diff --git a/global.pri b/global.pri
index 1d1b794fc..8468a7ee1 100644
--- a/global.pri
+++ b/global.pri
@@ -15,6 +15,8 @@
 # Build settings common to all projects in TrikRuntime.
 # Provides:
 # CONFIGURATION_SUFFIX variable that shall be consistently used in TARGET and LIBS variables in all projects.
+# copyToDestdir function to copy arbitrary files and directories to DESTDIR
+# uses function to automatically add a library to INCLUDEPATH and LIBS.
 
 CROSS_COMPILE = $$(CROSS_COMPILE)
 
@@ -38,6 +40,11 @@ CONFIG(debug, debug | release) {
 
 DESTDIR = $$PWD/bin/$$CONFIGURATION
 
+PROJECT_BASENAME = $$basename(_PRO_FILE_)
+PROJECT_NAME = $$section(PROJECT_BASENAME, ".", 0, 0)
+
+TARGET = $$PROJECT_NAME$$CONFIGURATION_SUFFIX
+
 equals(TEMPLATE, app) {
 	!macx {
 		QMAKE_LFLAGS += -Wl,-O1,-rpath,.
@@ -50,11 +57,16 @@ MOC_DIR = .build/$$CONFIGURATION/.moc
 RCC_DIR = .build/$$CONFIGURATION/.rcc
 UI_DIR = .build/$$CONFIGURATION/.ui
 
+INCLUDEPATH += $$_PRO_FILE_PWD_ \
+	$$_PRO_FILE_PWD_/include/$$PROJECT_NAME \
+
 unix {
 	target.path = $$[INSTALL_ROOT]/
 	INSTALLS += target
 }
 
+GLOBAL_PWD = $$PWD
+
 # Useful function to copy additional files to destination,
 # from http://stackoverflow.com/questions/3984104/qmake-how-to-copy-a-file-to-the-output
 defineTest(copyToDestdir) {
@@ -77,3 +89,16 @@ defineTest(copyToDestdir) {
 
 	export(QMAKE_POST_LINK)
 }
+
+defineTest(uses) {
+	LIBS += -L$$DESTDIR
+	PROJECTS = $$1
+
+	for(PROJECT, PROJECTS) {
+		LIBS += -l$$PROJECT$$CONFIGURATION_SUFFIX
+		INCLUDEPATH += $$GLOBAL_PWD/$$PROJECT/include
+	}
+
+	export(LIBS)
+	export(INCLUDEPATH)
+}
diff --git a/trikCommunicator/trikCommunicator.pro b/trikCommunicator/trikCommunicator.pro
index 3062eabbc..ab79aa6ed 100644
--- a/trikCommunicator/trikCommunicator.pro
+++ b/trikCommunicator/trikCommunicator.pro
@@ -12,29 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-TRIKKERNEL_DIR = ../trikKernel/
-TRIKCONTROL_DIR = ../trikControl/
-TRIKSCRIPTRUNNER_DIR = ../trikScriptRunner/
-
-TEMPLATE = lib
-
-QT += network
-
-DEFINES += TRIKCOMMUNICATOR_LIBRARY
-
 include(../global.pri)
 
-TARGET = trikCommunicator$$CONFIGURATION_SUFFIX
-
-INCLUDEPATH = \
-	$$PWD \
-	$$PWD/include/trikCommunicator \
-	$$TRIKSCRIPTRUNNER_DIR/include \
-	$$TRIKCONTROL_DIR/include \
-	$$TRIKKERNEL_DIR/include \
-
-LIBS += -L$$DESTDIR -ltrikScriptRunner$$CONFIGURATION_SUFFIX -ltrikKernel$$CONFIGURATION_SUFFIX
-
 HEADERS += \
 	$$PWD/include/trikCommunicator/trikCommunicator.h \
 	$$PWD/src/connection.h \
@@ -42,3 +21,16 @@ HEADERS += \
 SOURCES += \
 	$$PWD/src/trikCommunicator.cpp \
 	$$PWD/src/connection.cpp \
+
+TEMPLATE = lib
+
+QT += network
+
+DEFINES += TRIKCOMMUNICATOR_LIBRARY
+
+uses(trikScriptRunner trikControl trikKernel)
+
+INCLUDEPATH += \
+	../trikScriptRunner/include/ \
+	../trikControl/include/ \
+	../trikKernel/include/ \
diff --git a/trikControl/include/trikControl/sensor3d.h b/trikControl/include/trikControl/sensor3d.h
index 60e4d6832..84f2a7db2 100644
--- a/trikControl/include/trikControl/sensor3d.h
+++ b/trikControl/include/trikControl/sensor3d.h
@@ -15,14 +15,16 @@
 #pragma once
 
