX}/udev-discovery:${LABEL_PREFIX} > udev-discovery.tar
+
+      - name: Upload UDEV discovery container as artifact
+        if: startsWith(github.event_name, 'pull_request')
+        uses: actions/upload-artifact@v3
+        with:
+          name: udev-discovery.tar
+          path: udev-discovery.tar
+
+  test-cases:
+    needs: build-containers
+    runs-on: ubuntu-latest
+    timeout-minutes: 95
+
+    strategy:
+      fail-fast: false
+      matrix:
+        kube:
+          - runtime: microk8s
+            version: 1.25/stable
+          - runtime: microk8s
+            version: 1.26/stable
+          - runtime: microk8s
+            version: 1.27/stable
+          - runtime: microk8s
+            version: 1.28/stable
+          - runtime: k3s
+            version: v1.25.13+k3s1
+          - runtime: k3s
+            version: v1.26.8+k3s1
+          - runtime: k3s
+            version: v1.27.5+k3s1
+          - runtime: k3s
+            version: v1.28.1+k3s1
+          - runtime: k8s
+            version: 1.25.13
+          - runtime: k8s
+            version: 1.26.8
+          - runtime: k8s
+            version: 1.27.5
+          - runtime: k8s
+            version: 1.28.1
+
+    steps:
+      - name: Checkout the head commit of the branch
+        uses: actions/checkout@v3
+        with:
+          persist-credentials: false
+
+      - name: Setup Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.10"
+      - name: Install Poetry and dependencies
+        working-directory: ./e2e
+        run: |
+          POETRY_HOME=/opt/poetry
+          python3 -m venv $POETRY_HOME
+          $POETRY_HOME/bin/pip install poetry==1.5.1
+          $POETRY_HOME/bin/poetry --version
+          $POETRY_HOME/bin/poetry install --no-root
+
+      - name: Download container artifacts
+        if: startsWith(github.event_name, 'pull_request')
+        uses: actions/download-artifact@v3
+        with:
+          path: /tmp/images
+
+      - if: startsWith(matrix.kube.runtime, 'k3s')
+        name: Install K3s
+        env:
+          INSTALL_K3S_VERSION: ${{ matrix.kube.version }}
+        run: |
+          sudo curl -sfL https://get.k3s.io -o install.sh
+          sudo chmod +x install.sh
+          ./install.sh server --kubelet-arg=eviction-hard="imagefs.available<1%,nodefs.available<1%" --kubelet-arg=eviction-minimum-reclaim="imagefs.available=1%,nodefs.available=1%"
+          mkdir -p $HOME/.kube
+          sudo cp -i /etc/rancher/k3s/k3s.yaml  $HOME/.kube/config
+          sudo chown $(id -u):$(id -g) $HOME/.kube/config
+          until kubectl get node ${HOSTNAME,,} -o jsonpath='{@.metadata.name}:{range @.status.conditions[*]}{@.type}={@.status}' | grep 'Ready=True'; do echo "waiting for k3s to become ready"; sleep 10; done
+
+      - if: (startsWith(github.event_name, 'pull_request')) && (startsWith(matrix.kube.runtime, 'K3s'))
+        name: Import local agent and controller to K3s
+        working-directory: /tmp/images
+        run: |
+          sudo find -name "*.tar" -type f -exec k3s ctr image import {} \;
+
+      - if: startsWith(matrix.kube.runtime, 'k8s')
+        name: Install Kubernetes
+        run: |
+          SHORTVERSION=$(cut -d '.' -f 1,2 <<< "${{ matrix.kube.version }}")
+          sudo apt-get update -y
+          sudo apt-get install -y apt-transport-https ca-certificates curl
+          curl -fsSL https://pkgs.k8s.io/core:/stable:/v${SHORTVERSION}/deb/Release.key  | sudo gpg --yes --batch --dearmor -o /etc/apt/keyrings/kubernetes-apt-keyring.gpg
+          echo "deb [signed-by=/etc/apt/keyrings/kubernetes-apt-keyring.gpg] https://pkgs.k8s.io/core:/stable:/v${SHORTVERSION}/deb/ /" | sudo tee /etc/apt/sources.list.d/kubernetes.list
+          curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --yes --batch --dearmor -o /usr/share/keyrings/docker.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list
+          sudo apt-get update
+          sudo apt-get install -o Dpkg::Options::="--force-overwrite" -y --allow-downgrades kubelet=${{ matrix.kube.version }}-* kubeadm=${{ matrix.kube.version }}-* kubectl=${{ matrix.kube.version }}-* containerd.io
+          kubectl version && echo "kubectl return code: $?" || echo "kubectl return code: $?"
+          kubeadm version && echo "kubeadm return code: $?" || echo "kubeadm return code: $?"
+          kubelet --version && echo "kubelet return code: $?" || echo "kubelet return code: $?"
+          cat <<EOF | sudo tee /etc/modules-load.d/containerd.conf
+          overlay
+          br_netfilter
+          EOF
+          sudo modprobe overlay
+          sudo modprobe br_netfilter
+          cat <<EOF | sudo tee /etc/sysctl.d/99-kubernetes-cri.conf
+          net.bridge.bridge-nf-call-iptables = 1
+          net.bridge.bridge-nf-call-ip6tables = 1
+          net.ipv4.ip_forward = 1
+          EOF
+          sudo sysctl --system
+          sudo mkdir -p /etc/containerd
+          containerd config default | sudo tee /etc/containerd/config.toml
+          sudo sed -i "s/SystemdCgroup = false/SystemdCgroup = true/g" /etc/containerd/config.toml
+          sudo systemctl restart containerd
+          sudo swapoff -a              
+          sudo kubeadm init --pod-network-cidr=10.244.0.0/16 --cri-socket=unix:///run/containerd/containerd.sock
+          mkdir -p $HOME/.kube
+          sudo cp -i /etc/kubernetes/admin.conf $HOME/.kube/config
+          sudo chown $(id -u):$(id -g) $HOME/.kube/config
+          kubectl apply -f https://raw.githubusercontent.com/coreos/flannel/master/Documentation/kube-flannel.yml
+
+
+          verlte() { [  "$1" = "`echo -e "$1\n$2" | sort -V | head -n1`" ] ; }
+          verlt()  { [ "$1" = "$2" ] && return 1 || verlte $1 $2 ; }
+          # Remove control plane label
+          kubectl taint nodes --all node-role.kubernetes.io/control-plane-
+          
+          until kubectl get node ${HOSTNAME,,} -o jsonpath='{@.metadata.name}:{range @.status.conditions[*]}{@.type}={@.status}' | grep 'Ready=True'; do echo "waiting for kubernetes to become ready"; sleep 10; done
+
+      - if: startsWith(matrix.kube.runtime, 'k8s')
+        name: Output Kubelet, Containerd, Docker Logs
+        run: |
+          echo "Kubelet Logs:"
+          sudo journalctl -xeu kubelet --no-pager
+          echo "\nContainerd Logs"
+          sudo journalctl -xeu containerd --no-pager
+          echo "\nDocker Logs"
+          sudo journalctl -xeu docker --no-pager
+
+      - if: (startsWith(github.event_name, 'pull_request')) && (startsWith(matrix.kube.runtime, 'k8s'))
+        name: Import local agent and controller to Kubernetes
+        working-directory: /tmp/images
+        run: |
+          # Need to load to containerd with ctr
+          # -n allows kubernetes to see the image
+          sudo find -name "*.tar" -type f -exec ctr -n=k8s.io image import {} \;
+          sudo crictl --runtime-endpoint unix:///var/run/containerd/containerd.sock images
+
+      - if: startsWith(matrix.kube.runtime, 'microk8s')
+        name: Install MicroK8s
+        run: |
+          set -x
+          sudo snap install microk8s --classic --channel=${{ matrix.kube.version }}
+          sudo microk8s status --wait-ready
+          sudo usermod -a -G microk8s $USER
+          mkdir -p $HOME/.kube
+          sudo microk8s.kubectl config view --raw > $HOME/.kube/config
+          sudo chown $(id -u):$(id -g) $HOME/.kube/config
+          sudo microk8s.enable rbac dns
+          sudo sed -i 's/memory.available<100Mi,nodefs.available<1Gi,imagefs.available<1Gi/memory.available<25Mi,nodefs.available<50Mi,imagefs.available<50Mi/' /var/snap/microk8s/current/args/kubelet
+          sudo systemctl restart snap.microk8s.daemon-kubelite
+          until sudo microk8s.status --wait-ready; do sleep 5s; echo "Try again"; done
+
+      - name: Add Akri Helm Chart
+        run: helm repo add akri-helm-charts https://project-akri.github.io/akri/
+
+      # For push and release, we need to wait for the Helm chart and
+      # associated containers to build.
+      - if: github.event_name == 'push' || github.event_name == 'release'
+        name: sleep before running script for 80 minutes
+        run: sleep 4800
+
+      - name: Execute test script
+        working-directory: ./e2e
+        run: |
+          case "${{ github.event_name }}" in "push");; "release") extra_param="--release";; *) extra_param="--use-local";; esac
+          /opt/poetry/bin/poetry run pytest -v --distribution ${{ matrix.kube.runtime}}  --test-version $(cat ../version.txt) $extra_param
+
+      - name: Sanitize logs artifact name
+        id: sanitize-artifact-name
+        if: always()
+        run: echo "name=${{ matrix.kube.runtime }}-${{ matrix.kube.version }}-logs" | tr "/:" "_" >> $GITHUB_OUTPUT
+
+      - name: Upload logs as artifact
+        if: always()
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ steps.sanitize-artifact-name.outputs.name }}
+          path: /tmp/logs/
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..f4ceea7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+**/target/
diff --git a/Cargo.lock b/Cargo.lock
new file mode 100644
index 0000000..c71d830
--- /dev/null
+++ b/Cargo.lock
@@ -0,0 +1,2639 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "addr2line"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+
+[[package]]
+name = "aho-corasick"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "akri-discovery-utils"
+version = "0.12.9"
+source = "git+https://github.com/project-akri/akri/?tag=v0.12.9#911cdc1e9f5aeed76f7e09339db35de4d871478a"
+dependencies = [
+ "akri-shared",
+ "anyhow",
+ "async-stream",
+ "futures",
+ "log",
+ "prost",
+ "serde",
+ "serde_derive",
+ "serde_yaml",
+ "tokio",
+ "tokio-stream",
+ "tonic",
+ "tonic-build",
+ "tower",
+]
+
+[[package]]
+name = "akri-shared"
+version = "0.12.9"
+source = "git+https://github.com/project-akri/akri/?tag=v0.12.9#911cdc1e9f5aeed76f7e09339db35de4d871478a"
+dependencies = [
+ "anyhow",
+ "async-trait",
+ "either",
+ "k8s-openapi",
+ "kube",
+ "log",
+ "mockall",
+ "prometheus",
+ "rand",
+ "schemars",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "serde_yaml",
+ "tokio",
+ "tonic",
+ "tower",
+ "warp",
+]
+
+[[package]]
+name = "akri-udev"
+version = "0.12.16"
+dependencies = [
+ "akri-discovery-utils",
+ "anyhow",
+ "async-trait",
+ "env_logger",
+ "log",
+ "mockall",
+ "pest",
+ "pest_derive",
+ "regex",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "tokio",
+ "tokio-stream",
+ "tonic",
+ "udev",
+]
+
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "anyhow"
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+dependencies = [
+ "windows_aarch64_gnullvm",
+ "windows_aarch64_msvc",
+ "windows_i686_gnu",
+ "windows_i686_msvc",
+ "windows_x86_64_gnu",
+ "windows_x86_64_gnullvm",
+ "windows_x86_64_msvc",
+]
+
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2b38e32f0abccf9987a4e3079dfb67dcd799fb61361e53e2882c3cbaf0d905d8"
+
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dc35310971f3b2dbbf3f0690a219f40e2d9afcf64f9ab7cc1be722937c26b4bc"
+
+[[package]]
+name = "windows_i686_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a75915e7def60c94dcef72200b9a8e58e5091744960da64ec734a6c6e9b3743e"
+
+[[package]]
+name = "windows_i686_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f55c233f70c4b27f66c523580f78f1004e8b5a8b659e05a4eb49d4166cca406"
+
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "53d40abd2583d23e4718fddf1ebec84dbff8381c07cae67ff7768bbf19c6718e"
+
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0b7b52767868a23d5bab768e390dc5f5c55825b6d30b86c844ff2dc7414044cc"
+
+[[package]]
+name = "windows_x86_64_msvc"
+version = "0.48.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ed94fce61571a4006852b7389a063ab983c02eb1bb37b47f8272ce92d06d9538"
+
+[[package]]
+name = "yaml-rust"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "56c1936c4cc7a1c9ab21a1ebb602eb942ba868cbd44a99cb7cdc5892335e1c85"
+dependencies = [
+ "linked-hash-map",
+]
+
+[[package]]
+name = "zeroize"
+version = "1.6.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12a3946ecfc929b583800f4629b6c25b88ac6e92a40ea5670f77112a85d40a8b"
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..cdd95d5
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,23 @@
+[package]
+name = "udev-discovery-handler"
+version = { workspace = true }
+license = { workspace = true }
+authors = { workspace = true }
+edition = { workspace = true }
+rust-version = { workspace = true }
+
+[workspace.package]
+version = "0.12.16"
+license = "Apache-2.0"
+authors = ["Akri Maintainers <cncf-akri-maintainers@lists.cncf.io>"]
+edition = "2018"
+rust-version = "1.68.1"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+akri-discovery-utils = { git = "https://github.com/project-akri/akri/", tag = "v0.12.9" }
+akri-udev = { path = "crates/udev" }
+env_logger = "0.10.0"
+log = "0.4"
+tokio = { version = "1.0.1" }
diff --git a/LICENSE b/LICENSE
index 261eeb9..ae0df2b 100644
--- a/LICENSE
+++ b/LICENSE
@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright [yyyy] [name of copyright owner]
+   Copyright 2021 Akri Authors
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..0abee1a
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,51 @@
+BUILDX_ARGS =
+EXTRA_CARGO_ARGS =
+
+PUSH ?= 
+LOAD ?=
+LOCAL_ARCH = $(shell uname -m)
+ifeq ($(LOAD), 1)
+PLATFORMS ?= $(LOCAL_ARCH)
+ifneq (1, $(words $(PLATFORMS)))
+$(error Cannot load for more than one platform: [$(PLATFORMS)])
+endif
+else
+PLATFORMS ?= amd64 arm64 arm/v7
+endif
+
+null  :=
+space := $(null) #
+comma := ,
+
+DOCKER_PLATFORMS = $(subst $(space),$(comma),$(strip $(addprefix linux/, $(PLATFORMS))))
+
+# Specify flag to build optimized release version of rust components.
