diff --git a/.github/workflows/build_on_push_pr.yml b/.github/workflows/build_on_push_pr.yml
new file mode 100644
index 0000000..af15ef1
--- /dev/null
+++ b/.github/workflows/build_on_push_pr.yml
@@ -0,0 +1,72 @@
+name: Build package on Push or Pull Request
+
+on:
+  push
+  
+jobs:
+  Prepare:
+    name: 'Prepare'
+    uses: Ultimaker/embedded-workflows/.github/workflows/prepare_env.yml@main
+    with:
+      BUILD_DOCKER_CACHE: true
+    secrets: inherit
+
+  Shellcheck:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/embedded-workflows/.github/workflows/shellcheck.yml@main
+    secrets: inherit
+
+  Flake8:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/python-quality-control/.github/workflows/flake8.yml@master
+    with:
+      PARENT_BRANCH: 'main'
+    secrets: inherit
+
+  MyPy:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/python-quality-control/.github/workflows/mypy.yml@master
+    with:
+      PARENT_BRANCH: 'main'
+    secrets: inherit
+
+  PyCodeStyle:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/python-quality-control/.github/workflows/pycodestyle.yml@master
+    with:
+      PARENT_BRANCH: 'main'
+    secrets: inherit
+
+  Vulture:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/python-quality-control/.github/workflows/vulture.yml@master
+    secrets: inherit
+
+  PyTest:
+    name: 'Test'
+    needs: Prepare
+    uses: Ultimaker/python-quality-control/.github/workflows/pytest.yml@master
+    secrets: inherit
+
+  Build:
+    name: 'Build'
+    needs: Prepare
+    uses: Ultimaker/embedded-workflows/.github/workflows/build.yml@main
+    with:
+      RELEASE_VERSION: ${{ needs.Prepare.outputs.RELEASE_VERSION }}
+    secrets: inherit
+
+  Release_Package:
+    name: 'Release'
+    needs: [Prepare, Shellcheck, Build, Flake8, MyPy, PyCodeStyle, Vulture, PyTest]
+    if: ${{ (success() && needs.Prepare.outputs.RELEASE_REPO != 'none') ||
+            (failure() && needs.Build.result == 'success' && needs.Prepare.outputs.RELEASE_REPO == 'packages-dev') }}
+    uses: Ultimaker/embedded-workflows/.github/workflows/release_pkg.yml@main
+    with:
+      RELEASE_REPO: ${{ needs.Prepare.outputs.RELEASE_REPO }}
+    secrets: inherit
diff --git a/.gitignore b/.gitignore
index aba19ad..0fa023f 100644
--- a/.gitignore
+++ b/.gitignore
@@ -7,6 +7,10 @@ __pycache__/
 # Build folder
 _build_armhf/*
 
+# Ignore MyTest data
+.pytest_cache/
+pstats/
+
 # VIM temp files
 *.swp
 
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index c2378b8..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,46 +0,0 @@
-include:
-  - project: ultimaker/embedded/prime-jedi
-    ref: master
-    file: /gitlab_ci_templates/jedi-gitlab-ci-template.yml
-
-complexity:
-  extends:
-    - .jobs_common
-    - .build_test_common
-  stage: test
-  script:
-    - ./ci/complexity_analysis.sh
-
-dead_code:
-  extends:
-    - .jobs_common
-    - .build_test_common
-  stage: test
-  script:
-    - ./ci/dead_code_analysis.sh
-
-style:
-  extends:
-    - .jobs_common
-    - .build_test_common
-  stage: test
-  script:
-    - git fetch origin master/s-line:master/s-line
-    - ./ci/style_analysis.sh
-
-mypy:
-  extends:
-    - .jobs_common
-    - .build_test_common
-  stage: test
-  script:
-    - git fetch origin master/s-line:master/s-line
-    - ./ci/mypy.sh
-
-pytest:
-    extends:
-        - .jobs_common
-        - .build_test_common
-    stage: test
-    script:
-        - ./ci/pytest.sh
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000..81d94f9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "ci"]
+	path = ci
+	url = git@github.com:Ultimaker/python-quality-control.git
diff --git a/build.sh b/build.sh
index 2a5a82a..61910f2 100755
--- a/build.sh
+++ b/build.sh
@@ -27,6 +27,7 @@ build()
 create_debian_package()
 {
     make package
+    cp ./*.deb ../ || true
 }
 
 cleanup()
diff --git a/build_for_ultimaker.sh b/build_for_ultimaker.sh
index 73f0943..ba52c99 100755
--- a/build_for_ultimaker.sh
+++ b/build_for_ultimaker.sh
@@ -2,7 +2,6 @@
 #
 # Copyright (C) 2019 Ultimaker B.V.
 #
-# SPDX-License-Identifier: LGPL-3.0+
 