 #include <QtCore/QObject>
-#include <QtCore/QSocketNotifier>
-#include <QtCore/QSharedPointer>
+#include <QtCore/QScopedPointer>
+#include <QtCore/QThread>
 #include <QtCore/QVector>
 
 #include "declSpec.h"
 
 namespace trikControl {
 
+class Sensor3dWorker;
+
 /// Sensor that returns 3d vector.
 class TRIKCONTROL_EXPORT Sensor3d : public QObject
 {
@@ -35,20 +37,15 @@ class TRIKCONTROL_EXPORT Sensor3d : public QObject
 	/// @param deviceFile - device file for this sensor.
 	Sensor3d(int min, int max, QString const &deviceFile);
 
+	~Sensor3d();
+
 public slots:
 	/// Returns current raw reading of a sensor in a form of vector with 3 coordinates.
-	QVector<int> const &read() const;
-
-private slots:
-	/// Updates current reading when new value is ready.
-	void readFile();
+	QVector<int> read() const;
 
 private:
-	QSharedPointer<QSocketNotifier> mSocketNotifier;
-	QVector<int> mReading;
-	int mDeviceFileDescriptor;
-	int mMax;
-	int mMin;
+	QScopedPointer<Sensor3dWorker> mSensor3dWorker;
+	QThread mWorkerThread;
 };
 
 }
diff --git a/trikControl/src/display.cpp b/trikControl/src/display.cpp
index 58c78c5f5..3f52e88bd 100644
--- a/trikControl/src/display.cpp
+++ b/trikControl/src/display.cpp
@@ -33,6 +33,7 @@ Display::Display(QThread &guiThread, const QString &startDirPath)
 	, mGuiWorker(new GuiWorker())
 {
 	mGuiWorker->moveToThread(&guiThread);
+	QMetaObject::invokeMethod(mGuiWorker, "init");
 }
 
 Display::~Display()
diff --git a/trikControl/src/guiWorker.cpp b/trikControl/src/guiWorker.cpp
index ae4208244..3b33adf00 100644
--- a/trikControl/src/guiWorker.cpp
+++ b/trikControl/src/guiWorker.cpp
@@ -30,14 +30,22 @@
 using namespace trikControl;
 
 GuiWorker::GuiWorker()
-	: mFontMetrics(mImageWidget.font())
 {
+
+}
+
+void GuiWorker::init()
+{
+	mImageLabel.reset(new QLabel());
+	mImageWidget.reset(new GraphicsWidget());
+	mFontMetrics.reset(new QFontMetrics(mImageWidget->font()));
+
 	QHBoxLayout * const layout = new QHBoxLayout();
-	mImageLabel.setScaledContents(true);
-	layout->addWidget(&mImageLabel);
-	mImageWidget.setLayout(layout);
-	mImageWidget.setWindowState(Qt::WindowFullScreen);
-	mImageWidget.setWindowFlags(mImageWidget.windowFlags() | Qt::WindowStaysOnTopHint);
+	mImageLabel->setScaledContents(true);
+	layout->addWidget(mImageLabel.data());
+	mImageWidget->setLayout(layout);
+	mImageWidget->setWindowState(Qt::WindowFullScreen);
+	mImageWidget->setWindowFlags(mImageWidget->windowFlags() | Qt::WindowStaysOnTopHint);
 	resetBackground();
 }
 
@@ -45,31 +53,31 @@ void GuiWorker::showImage(QString const &fileName)
 {
 	if (!mImagesCache.contains(fileName)) {
 		QPixmap pixmap(fileName);
-		pixmap = pixmap.scaled(mImageWidget.size() - QSize(20, 20), Qt::KeepAspectRatio);
+		pixmap = pixmap.scaled(mImageWidget->size() - QSize(20, 20), Qt::KeepAspectRatio);
 		mImagesCache.insert(fileName, pixmap);
 	}
 