+# Set to be empty to use debug builds.
+BUILD_RELEASE_FLAG ?= 1
+
+REGISTRY ?= devcaptest.azurecr.io
+UNIQUE_ID ?= $(USER)
+DOCKERFILE_DIR ?= build
+PREFIX ?= $(REGISTRY)/$(UNIQUE_ID)
+
+# Evaluate VERSION and TIMESTAMP immediately to avoid
+# any lazy evaluation change in the values
+VERSION=$(shell cat version.txt)
+TIMESTAMP := $(shell date +"%Y%m%d_%H%M%S")
+
+VERSION_LABEL=v$(VERSION)-$(TIMESTAMP)
+LABEL_PREFIX ?= $(VERSION_LABEL)
+
+CACHE_OPTION ?=
+
+ENABLE_DOCKER_MANIFEST = DOCKER_CLI_EXPERIMENTAL=enabled
+
+AMD64_SUFFIX = amd64
+ARM32V7_SUFFIX = arm32v7
+ARM64V8_SUFFIX = arm64v8
+
+COMMON_DOCKER_BUILD_ARGS = $(if $(LOAD), --load) $(if $(PUSH), --push) --platform=$(DOCKER_PLATFORMS) 
+
+.PHONY: akri-udev-discovery-handler
+akri-udev-discovery-handler:
+	docker buildx build $(COMMON_DOCKER_BUILD_ARGS) --build-arg AKRI_COMPONENT=udev-discovery-handler --tag "$(PREFIX)/udev-discovery:$(LABEL_PREFIX)" --build-arg EXTRA_CARGO_ARGS="$(if $(BUILD_RELEASE_FLAG), --release)" --file $(DOCKERFILE_DIR)/Dockerfile.rust . 
diff --git a/README.md b/README.md
index 2f977c0..85a0d08 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,22 @@
-# udev-discovery-handler
\ No newline at end of file
+<p align="center"><img src="https://github.com/project-akri/akri-docs/blob/main/art/logo-horizontal/akri-logo-horizontal-light.svg" alt="Akri Logo" width="300"></p>
+
+[![Slack channel #akri](https://img.shields.io/badge/slack-akri-blueviolet.svg?logo=slack)](https://kubernetes.slack.com/messages/akri)
+[![Rust Version](https://img.shields.io/badge/rustc-1.68.1-blue.svg)](https://blog.rust-lang.org/2023/03/31/Rust-1.68.1.html)
+[![codecov](https://codecov.io/gh/project-akri/akri/branch/main/graph/badge.svg?token=V468HO7CDE)](https://codecov.io/gh/project-akri/udev-discovery-handler)
+
+----
+
+# Akri Udev Discovery Handler
+
+An [Akri](https://docs.akri.sh/) Discovery Handler for discovery Udev devices.
+
+## Documentation
+See Akri's [documentation site](https://docs.akri.sh/discovery-handlers/udev) and the [docs repository](https://github.com/project-akri/akri-docs) to contribute new docs.
+
+## Community, Contributing, and Support
+You can reach the Akri community via the [#akri](https://kubernetes.slack.com/messages/akri) channel in [Kubernetes Slack](https://kubernetes.slack.com) or join our [community calls](https://hackmd.io/@akri/S1GKJidJd) on the first Tuesday of the month at 9:00 AM PT.
+
+Akri welcomes contributions, whether by [creating new issues](https://github.com/project-akri/udev-discovery-handler/issues/) or pull requests. See our [contributing document](https://docs.akri.sh/community/contributing) on how to get started!
+
+## Licensing
+This project is released under the [Apache 2.0 license](./LICENSE).
diff --git a/build/Dockerfile.rust b/build/Dockerfile.rust
new file mode 100644
index 0000000..00dd56c
--- /dev/null
+++ b/build/Dockerfile.rust
@@ -0,0 +1,34 @@
+FROM --platform=$BUILDPLATFORM tonistiigi/xx:master AS xx
+
+FROM  --platform=$BUILDPLATFORM rust:1.72-slim-bookworm AS build
+RUN rustup component add rustfmt
+RUN apt-get update && apt-get install -y clang lld protobuf-compiler pkg-config mmdebstrap wget
+COPY --from=xx / /
+ARG TARGETPLATFORM
+
+# See https://github.com/tonistiigi/xx/issues/108
+RUN sed -i -E 's/xx-clang --setup-target-triple/XX_VENDOR=\$vendor ARM_TARGET_ARCH="" xx-clang --setup-target-triple/' $(which xx-cargo) && \
+    sed -i -E 's/\$\(xx-info\)-/\$\(XX_VENDOR=\$vendor ARM_TARGET_ARCH="" xx-info\)-/g' $(which xx-cargo)
+
+# Generate minimal runtime environment
+RUN mmdebstrap --architectures=$(xx-info debian-arch) --include=libc6,libssl3,libudev1,busybox --variant=extract bookworm /installroot
+RUN mkdir -p /installroot/usr/local/bin /build/bin && for tool in sh uniq tail sort grep cut; do ln -s /bin/busybox /installroot/bin/$tool; done
+
+
+RUN xx-apt-get install -y xx-c-essentials libssl-dev libudev-dev pkg-config
+COPY . /app
+WORKDIR /app
+ARG EXTRA_CARGO_ARGS
+RUN XX_DEBUG_CARGO=1 xx-cargo build ${EXTRA_CARGO_ARGS}
+ARG AKRI_COMPONENT
+RUN PROFILE=$(echo "${EXTRA_CARGO_ARGS}" | grep -q -- --release && echo "release" || echo "debug"); \
+    xx-verify ./target/$(xx-cargo --print-target-triple)/${PROFILE}/${AKRI_COMPONENT}\ 
+    && cp ./target/$(xx-cargo --print-target-triple)/${PROFILE}/${AKRI_COMPONENT} /build/bin/akri
+
+FROM scratch
+COPY --from=build /installroot /
+COPY --from=build /build/bin /usr/local/bin
+ENV RUST_LOG akri_discovery_utils,akri_udev,udev_discovery_handler
+# Using a fixed value here as we can't use any variable in entrypoint
+ENTRYPOINT [ "/usr/local/bin/akri" ]
+
diff --git a/build/setup.sh b/build/setup.sh
new file mode 100755
index 0000000..97a64a6
--- /dev/null
+++ b/build/setup.sh
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+# exit on failures
+set -ex
+
+echo "User: $(whoami)"
+
+apt_dependencies="git curl libssl-dev pkg-config"
+echo "Install dependencies: $apt_dependencies"
+if [ -x "$(command -v sudo)" ];
+then
+    echo "Run sudo apt install ..."
+    sudo apt update
+    sudo apt install -y $apt_dependencies
+else
+    echo "Run apt update and apt install without sudo"
+    apt update
+    apt install -y $apt_dependencies
+fi
+
+if ! [ -x "$(command -v rustup)" ];
+then
+    if [ -x "$(command -v sudo)" ];
+    then
+        echo "Install rustup"
+        sudo curl https://sh.rustup.rs -sSf | sh -s -- -y --default-toolchain=1.68.1
+    else
+        echo "Install rustup"
+        curl https://sh.rustup.rs -sSf | sh -s -- -y --default-toolchain=1.68.1
+    fi
+else
+    echo "Found rustup"
+fi
+
+echo "Install rustfmt"
+rustup component add rustfmt
+echo "Dependencies successfully installed!"
+echo -e "\033[33mNote: to build full agent with embedded udev discovery, also install libudev-dev\033[0m"
+exit 0
\ No newline at end of file
diff --git a/crates/udev/Cargo.lock b/crates/udev/Cargo.lock
new file mode 100644
index 0000000..87725f1
--- /dev/null
+++ b/crates/udev/Cargo.lock
@@ -0,0 +1,2628 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+version = 3
+
+[[package]]
+name = "addr2line"
+version = "0.21.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8a30b2e23b9e17a9f90641c7ab1549cd9b44f296d3ccbf309d2863cfe398a0cb"
+dependencies = [
+ "gimli",
+]
+
+[[package]]
+name = "adler"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f26201604c87b1e01bd3d98f8d5d9a8fcbb815e8cedb41ffccbeb4bf593a35fe"
+
+[[package]]
+name = "aho-corasick"
+version = "1.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b2969dcb958b36655471fc61f7e416fa76033bdd4bfed0678d8fee1e2d07a1f0"
+dependencies = [
+ "memchr",
+]
+
+[[package]]
+name = "akri-discovery-utils"
+version = "0.12.9"
+source = "git+https://github.com/project-akri/akri/?tag=v0.12.9#911cdc1e9f5aeed76f7e09339db35de4d871478a"
+dependencies = [
+ "akri-shared",
+ "anyhow",
+ "async-stream",
+ "futures",
+ "log",
+ "prost",
+ "serde",
+ "serde_derive",
+ "serde_yaml",
+ "tokio",
+ "tokio-stream",
+ "tonic",
+ "tonic-build",
+ "tower",
+]
+
+[[package]]
+name = "akri-shared"
+version = "0.12.9"
+source = "git+https://github.com/project-akri/akri/?tag=v0.12.9#911cdc1e9f5aeed76f7e09339db35de4d871478a"
+dependencies = [
+ "anyhow",
+ "async-trait",
+ "either",
+ "k8s-openapi",
+ "kube",
+ "log",
+ "mockall",
+ "prometheus",
+ "rand",
+ "schemars",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "serde_yaml",
+ "tokio",
+ "tonic",
+ "tower",
+ "warp",
+]
+
+[[package]]
+name = "akri-udev"
+version = "0.12.16"
+dependencies = [
+ "akri-discovery-utils",
+ "anyhow",
+ "async-trait",
+ "env_logger",
+ "log",
+ "mockall",
+ "pest",
+ "pest_derive",
+ "regex",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "tokio",
+ "tokio-stream",
+ "tonic",
+ "udev",
+]
+
+[[package]]
+name = "android-tzdata"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e999941b234f3131b00bc13c22d06e8c5ff726d1b6318ac7eb276997bbb4fef0"
+
+[[package]]
+name = "android_system_properties"
+version = "0.1.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "819e7219dbd41043ac279b19830f2efc897156490d7fd6ea916720117ee66311"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "anyhow"
+version = "1.0.75"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a4668cab20f66d8d020e1fbc0ebe47217433c1b6c8f2040faf858554e394ace6"
+
+[[package]]
+name = "async-stream"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cd56dd203fef61ac097dd65721a419ddccb106b2d2b70ba60a6b529f03961a51"
+dependencies = [
+ "async-stream-impl",
+ "futures-core",
+ "pin-project-lite",
+]
+
+[[package]]
+name = "async-stream-impl"
+version = "0.3.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "16e62a023e7c117e27523144c5d2459f4397fcc3cab0085af8e2224f643a0193"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.39",
+]
+
+[[package]]
+name = "async-trait"
+version = "0.1.74"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a66537f1bb974b254c98ed142ff995236e81b9d0fe4db0575f46612cb15eb0f9"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.39",
+]
+
+[[package]]
+name = "autocfg"
+version = "1.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+
+[[package]]
+name = "backtrace"
+version = "0.3.69"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2089b7e3f35b9dd2d0ed921ead4f6d318c27680d4a5bd167b3ee120edb105837"
+dependencies = [
+ "addr2line",
+ "cc",
+ "cfg-if",
+ "libc",
+ "miniz_oxide",
+ "object",
+ "rustc-demangle",
+]
+
+[[package]]
+name = "base64"
+version = "0.13.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e1b586273c5702936fe7b7d6896644d8be71e6314cfe09d3167c95f712589e8"
+
+[[package]]
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+checksum = "0ea22880d78093b0cbe17c89f64a7d457941e65759157ec6cb31a31d652b05e5"
+
+[[package]]
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+
+[[package]]
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+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "327762f6e5a765692301e5bb513e0d9fef63be86bbc14528052b1cd3e6f03e07"
+
+[[package]]
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+checksum = "3078c7629b62d3f0439517fa394996acacc5cbc91c5a20d8c658e77abd503a71"
+dependencies = [
+ "generic-array",
+]
+
+[[package]]
+name = "bumpalo"
+version = "3.14.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f30e7476521f6f8af1a1c4c0b8cc94f0bee37d91763d0ca2665f299b6cd8aec"
+
+[[package]]
+name = "byteorder"
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+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
+
+[[package]]
+name = "bytes"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "a2bd12c1caf447e69cd4528f47f94d203fd2582878ecb9e9465484c4148a8223"
+
+[[package]]
+name = "cc"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "cfg-if"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
+
+[[package]]
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+dependencies = [
+ "android-tzdata",
+ "iana-time-zone",
+ "num-traits",
+ "serde",
+ "windows-targets",
+]
+
+[[package]]
+name = "core-foundation-sys"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
+[[package]]
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+checksum = "ce420fe07aecd3e67c5f910618fe65e94158f6dcc0adf44e00d69ce2bdfe0fd0"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "crc32fast"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
+dependencies = [
+ "cfg-if",
+]
+
+[[package]]
+name = "crypto-common"
+version = "0.1.6"
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+dependencies = [
+ "generic-array",
+ "typenum",
+]
+
+[[package]]
+name = "darling"
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diff --git a/crates/udev/Cargo.toml b/crates/udev/Cargo.toml
new file mode 100644
index 0000000..f1225b2
--- /dev/null
+++ b/crates/udev/Cargo.toml
@@ -0,0 +1,29 @@
+[package]
+name = "akri-udev"
+version = { workspace = true }
+license = { workspace = true }
+authors = { workspace = true }
+edition = { workspace = true }
+rust-version = { workspace = true }
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+akri-discovery-utils = { git = "https://github.com/project-akri/akri/", tag = "v0.12.9" }
+anyhow = "1.0.38"
+async-trait = "0.1.0"
+log = "0.4"
+pest = "2.0"
+pest_derive = "2.0"
+regex = "1"
+serde = "1.0.104"
+serde_derive = "1.0.104"
+tokio = { version = "1.0", features = ["time", "net", "sync"] }
+tokio-stream = { version =  "0.1", features = ["net"] }
+tonic = { version = "0.5.2", features = ["tls"] }
+udev = "0.5"
+
+[dev-dependencies]
+env_logger = "0.10.0"
+mockall = "0.10.2"
+serde_json = "1.0.45"
diff --git a/crates/udev/src/discovery_handler.rs b/crates/udev/src/discovery_handler.rs
new file mode 100644
index 0000000..037ff5d
--- /dev/null
+++ b/crates/udev/src/discovery_handler.rs
@@ -0,0 +1,195 @@
+use super::{
+    discovery_impl::{do_parse_and_find, insert_device_with_relatives, DeviceProperties},
+    wrappers::udev_enumerator,
+};
+use akri_discovery_utils::discovery::{
+    discovery_handler::{deserialize_discovery_details, DISCOVERED_DEVICES_CHANNEL_CAPACITY},
+    v0::{
+        discovery_handler_server::DiscoveryHandler, Device, DeviceSpec, DiscoverRequest,
+        DiscoverResponse,
+    },
+    DiscoverStream,
+};
+use async_trait::async_trait;
+use log::{error, info, trace};
+use std::collections::{HashMap, HashSet};
+use std::time::Duration;
+use tokio::sync::mpsc;
+use tokio::time::sleep;
+use tonic::{Response, Status};
+
+// TODO: make this configurable
+pub const DISCOVERY_INTERVAL_SECS: u64 = 10;
+
+/// This defines the udev data stored in the Configuration
+/// CRD DiscoveryDetails
+#[derive(Serialize, Deserialize, Clone, Debug)]
+#[serde(rename_all = "camelCase")]
+pub struct UdevDiscoveryDetails {
+    pub udev_rules: Vec<String>,
+
+    #[serde(default)]
+    pub group_recursive: bool,
+}
+
+/// `DiscoveryHandlerImpl` discovers udev instances by parsing the udev rules in `discovery_handler_config.udev_rules`.
