diff --git a/bc.lua b/bc.lua
index 3e9c75739aa8..ef5c4f8fea7d 100644
--- a/bc.lua
+++ b/bc.lua
@@ -1,5 +1,6 @@
 local serialization = require("serialization")
 local uuid = require("uuid")
+local computer = require("computer")
 
 local Version = {0, 1}
 
@@ -153,6 +154,47 @@ function BaseControl:finalize(waits, timeout)
     verbs=self:verbs(true),
   }
 
+  if #(waits or {}) ~= 0 then
+    -- Wait for requested names
+    local remaining = {} -- Table with all remaining names as keys
+    local num_remaining = 0  -- Number of remaining names
+    for _, name in ipairs(waits) do
+      if not self:has_noun(name) and not self:has_verb(name) then
+        remaining[name] = true
+        num_remaining = num_remaining + 1
+      end
+    end
+
+    local tstart = computer.uptime()
+    local timeout_remaining = timeout
+    while num_remaining > 0 do
+      if timeout ~= nil then
+        timeout_remaining = timeout - (computer.uptime() - tstart)
+        if timeout_remaining <= 0 then
+          break
+        end
+      end
+      -- Wait until the next register arrives
+      local msg = self.network:pull(function(remote, msg)
+        return msg.ty == Message.Register
+      end, timeout_remaining)
+      if msg ~= nil then
+        for _, noun in ipairs(msg.nouns or {}) do
+          if remaining[noun] then
+            num_remaining = num_remaining - 1
+            remaining[noun] = nil
+          end
+        end
+        for _, verb in ipairs(msg.verbs or {}) do
+          if remaining[verb] then
+            num_remaining = num_remaining - 1
+            remaining[verb] = nil
+          end
+        end
+      end
+    end
+  end
+
   self.live = true
   return self
 end
diff --git a/computer.lua b/computer.lua
new file mode 100644
index 000000000000..030cd0e5757f
--- /dev/null
+++ b/computer.lua
@@ -0,0 +1,10 @@
+local socket = require("socket")
+local computer = {}
+
+local start = socket.gettime()
+
+function computer.uptime()
+  return socket.gettime() - start
+end
+
+return computer
diff --git a/tests/timeout.lua b/tests/timeout.lua
new file mode 100644
index 000000000000..6fcd245466f1
--- /dev/null
+++ b/tests/timeout.lua
@@ -0,0 +1,54 @@
+require("lunit")
+
+local network = require("network")
+local serialization = require("serialization")
+local BaseControl = require("bc")
+
+module("network", package.seeall, lunit.testcase)
+
+function test_timeout_get()
+  local bc = BaseControl:new()
+  local addr = network.get_scene()
+
+  -- Fake-register a noun
+  network.register("TOG1", function()
+  end)
+  network.send(
+    addr,
+    BaseControl.Network.default_port,
+    serialization.serialize{
+      ty=BaseControl.Message.Register,
+      nouns={"tog1"},
+    }
+  )
+
+  assert_error_match("timeout", function()
+    bc:get("tog1", 0.1)
+  end)
+end
+
+function test_timeout_call()
+  local bc = BaseControl:new()
+  local addr = network.get_scene()
+
+  network.register("TOC1", function()
+  end)
+  network.send(
+    addr,
+    BaseControl.Network.default_port,
+    serialization.serialize{
+      ty=BaseControl.Message.Register,
+      verbs={"toc1v"},
+    }
+  )
+
+  assert_error_match("timeout", function()
+    bc:call_sync("toc1v", 0.1)
+  end)
+end
+
+function test_timeout_finalize()
+  local bc1 = BaseControl:new()
+  local addr1 = network.get_scene()
+  bc1:finalize({"to_final1"}, 0.1)
+end