-	mImageLabel.setPixmap(mImagesCache.value(fileName));
-	mImageWidget.show();
+	mImageLabel->setPixmap(mImagesCache.value(fileName));
+	mImageWidget->show();
 }
 
 void GuiWorker::addLabel(QString const &text, int x, int y)
 {
 	QLabel *label = findLabel(x, y);
-	label = label ? label : new QLabel(&mImageWidget);
+	label = label ? label : new QLabel(mImageWidget.data());
 	label->setText(text);
-	label->setStyleSheet(QString("color: %1").arg(mImageWidget.currentPenColor().name()));
+	label->setStyleSheet(QString("color: %1").arg(mImageWidget->currentPenColor().name()));
 
 	// There is no layout for the label, so its size cannot be set automatically. We set
 	// it with QFontMetrics.
-	label->setGeometry(x, y, mFontMetrics.width(text), mFontMetrics.height());
+	label->setGeometry(x, y, mFontMetrics->width(text), mFontMetrics->height());
 
 	label->show();
 	if (!mLabels.contains(x ^ y, label)) {
 		mLabels.insertMulti(x ^ y, label);
 	}
 
-	mImageWidget.show();
+	mImageWidget->show();
 }
 
 void GuiWorker::removeLabels()
@@ -89,7 +97,7 @@ void GuiWorker::deleteWorker()
 
 void GuiWorker::setBackground(QString const &color)
 {
-	QPalette palette = mImageWidget.palette();
+	QPalette palette = mImageWidget->palette();
 
 	if (color == tr("white")) {
 		palette.setColor(QPalette::Window, Qt::white);
@@ -129,41 +137,41 @@ void GuiWorker::setBackground(QString const &color)
 		palette.setColor(QPalette::Window, QColor(color));
 	}
 
-	mImageWidget.setPalette(palette);
-	mImageWidget.show();
+	mImageWidget->setPalette(palette);
+	mImageWidget->show();
 }
 
 void GuiWorker::resetBackground()
 {
-	QPalette palette = mImageWidget.palette();
+	QPalette palette = mImageWidget->palette();
 	palette.setColor(QPalette::Window, Qt::lightGray);
-	mImageWidget.setPalette(palette);
+	mImageWidget->setPalette(palette);
 }
 
 void GuiWorker::setPainterColor(QString const &color)
 {
-	mImageWidget.setPainterColor(color);
+	mImageWidget->setPainterColor(color);
 }
 
 void GuiWorker::setPainterWidth(int penWidth)
 {
-	mImageWidget.setPainterWidth(penWidth);
+	mImageWidget->setPainterWidth(penWidth);
 }
 
 void GuiWorker::clear()
 {
-	mImageWidget.deleteAllItems();
-	mImageWidget.setPainterColor("black");
-	mImageWidget.setPainterWidth(0);
-	mImageWidget.hide();
+	mImageWidget->deleteAllItems();
+	mImageWidget->setPainterColor("black");
+	mImageWidget->setPainterWidth(1);
+	mImageWidget->hide();
 	removeLabels();
-	mImageLabel.setPixmap(QPixmap());
+	mImageLabel->setPixmap(QPixmap());
 	resetBackground();
 }
 
 void GuiWorker::hide()
 {
-	mImageWidget.hide();
+	mImageWidget->hide();
 }
 
 QLabel *GuiWorker::findLabel(int x, int y) const
@@ -179,35 +187,35 @@ QLabel *GuiWorker::findLabel(int x, int y) const
 
 void GuiWorker::drawPoint(int x, int y)
 {
-	mImageWidget.drawPoint(x, y);
-	mImageWidget.update();
-	mImageWidget.show();
+	mImageWidget->drawPoint(x, y);
+	mImageWidget->update();
+	mImageWidget->show();
 }
 
 void GuiWorker::drawLine(int x1, int y1, int x2, int y2)
 {
-	mImageWidget.drawLine(x1, y1, x2, y2);
-	mImageWidget.update();
-	mImageWidget.show();
+	mImageWidget->drawLine(x1, y1, x2, y2);
+	mImageWidget->update();
+	mImageWidget->show();
 }
 