+pub struct DiscoveryHandlerImpl {
+    register_sender: Option<mpsc::Sender<()>>,
+}
+
+impl DiscoveryHandlerImpl {
+    pub fn new(register_sender: Option<mpsc::Sender<()>>) -> Self {
+        DiscoveryHandlerImpl { register_sender }
+    }
+}
+
+#[async_trait]
+impl DiscoveryHandler for DiscoveryHandlerImpl {
+    type DiscoverStream = DiscoverStream;
+    async fn discover(
+        &self,
+        request: tonic::Request<DiscoverRequest>,
+    ) -> Result<Response<Self::DiscoverStream>, Status> {
+        info!("discover - called for udev protocol");
+        let register_sender = self.register_sender.clone();
+        let discover_request = request.get_ref();
+        let (discovered_devices_sender, discovered_devices_receiver) =
+            mpsc::channel(DISCOVERED_DEVICES_CHANNEL_CAPACITY);
+        let discovery_handler_config: UdevDiscoveryDetails =
+            deserialize_discovery_details(&discover_request.discovery_details)
+                .map_err(|e| tonic::Status::new(tonic::Code::InvalidArgument, format!("{}", e)))?;
+        let mut previously_discovered_devices: Vec<Device> = Vec::new();
+        tokio::spawn(async move {
+            let udev_rules = discovery_handler_config.udev_rules.clone();
+            loop {
+                trace!("discover - for udev rules {:?}", udev_rules);
+                // Before each iteration, check if receiver has dropped
+                if discovered_devices_sender.is_closed() {
+                    error!("discover - channel closed ... attempting to re-register with Agent");
+                    if let Some(sender) = register_sender {
+                        sender.send(()).await.unwrap();
+                    }
+                    break;
+                }
+                let mut devpaths: HashMap<String, HashSet<DeviceProperties>> = HashMap::new();
+                udev_rules.iter().for_each(|rule| {
+                    let enumerator = udev_enumerator::create_enumerator();
+                    let paths = do_parse_and_find(enumerator, rule).unwrap();
+                    for path in paths.into_iter() {
+                        if !discovery_handler_config.group_recursive {
+                            devpaths.insert(path.0.clone(), HashSet::from([path]));
+                        } else {
+                            insert_device_with_relatives(&mut devpaths, path);
+                        }
+                    }
+                });
+                trace!(
+                    "discover - mapping and returning devices at devpaths {:?}",
+                    devpaths
+                );
+                let discovered_devices = devpaths
+                    .into_iter()
+                    .map(|(id, paths)| {
+                        let mut properties = HashMap::new();
+                        let mut device_specs = Vec::new();
+                        for (i, (_, node)) in paths.into_iter().enumerate() {
+                            let property_suffix = discovery_handler_config
+                                .group_recursive
+                                .then(|| format!("_{}", i))
+                                .unwrap_or_default();
+                            if let Some(devnode) = node {
+                                properties.insert(
+                                    super::UDEV_DEVNODE_LABEL_ID.to_string() + &property_suffix,
+                                    devnode.clone(),
+                                );
+                                device_specs.push(DeviceSpec {
+                                    container_path: devnode.clone(),
+                                    host_path: devnode,
+                                    permissions: "rwm".to_string(),
+                                })
+                            }
+                        }
+
+                        //id is the sysfs path of the most top level device so we only need this one
+                        properties.insert(super::UDEV_DEVPATH_LABEL_ID.to_string(), id.clone());
+
+                        // TODO: use device spec
+                        Device {
+                            id,
+                            properties,
+                            mounts: Vec::default(),
+                            device_specs,
+                        }
+                    })
+                    .collect::<Vec<Device>>();
+                let mut changed_device_list = false;
+                let mut matching_device_count = 0;
+                discovered_devices.iter().for_each(|device| {
+                    if !previously_discovered_devices.contains(device) {
+                        changed_device_list = true;
+                    } else {
+                        matching_device_count += 1;
+                    }
+                });
+                if changed_device_list
+                    || matching_device_count != previously_discovered_devices.len()
+                {
+                    info!("discover - sending updated device list");
+                    previously_discovered_devices = discovered_devices.clone();
+                    if let Err(e) = discovered_devices_sender
+                        .send(Ok(DiscoverResponse {
+                            devices: discovered_devices,
+                        }))
+                        .await
+                    {
+                        error!(
+                            "discover - for udev failed to send discovery response with error {}",
+                            e
+                        );
+                        if let Some(sender) = register_sender {
+                            sender.send(()).await.unwrap();
+                        }
+                        break;
+                    }
+                }
+                sleep(Duration::from_secs(DISCOVERY_INTERVAL_SECS)).await;
+            }
+        });
+        Ok(Response::new(tokio_stream::wrappers::ReceiverStream::new(
+            discovered_devices_receiver,
+        )))
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_deserialize_discovery_details_empty() {
+        // Check that udev errors if no udev rules passed in
+        let udev_dh_config: Result<UdevDiscoveryDetails, anyhow::Error> =
+            deserialize_discovery_details("");
+        assert!(udev_dh_config.is_err());
+
+        let yaml = r#"
+          udevRules: []
+        "#;
+        let udev_dh_config: UdevDiscoveryDetails = deserialize_discovery_details(yaml).unwrap();
+        assert!(udev_dh_config.udev_rules.is_empty());
+        let serialized = serde_json::to_string(&udev_dh_config).unwrap();
+        let expected_deserialized = r#"{"udevRules":[],"groupRecursive":false}"#;
+        assert_eq!(expected_deserialized, serialized);
+    }
+
+    #[test]
+    fn test_deserialize_discovery_details_detailed() {
+        let yaml = r#"
+          udevRules:
+          - 'KERNEL=="video[0-9]*"'
+        "#;
+        let udev_dh_config: UdevDiscoveryDetails = deserialize_discovery_details(yaml).unwrap();
+        assert_eq!(udev_dh_config.udev_rules.len(), 1);
+        assert_eq!(&udev_dh_config.udev_rules[0], "KERNEL==\"video[0-9]*\"");
+    }
+}
diff --git a/crates/udev/src/discovery_impl.rs b/crates/udev/src/discovery_impl.rs
new file mode 100644
index 0000000..307908c
--- /dev/null
+++ b/crates/udev/src/discovery_impl.rs
@@ -0,0 +1,1453 @@
+use std::collections::HashSet;
+
+use super::wrappers::{
+    udev_device::{
+        get_attribute_value, get_devnode, get_devpath, get_driver, get_parent, get_property_value,
+        get_subsystem, get_sysname, DeviceExt,
+    },
+    udev_enumerator::Enumerator,
+};
+use log::{error, info, trace};
+use pest::iterators::Pair;
+use pest::Parser;
+use regex::Regex;
+
+const TAGS: &str = "TAGS";
+
+#[derive(Parser)]
+#[grammar = "udev_rule_grammar.pest"]
+pub struct UdevRuleParser;
+
+#[derive(Debug, PartialEq)]
+pub struct UdevFilter<'a> {
+    field: Pair<'a, Rule>,
+    operation: Rule,
+    value: String,
+}
+
+/// A udev device is defined by its devpath and devnode (if exists)
+pub(crate) type DeviceProperties = (String, Option<String>);
+
+/// This parses the udev rule into UdevFilters and finds all devices that match those filters
+pub fn do_parse_and_find(
+    enumerator: impl Enumerator,
+    udev_rule_string: &str,
+) -> Result<Vec<DeviceProperties>, anyhow::Error> {
+    let udev_filters = parse_udev_rule(udev_rule_string)?;
+    let devices = find_devices(enumerator, udev_filters)?;
+    trace!(
+        "do_parse_and_find - returning discovered devices with devpaths: {:?}",
+        devices
+    );
+    Ok(devices)
+}
+
+/// This parses a udev rule and returns a list of UdevFilter objects that specify which devices to search for.
+/// This returns an error if the udev rule parameter does not fit the format specified in udev
+/// man pages/wiki and therefore does not match the grammar specified in udev_rule_grammar.pest
+/// A udev rule is made of a list of field-value pairs which have format field<operation>"value"
+/// This function will only create UdevFilter objects for field-value pairs with supported fields and operations.
+/// Udev discovery is only interested in match operations ("==",  "!="), so all action ("=" , "+=" , "-=" , ":=") operations
+/// will be ignored.
+/// Udev discovery is only interested in match fields, so all action fields, such as TEST, are ignored
+fn parse_udev_rule(udev_rule_string: &str) -> Result<Vec<UdevFilter>, anyhow::Error> {
+    info!(
+        "parse_udev_rule - enter for udev rule string {}",
+        udev_rule_string
+    );
+    let mut udev_filters: Vec<UdevFilter> = Vec::new();
+
+    // So long as parse succeeds, subsequent unwraps will not fails, since they are following the
+    // format specified in the grammar
+    let udev_rule = UdevRuleParser::parse(Rule::udev_rule, udev_rule_string)?
+        .next() // move to first rule within udev_rule aka inner_rule
+        .unwrap() // does not panic because udev_rule always has inner_rule
+        .into_inner() // go into inner_rule which has format { udev_filter ~ ("," ~ udev_filter)* }
+        .next() // move to first rule in inner_rule aka udev_filter
+        .unwrap(); // does not panic because inner_rule always has udev_filter
+
+    trace!(
+        "parse_udev_rule - parsing udev_rule {:?}",
+        udev_rule.as_str()
+    );
+    for udev_filter in udev_rule.into_inner() {
+        let mut inner_rules = udev_filter.into_inner();
+        let field_pair = inner_rules.next().unwrap();
+        let inner_field = field_pair.into_inner().next().unwrap();
+        if inner_field.as_rule() == Rule::unsupported_field {
+            return Err(anyhow::format_err!(
+                "parse_udev_rule - unsupported field {}",
+                inner_field.into_inner().next().unwrap().as_str()
+            ));
+        }
+
+        let operation_rule = inner_rules
+            .next()
+            .unwrap()
+            .into_inner()
+            .next()
+            .unwrap()
+            .as_rule();
+        let mut quoted_value = inner_rules.next().unwrap().into_inner();
+        let value = quoted_value.next().unwrap().as_str();
+        if operation_rule != Rule::action_operation {
+            udev_filters.push(UdevFilter {
+                field: inner_field,
+                operation: operation_rule,
+                value: value.to_string(),
+            });
+        } else {
+            return Err(anyhow::format_err!("parse_udev_rule - unsupported action operation for rule with field [{}], operation [{:?}], and value[{}]",
+            inner_field.into_inner().as_str(), operation_rule, value));
+        }
+    }
+    Ok(udev_filters)
+}
+
+/// This searches for devices that match the UdevFilters and returns their devpaths
+fn find_devices(
+    enumerator: impl Enumerator,
+    udev_filters: Vec<UdevFilter>,
+) -> std::io::Result<Vec<DeviceProperties>> {
+    let mut enumerator = enumerator;
+    trace!("find_devices - enter with udev_filters {:?}", udev_filters);
+
+    // Enumerator scans sys devices for its filters. Only certain filters can be applied to it.
+    // Divide device fields by type of filter than can be applied to Enumerator, if any
+    // (1) Enumerator can filter for field by equality/match
+    // (2) Enumerator can filter for field by inequality/nomatch
+    // (3) Enumerator cannot filter for field. Must manually filter by looking at each Device the filtered Enumerator returns.