 set -eu
 
@@ -15,11 +14,8 @@ BUILD_DIR_TEMPLATE="_build_${ARCH}"
 BUILD_DIR="${BUILD_DIR:-${SRC_DIR}/${BUILD_DIR_TEMPLATE}}"
 
 run_env_check="yes"
-run_linters="yes"
-run_tests="yes"
-
-# Run the make_docker.sh script here, within the context of the build_for_ultimaker.sh script
-. ./make_docker.sh ""
+run_verification="yes"
+action="none"
 
 env_check()
 {
@@ -31,25 +27,11 @@ run_build()
     run_in_docker "./build.sh" "${@}"
 }
 
-deliver_pkg()
-{
-    run_in_docker chown -R "$(id -u):$(id -g)" "${DOCKER_WORK_DIR}"
-
-    cp "${BUILD_DIR}/"*".deb" "./"
-}
-
-run_tests()
+run_verification()
 {
     echo "Testing!"
-    # These tests should never fail! See .gitlab-ci.yml
-    ./run_style_analysis.sh || echo "Code Style Analaysis Failed!"
-    ./run_mypy.sh || echo "MYPY Analysis Failed!"
-    ./run_pytest.sh || echo "PyTest failed!"
-}
-
-run_linters()
-{
-    run_shellcheck
+    # These verifications should never fail! See .gitlab-ci.yml
+    ./ci/local/run_all.sh
 }
 
 run_shellcheck()
@@ -67,12 +49,14 @@ usage()
     echo "Usage: ${0} [OPTIONS]"
     echo "  -c   Skip build environment checks"
     echo "  -h   Print usage"
-    echo "  -l   Skip code linting"
-    echo "  -t   Skip tests"
+    echo "  -s   Skip code verification"
 }
 
-while getopts ":chlst" options; do
+while getopts ":a:chls" options; do
     case "${options}" in
+    a)
+        action="${OPTARG}"
+        ;;
     c)
         run_env_check="no"
         ;;
@@ -80,14 +64,8 @@ while getopts ":chlst" options; do
         usage
         exit 0
         ;;
-    l)
-        run_linters="no"
-        ;;
-    t)
-        run_tests="no"
-        ;;
     s)
-        # Ignore for compatibility with other build scripts
+        run_verification="no"
         ;;
     :)
         echo "Option -${OPTARG} requires an argument."
@@ -106,21 +84,40 @@ if ! command -V docker; then
     exit 1
 fi
 
+case "${action}" in
+    shellcheck)
+        run_shellcheck
+        exit 0
+        ;;
+    build)
+        source ./docker_env/make_docker.sh ""
+        run_build
+        exit 0
+        ;;
+    build_docker_cache)
+        DOCKER_BUILD_ONLY_CACHE="yes"
+        source ./docker_env/make_docker.sh ""
+        exit 0
+        ;;
+    none)
+        ;;
+    ?)
+        echo "Invalid action: -${OPTARG}"
+        exit 1
+        ;;
+esac
+
+# Make sure to pass an empty argument to make_docker, else any arguments passed to build_for_ultimaker is passed to make_docker instead!
+source ./docker_env/make_docker.sh ""
 
 if [ "${run_env_check}" = "yes" ]; then
     env_check
 fi
 
-if [ "${run_linters}" = "yes" ]; then
-    run_linters
-fi
-
 run_build "${@}"
 
-if [ "${run_tests}" = "yes" ]; then
-    run_tests
+if [ "${run_verification}" = "yes" ]; then
+    run_verification
 fi
 