 void GuiWorker::drawRect(int x, int y, int width, int height)
 {
-	mImageWidget.drawRect(x, y, width, height);
-	mImageWidget.update();
-	mImageWidget.show();
+	mImageWidget->drawRect(x, y, width, height);
+	mImageWidget->update();
+	mImageWidget->show();
 }
 
 void GuiWorker::drawEllipse(int x, int y, int width, int height)
 {
-	mImageWidget.drawEllipse(x, y, width, height);
-	mImageWidget.update();
-	mImageWidget.show();
+	mImageWidget->drawEllipse(x, y, width, height);
+	mImageWidget->update();
+	mImageWidget->show();
 }
 
 void GuiWorker::drawArc(int x, int y, int width, int height, int startAngle, int spanAngle)
 {
-	mImageWidget.drawArc(x, y, width, height, startAngle, spanAngle);
-	mImageWidget.update();
-	mImageWidget.show();
+	mImageWidget->drawArc(x, y, width, height, startAngle, spanAngle);
+	mImageWidget->update();
+	mImageWidget->show();
 }
diff --git a/trikControl/src/guiWorker.h b/trikControl/src/guiWorker.h
index b528e5302..caaf5e0ef 100644
--- a/trikControl/src/guiWorker.h
+++ b/trikControl/src/guiWorker.h
@@ -17,6 +17,7 @@
 #include <QtCore/qglobal.h>
 #include <QtCore/QMultiHash>
 #include <QtCore/QList>
+#include <QtCore/QScopedPointer>
 #include <QtGui/QPixmap>
 #include <QtGui/QFontMetrics>
 
@@ -109,17 +110,20 @@ public slots:
 	/// @param spanAngle - end andle.
 	void drawArc(int x, int y, int width, int height, int startAngle, int spanAngle);
 
+	/// Initializes widget. Shall be called when widget is moved to correct thread. Not supposed to be called from .qts.
+	void init();
+
 private:
 	void resetBackground();
 
 	/// Returns existing label with given coordinates or NULL if no such label exists.
 	QLabel *findLabel(int x, int y) const;
 
-	GraphicsWidget mImageWidget;
-	QLabel mImageLabel;
+	QScopedPointer<GraphicsWidget> mImageWidget;
+	QScopedPointer<QLabel> mImageLabel;
 	QHash<QString, QPixmap> mImagesCache;
 	QMultiHash<int, QLabel *> mLabels; // Has ownership.
-	QFontMetrics mFontMetrics;
+	QScopedPointer<QFontMetrics> mFontMetrics;
 };
 
 }
diff --git a/trikControl/src/linux/sensor3d.cpp b/trikControl/src/linux/sensor3dWorker.cpp
similarity index 80%
rename from trikControl/src/linux/sensor3d.cpp
rename to trikControl/src/linux/sensor3dWorker.cpp
index 3f4561288..b4a6b3d0e 100644
--- a/trikControl/src/linux/sensor3d.cpp
+++ b/trikControl/src/linux/sensor3dWorker.cpp
@@ -1,4 +1,4 @@
-/* Copyright 2013 Matvey Bryksin, Yurii Litvinov
+/* Copyright 2014 CyberTech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License. */
 
-#include "sensor3d.h"
+#include "src/sensor3dWorker.h"
 
 #include <QtCore/QDebug>
 
@@ -28,7 +28,7 @@
 
 using namespace trikControl;
 
-Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
+Sensor3dWorker::Sensor3dWorker(int min, int max, const QString &controlFile)
 	: mDeviceFileDescriptor(0)
 	, mMax(max)
 	, mMin(min)
@@ -41,7 +41,7 @@ Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
 		return;
 	}
 
-	mSocketNotifier = QSharedPointer<QSocketNotifier>(
+	mSocketNotifier.reset(
 			new QSocketNotifier(mDeviceFileDescriptor, QSocketNotifier::Read, this)
 			);
 
@@ -49,7 +49,7 @@ Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
 	mSocketNotifier->setEnabled(true);
 }
 