+    let match_fields = vec![
+        Rule::devpath,
+        Rule::kernel,
+        Rule::tag,
+        Rule::subsystem,
+        Rule::attribute,
+        Rule::property,
+    ];
+    let nomatch_fields = vec![Rule::attribute, Rule::subsystem];
+
+    let mut match_udev_filters: Vec<&UdevFilter> = Vec::new();
+    let mut nomatch_udev_filters: Vec<&UdevFilter> = Vec::new();
+    let mut remaining_udev_filters: Vec<&UdevFilter> = Vec::new();
+
+    // Sort UdevFilters based off of which group they belong to
+    udev_filters.iter().for_each(|udev_filter| {
+        if udev_filter.operation == Rule::equality
+            && match_fields.contains(&udev_filter.field.as_rule())
+        {
+            match_udev_filters.push(udev_filter);
+        } else if udev_filter.operation == Rule::inequality
+            && nomatch_fields.contains(&udev_filter.field.as_rule())
+        {
+            nomatch_udev_filters.push(udev_filter);
+        } else {
+            remaining_udev_filters.push(udev_filter);
+        }
+    });
+
+    // Apply UdevFilters of groups in 1,2,3 order
+    filter_by_match_udev_filters(&mut enumerator, match_udev_filters);
+    filter_by_nomatch_udev_filters(&mut enumerator, nomatch_udev_filters);
+    let devices: Vec<udev::Device> = enumerator.scan_devices()?.collect();
+    let final_devices = filter_by_remaining_udev_filters(devices, remaining_udev_filters);
+
+    let device_devpaths: Vec<DeviceProperties> = final_devices
+        .into_iter()
+        .map(|device| {
+            (
+                get_devpath(&device).to_str().unwrap().to_string(),
+                get_devnode(&device).map(|devnode| devnode.to_str().unwrap().to_string()),
+            )
+        })
+        .collect();
+
+    Ok(device_devpaths)
+}
+
+/// This adds equality filters to the Enumerator
+fn filter_by_match_udev_filters(enumerator: &mut impl Enumerator, udev_filters: Vec<&UdevFilter>) {
+    trace!(
+        "enumerator_match_udev_filters - enter with udev_filters {:?}",
+        udev_filters
+    );
+    for udev_filter in udev_filters {
+        match udev_filter.field.as_rule() {
+            Rule::devpath => {
+                let mut syspath: String = "/sys".to_owned();
+                syspath.push_str(&udev_filter.value);
+                enumerator.add_syspath(&syspath).unwrap();
+            }
+            Rule::kernel => {
+                enumerator.match_sysname(&udev_filter.value).unwrap();
+            }
+            Rule::tag => {
+                enumerator.match_tag(&udev_filter.value).unwrap();
+            }
+            Rule::subsystem => {
+                enumerator.match_subsystem(&udev_filter.value).unwrap();
+            }
+            Rule::attribute => {
+                let key = udev_filter
+                    .field
+                    .clone()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .as_str();
+                enumerator.match_attribute(key, &udev_filter.value).unwrap();
+            }
+            Rule::property => {
+                let key = udev_filter
+                    .field
+                    .clone()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .as_str();
+                enumerator.match_property(key, &udev_filter.value).unwrap();
+            }
+            _ => {
+                error!("enumerator_match_udev_filters - encountered unsupported field");
+            }
+        }
+    }
+}
+
+/// This adds inequality filters to the Enumerator
+fn filter_by_nomatch_udev_filters(
+    enumerator: &mut impl Enumerator,
+    udev_filters: Vec<&UdevFilter>,
+) {
+    trace!(
+        "enumerator_nomatch_udev_filters - enter with udev_filters {:?}",
+        udev_filters
+    );
+    for udev_filter in udev_filters {
+        match udev_filter.field.as_rule() {
+            Rule::attribute => {
+                let key = udev_filter
+                    .field
+                    .clone()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .as_str();
+                enumerator
+                    .nomatch_attribute(key, &udev_filter.value)
+                    .unwrap();
+            }
+            Rule::subsystem => {
+                enumerator.nomatch_subsystem(&udev_filter.value).unwrap();
+            }
+            _ => {
+                error!("enumerator_nomatch_udev_filters - encountered unsupported field");
+            }
+        }
+    }
+}
+
+/// This iterates over devices returned by filtered Enumerator and inspects the device's fields to see if they match/don't match
+/// the fields in the remaining UdevFilters that could not be applied to Enumerator.
+fn filter_by_remaining_udev_filters(
+    devices: Vec<impl DeviceExt>,
+    udev_filters: Vec<&UdevFilter>,
+) -> Vec<impl DeviceExt> {
+    trace!(
+        "filter_by_remaining_udev_filters - enter with udev_filters {:?}",
+        udev_filters
+    );
+    let mut mutable_devices = devices;
+    for udev_filter in udev_filters {
+        let value_regex = Regex::new(&udev_filter.value).unwrap();
+        let is_equality = udev_filter.operation == Rule::equality;
+        match udev_filter.field.as_rule() {
+            Rule::devpath => {
+                // Filter for inequality. Equality already accounted for in filter_by_match_udev_filters
+                mutable_devices.retain(|device| {
+                    let devpath = get_devpath(device).to_str().unwrap();
+                    !is_regex_match(devpath, &value_regex)
+                });
+            }
+            Rule::kernel => {
+                // Filter for inequality. Equality already accounted for in filter_by_match_udev_filters
+                mutable_devices.retain(|device| {
+                    let sysname = get_sysname(device).to_str().unwrap();
+                    !is_regex_match(sysname, &value_regex)
+                });
+            }
+            Rule::tag => {
+                mutable_devices.retain(|device| {
+                    if let Some(tags) = get_property_value(device, TAGS) {
+                        let tags = tags.to_str().unwrap().split(':');
+                        // Filter for inequality. Equality already accounted for in filter_by_match_udev_filters
+                        // Return false if discover a tag that should be excluded
+                        let mut include = true;
+                        for tag in tags {
+                            if is_regex_match(tag, &value_regex) {
+                                include = false;
+                                break;
+                            }
+                        }
+                        include
+                    } else {
+                        true
+                    }
+                });
+            }
+            Rule::property => {
+                let key = udev_filter
+                    .field
+                    .clone()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .as_str();
+                // Filter for inequality. Equality already accounted for in filter_by_match_udev_filters
+                mutable_devices.retain(|device| {
+                    if let Some(property_value) = get_property_value(device, key) {
+                        let property_value_str = property_value.to_str().unwrap();
+                        !is_regex_match(property_value_str, &value_regex)
+                    } else {
+                        true
+                    }
+                });
+            }
+            Rule::driver => {
+                mutable_devices.retain(|device| match get_driver(device) {
+                    Some(driver) => {
+                        let driver = driver.to_str().unwrap();
+                        filter_equality_check(is_equality, is_regex_match(driver, &value_regex))
+                    }
+                    None => !is_equality,
+                });
+            }
+            Rule::subsystems => {
+                mutable_devices.retain(|device| {
+                    filter_equality_check(
+                        is_equality,
+                        device_or_parents_have_subsystem(device, &value_regex),
+                    )
+                });
+            }
+            Rule::attributes => {
+                let key = udev_filter
+                    .field
+                    .clone()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .into_inner()
+                    .next()
+                    .unwrap()
+                    .as_str();
+                mutable_devices.retain(|device| {
+                    filter_equality_check(
+                        is_equality,
+                        device_or_parents_have_attribute(device, key, &value_regex),
+                    )
+                });
+            }
+            Rule::drivers => {
+                mutable_devices.retain(|device| {
+                    filter_equality_check(
+                        is_equality,
+                        device_or_parents_have_driver(device, &value_regex),
+                    )
+                });
+            }
+            Rule::kernels => {
+                mutable_devices.retain(|device| {
+                    filter_equality_check(
+                        is_equality,
+                        device_or_parents_have_sysname(device, &value_regex),
+                    )
+                });
+            }
+            Rule::tags => {
+                mutable_devices.retain(|device| {
+                    filter_equality_check(
+                        is_equality,
+                        device_or_parents_have_tag(device, &value_regex),
+                    )
+                });
+            }
+            _ => {
+                error!("filter_by_remaining_udev_filters - encountered unsupported field");
+            }
+        }
+    }
+    mutable_devices
+}
+
+/// Check whether the device should be selected based on equality and field matching
+fn filter_equality_check(is_equality: bool, is_match: bool) -> bool {
+    (is_equality && is_match) || (!is_equality && !is_match)
+}
+
+/// Check to see if the current value is a regex match of the requested value.
+/// Ensure that the match is exclusively on the value to be tested. For example, for the regex `video[0-9]*`,
+/// the values `video0` and `video10` should match; however, `blahvideo0blah` should not be accepted as a match.
+fn is_regex_match(test_value: &str, value_regex: &Regex) -> bool {
+    if let Some(value_containing_match) = value_regex.find(test_value) {
+        value_containing_match.start() == 0 && value_containing_match.end() == test_value.len()
+    } else {
+        false
+    }
+}
+
+/// Recursively look up a device's hierarchy to see if it or one of its ancestors has a specified subsystem.
+fn device_or_parents_have_subsystem(device: &impl DeviceExt, value_regex: &Regex) -> bool {
+    match get_subsystem(device) {
+        Some(subsystem) => {
+            let subsystem_str = subsystem.to_str().unwrap();
+            if is_regex_match(subsystem_str, value_regex) {
+                true
+            } else {
+                match get_parent(device) {
+                    Some(parent) => device_or_parents_have_subsystem(&parent, value_regex),
+                    None => false,
+                }
+            }
+        }
+        None => match get_parent(device) {
+            Some(parent) => device_or_parents_have_subsystem(&parent, value_regex),
+            None => false,
+        },
+    }
+}
+
+/// Recursively look up a device's hierarchy to see if it or one of its ancestors has a specified attribute.
+fn device_or_parents_have_attribute(
+    device: &impl DeviceExt,
+    key: &str,
+    value_regex: &Regex,
+) -> bool {
+    match get_attribute_value(device, key) {
+        Some(attribute_value) => {
+            let attribute_value_str = attribute_value.to_str().unwrap();
+            if is_regex_match(attribute_value_str, value_regex) {
+                true
+            } else {
+                match get_parent(device) {
+                    Some(parent) => device_or_parents_have_attribute(&parent, key, value_regex),
+                    None => false,
+                }
+            }
+        }
+        None => match get_parent(device) {
+            Some(parent) => device_or_parents_have_attribute(&parent, key, value_regex),
+            None => false,
+        },
+    }
+}
+
+/// Recursively look up a device's hierarchy to see if it or one of its ancestors has a specified driver.
+fn device_or_parents_have_driver(device: &impl DeviceExt, value_regex: &Regex) -> bool {
+    match get_driver(device) {
+        Some(driver) => {
+            let driver_str = driver.to_str().unwrap();
+            if is_regex_match(driver_str, value_regex) {
+                true
+            } else {
+                match get_parent(device) {
+                    Some(parent) => device_or_parents_have_driver(&parent, value_regex),
+                    None => false,
+                }
+            }
+        }
+        None => match get_parent(device) {
+            Some(parent) => device_or_parents_have_driver(&parent, value_regex),
+            None => false,
+        },
+    }
+}
+
+/// Recursively look up a device's hierarchy to see if it or one of its ancestors has a specified sysname aka kernel.
+fn device_or_parents_have_sysname(device: &impl DeviceExt, value_regex: &Regex) -> bool {
+    let sysname = get_sysname(device).to_str().unwrap();
+    if is_regex_match(sysname, value_regex) {
+        true
+    } else {
+        match get_parent(device) {
+            Some(parent) => device_or_parents_have_sysname(&parent, value_regex),
+            None => false,
+        }
+    }
+}
+
+/// Recursively look up a device's hierarchy to see if or one of its ancestors has a specified tag.
+fn device_or_parents_have_tag(device: &impl DeviceExt, value_regex: &Regex) -> bool {
+    if let Some(tags) = get_property_value(device, TAGS) {
+        let tags = tags.to_str().unwrap().split(':');
+        let mut has_tag = false;
+        for tag in tags {
+            if is_regex_match(tag, value_regex) {
+                has_tag = true;
+                break;
+            }
+        }
+        if has_tag {
+            true
+        } else {
+            match get_parent(device) {
+                Some(parent) => device_or_parents_have_tag(&parent, value_regex),
+                None => false,
+            }
+        }
+    } else {
+        match get_parent(device) {
+            Some(parent) => device_or_parents_have_tag(&parent, value_regex),
+            None => false,
+        }
+    }
+}
+
+/// Retrieve Parent or Children of a device using their sysfs path.