-deliver_pkg
-
 exit 0
diff --git a/charon_requirements.txt b/charon_requirements.txt
index 7fc19a2..2441c82 100644
--- a/charon_requirements.txt
+++ b/charon_requirements.txt
@@ -1,8 +1,17 @@
-typing
-pycodestyle
-pytest
-pytest-cov
+flake8==4.0.1
+flake8-polyfill==1.0.2
+flake8-quotes==3.3.1
+mypy==0.910
+pep8-naming==0.12.1
+pytest==6.2.5
+pytest-cov==3.0.0
+pytest-mock==1.10.4
+pytest-raises==0.11
+pytest-profiling==1.7.0
+pytest-raises==0.11
+vulture==2.3
+pycodestyle==2.8.0
+pylint==2.13.9
 coverage
 lizard
-vulture
-mypy
+typing
diff --git a/ci b/ci
new file mode 160000
index 0000000..58cd8b5
--- /dev/null
+++ b/ci
@@ -0,0 +1 @@
+Subproject commit 58cd8b53178ace54427fddd3096703298c875c6d
diff --git a/ci/complexity_analysis.sh b/ci/complexity_analysis.sh
deleted file mode 100755
index ea0dafc..0000000
--- a/ci/complexity_analysis.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/sh
-
-set -eu
-
-# TODO set limits, shouldn't expect 100%
-lizard -Eduplicate Charon -T cyclomatic_complexity=20 #This value shall not increase, target is <= 10
-
-exit 0
diff --git a/ci/dead_code_analysis.sh b/ci/dead_code_analysis.sh
deleted file mode 100755
index d85b145..0000000
--- a/ci/dead_code_analysis.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-
-set -eu
-
-vulture --min-confidence 100 "Charon"
-
-exit 0
diff --git a/ci/mypy.sh b/ci/mypy.sh
deleted file mode 100755
index cbdba03..0000000
--- a/ci/mypy.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/bin/sh
-
-set -eu
-
-MYPY_FILES=$(git diff --name-only --diff-filter=d origin/master/s-line | grep -i .py$ | cat)
-
-if [ -n "${MYPY_FILES}" ] ; then
-    echo "Testing ${MYPY_FILES}"
-    for file in ${MYPY_FILES} ; do
-        echo "Mypying ${file}"
-        mypy --config-file=mypy.ini --follow-imports=skip --cache-dir=/dev/null "${file}"
-    done
-fi
-
-exit 0
diff --git a/ci/pytest.sh b/ci/pytest.sh
deleted file mode 100755
index 2a6f9d1..0000000
--- a/ci/pytest.sh
+++ /dev/null
@@ -1,17 +0,0 @@
-#!/bin/sh
-
-set -eu
-
-py3clean .
-rm -rf ./.cache
-rm -rf ./.pytest_cache
-rm -rf ./.mypy_cache
-rm -rf ./cov_report
-pytest --cov=. --cov-report=html --cov-config=./coverage.ini
-py3clean .
-
-echo "Getting coverage report"
-
-coverage report
-
-exit 0
diff --git a/ci/style_analysis.sh b/ci/style_analysis.sh
deleted file mode 100755
index f17b5ce..0000000
--- a/ci/style_analysis.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-
-set -eu
-
-git diff origin/master/s-line | pycodestyle --config=pycodestyle.ini --diff
-
-exit 0
diff --git a/docker_env/make_docker.sh b/docker_env/make_docker.sh
new file mode 100755
index 0000000..b4a60b9
--- /dev/null
+++ b/docker_env/make_docker.sh
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# Copyright (C) 2019 Ultimaker B.V.
+#
+
+set -eu
+
+DOCKER_BUILD_ONLY_CACHE="${DOCKER_BUILD_ONLY_CACHE:-no}"
+DOCKER_IMAGE_NAME="${DOCKER_IMAGE_NAME:-libcharon}"
+DOCKER_REGISTRY_NAME="ghcr.io/ultimaker/${DOCKER_IMAGE_NAME}"
+
+echo "Checking for image updates"
+
+# Creates a new docker driver named "ultimaker" if it doesnt exist yet.
+docker buildx create --name ultimaker --driver=docker-container 2> /dev/null || true
+
+if [ "${DOCKER_BUILD_ONLY_CACHE}" = "yes" ]; then
+    docker buildx build --builder ultimaker --cache-to "${DOCKER_REGISTRY_NAME}" --cache-from "${DOCKER_REGISTRY_NAME}" -f docker_env/Dockerfile -t "${DOCKER_IMAGE_NAME}" .
+else
+    docker buildx build --builder ultimaker --load --cache-from "${DOCKER_REGISTRY_NAME}" -f docker_env/Dockerfile -t "${DOCKER_IMAGE_NAME}" .
+
+    if ! docker run --rm --privileged "${DOCKER_IMAGE_NAME}" "./buildenv_check.sh"; then
+        echo "Something is wrong with the build environment, please check your Dockerfile."
+        docker image rm "${DOCKER_IMAGE_NAME}"
+        exit 1
+    fi
+fi;
+
+DOCKER_WORK_DIR="${WORKDIR:-/build/libcharon}"
+PREFIX="/usr"
+
+run_in_docker()
+{
+    echo "Running '${*}' in docker."
+    docker run \
+        --rm \
+        --privileged \
+        -u "$(id -u):$(id -g)" \
+        -v "$(pwd):${DOCKER_WORK_DIR}" \
+        -v "$(pwd)/../:${DOCKER_WORK_DIR}/.." \
+        -e "USE_DUMMY_DBUS=true" \
+        -e "PYTHONPATH=:../dbus-interface-lib:../libpalantir:../libPalantir:../charon:../libCharon:../libsmeagol:../libSmeagol:../marvin-service/src:../libLogger:../ultiLib/libs:../mqttHandler" \
+        -e "PREFIX=${PREFIX}" \
+        -e "RELEASE_VERSION=${RELEASE_VERSION:-}" \
+        -e "ONLY_CHECK_STAGED=${ONLY_CHECK_STAGED:-}" \
+        -w "${DOCKER_WORK_DIR}" \
+        "${DOCKER_IMAGE_NAME}" \
+        "${@}"
+}
diff --git a/make_docker.sh b/make_docker.sh
deleted file mode 100755
index 1910475..0000000
--- a/make_docker.sh
+++ /dev/null
@@ -1,42 +0,0 @@
-#!/bin/sh
-#
-# Copyright (C) 2019 Ultimaker B.V.
-#
-# SPDX-License-Identifier: LGPL-3.0+
-
-set -eu
-
-GIT_HASH="$(git rev-parse HEAD)"
-
-DOCKER_IMAGE_NAME="${1:-charon_${GIT_HASH}}"
-
-DOCKER_FILE_CHANGES=$(git diff docker_env/Dockerfile)
-
-if ! docker inspect --type=image "${DOCKER_IMAGE_NAME}" > /dev/null || [ -n "${DOCKER_FILE_CHANGES}" ]; then
-
-    docker build --rm -f docker_env/Dockerfile -t "${DOCKER_IMAGE_NAME}" .
-
-    if ! docker run --rm --privileged "${DOCKER_IMAGE_NAME}" "./buildenv_check.sh"; then
-        echo "Something is wrong with the build environment, please check your Dockerfile."
-        docker image rm "${DOCKER_IMAGE_NAME}"
-        exit 1
-    fi
-fi
-
-DOCKER_WORK_DIR="${WORKDIR:-/build/charon}"
-PREFIX="/usr"
-
-run_in_docker()
-{
-    echo "Running '${*}' in docker."
-    docker run \
-        --rm \
-        --privileged \
-        -v "$(pwd):${DOCKER_WORK_DIR}" \
-        -v "$(pwd)/../:${DOCKER_WORK_DIR}/.." \
-        -e "PREFIX=${PREFIX}" \
-        -e "RELEASE_VERSION=${RELEASE_VERSION:-}" \
-        -w "${DOCKER_WORK_DIR}" \
-        "${DOCKER_IMAGE_NAME}" \
-        "${@}"
-}
diff --git a/run_all_tests.sh b/run_all_tests.sh
index b0a4325..148c483 100755
--- a/run_all_tests.sh
+++ b/run_all_tests.sh
@@ -3,7 +3,7 @@
 set -eu
 