-void Sensor3d::readFile()
+void Sensor3dWorker::readFile()
 {
 	struct input_event event;
 	int size = 0;
@@ -63,13 +63,19 @@ void Sensor3d::readFile()
 			case EV_ABS:
 				switch (event.code) {
 				case ABS_X:
+					mLock.lockForWrite();
 					mReading[0] = event.value;
+					mLock.unlock();
 					break;
 				case ABS_Y:
+					mLock.lockForWrite();
 					mReading[1] = event.value;
+					mLock.unlock();
 					break;
 				case ABS_Z:
+					mLock.lockForWrite();
 					mReading[2] = event.value;
+					mLock.unlock();
 					break;
 				}
 				break;
@@ -78,7 +84,6 @@ void Sensor3d::readFile()
 		}
 	}
 
-
 	if (0 <= size && size < static_cast<int>(sizeof(event))) {
 		qDebug() << "incomplete data read";
 	}
@@ -86,7 +91,10 @@ void Sensor3d::readFile()
 	mSocketNotifier->setEnabled(true);
 }
 
-QVector<int> const &Sensor3d::read() const
+QVector<int> Sensor3dWorker::read()
 {
-	return mReading;
+	mLock.lockForRead();
+	QVector<int> const result = mReading;
+	mLock.unlock();
+	return result;
 }
diff --git a/trikControl/src/sensor3d.cpp b/trikControl/src/sensor3d.cpp
new file mode 100644
index 000000000..6a0ffcfe2
--- /dev/null
+++ b/trikControl/src/sensor3d.cpp
@@ -0,0 +1,38 @@
+/* Copyright 2013-2014 Matvey Bryksin, Yurii Litvinov, CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "sensor3d.h"
+
+#include "src/sensor3dWorker.h"
+
+using namespace trikControl;
+
+Sensor3d::Sensor3d(int min, int max, const QString &controlFile)
+	: mSensor3dWorker(new Sensor3dWorker(min, max, controlFile))
+{
+	mSensor3dWorker->moveToThread(&mWorkerThread);
+	mWorkerThread.start();
+}
+
+
+Sensor3d::~Sensor3d()
+{
+	mWorkerThread.quit();
+	mWorkerThread.wait();
+}
+
+QVector<int> Sensor3d::read() const
+{
+	return mSensor3dWorker->read();
+}
diff --git a/trikControl/src/sensor3dWorker.h b/trikControl/src/sensor3dWorker.h
new file mode 100644
index 000000000..0506c68b3
--- /dev/null
+++ b/trikControl/src/sensor3dWorker.h
@@ -0,0 +1,55 @@
+#pragma once
+
+/* Copyright 2014 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include <QtCore/QObject>
+#include <QtCore/QSocketNotifier>
+#include <QtCore/QScopedPointer>
+#include <QtCore/QVector>
+#include <QtCore/QReadWriteLock>
+
+namespace trikControl {
+
+/// Handles events from sensor, intended to work in separate thread
+class Sensor3dWorker : public QObject
+{
+	Q_OBJECT
+
+public:
+	/// Constructor.
+	/// @param min - minimal actual (physical) value returned by sensor. Used to normalize returned values.
+	/// @param max - maximal actual (physical) value returned by sensor. Used to normalize returned values.
+	/// @param deviceFile - device file for this sensor.
+	Sensor3dWorker(int min, int max, QString const &deviceFile);
+
+public slots:
+	/// Returns current raw reading of a sensor in a form of vector with 3 coordinates.
+	QVector<int> read();
+
+private slots:
+	/// Updates current reading when new value is ready.
+	void readFile();
+
+private:
+	QScopedPointer<QSocketNotifier> mSocketNotifier;
+	QVector<int> mReading;
+	int mDeviceFileDescriptor;
+	int mMax;
+	int mMin;
+	QReadWriteLock mLock;
+};
+
+
+}
diff --git a/trikControl/trikControl.pro b/trikControl/trikControl.pro
index c534a3156..45c27963b 100644
--- a/trikControl/trikControl.pro
+++ b/trikControl/trikControl.pro
@@ -12,30 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-TEMPLATE = lib
-
-DEFINES += TRIKCONTROL_LIBRARY
-
-QT += xml gui network
-
-if (equals(QT_MAJOR_VERSION, 5)) {
-	QT += widgets
-}
-
 include(../global.pri)
 
