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Revert 9b135bc..5085bf0

This rolls back to commit 9b135bcfe7384272453cded787cf5f10b587f9a2.
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Revert 9b135bc..250bb79

This rolls back to commit 9b135bcfe7384272453cded787cf5f10b587f9a2.
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Revert "use semaphore instead of usleep"

This reverts commit 9b135bcfe7384272453cded787cf5f10b587f9a2.
Revert 9b135bc..13d26b0

This rolls back to commit 9b135bcfe7384272453cded787cf5f10b587f9a2.
Revert 250bb79..16d7701

This rolls back to commit 250bb79b36ed7ca4f890a433323783ca8f0bfe4a.
Revert 9b135bc..4d2b187

This rolls back to commit 9b135bcfe7384272453cded787cf5f10b587f9a2.
replaced deprecated functions