 # Run the make_docker.sh script here, within the context of the run_all_tests.sh script
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 git fetch
 
diff --git a/run_complexity_analysis.sh b/run_complexity_analysis.sh
index 927938f..bb47480 100755
--- a/run_complexity_analysis.sh
+++ b/run_complexity_analysis.sh
@@ -2,7 +2,7 @@
 
 set -eu
 
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 run_in_docker "ci/complexity_analysis.sh" || echo "Failed!"
 
diff --git a/run_dead_code_analysis.sh b/run_dead_code_analysis.sh
index 3a013dd..6266baf 100755
--- a/run_dead_code_analysis.sh
+++ b/run_dead_code_analysis.sh
@@ -2,7 +2,7 @@
 
 set -eu
 
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 run_in_docker "ci/dead_code_analysis.sh" || echo "Failed!"
 
diff --git a/run_mypy.sh b/run_mypy.sh
index 25d84c1..30520ba 100755
--- a/run_mypy.sh
+++ b/run_mypy.sh
@@ -2,7 +2,7 @@
 
 set -eu
 
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 git fetch
 
diff --git a/run_pytest.sh b/run_pytest.sh
index 8c8be68..eb27c81 100755
--- a/run_pytest.sh
+++ b/run_pytest.sh
@@ -2,7 +2,7 @@
 
 set -eu
 
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 run_in_docker "ci/pytest.sh" || echo "Failed!"
 
diff --git a/run_style_analysis.sh b/run_style_analysis.sh
index 9e8df6d..4bb1771 100755
--- a/run_style_analysis.sh
+++ b/run_style_analysis.sh
@@ -2,7 +2,7 @@
 
 set -eu
 
-. ./make_docker.sh
+. ./docker_env/make_docker.sh
 
 git fetch