-copyToDestdir( \
-	$$PWD/config.xml  \
-	$$PWD/config_capture.xml \
-	$$PWD/../media/ \
-)
-
-TARGET = trikControl$$CONFIGURATION_SUFFIX
-
-INCLUDEPATH = \
-	$$PWD \
-	$$PWD/include/trikControl \
-
 win32 {
 	PLATFORM = windows
 } else {
@@ -58,42 +36,60 @@ HEADERS += \
 	$$PWD/include/trikControl/pwmCapture.h \
 	$$PWD/include/trikControl/motor.h \
 	$$PWD/include/trikControl/cameraLineDetectorSensor.h \
-	$$PWD/src/cameraLineDetectorSensorWorker.h \
-	$$PWD/src/powerMotor.h \
-	$$PWD/src/servoMotor.h \
 	$$PWD/src/angularServoMotor.h \
-	$$PWD/src/continiousRotationServoMotor.h \
+	$$PWD/src/cameraLineDetectorSensorWorker.h \
 	$$PWD/src/configurer.h \
-	$$PWD/src/i2cCommunicator.h \
+	$$PWD/src/continiousRotationServoMotor.h \
+	$$PWD/src/graphicsWidget.h \
 	$$PWD/src/guiWorker.h \
-	$$PWD/src/tcpConnector.h \
+	$$PWD/src/i2cCommunicator.h \
 	$$PWD/src/keysWorker.h \
-	$$PWD/src/graphicsWidget.h
+	$$PWD/src/powerMotor.h \
+	$$PWD/src/sensor3dWorker.h \
+	$$PWD/src/servoMotor.h \
+	$$PWD/src/tcpConnector.h \
 
 SOURCES += \
 	$$PWD/src/analogSensor.cpp \
+	$$PWD/src/angularServoMotor.cpp \
 	$$PWD/src/battery.cpp \
 	$$PWD/src/brick.cpp \
 	$$PWD/src/cameraLineDetectorSensor.cpp \
 	$$PWD/src/configurer.cpp \
+	$$PWD/src/continiousRotationServoMotor.cpp \
 	$$PWD/src/digitalSensor.cpp \
 	$$PWD/src/display.cpp \
 	$$PWD/src/encoder.cpp \
 	$$PWD/src/gamepad.cpp \
+	$$PWD/src/graphicsWidget.cpp \
 	$$PWD/src/guiWorker.cpp \
 	$$PWD/src/keys.cpp \
 	$$PWD/src/led.cpp \
 	$$PWD/src/powerMotor.cpp \
+	$$PWD/src/pwmCapture.cpp \
+	$$PWD/src/sensor3d.cpp \
 	$$PWD/src/servoMotor.cpp \
-	$$PWD/src/angularServoMotor.cpp \
-	$$PWD/src/continiousRotationServoMotor.cpp \
 	$$PWD/src/tcpConnector.cpp \
-	$$PWD/src/pwmCapture.cpp \
 	$$PWD/src/$$PLATFORM/cameraLineDetectorSensorWorker.cpp \
 	$$PWD/src/$$PLATFORM/i2cCommunicator.cpp \
 	$$PWD/src/$$PLATFORM/keysWorker.cpp \
-	$$PWD/src/$$PLATFORM/sensor3d.cpp \
-	$$PWD/src/graphicsWidget.cpp
+	$$PWD/src/$$PLATFORM/sensor3dWorker.cpp \
 
 OTHER_FILES += \
 	config.xml \
+
+TEMPLATE = lib
+
+DEFINES += TRIKCONTROL_LIBRARY
+
+QT += xml gui network
+
+if (equals(QT_MAJOR_VERSION, 5)) {
+	QT += widgets
+}
+
+copyToDestdir( \
+	$$PWD/config.xml  \
+	$$PWD/config_capture.xml \
+	$$PWD/../media/ \
+)
diff --git a/trikGui/controller.cpp b/trikGui/controller.cpp
index 55b7fbce6..6fdd82a84 100644
--- a/trikGui/controller.cpp
+++ b/trikGui/controller.cpp
@@ -18,6 +18,8 @@
 #include <QtCore/QFileInfo>
 #include <QtCore/QDebug>
 
