diff --git a/com/roboglue_com.cpp b/com/roboglue_com.cpp
index 3a8242a..4196f7b 100644
--- a/com/roboglue_com.cpp
+++ b/com/roboglue_com.cpp
@@ -5,7 +5,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     //////// SETUP LOGGER //////////
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
-    liblog->set_level(spdlog::level::info);
+    liblog->set_level(spdlog::level::debug);
     modlog->set_level(spdlog::level::debug);
 
     ///////// INITIALIZE TCP SERVER ///////////
diff --git a/libURcom/URCLinterface.cpp b/libURcom/URCLinterface.cpp
index 917cbca..a0aba31 100644
--- a/libURcom/URCLinterface.cpp
+++ b/libURcom/URCLinterface.cpp
@@ -51,7 +51,7 @@ bool UR_CLinterface::connect(const char* ip, uint16_t port) {
 	try {
 		rsocket->connect(
 				tcp::endpoint(boost::asio::ip::address::from_string(ip), port));
-		if ((bool) rsocket->is_open()) {
+        if (static_cast<bool>(rsocket->is_open())) {
 			log->info("Connected to {0} on port {1}", ip, port);
 			return true;
 		}
@@ -75,7 +75,7 @@ void UR_CLinterface::sendCommand(std::string command) {
 	char* dataOut=NULL;
 	if (rsocket->is_open()){
 		command = command + '\n';
-		dataOut = (char*)malloc(command.size());
+        dataOut = static_cast<char*>(malloc(command.size()));
 		strncpy(dataOut, command.c_str(), command.size());
 		log->debug("Sending: {}, s:{}",dataOut,command.size());
 		boost::asio::write(*rsocket, boost::asio::buffer(dataOut, command.size()), error);
@@ -106,7 +106,7 @@ void UR_CLinterface::parseData(void){
 				subP = new versionSub(lastData, &clientData);
 				subP->parse();
 				firstMessage=false;
-				long t=(long)clientData.versonMessage.timestamp;
+                long t=static_cast<long>(clientData.versonMessage.timestamp);
                 std::string timestr=std::string(asctime(gmtime(&t)));
                 timestr.pop_back();
                 log->info("Connection Time: {}", timestr);
@@ -185,7 +185,7 @@ void UR_CLinterface::parseData(void){
 							subP = new toolModeSub(&lastData[currIndex], &clientData);
 							break;
 						case SAFETY_DATA:
-							//not yet implemented
+                            //TODO: not yet implemented
 							break;
 						default:
 							log->error("Unknown Subpackage: {}", subPackageType);
@@ -194,7 +194,7 @@ void UR_CLinterface::parseData(void){
 					if (subP != NULL) subP->parse();
 					currIndex+=subPackageSize;
 				} catch (long sizediff){
-					log->error("Package Length Mismatch: {}",sizediff);
+                    log->error("Package Length Mismatch: type_{:d}, diff_{:d}",subPackageType,sizediff);
 					currIndex+=subPackageSize;
 				}
 			}
@@ -225,7 +225,7 @@ void UR_CLinterface::readData(void) {
 			// all number are represented in network byte order, conversion required
 			packlen = ntohl(packlen);
 			// allocate memory for incoming package
-			lastData = (unsigned char*)malloc(packlen);
+            lastData = static_cast<unsigned char*>(malloc(packlen));
 			// blocking read of exactly packlen bytes
 			readata += boost::asio::read(*rsocket, receive_buffer,boost::asio::transfer_exactly(packlen), error);
 			//retreive all data from buffer
diff --git a/libURcom/clientMessage.cpp b/libURcom/clientMessage.cpp
index cd419ab..2c03153 100644
--- a/libURcom/clientMessage.cpp
+++ b/libURcom/clientMessage.cpp
@@ -366,6 +366,7 @@ namespace subpackage {
 		v->feedriveButtonPressed = this->getUChar(&dataIn);
 		v->feedriveButtonEnabled = this->getUChar(&dataIn);
 		v->ioEnableFeedrive = this->getUChar(&dataIn);
+        v->foo = this->getUChar(&dataIn);
 
 		// check if read data is aligned with package size
 		if (dataIn-begin != size) throw dataIn-begin-size;
diff --git a/libURcom/clientMessage.h b/libURcom/clientMessage.h
index 593fdf2..9da1553 100644
--- a/libURcom/clientMessage.h
+++ b/libURcom/clientMessage.h
@@ -40,7 +40,7 @@ namespace subpackage {
 			robotModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~robotModeSub();
 
 			uint32_t parse();
@@ -51,7 +51,7 @@ namespace subpackage {
 			jointDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~jointDataSub();
 
 			uint32_t parse();
@@ -62,7 +62,7 @@ namespace subpackage {
 			cartesianInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~cartesianInfoSub();
 
 			uint32_t parse();
@@ -73,7 +73,7 @@ namespace subpackage {
 			masterBoardSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~masterBoardSub();
 
 			uint32_t parse();
@@ -84,7 +84,7 @@ namespace subpackage {
 			toolDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolDataSub();
 
 			uint32_t parse();
@@ -95,7 +95,7 @@ namespace subpackage {
 			kineInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~kineInfoSub();
 
 			uint32_t parse();
@@ -106,7 +106,7 @@ namespace subpackage {
 			configurationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~configurationSub();
 
 			uint32_t parse();
@@ -117,7 +117,7 @@ namespace subpackage {
 			forceModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~forceModeSub();
 
 			uint32_t parse();
@@ -128,7 +128,7 @@ namespace subpackage {
 			additionalInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~additionalInfoSub();
 
 			uint32_t parse();
@@ -139,7 +139,7 @@ namespace subpackage {
 			calibrationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~calibrationSub();
 
 			uint32_t parse();
@@ -150,7 +150,7 @@ namespace subpackage {
 			toolComSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolComSub();
 
 			uint32_t parse();
@@ -161,7 +161,7 @@ namespace subpackage {
 			toolModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolModeSub();
 
 			uint32_t parse();
@@ -171,7 +171,8 @@ namespace subpackage {
 		public:
 			versionSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
-				dataOut=dout; };
+                dataOut=dout;
+            }
 			virtual ~versionSub();
 
 			uint32_t parse();
diff --git a/libURcom/packagetypes.h b/libURcom/packagetypes.h
index 50b74d8..16ca9cc 100644
--- a/libURcom/packagetypes.h
+++ b/libURcom/packagetypes.h
@@ -273,6 +273,7 @@ typedef struct {
 	unsigned char feedriveButtonPressed;
 	unsigned char feedriveButtonEnabled;
 	unsigned char ioEnableFeedrive;
+    unsigned char foo;
 } additionalInfo_t;
 
 typedef struct {