+fn get_device_relatives<'a>(
+    device_path: &str,
+    possible_relatives: impl Iterator<Item = &'a String>,
+) -> (Option<String>, Vec<String>) {
+    let mut childrens = Vec::new();
+    for relative in possible_relatives {
+        match relative {
+            parent if device_path.starts_with(relative.as_str()) => {
+                return (Some(parent.clone()), vec![])
+            }
+            child if relative.starts_with(device_path) => childrens.push(child.clone()),
+            _ => (),
+        }
+    }
+    (None, childrens)
+}
+
+pub fn insert_device_with_relatives(
+    devpaths: &mut std::collections::HashMap<String, HashSet<DeviceProperties>>,
+    path: DeviceProperties,
+) {
+    match get_device_relatives(&path.0, devpaths.keys()) {
+        (Some(parent), _) => {
+            let _ = devpaths.get_mut(&parent).unwrap().insert(path);
+        }
+        (None, children) => {
+            let id = path.0.clone();
+            let mut children_devices: HashSet<DeviceProperties> = children
+                .into_iter()
+                .flat_map(|child| devpaths.remove(&child).unwrap().into_iter())
+                .collect();
+            children_devices.insert(path);
+            let _ = devpaths.insert(id, children_devices);
+        }
+    }
+}
+
+#[cfg(test)]
+mod discovery_tests {
+    use super::super::wrappers::udev_enumerator::{create_enumerator, MockEnumerator};
+    use super::*;
+    use std::{
+        collections::HashMap,
+        ffi::OsStr,
+        fs::File,
+        io::{prelude::*, BufReader},
+        path::Path,
+    };
+    #[derive(Clone)]
+    pub struct MockDevice<'a> {
+        pub devpath: String,
+        pub devnode: String,
+        pub sysname: String,
+        pub properties: std::collections::HashMap<String, String>,
+        pub driver: Option<&'a OsStr>,
+        pub subsystem: Option<&'a OsStr>,
+        pub attributes: std::collections::HashMap<String, String>,
+        pub parent: Box<Option<MockDevice<'a>>>,
+    }
+
+    impl<'a> DeviceExt for MockDevice<'a> {
+        fn mockable_devpath(&self) -> &OsStr {
+            OsStr::new(&self.devpath)
+        }
+        fn mockable_devnode(&self) -> Option<&Path> {
+            Some(Path::new(&self.devnode))
+        }
+        fn mockable_sysname(&self) -> &OsStr {
+            OsStr::new(&self.sysname)
+        }
+        fn mockable_property_value(&self, property: &str) -> Option<&OsStr> {
+            if let Some(value) = self.properties.get(property) {
+                Some(OsStr::new(value))
+            } else {
+                None
+            }
+        }
+        fn mockable_attribute_value(&self, property: &str) -> Option<&OsStr> {
+            if let Some(value) = self.attributes.get(property) {
+                Some(OsStr::new(value))
+            } else {
+                None
+            }
+        }
+        fn mockable_driver(&self) -> Option<&OsStr> {
+            self.driver
+        }
+        fn mockable_subsystem(&self) -> Option<&OsStr> {
+            self.subsystem
+        }
+        fn mockable_parent(&self) -> Option<Self> {
+            *self.parent.clone()
+        }
+    }
+
+    #[allow(clippy::too_many_arguments)]
+    fn create_mock_device<'a>(
+        devpath: &str,
+        devnode: &str,
+        sysname: &str,
+        properties: HashMap<String, String>,
+        attributes: HashMap<String, String>,
+        driver: Option<&'a OsStr>,
+        subsystem: Option<&'a OsStr>,
+        parent: Option<MockDevice<'a>>,
+    ) -> MockDevice<'a> {
+        MockDevice {
+            devpath: devpath.to_string(),
+            devnode: devnode.to_string(),
+            sysname: sysname.to_string(),
+            properties,
+            attributes,
+            driver,
+            subsystem,
+            parent: Box::new(parent),
+        }
+    }
+
+    #[test]
+    fn test_parse_udev_rule_detailed() {
+        let _ = env_logger::builder().is_test(true).try_init();
+        let rule = "KERNEL==\"video[0-9]*\",SUBSYSTEM==\"video4linux\", ATTR{idVendor}==\"05a9\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        assert_eq!(udev_filters.len(), 3);
+        assert_eq!(udev_filters[0].field.as_str(), "KERNEL");
+        assert_eq!(udev_filters[0].operation, Rule::equality);
+        assert_eq!(&udev_filters[0].value, "video[0-9]*");
+
+        assert_eq!(udev_filters[1].field.as_str(), "SUBSYSTEM");
+        assert_eq!(udev_filters[1].operation, Rule::equality);
+        assert_eq!(&udev_filters[1].value, "video4linux");
+
+        assert_eq!(udev_filters[2].field.as_str(), "ATTR{idVendor}");
+        assert_eq!(udev_filters[2].operation, Rule::equality);
+        assert_eq!(&udev_filters[2].value, "05a9");
+    }
+
+    #[test]
+    fn test_parse_udev_rule_error() {
+        // Throws error if unknown field (TYPO)
+        let rule = "KERNEL==\"video[0-9]*\", TYPO==\"blah\", ATTR{idVendor}==\"05a9\", ATTRS{idProduct}==\"4519\"";
+        assert!(parse_udev_rule(rule).is_err());
+
+        // Throws error if leading space
+        let rule = " KERNEL==\"video[0-9]*\", TYPO==\"blah\", ATTR{idVendor}==\"05a9\", ATTRS{idProduct}==\"4519\"";
+        assert!(parse_udev_rule(rule).is_err());
+    }
+
+    #[test]
+    fn test_parse_udev_rule_empty() {
+        // Assert that doesn't throw error on empty rules
+        let rule = "";
+        let result = parse_udev_rule(rule);
+        assert!(result.is_ok());
+        let udev_filters = result.unwrap();
+        assert_eq!(udev_filters.len(), 0);
+    }
+
+    #[test]
+    fn test_parse_udev_rule_from_file() {
+        let _ = env_logger::builder().is_test(true).try_init();
+        let file_path = "test/example.rules";
+        let file = File::open(file_path).expect("no such file");
+        let buf = BufReader::new(file);
+        let mut num_udev_filters: Vec<usize> = Vec::new();
+        let lines: Vec<String> = buf
+            .lines()
+            .map(|l| {
+                let unwrapped = l.expect("Could not parse line");
+                num_udev_filters.push(unwrapped[0..1].parse::<usize>().unwrap());
+                unwrapped[2..].to_string()
+            })
+            .collect();
+        for x in 0..lines.len() {
+            let line = &lines[x];
+            let udev_filters = parse_udev_rule(line).unwrap();
+            assert_eq!(udev_filters.len(), num_udev_filters[x]);
+        }
+    }
+
+    #[test]
+    fn test_parse_unsupported_udev_rule_from_file() {
+        let _ = env_logger::builder().is_test(true).try_init();
+        let file_path = "test/example-unsupported.rules";
+        let file = File::open(file_path).expect("no such file");
+        let buf = BufReader::new(file);
+        buf.lines().for_each(|line| {
+            let unwrapped = line.expect("Could not parse line");
+            assert!(parse_udev_rule(&unwrapped).is_err());
+        });
+    }
+
+    #[test]
+    fn test_filter_by_match_udev_filters() {
+        let rule = "SUBSYSTEM==\"video4linux\", ATTR{someKey}==\"1000\", KERNEL==\"video0\", ENV{ID}==\"1\", TAG==\"some_tag\", DEVPATH==\"/devices/path\"";
+        let mut mock = MockEnumerator::new();
+        mock.expect_match_subsystem()
+            .times(1)
+            .withf(move |value: &str| value == "video4linux")
+            .returning(|_| Ok(()));
+        mock.expect_match_attribute()
+            .times(1)
+            .withf(move |key: &str, value: &str| key == "someKey" && value == "1000")
+            .returning(|_, _| Ok(()));
+        mock.expect_match_sysname()
+            .times(1)
+            .withf(move |value: &str| value == "video0")
+            .returning(|_| Ok(()));
+        mock.expect_match_property()
+            .times(1)
+            .withf(move |key: &str, value: &str| key == "ID" && value == "1")
+            .returning(|_, _| Ok(()));
+        mock.expect_match_tag()
+            .times(1)
+            .withf(move |value: &str| value == "some_tag")
+            .returning(|_| Ok(()));
+        mock.expect_add_syspath()
+            .times(1)
+            .withf(move |value: &str| value == "/sys/devices/path")
+            .returning(|_| Ok(()));
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        filter_by_match_udev_filters(&mut mock, udev_filters);
+    }
+
+    #[test]
+    fn test_filter_by_nomatch_udev_filters() {
+        let rule = "SUBSYSTEM!=\"usb\", ATTR{someKey}!=\"1000\"";
+        let mut mock = MockEnumerator::new();
+        mock.expect_nomatch_subsystem()
+            .times(1)
+            .withf(move |value: &str| value == "usb")
+            .returning(|_| Ok(()));
+        mock.expect_nomatch_attribute()
+            .times(1)
+            .withf(move |key: &str, value: &str| key == "someKey" && value == "1000")
+            .returning(|_, _| Ok(()));
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        filter_by_nomatch_udev_filters(&mut mock, udev_filters);
+    }
+
+    #[test]
+    fn test_filter_by_remaining_udev_filters() {
+        let rule = "KERNEL!=\"video0\", TAG!=\"tag_exclude\", ENV{ID}!=\"id_num\", TAG!=\"tag[3-9]\", DEVPATH!=\"/devices/path/exclude\", DRIVER!=\"exclude\"";
+        let mut include_properties = std::collections::HashMap::new();
+        include_properties.insert("TAGS".to_string(), "tag0:tag_excluded:tag2".to_string());
+        let mut tag_exclude_properties = std::collections::HashMap::new();
+        tag_exclude_properties.insert("TAGS".to_string(), "tag3:other:tag2".to_string());
+        let mut id_exclude_properties = std::collections::HashMap::new();
+        id_exclude_properties.insert("ID".to_string(), "id_num".to_string());
+        let mock_device_to_exclude0 = create_mock_device(
+            "/devices/path/exclude",
+            "/dev/exclude",
+            "mock0",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("include")),
+            None,
+            None,
+        );
+        let mock_device_to_exclude1 = create_mock_device(
+            "/devices/path/include",
+            "/dev/exclude",
+            "mock1",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("exclude")),
+            None,
+            None,
+        );
+        let mock_device_to_include1 = create_mock_device(
+            "/devices/path/include",
+            "/dev/include",
+            "mock2",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("include")),
+            None,
+            None,
+        );
+        let mock_device_to_exclude3 = create_mock_device(
+            "/devices/path/include",
+            "/dev/include",
+            "mock3",
+            tag_exclude_properties,
+            HashMap::new(),
+            Some(OsStr::new("include")),
+            None,
+            None,
+        );
+        let mock_device_to_include2 = create_mock_device(
+            "/devices/path/include",
+            "/dev/include",
+            "mock4",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("include")),
+            None,
+            None,
+        );
+        let mock_device_to_exclude4 = create_mock_device(
+            "/devices/path/include",
+            "/dev/include",
+            "mock5",
+            id_exclude_properties,
+            HashMap::new(),
+            Some(OsStr::new("include")),
+            None,
+            None,
+        );
+        let devices = vec![
+            mock_device_to_exclude0,
+            mock_device_to_exclude1,
+            mock_device_to_include1,
+            mock_device_to_exclude3,
+            mock_device_to_include2,
+            mock_device_to_exclude4,
+        ];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices, udev_filters);
+
+        assert_eq!(filtered_devices.len(), 2);
+        assert_eq!(get_sysname(&filtered_devices[0]).to_str().unwrap(), "mock2");
+        assert_eq!(get_sysname(&filtered_devices[1]).to_str().unwrap(), "mock4");
+    }
+
+    #[test]
+    fn test_filter_by_driver() {
+        let match_rule = "DRIVER==\"some driver\"";
+        let mock_device = create_mock_device(
+            "/devices/path/include",
+            "/dev/include",
+            "mock",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("another driver")),
+            None,
+            None,
+        );
+        let udev_filters = parse_udev_rule(match_rule).unwrap();
+        let udev_filters_ref: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices =
+            filter_by_remaining_udev_filters(vec![mock_device.clone()], udev_filters_ref);
+        assert_eq!(filtered_devices.len(), 0);
+
+        let nomatch_rule = "DRIVER!=\"some driver\"";
+        let udev_filters = parse_udev_rule(nomatch_rule).unwrap();
+        let udev_filters_ref: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices =
+            filter_by_remaining_udev_filters(vec![mock_device], udev_filters_ref);
+        assert_eq!(filtered_devices.len(), 1);
+    }
+
+    // Test that hierarchy fields also check for match with device OR parent device
+    #[test]
+    fn test_filter_by_hierarchy_field() {
+        let rule = "SUBSYSTEMS==\"usb\", ATTRS{someKey}==\"value\", TAGS==\"tag[0-9]*\", KERNELS==\"usb[0-9]*\", DRIVERS==\"some driver\"";
+        let mut attributes = std::collections::HashMap::new();
+        attributes.insert("someKey".to_string(), "value".to_string());
+        let mut properties = std::collections::HashMap::new();
+        properties.insert("TAGS".to_string(), "tag0:middle_tag:tag".to_string());
+        let mock_device = create_mock_device(
+            "/devices/path/usb",
+            "/dev/node",
+            "usb1",
+            properties,
+            attributes,
+            Some(OsStr::new("some driver")),
+            Some(OsStr::new("usb")),
+            None,
+        );
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices =
+            filter_by_remaining_udev_filters(vec![mock_device.clone()], udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(get_sysname(&filtered_devices[0]).to_str().unwrap(), "usb1");
+
+        let rule = "SUBSYSTEMS==\"usb\", ATTRS{someKey}==\"value\", TAGS==\"tag[0-9]*\", KERNELS==\"usb[0-9]*\", DRIVERS!=\"some driver\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(vec![mock_device], udev_filters);
+        assert_eq!(filtered_devices.len(), 0);
+    }
+
+    #[test]
+    fn test_filter_by_subsystems() {
+        let rule = "SUBSYSTEMS==\"usb\"";
+        let mock_usb_grandparent = create_mock_device(
+            "/devices/path/usb",
+            "/dev/node",
+            "usb-grandparent",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("usb")),
+            None,
+        );
+
+        let mock_usb_parent = create_mock_device(
+            "/devices/path/usb",
+            "/dev/node",
+            "usb-parent",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            None,
+            Some(mock_usb_grandparent.clone()),
+        );
+        let mock_pci_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-parent",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("pci")),
+            None,
+        );
+        let mock_device_pci_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-child",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("random")),
+            Some(mock_pci_parent),
+        );
+        let mock_device_usb_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-child",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("driver")),
+            Some(OsStr::new("random")),
+            Some(mock_usb_parent.clone()),
+        );
+        let devices = vec![mock_device_pci_child, mock_device_usb_child];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+
+        let rule = "SUBSYSTEMS==\"pci\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "pci-child"
+        );
+
+        let rule = "SUBSYSTEMS!=\"pci\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+    }
+
+    #[test]
+    fn test_filter_by_attrs() {
+        let rule = "ATTRS{someKey}==\"value\"";
+        let mut attributes = std::collections::HashMap::new();
+        attributes.insert("someKey".to_string(), "value".to_string());
+        let mut attributes2 = std::collections::HashMap::new();
+        attributes2.insert("someKey".to_string(), "value2".to_string());
+        let mock_usb_grandparent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-grandparent",