+#include <trikKernel/fileUtils.h>
+
 #include "runningWidget.h"
 
 using namespace trikGui;
@@ -47,7 +49,7 @@ void Controller::runFile(QString const &filePath)
 	QFileInfo const fileInfo(filePath);
 	if (fileInfo.suffix() == "qts" || fileInfo.suffix() == "js") {
 		scriptExecutionFromFileStarted(fileInfo.baseName());
-		mScriptRunner.runFromFile(fileInfo.canonicalFilePath());
+		mScriptRunner.run(trikKernel::FileUtils::readFromFile(fileInfo.canonicalFilePath()));
 	} else if (fileInfo.suffix() == "wav" || fileInfo.suffix() == "mp3") {
 		mRunningWidget = new RunningWidget(fileInfo.baseName(), *this);
 		mRunningWidget->show();
@@ -74,7 +76,9 @@ void Controller::scriptExecutionCompleted()
 	if (mRunningWidget) {
 		mRunningWidget->releaseKeyboard();
 		mRunningWidget->close();
-		delete mRunningWidget;
+
+		// Here we can be inside handler of mRunningWidget key press event.
+		mRunningWidget->deleteLater();
 		mRunningWidget = NULL;
 	}
 }
diff --git a/trikGui/trikGui.pro b/trikGui/trikGui.pro
index 68096dd03..a860506c5 100644
--- a/trikGui/trikGui.pro
+++ b/trikGui/trikGui.pro
@@ -12,10 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-TRIKCONTROL_DIR = ../trikControl/
-TRIKCOMMUNICATOR_DIR = ../trikCommunicator/
-TRIKSCRIPTRUNNER_DIR = ../trikScriptRunner/
-TRIKWIFI_DIR = ../trikWiFi/
+include(../global.pri)
 
 HEADERS += \
 	$$PWD/fileManagerWidget.h \
@@ -59,6 +56,8 @@ SOURCES += \
 TRANSLATIONS = trikGui_ru.ts
 RESOURCES = trikGui.qrc
 
+copyToDestdir(wpa-config.xml)
+
 TEMPLATE = app
 
 QT += network
@@ -67,20 +66,11 @@ if (equals(QT_MAJOR_VERSION, 5)) {
 	QT += widgets
 }
 
-include(../global.pri)
-
-copyToDestdir(wpa-config.xml)
-
-INCLUDEPATH = \
-	$$PWD \
-	$$TRIKCOMMUNICATOR_DIR/include \
-	$$TRIKSCRIPTRUNNER_DIR/include \
-	$$TRIKWIFI_DIR/include \
-	$$TRIKCONTROL_DIR/include \
+uses(trikKernel trikControl trikCommunicator trikScriptRunner trikWiFi)
 
-LIBS += \
-	-L$$DESTDIR \
-	-ltrikCommunicator$$CONFIGURATION_SUFFIX \
-	-ltrikScriptRunner$$CONFIGURATION_SUFFIX \
-	-ltrikWiFi$$CONFIGURATION_SUFFIX \
-	-ltrikControl$$CONFIGURATION_SUFFIX \
+INCLUDEPATH += \
+	../trikKernel/include/ \
+	../trikControl/include/ \
+	../trikCommunicator/include/ \
+	../trikScriptRunner/include/ \
+	../trikWiFi/include/ \
diff --git a/trikKernel/include/trikKernel/debug.h b/trikKernel/include/trikKernel/debug.h
new file mode 100644
index 000000000..bba53be60
--- /dev/null
+++ b/trikKernel/include/trikKernel/debug.h
@@ -0,0 +1,45 @@
+#pragma once
+
+/* Copyright 2014 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include <QtCore/QObject>
+#include <QtCore/QString>
+#include <QtCore/QThread>
+#include <QtCore/QHash>
+#include <QtCore/QDebug>
+
+namespace trikKernel {
+
+/// Debug helper that logs function entry and exit.
+class Debugger : public QObject
+{
+	Q_OBJECT
+
+public:
+	/// Constructor.
+	/// @param methodName - name of a method to be logged
+	Debugger(QString const &methodName);
+
+	~Debugger();
+
+private:
+	QString const mMethodName;
+	static QHash<QThread *, int> mIndent;
+};
+
+}
+
+/// Macro to log method entry and exit.
+#define L trikKernel::Debugger const debugger(Q_FUNC_INFO)
diff --git a/trikKernel/include/trikKernel/fileUtils.h b/trikKernel/include/trikKernel/fileUtils.h
index 9ccf15701..bfd6599ae 100644
--- a/trikKernel/include/trikKernel/fileUtils.h
+++ b/trikKernel/include/trikKernel/fileUtils.h
@@ -1,3 +1,5 @@
+#pragma once
+
 /* Copyright 2013 - 2014 Yurii Litvinov, CyberTech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,8 +14,6 @@
  * See the License for the specific language governing permissions and
  * limitations under the License. */
 
