Merge branch 'release-0.4.0'

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diff --git a/CHANGELOG.md b/CHANGELOG.md
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@@ -1,3 +1,58 @@
+<!---
+Copyright (C) 2019-2020 Robin Krahl <robin.krahl@ireas.org>
+SPDX-License-Identifier: CC0-1.0
+-->
+
+# v0.4.0 (2020-01-02)
+- Remove the `test-pro` and `test-storage` features.
+- Implement `Display` for `Version`.
+- Introduce `DEFAULT_ADMIN_PIN` and `DEFAULT_USER_PIN` constants.
+- Refactor the error handling code:
+  - Implement `std::error::Error` for `CommandError`.
+  - Add the `Error` enum.
+  - Add the `LibraryError` enum and move the library error variants from
+    `CommandError` to `LibraryError`.
+  - Add the `CommunicationError` enum and move the communication error variants
+    from `CommandError` to `CommunicationError`.
+  - Return `Error` instead of `CommandError` in all public functions.
+  - Move the `CommandError::RngError` variant to `Error::RandError` and the
+    `CommandError::Unknown` variant to `Error::UnknownError`.
+  - Return `CommunicationError::NotConnected` instead of
+    `CommandError::Undefined` from the connect functions.
+  - Remove the `CommandError::Undefined` variant.
+- Add a private `PhantomData` field to `Pro` and `Storage` to make direct
+  instantiation impossible.
+- Refactor and clean up internal code:
+  - Prefer using the `Into` trait over numeric casting.
+  - Add `Pro::new` and `Storage::new` functions.
+- Implement `From<Pro>` and `From<Storage>` for `DeviceWrapper`.
+- Add `Error::Utf8Error` variant.
+  - Return `Result<Version>` instead of `Version` from `get_library_version`.
+  - Return `Error::Utf8Error` if libnitrokey returns an invalid UTF-8 string.
+- Implement `From<(T: Device, Error)>` for `Error`.
+- Fix timing issues with the `totp_no_pin` and `totp_pin` test cases.
+- Always return a `Result` in functions that communicate with a device.
+- Combine `get_{major,minor}_firmware_version` into `get_firmware_version`.
+- Add `set_encrypted_volume_mode` to `Storage`.
+- Use mutability to represent changes to the device status:
+  - Implement `DerefMut` for `User<T>` and `Admin<T>`.
+  - Add `device_mut` method to `DeviceWrapper`.
+  - Require a mutable `Device` reference if a method changes the device state.
+- Update dependencies:
+  - `nitrokey-sys` to 3.5
+  - `nitrokey-test` to 0.3
+  - `rand_core` to 0.5
+  - `rand_os` to 0.2
+- Add `nitrokey-test-state` dependency in version 0.1.
+- Refactor connection management:
+  - Add `ConcurrentAccessError` and `PoisonError` `Error` variants.
+  - Add the `Manager` struct that manages connections to Nitrokey devices.
+  - Remove `connect`, `connect_model`, `Pro::connect` and `Storage::connect`.
+  - Add the `into_manager` function to the `Device` trait.
+  - Add the `force_take` function that ignores a `PoisonError` when accessing
+    the manager instance.
+- Internally refactor the `device` module into submodules.
+
 # v0.3.5 (2019-12-16)
 - Update the nitrokey-sys dependency version specification to ~3.4.