+            HashMap::new(),
+            attributes,
+            None,
+            None,
+            None,
+        );
+        let mock_usb_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-parent",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("usb")),
+            Some(mock_usb_grandparent),
+        );
+        let mock_pci_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-parent",
+            HashMap::new(),
+            attributes2,
+            None,
+            Some(OsStr::new("pci")),
+            None,
+        );
+        let mock_device_pci_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-child",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("random")),
+            Some(mock_pci_parent),
+        );
+        let mock_device_usb_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-child",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("driver")),
+            Some(OsStr::new("random")),
+            Some(mock_usb_parent),
+        );
+        let devices = vec![mock_device_pci_child, mock_device_usb_child];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+
+        let rule = "ATTRS{someKey}!=\"value\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices, udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "pci-child"
+        );
+    }
+
+    #[test]
+    fn test_filter_by_drivers() {
+        let rule = "DRIVERS==\"some driver\"";
+        let mock_usb_grandparent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb1",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("some driver")),
+            Some(OsStr::new("usb")),
+            None,
+        );
+        let mock_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "random",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            None,
+            Some(mock_usb_grandparent),
+        );
+        let mock_pci_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci1",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("pci")),
+            None,
+        );
+        let mock_device_pci_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-child",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("random")),
+            Some(mock_pci_parent),
+        );
+        let mock_device_usb_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-child",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("driver")),
+            Some(OsStr::new("random")),
+            Some(mock_parent),
+        );
+        let devices = vec![mock_device_pci_child, mock_device_usb_child];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+
+        let rule = "DRIVERS!=\"some driver\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices, udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "pci-child"
+        );
+    }
+
+    #[test]
+    fn test_filter_by_tags() {
+        let rule = "TAGS==\"tag[0-9]*\"";
+        let mut properties = std::collections::HashMap::new();
+        properties.insert("TAGS".to_string(), "tag0:middle_tag:tag".to_string());
+        let mock_usb_grandparent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb1",
+            properties,
+            HashMap::new(),
+            Some(OsStr::new("some driver")),
+            Some(OsStr::new("usb")),
+            None,
+        );
+        let mock_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "random",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            None,
+            Some(mock_usb_grandparent),
+        );
+        let mock_pci_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci1",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("pci")),
+            None,
+        );
+        let mock_device_pci_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-child",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("random")),
+            Some(mock_pci_parent),
+        );
+        let mock_device_usb_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-child",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("driver")),
+            Some(OsStr::new("random")),
+            Some(mock_parent),
+        );
+        let devices = vec![mock_device_pci_child, mock_device_usb_child];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+
+        let rule = "TAGS!=\"tag0\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices, udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "pci-child"
+        );
+    }
+
+    #[test]
+    fn test_filter_by_kernels() {
+        let rule = "KERNELS==\"usb[0-9]*\"";
+        let mock_usb_grandparent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb1",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("usb")),
+            None,
+        );
+        let mock_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "random",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            None,
+            Some(mock_usb_grandparent),
+        );
+        let mock_pci_parent = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci1",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("pci")),
+            None,
+        );
+        let mock_device_pci_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "pci-child",
+            HashMap::new(),
+            HashMap::new(),
+            None,
+            Some(OsStr::new("random")),
+            Some(mock_pci_parent),
+        );
+        let mock_device_usb_child = create_mock_device(
+            "/devices/path",
+            "/dev/node",
+            "usb-child",
+            HashMap::new(),
+            HashMap::new(),
+            Some(OsStr::new("driver")),
+            Some(OsStr::new("random")),
+            Some(mock_parent),
+        );
+        let devices = vec![mock_device_pci_child, mock_device_usb_child];
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices.clone(), udev_filters);
+
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "usb-child"
+        );
+
+        let rule = "KERNELS!=\"usb[0-9]*\"";
+        let udev_filters = parse_udev_rule(rule).unwrap();
+        let udev_filters: Vec<&UdevFilter> = udev_filters.iter().collect();
+        let filtered_devices = filter_by_remaining_udev_filters(devices, udev_filters);
+        assert_eq!(filtered_devices.len(), 1);
+        assert_eq!(
+            get_sysname(&filtered_devices[0]).to_str().unwrap(),
+            "pci-child"
+        );
+    }
+
+    // Only tests that proper match calls were made
+    #[test]
+    fn test_do_parse_and_find() {
+        let rule = "KERNEL==\"video[0-9]*\",ATTR{someKey}!=\"1000\", SUBSYSTEM==\"video4linux\"";
+        let mut mock = MockEnumerator::new();
+        mock.expect_match_subsystem()
+            .times(1)
+            .withf(move |value: &str| value == "video4linux")
+            .returning(|_| Ok(()));
+        mock.expect_nomatch_attribute()
+            .times(1)
+            .withf(move |key: &str, value: &str| key == "someKey" && value == "1000")
+            .returning(|_, _| Ok(()));
+        mock.expect_match_sysname()
+            .times(1)
+            .withf(move |value: &str| value == "video[0-9]*")
+            .returning(|_| Ok(()));
+        mock.expect_scan_devices().times(1).returning(|| {
+            let mut enumerator = create_enumerator();
+            enumerator
+                .match_attribute("random", "attribute_that_should_not_be_found")
+                .unwrap();
+            enumerator.scan_devices()
+        });
+        assert_eq!(do_parse_and_find(mock, rule).unwrap().len(), 0);
+    }
+
+    #[test]
+    fn test_get_device_relatives() {
+        let device_path = "/devices/pci0/usb0/0-1/0-1.1";
+        let children_paths = vec![
+            "/devices/pci0/usb0/0-1/0-1.1/0-1.1:1.0/video4linux/video0".to_string(),
+            "/devices/pci0/usb0/0-1/0-1.1/0-1.1:1.0/video4linux/video1".to_string(),
+            "/devices/pci0/usb0/0-1/0-1.1/0-1.1:1.1".to_string(),
+        ];
+        let unrelated_paths = vec![
+            "/devices/pci0/usb0/0-1/0-1.2/0-1.2:1.1".to_string(),
+            "/devices/pci0/usb1/0-1/0-1.2/0-1.2:1.1".to_string(),
+        ];
+        let parent_path = vec!["/devices/pci0/usb0".to_string()];
+        let empty: Vec<String> = Vec::new();
+
+        // Test with children devices
+        let (parent_0, childrens_0) = get_device_relatives(
+            device_path,
+            unrelated_paths.iter().chain(children_paths.iter()),
+        );
+        assert!(parent_0.is_none());
+        assert_eq!(childrens_0, children_paths);
+
+        // Test with no possible relative devices
+        let (parent_1, childrens_1) = get_device_relatives(device_path, empty.iter());
+        assert!(parent_1.is_none());
+        assert_eq!(childrens_1, empty);
+
+        // Test with no related devices
+        let (parent_2, childrens_2) = get_device_relatives(device_path, unrelated_paths.iter());
+        assert!(parent_2.is_none());
+        assert_eq!(childrens_2, empty);
+
+        // Test with a parent device
+        let (parent_4, childrens_4) =
+            get_device_relatives(device_path, children_paths.iter().chain(parent_path.iter()));
+        assert_eq!(parent_4, Some(parent_path[0].clone()));
+        assert_eq!(childrens_4, empty);
+    }
+
+    #[test]
+    fn test_insert_device_with_relatives() {
+        let mut devpaths: HashMap<String, HashSet<DeviceProperties>> = HashMap::default();
+        let related_devices = vec![
+            ("/sys/device/parent".to_string(), None),
+            (
+                "/sys/device/parent/child1".to_string(),
+                Some("/dev/dev1".to_string()),
+            ),
+            (
+                "/sys/device/parent/child1/child2".to_string(),
+                Some("/dev/dev2".to_string()),
+            ),
+        ];
+        let unrelated_device = (
+            "/sys/device/other".to_string(),
+            Some("/dev/other".to_string()),
+        );
+
+        // Add first device
+        insert_device_with_relatives(&mut devpaths, related_devices[1].clone());
+        assert_eq!(
+            devpaths,
+            HashMap::from([(
+                related_devices[1].0.clone(),
+                HashSet::from([related_devices[1].clone()])
+            )])
+        );
+
+        // Add its child
+        insert_device_with_relatives(&mut devpaths, related_devices[2].clone());
+        assert_eq!(
+            devpaths,
+            HashMap::from([(
+                related_devices[1].0.clone(),
+                HashSet::from([related_devices[1].clone(), related_devices[2].clone()])
+            )])
+        );
+
+        // Add its parent
+        insert_device_with_relatives(&mut devpaths, related_devices[0].clone());
+        assert_eq!(
+            devpaths,
+            HashMap::from([(
+                related_devices[0].0.clone(),
+                HashSet::from([
+                    related_devices[1].clone(),
+                    related_devices[2].clone(),
+                    related_devices[0].clone()
+                ])
+            )])
+        );
+
+        // Add it again
+        insert_device_with_relatives(&mut devpaths, related_devices[0].clone());
+        assert_eq!(
+            devpaths,
+            HashMap::from([(
+                related_devices[0].0.clone(),
+                HashSet::from([
+                    related_devices[1].clone(),
+                    related_devices[2].clone(),
+                    related_devices[0].clone()
+                ])
+            )])
+        );
+
+        // Add a completely unrelated device
+        insert_device_with_relatives(&mut devpaths, unrelated_device.clone());
+        assert_eq!(
+            devpaths,
+            HashMap::from([
+                (
+                    related_devices[0].0.clone(),
+                    HashSet::from([
+                        related_devices[1].clone(),
+                        related_devices[2].clone(),
+                        related_devices[0].clone()
+                    ])
+                ),
+                (
+                    unrelated_device.0.clone(),
+                    HashSet::from([unrelated_device])
+                ),
+            ])
+        );
+    }
+}
diff --git a/crates/udev/src/lib.rs b/crates/udev/src/lib.rs
new file mode 100644
index 0000000..433ca4f
--- /dev/null
+++ b/crates/udev/src/lib.rs
@@ -0,0 +1,21 @@
+extern crate pest;
+#[macro_use]
+extern crate pest_derive;
+extern crate udev;
+#[macro_use]
+extern crate serde_derive;
+
+pub mod discovery_handler;
+mod discovery_impl;
+mod wrappers;
+
+/// Name of environment variable that is set in udev brokers. Contains devnode for udev device
+/// the broker should use.
+pub const UDEV_DEVNODE_LABEL_ID: &str = "UDEV_DEVNODE";
+/// Name of environment variable that is set in udev brokers. Contains devpath for udev device
+/// the broker should connect to.
+pub const UDEV_DEVPATH_LABEL_ID: &str = "UDEV_DEVPATH";
+/// Name that udev discovery handlers use when registering with the Agent
+pub const DISCOVERY_HANDLER_NAME: &str = "udev";
+/// Defines whether this discovery handler discovers local devices on nodes rather than ones visible to multiple nodes
+pub const SHARED: bool = false;
diff --git a/crates/udev/src/udev_rule_grammar.pest b/crates/udev/src/udev_rule_grammar.pest
new file mode 100644
index 0000000..37f3e09
--- /dev/null
+++ b/crates/udev/src/udev_rule_grammar.pest
@@ -0,0 +1,66 @@
+/// Grammar for parsing udev rules
+WHITESPACE = _{ " " }
+// if remove *, will throw error when empty string
+udev_rule = { SOI ~ (inner_rule)* ~ EOI }
+inner_rule = { udev_filter ~ ("," ~ udev_filter)* }
+udev_filter = ${ field ~ operation ~ quoted_value }
+field = { unsupported_field | attributes | attribute | devpath | drivers | driver | kernels | kernel | property | subsystems | subsystem | tags | tag }
+action_field = { label | goto | group | import | options | owner | mode | run | wait_for }
+unsupported_field = { action | action_field | constant | name | program | result | seclabel | symlink | sysctl | test }
+bounded_key = {"{" ~ key ~ "}"}
+// remove ! on key and value rules if want to allow spaces between ""/{} and key/value (ie: { DEVPATH } vs {DEVPATH})
+key = !{ (ASCII_ALPHANUMERIC | SPACE_SEPARATOR | "$" | "." | "_" | "*" | "?" | "[" | "]" | "-" | "|" | "\\" | "/" )* }
+value = !{ (ASCII_ALPHANUMERIC | SPACE_SEPARATOR | "$" | "." | "_" | "*" | ":" | "?" | "[" | "]" | "-" | "|" | "\\" | "/" | "%" | "{"| "}")* } 
+allowed_value_characters = { ASCII_DIGIT | ASCII_ALPHA | MARK | PUNCTUATION | SYMBOL | SPACE_SEPARATOR }
+quoted_value = {"\"" ~ value ~ "\""}
+operation = { equality | inequality | action_operation }
+action_operation = { addition | removal | final_assignment | assignment }
+equality = { "==" }
+inequality = { "!=" }
+assignment = { "=" }
+addition = { "+=" }
+removal = { "-=" }
+final_assignment = { ":=" } 
+ 
+// Supported fields
+attributes = { "ATTRS" ~ bounded_key }
+attribute = { "ATTR" ~ bounded_key } // {key}
+devpath = { "DEVPATH" }
+drivers = { "DRIVERS" }
+driver = { "DRIVER" }
+kernels = { "KERNELS" }
+kernel = { "KERNEL" }
+property = { "ENV" ~ bounded_key } // {key}
+subsystems = { "SUBSYSTEMS" }
+subsystem = { "SUBSYSTEM" }
+tags = { "TAGS" }
+tag = { "TAG" }
+
+
+//
+// Unsupported fields
+//
+// Unsupported action only fields
+goto = { "GOTO" }
+group = { "GROUP" }
+label = { "LABEL" }
+import = { "IMPORT" ~ bounded_key } // {type}  where type = program | builtin | file | db | cmdline | parent
+mode = { "MODE" }
+options = { "OPTIONS" }
+owner = { "OWNER" }
+run = { "RUN" ~ bounded_key } // {type} where type = program | builtin
+wait_for = { "WAIT_FOR" }
+
+// Other unsupported match (and action) fields
+action = { "ACTION" }
+constant = { "CONST" ~ bounded_key } // {key} where key = "arch" | "virt"
+name = { "NAME" }
+program = { "PROGRAM" }
+result = { "RESULT" }
+seclabel = { "SECLABEL" ~ bounded_key } // {module}
+symlink = { "SYMLINK" }
+sysctl = { "SYSCTL" ~ bounded_key } // {kernel key}
+test = { "TEST" ~ bounded_key } // {octal mode mask}
+
+
+
diff --git a/crates/udev/src/wrappers.rs b/crates/udev/src/wrappers.rs
new file mode 100644
index 0000000..ea3e450
--- /dev/null
+++ b/crates/udev/src/wrappers.rs
@@ -0,0 +1,146 @@
+pub mod udev_device {
+    extern crate udev;
+    use std::{ffi::OsStr, path::Path};
+
+    /// Extension Trait for udev::Device. Enables creation of MockDevice for testing.
+    pub trait DeviceExt: Sized {
+        fn mockable_devpath(&self) -> &OsStr;
+        fn mockable_devnode(&self) -> Option<&Path>;
+        fn mockable_sysname(&self) -> &OsStr;
+        fn mockable_property_value(&self, property: &str) -> Option<&OsStr>;
+        fn mockable_attribute_value(&self, attribute: &str) -> Option<&OsStr>;
+        fn mockable_driver(&self) -> Option<&OsStr>;
+        fn mockable_subsystem(&self) -> Option<&OsStr>;
+        fn mockable_parent(&self) -> Option<Self>
+        where
+            Self: Sized;
+    }
+
+    impl DeviceExt for udev::Device {
+        fn mockable_devpath(&self) -> &OsStr {
+            self.devpath()
+        }
+        fn mockable_devnode(&self) -> Option<&Path> {
+            self.devnode()
+        }
+        fn mockable_sysname(&self) -> &OsStr {
+            self.sysname()
+        }
+        fn mockable_property_value(&self, property: &str) -> Option<&OsStr> {
+            self.property_value(property)
+        }
+        fn mockable_attribute_value(&self, attribute: &str) -> Option<&OsStr> {
+            self.attribute_value(attribute)
+        }
+        fn mockable_driver(&self) -> Option<&OsStr> {
+            self.driver()
+        }
+        fn mockable_subsystem(&self) -> Option<&OsStr> {
+            self.subsystem()
+        }
+        fn mockable_parent(&self) -> Option<Self> {
+            self.parent()
+        }
+    }
+
+    pub fn get_devpath(device: &impl DeviceExt) -> &OsStr {
+        device.mockable_devpath()
+    }
+
+    pub fn get_devnode(device: &impl DeviceExt) -> Option<&Path> {
+        device.mockable_devnode()
+    }
+
+    pub fn get_sysname(device: &impl DeviceExt) -> &OsStr {
+        device.mockable_sysname()
+    }
+
+    pub fn get_property_value<'a>(device: &'a impl DeviceExt, property: &str) -> Option<&'a OsStr> {
+        device.mockable_property_value(property)
+    }
+
+    pub fn get_attribute_value<'a>(
+        device: &'a impl DeviceExt,
+        attribute: &str,
+    ) -> Option<&'a OsStr> {
+        device.mockable_attribute_value(attribute)
+    }
+
+    pub fn get_driver(device: &impl DeviceExt) -> Option<&OsStr> {
+        device.mockable_driver()
+    }
+
+    pub fn get_subsystem(device: &impl DeviceExt) -> Option<&OsStr> {
+        device.mockable_subsystem()
+    }
+
+    pub fn get_parent(device: &impl DeviceExt) -> Option<impl DeviceExt> {
+        device.mockable_parent()
+    }
+}
+
+pub mod udev_enumerator {
+    extern crate udev;
+    #[cfg(test)]
+    use mockall::{automock, predicate::*};
+
+    /// Wrap udev::Enumerator functions in a trait to enable mocking for testing.
+    #[cfg_attr(test, automock)]
+    pub trait Enumerator {
+        fn match_subsystem(&mut self, value: &str) -> std::io::Result<()>;
+        fn nomatch_subsystem(&mut self, value: &str) -> std::io::Result<()>;
+        fn match_attribute(&mut self, key: &str, value: &str) -> std::io::Result<()>;
+        fn nomatch_attribute(&mut self, key: &str, value: &str) -> std::io::Result<()>;
+        fn match_sysname(&mut self, value: &str) -> std::io::Result<()>;
+        fn match_property(&mut self, key: &str, value: &str) -> std::io::Result<()>;
+        fn match_tag(&mut self, value: &str) -> std::io::Result<()>;
+        fn add_syspath(&mut self, value: &str) -> std::io::Result<()>;
+        fn scan_devices(&mut self) -> std::io::Result<udev::Devices>;
+    }
+
+    pub fn create_enumerator() -> impl Enumerator {
+        EnumeratorImpl::new()
+    }
+
+    pub struct EnumeratorImpl {
+        inner_enumerator: udev::Enumerator,
+    }
+
+    impl EnumeratorImpl {
+        fn new() -> Self {
+            EnumeratorImpl {
+                inner_enumerator: udev::Enumerator::new().unwrap(),
+            }
+        }
+    }
+
+    impl Enumerator for EnumeratorImpl {
+        fn match_subsystem(&mut self, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.match_subsystem(value)
+        }
+        fn nomatch_subsystem(&mut self, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.nomatch_subsystem(value)
+        }
+        fn match_attribute(&mut self, key: &str, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.match_attribute(key, value)
+        }
+        fn nomatch_attribute(&mut self, key: &str, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.nomatch_attribute(key, value)
+        }
+        fn match_sysname(&mut self, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.match_sysname(value)
+        }
+        fn match_property(&mut self, key: &str, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.match_property(key, value)
+        }
+        fn match_tag(&mut self, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.match_tag(value)
+        }
+        fn add_syspath(&mut self, value: &str) -> std::io::Result<()> {
+            self.inner_enumerator.add_syspath(value)
+        }
+        fn scan_devices(&mut self) -> std::io::Result<udev::Devices> {
+            self.inner_enumerator.scan_devices()
+        }
+    }
+}
diff --git a/crates/udev/test/example-unsupported.rules b/crates/udev/test/example-unsupported.rules
new file mode 100644
index 0000000..1a16c2a
--- /dev/null
+++ b/crates/udev/test/example-unsupported.rules
@@ -0,0 +1,22 @@
+RUN{builtin}+="uaccess"
+LABEL="some label"
+GOTO="end"
+IMPORT{program}="v4l_id $devnode"
+OPTIONS="some options"
+OWNER="owner"
+GROUP="group"
+MODE="mode"
+WAIT_FOR="queue/read_q"
+ACTION=="this action"
+NAME=="another_disk"
+SYMLINK+="v4l/by-id/$env{ID_BUS}-$env{ID_SERIAL}-video-index$attr{index}"
+TEST{key}=="value
+PROGRAM=="some program"
+RESULT=="some result"
+CONST{key}=="value"
+SECLABEL{key}=="value
+SYSCTL{key}=="value"
+TAG-="uaccess"
+TAG+="uaccess"
+TAG="uaccess"
+TAG:="uaccess"
\ No newline at end of file
diff --git a/crates/udev/test/example.rules b/crates/udev/test/example.rules
new file mode 100644
index 0000000..1488817
--- /dev/null
+++ b/crates/udev/test/example.rules
@@ -0,0 +1,12 @@
+1 SUBSYSTEM=="video4linux"
+2 KERNEL=="video*", ENV{ID_SERIAL}=="?*"
+3 ENV{ID_PATH}=="?*", KERNEL=="video*|vbi*", DRIVER=="some driver"
+2 TAG=="uaccess",ENV{MAJOR}!=""
+2 KERNEL=="video[0-9]", DEVPATH!="/sys/path/to/device"
+2 ATTR{idProduct}=="1900", ENV{ID_MM_ERICSSON_MBM}=="1"
+2 ATTR{idVendor}=="0bdd", ENV{a name}=="Keyboard that has a mouse"
+2 KERNEL=="video[0-9]*", ENV{ID_V4L_CAPABILITIES}==":capture:"
+1 SUBSYSTEMS=="pci"
+2 ATTRS{idVendor}=="0bdd", DRIVERS!="a driver"
+1 TAGS=="uaccess"
+1 KERNELS=="card[0-9]*"
diff --git a/e2e/.gitignore b/e2e/.gitignore
new file mode 100644
index 0000000..f071240
--- /dev/null
+++ b/e2e/.gitignore
@@ -0,0 +1,2 @@
+__pycache__
+.pytest_cache
\ No newline at end of file
diff --git a/e2e/conftest.py b/e2e/conftest.py
new file mode 100644
index 0000000..faa74cd
--- /dev/null
+++ b/e2e/conftest.py
@@ -0,0 +1,104 @@
+from dataclasses import dataclass
+import subprocess
+import pytest
+import kubernetes
+from pathlib import Path
+
+from helpers import save_akri_logs
+
+
+def pytest_addoption(parser):
+    parser.addoption(
+        "--distribution", action="store", help="Specify distribution to use"
+    )
+    parser.addoption("--test-version", action="store", help="version to test")
+    parser.addoption(
+        "--local-tag", action="store", default="pr", help="tag for local images"
+    )
+    parser.addoption("--use-local", action="store_true", help="use local images if set")
+    parser.addoption("--release", action="store_true", help="use released helm chart")
+
+
+@dataclass
+class Distribution:
+    name: str
+    kubeconfig: Path
+    kubectl: str
+
+
+@pytest.fixture(scope="session")
+def distribution_config(pytestconfig):
+    distribution = pytestconfig.getoption("--distribution", None)
+    if distribution == "k3s":
+        yield Distribution("k3s", Path.home() / ".kube/config", "kubectl")
+    elif distribution == "k8s":
+        yield Distribution("k8s", Path.home() / ".kube/config", "kubectl")
+    elif distribution == "microk8s":
+        yield Distribution("microk8s", Path.home() / ".kube/config", "kubectl")
+    elif distribution is None:
+        pytest.exit(
+            "Please provide a kubernetes distribution via '--distribution' flag"
+        )
+    else:
+        pytest.exit(
+            "Wrong distribution provided, valid values are 'k3s', 'k8s' or 'microk8s'"
+        )
+
+
+@pytest.fixture(scope="session", autouse=True)
+def kube_client(distribution_config):
+    kubernetes.config.load_kube_config(str(distribution_config.kubeconfig))
+    return kubernetes.client.ApiClient()
+
+
+@pytest.fixture(scope="session")
+def akri_version(pytestconfig):
+    local_version = (Path(__file__).parent / "../version.txt").read_text().strip()
+    version = pytestconfig.getoption("--test-version")
+    if version is None:
+        version = local_version
+    return version
+
+
+@pytest.fixture(scope="module", autouse=True)
+def install_akri(request, distribution_config, pytestconfig, akri_version):
+    discovery_handlers = getattr(request.module, "discovery_handlers", [])
+
+    release = pytestconfig.getoption("--release", False)
+    subprocess.run(["helm", "repo", "update"], check=True)
+    helm_install_command = ["helm", "install", "akri"]
+
+    chart_name = "akri"
+    helm_install_command.extend(
+        [
+            f"akri-helm-charts/{chart_name}"
+        ]
+    )
+
+    for discovery_handler in discovery_handlers:
+        if pytestconfig.getoption("--use-local"):
+            local_tag = pytestconfig.getoption("--local-tag", "pr")
+            helm_install_command.extend(
+                [
+                    "--set",
+                    f"{discovery_handler}.discovery.image.pullPolicy=Never,"
+                    f"{discovery_handler}.discovery.image.tag={local_tag}"
+                ])
+        helm_install_command.extend(
+            [
+                "--set",
+                f"{discovery_handler}.discovery.enabled=true",
+            ]
+        )
+    helm_install_command.extend(
+        [
+            "--set",
+            f"kubernetesDistro={distribution_config.name}",
+            "--debug",
+            "--atomic",
+        ]
+    )
+    subprocess.run(helm_install_command, check=True)
+    yield
+    save_akri_logs(getattr(request.module, "__name__"))
+    subprocess.run(["helm", "delete", "akri", "--wait"])
diff --git a/e2e/helpers.py b/e2e/helpers.py
new file mode 100644
index 0000000..998493c
--- /dev/null
+++ b/e2e/helpers.py
@@ -0,0 +1,165 @@
+import time
+
+import kubernetes
+from pathlib import Path
+
+
+def get_pods_logs(label_selector, since=None):
+    v1_core = kubernetes.client.CoreV1Api()
+    pods = v1_core.list_namespaced_pod("default", label_selector=label_selector).items
+    return {
+        pod.metadata.name: v1_core.read_namespaced_pod_log(
+            pod.metadata.name, "default", since_seconds=since
+        )
+        for pod in pods
+    }
+
+
+def get_agent_logs(since=None):
+    return get_pods_logs("app.kubernetes.io/name=akri-agent", since=since)
+
+
+def save_akri_logs(prefix):
+    directory = Path("/tmp/logs")
+    directory.mkdir(parents=True, exist_ok=True)
+    logs = get_pods_logs("app.kubernetes.io/part-of=akri")
+    for pod, content in logs.items():
+        with open(directory / f"{prefix}-{pod}.log", "a") as f:
+            f.write(content)
+
+
+def check_akri_is_healthy(handlers):
+    v1_core = kubernetes.client.CoreV1Api()
+    for component in [f"{h}-discovery" for h in handlers] + ["agent", "controller"]:
+        if component == "debugEcho-discovery":
+            component = "debug-echo-discovery"
+        pods = v1_core.list_namespaced_pod(
+            "default",
+            label_selector=f"app.kubernetes.io/name=akri-{component}",
+            field_selector="status.phase=Running",
+        )
+        assert len(pods.items) > 0, f"{component} is not running"
+
+
+def assert_broker_pods_running(config_name, count, timeout_seconds=400):
+    v1_core = kubernetes.client.CoreV1Api()
+    field_selector = (
+        "status.phase=Running" if count > 0 else "status.phase!=Terminating"
+    )
+    pods = v1_core.list_namespaced_pod(
+        "default",
+        label_selector=f"akri.sh/configuration={config_name}",
+        field_selector=field_selector,
+    )
+    version = pods.metadata.resource_version
+    pods_set = {pod.metadata.name for pod in pods.items}
+    if len(pods_set) == count:
+        return
+    w = kubernetes.watch.Watch()
+    for e in w.stream(
+        v1_core.list_namespaced_pod,
+        "default",
+        label_selector=f"akri.sh/configuration={config_name}",
+        field_selector=field_selector,
+        resource_version=version,
+        timeout_seconds=timeout_seconds,
+    ):
+        if e["type"] == "DELETED":
+            pods_set.discard(e["object"].metadata.name)
+        else:
+            pods_set.add(e["object"].metadata.name)
+        if len(pods_set) == count:
+            w.stop()
+            return
+    raise AssertionError(f"{count} != {len(pods_set)}")
+
+
+def assert_svc_present(config_name, instance_level, count, timeout_seconds=400):
+    v1_core = kubernetes.client.CoreV1Api()
+    label_selector = (
+        "akri.sh/instance" if instance_level else f"akri.sh/configuration={config_name}"
+    )
+    svcs = v1_core.list_namespaced_service("default", label_selector=label_selector)
+    version = svcs.metadata.resource_version
+    if instance_level:
+        svcs_set = {
+            svc.metadata.name
+            for svc in svcs.items
+            if svc.metadata.labels["akri.sh/instance"].startswith(f"{config_name}-")
+        }
+    else:
+        svcs_set = {svc.metadata.name for svc in svcs.items}
+
+    if count == len(svcs_set):
+        return
+    w = kubernetes.watch.Watch()
+    for e in w.stream(
+        v1_core.list_namespaced_service,
+        "default",
+        label_selector=label_selector,
+        resource_version=version,
+        timeout_seconds=timeout_seconds,
+    ):
+        if instance_level and not e["object"].metadata.labels[
+            "akri.sh/instance"
+        ].startswith(f"{config_name}-"):
+            continue
+        if e["type"] == "DELETED":
+            svcs_set.discard(e["object"].metadata.name)
+        else:
+            svcs_set.add(e["object"].metadata.name)
+        if len(svcs_set) == count:
+            w.stop()
+            return
+    raise AssertionError(f"{len(svcs_set)} != {count}")
+
+
+def assert_akri_instances_present(
+    akri_version, config_name, count, timeout_seconds=400
+):
+    version = f'v{akri_version.split(".")[0]}'
+    v1_custom = kubernetes.client.CustomObjectsApi()
+
+    def get_instances():
+        instances = v1_custom.list_namespaced_custom_object(
+            "akri.sh", version, "default", "instances"
+        )
+        resource_version = instances["metadata"]["resourceVersion"]
+        instances = {
+            instance["metadata"]["name"]
+            for instance in instances["items"]
+            if instance["spec"]["configurationName"] == config_name
+        }
+        return instances, resource_version
+
+    instances, resource_version = get_instances()
+    if len(instances) == count:
+        # Check it is not a transient state
+        time.sleep(1)
+        instances, resource_version = get_instances()
+        if len(instances) == count:
+            return
+    w = kubernetes.watch.Watch()
+    for e in w.stream(
+        v1_custom.list_namespaced_custom_object,
+        "akri.sh",
+        version,
+        "default",
+        "instances",
+        timeout_seconds=timeout_seconds,
+        resource_version=resource_version,
+    ):
+        if e["raw_object"]["spec"]["configurationName"] != config_name:
+            continue
+        if e["type"] == "DELETED":
+            instances.discard(e["raw_object"]["metadata"]["name"])
+        else:
+            instances.add(e["raw_object"]["metadata"]["name"])
+        if len(instances) == count:
+            # Check it is not a transient state
+            time.sleep(1)
+            instances, _ = get_instances()
+            if len(instances) == count:
+                w.stop()
+                return
+    raise AssertionError(f"{count} != {len(instances)}")
diff --git a/e2e/poetry.lock b/e2e/poetry.lock
new file mode 100644
index 0000000..03514b9
--- /dev/null
+++ b/e2e/poetry.lock
@@ -0,0 +1,499 @@
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
+
+[[package]]
+name = "cachetools"
+version = "5.3.1"
+description = "Extensible memoizing collections and decorators"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "cachetools-5.3.1-py3-none-any.whl", hash = "sha256:95ef631eeaea14ba2e36f06437f36463aac3a096799e876ee55e5cdccb102590"},
+    {file = "cachetools-5.3.1.tar.gz", hash = "sha256:dce83f2d9b4e1f732a8cd44af8e8fab2dbe46201467fc98b3ef8f269092bf62b"},
+]
+
+[[package]]
+name = "certifi"
+version = "2023.5.7"
+description = "Python package for providing Mozilla's CA Bundle."
+optional = false
+python-versions = ">=3.6"
+files = [
+    {file = "certifi-2023.5.7-py3-none-any.whl", hash = "sha256:c6c2e98f5c7869efca1f8916fed228dd91539f9f1b444c314c06eef02980c716"},
+    {file = "certifi-2023.5.7.tar.gz", hash = "sha256:0f0d56dc5a6ad56fd4ba36484d6cc34451e1c6548c61daad8c320169f91eddc7"},
+]
+
+[[package]]
+name = "charset-normalizer"
+version = "3.1.0"
+description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
+optional = false
+python-versions = ">=3.7.0"
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+version = "2.31.0"
+description = "Python HTTP for Humans."
+optional = false
+python-versions = ">=3.7"
+files = [
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+charset-normalizer = ">=2,<4"
+idna = ">=2.5,<4"
+urllib3 = ">=1.21.1,<3"
+
+[package.extras]
+socks = ["PySocks (>=1.5.6,!=1.5.7)"]
+use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
+
+[[package]]
+name = "requests-oauthlib"
+version = "1.3.1"
+description = "OAuthlib authentication support for Requests."
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+files = [
+    {file = "requests-oauthlib-1.3.1.tar.gz", hash = "sha256:75beac4a47881eeb94d5ea5d6ad31ef88856affe2332b9aafb52c6452ccf0d7a"},
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+requests = ">=2.0.0"
+
+[package.extras]
+rsa = ["oauthlib[signedtoken] (>=3.0.0)"]
+
+[[package]]
+name = "rsa"
+version = "4.9"
+description = "Pure-Python RSA implementation"
+optional = false
+python-versions = ">=3.6,<4"
+files = [
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+
+[[package]]
+name = "setuptools"
+version = "67.8.0"
+description = "Easily download, build, install, upgrade, and uninstall Python packages"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "setuptools-67.8.0-py3-none-any.whl", hash = "sha256:5df61bf30bb10c6f756eb19e7c9f3b473051f48db77fddbe06ff2ca307df9a6f"},
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+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pip-run (>=8.8)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing-integration = ["build[virtualenv]", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
+
+[[package]]
+name = "six"
+version = "1.16.0"
+description = "Python 2 and 3 compatibility utilities"
+optional = false
+python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*"
+files = [
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+version = "2.0.1"
+description = "A lil' TOML parser"
+optional = false
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+version = "2.0.3"
+description = "HTTP library with thread-safe connection pooling, file post, and more."
+optional = false
+python-versions = ">=3.7"
+files = [
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+[package.extras]
+brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+secure = ["certifi", "cryptography (>=1.9)", "idna (>=2.0.0)", "pyopenssl (>=17.1.0)", "urllib3-secure-extra"]
+socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
+zstd = ["zstandard (>=0.18.0)"]
+
+[[package]]
+name = "websocket-client"
+version = "1.5.2"
+description = "WebSocket client for Python with low level API options"
+optional = false
+python-versions = ">=3.7"
+files = [
+    {file = "websocket-client-1.5.2.tar.gz", hash = "sha256:c7d67c13b928645f259d9b847ab5b57fd2d127213ca41ebd880de1f553b7c23b"},
+    {file = "websocket_client-1.5.2-py3-none-any.whl", hash = "sha256:f8c64e28cd700e7ba1f04350d66422b6833b82a796b525a51e740b8cc8dab4b1"},
+]
+
+[package.extras]
+docs = ["Sphinx (>=3.4)", "sphinx-rtd-theme (>=0.5)"]
+optional = ["python-socks", "wsaccel"]
+test = ["websockets"]
+
+[metadata]
+lock-version = "2.0"
+python-versions = "^3.10"
+content-hash = "d82f67b975ee77ff34728b6829aa4231627424598842d7c18e9b804246d9da75"
diff --git a/e2e/pyproject.toml b/e2e/pyproject.toml
new file mode 100644
index 0000000..e0fc3a1
--- /dev/null
+++ b/e2e/pyproject.toml
@@ -0,0 +1,20 @@
+[tool.poetry]
+name = "akri-e2e"
+version = "0.10.10"
+description = "Akri end to end test framework"
+authors = ["Nicolas Belouin <nicolas.belouin@suse.com>"]
+license = "Apache 2.0"
+readme = "README.md"
+packages = [{include = "akri_e2e"}]
+
+[tool.poetry.dependencies]
+python = "^3.10"
+pytest = "^7.3.1"
+kubernetes = "^26.1.0"
+pyyaml = "^6.0"
+faker = "^18.10.1"
+
+
+[build-system]
+requires = ["poetry-core"]
+build-backend = "poetry.core.masonry.api"
diff --git a/e2e/test_udev.py b/e2e/test_udev.py
new file mode 100644
index 0000000..1e9a900
--- /dev/null
+++ b/e2e/test_udev.py
@@ -0,0 +1,86 @@
+from pathlib import Path
+import time
+
+import yaml
+import pytest
+import kubernetes
+from helpers import assert_akri_instances_present, check_akri_is_healthy
+
+
+discovery_handlers = ["udev"]
+
+
+@pytest.fixture
+def dev_null_config(akri_version):
+    with open(Path(__file__).parent / "yaml/udevDevNullConfiguration.yaml") as f:
+        body = yaml.safe_load(f)
+    client = kubernetes.client.CustomObjectsApi()
+    version = f'v{akri_version.split(".")[0]}'
+    client.create_namespaced_custom_object(
+        "akri.sh", version, "default", "configurations", body
+    )
+
+    yield body["metadata"]["name"]
+
+    client.delete_namespaced_custom_object(
+        "akri.sh", version, "default", "configurations", body["metadata"]["name"]
+    )
+
+
+def test_dev_null_config(akri_version, dev_null_config):
+    check_akri_is_healthy(discovery_handlers)
+    assert_akri_instances_present(akri_version, dev_null_config, 1)
+
+
+@pytest.fixture
+def grouped_config(akri_version):
+    v1_core = kubernetes.client.CoreV1Api()
+    pods = v1_core.list_namespaced_pod(
+        "default",
+        label_selector=f"app.kubernetes.io/name=akri-udev-discovery",
+        field_selector="status.phase=Running",
+    ).items
+    base_command = ["/bin/sh", "-c"]
+    # This command will get the ID_PATH to use to get a device with many "subdevices"
+    command = "grep -hr ID_PATH= /run/udev/data | sort | uniq -cd | sort -n | tail -1 | cut -d '=' -f 2"
+    paths = set()
+    # Get the ID_PATH we can use
+    for pod in pods:
+        resp = kubernetes.stream.stream(
+            v1_core.connect_get_namespaced_pod_exec,
+            pod.metadata.name,
+            "default",
+            command=base_command + [command],
+            stdout=True,
+            stdin=False,
+            stderr=True,
+            tty=False,
+            _preload_content=False,
+        )
+        try:
+            paths.add(resp.readline_stdout(timeout=3).strip())
+        except:
+            pytest.skip(f"No udev ?")
+    if len(paths) == 0:
+        pytest.skip("No groupable devices found")
+    path = paths.pop()
+
+    with open(Path(__file__).parent / "yaml/udevGroupedConfiguration.yaml") as f:
+        body = yaml.safe_load(f)
+    body["spec"]["discoveryHandler"]["discoveryDetails"] = body["spec"][
+        "discoveryHandler"
+    ]["discoveryDetails"].format(path)
+    client = kubernetes.client.CustomObjectsApi()
+    version = f'v{akri_version.split(".")[0]}'
+    client.create_namespaced_custom_object(
+        "akri.sh", version, "default", "configurations", body
+    )
+    yield body["metadata"]["name"]
+    client.delete_namespaced_custom_object(
+        "akri.sh", version, "default", "configurations", body["metadata"]["name"]
+    )
+
+
+def test_grouped_config(akri_version, grouped_config):
+    check_akri_is_healthy(discovery_handlers)
+    assert_akri_instances_present(akri_version, grouped_config, 1)
diff --git a/e2e/yaml/udevDevNullConfiguration.yaml b/e2e/yaml/udevDevNullConfiguration.yaml
new file mode 100644
index 0000000..bda7fba
--- /dev/null
+++ b/e2e/yaml/udevDevNullConfiguration.yaml
@@ -0,0 +1,10 @@
+apiVersion: akri.sh/v0
+kind: Configuration
+metadata:
+  name: akri-udev-dev-null
+spec:
+  discoveryHandler: 
+    name: udev
+    discoveryDetails: |+
+      udevRules:
+        - KERNEL=="null"
\ No newline at end of file
diff --git a/e2e/yaml/udevGroupedConfiguration.yaml b/e2e/yaml/udevGroupedConfiguration.yaml
new file mode 100644
index 0000000..1c218d9
--- /dev/null
+++ b/e2e/yaml/udevGroupedConfiguration.yaml
@@ -0,0 +1,11 @@
+apiVersion: akri.sh/v0
+kind: Configuration
+metadata:
+  name: akri-udev-grouped
+spec:
+  discoveryHandler: 
+    name: udev
+    discoveryDetails: |+
+      groupRecursive: true
+      udevRules:
+        - ENV{{ID_PATH}}=="{}"
\ No newline at end of file
diff --git a/src/main.rs b/src/main.rs
new file mode 100644
index 0000000..ccd4b9a
--- /dev/null
+++ b/src/main.rs
@@ -0,0 +1,22 @@
+use akri_discovery_utils::discovery::discovery_handler::{
+    run_discovery_handler, REGISTER_AGAIN_CHANNEL_CAPACITY,
+};
+use akri_udev::{discovery_handler::DiscoveryHandlerImpl, DISCOVERY_HANDLER_NAME, SHARED};
+use log::info;
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync + 'static>> {
+    env_logger::try_init()?;
+    info!("main - udev discovery handler started");
+    let (register_sender, register_receiver) =
+        tokio::sync::mpsc::channel(REGISTER_AGAIN_CHANNEL_CAPACITY);
+    let discovery_handler = DiscoveryHandlerImpl::new(Some(register_sender));
+    run_discovery_handler(
+        discovery_handler,
+        register_receiver,
+        DISCOVERY_HANDLER_NAME,
+        SHARED,
+    )
+    .await?;
+    info!("main - udev discovery handler ended");
+    Ok(())
+}
diff --git a/version.txt b/version.txt
new file mode 100644
index 0000000..1592299
--- /dev/null
+++ b/version.txt
@@ -0,0 +1 @@
+0.12.16
\ No newline at end of file