-#pragma once
-
 #include <QtCore/QString>
 
 namespace trikKernel {
diff --git a/trikKernel/src/debug.cpp b/trikKernel/src/debug.cpp
new file mode 100644
index 000000000..f1f93c66d
--- /dev/null
+++ b/trikKernel/src/debug.cpp
@@ -0,0 +1,44 @@
+/* Copyright 2014 CyberTech Labs Ltd.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License. */
+
+#include "debug.h"
+
+using namespace trikKernel;
+
+QHash<QThread *, int> Debugger::mIndent;
+
+Debugger::Debugger(QString const &methodName)
+	: mMethodName(methodName)
+{
+	QString const indent(mIndent[thread()], ' ');
+	QString const str = QString("%1(Thread %2) Entering %3")
+			.arg(indent)
+			.arg(reinterpret_cast<unsigned long>(thread()))
+			.arg(mMethodName);
+
+	qDebug() << str.toStdString().c_str();
+	++mIndent[thread()];
+}
+
+Debugger::~Debugger()
+{
+	--mIndent[thread()];
+	QString const indent(mIndent[thread()], ' ');
+	QString const str = QString("%1(Thread %2) Exiting %3")
+			.arg(indent)
+			.arg(reinterpret_cast<unsigned long>(thread()))
+			.arg(mMethodName);
+
+	qDebug() << str.toStdString().c_str();
+}
diff --git a/trikKernel/trikKernel.pro b/trikKernel/trikKernel.pro
index 60b16b093..8fb265ec3 100644
--- a/trikKernel/trikKernel.pro
+++ b/trikKernel/trikKernel.pro
@@ -12,20 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-TEMPLATE = lib
-
-DEFINES += TRIKKERNEL_LIBRARY
-
 include(../global.pri)
 
-TARGET = trikKernel$$CONFIGURATION_SUFFIX
-
-INCLUDEPATH = \
-	$$PWD \
-	$$PWD/include/trikKernel \
-
 HEADERS += \
 	$$PWD/include/trikKernel/fileUtils.h \
+	$$PWD/include/trikKernel/debug.h \
 
 SOURCES += \
 	$$PWD/src/fileUtils.cpp \
+	$$PWD/src/debug.cpp \
+
+TEMPLATE = lib
+
+DEFINES += TRIKKERNEL_LIBRARY
diff --git a/trikRun/main.cpp b/trikRun/main.cpp
index 390596bce..d2cf6741a 100644
--- a/trikRun/main.cpp
+++ b/trikRun/main.cpp
@@ -25,6 +25,7 @@
 #include <QtCore/QStringList>
 #include <QtCore/QDir>
 
+#include <trikKernel/fileUtils.h>
 #include <trikScriptRunner/trikScriptRunner.h>
 
 void printUsage()
@@ -101,7 +102,7 @@ int main(int argc, char *argv[])
 			return 1;
 		}
 
-		runner.runFromFile(args[1]);
+		runner.run(trikKernel::FileUtils::readFromFile(args[1]));
 	}
 
 	return app.exec();
diff --git a/trikRun/trikRun.pro b/trikRun/trikRun.pro
index 1a5598ede..31bf23d35 100644
--- a/trikRun/trikRun.pro
+++ b/trikRun/trikRun.pro
@@ -12,14 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include(../global.pri)
+
 SOURCES += \
 	$$PWD/main.cpp \
 
 OTHER_FILES += \
 	$$PWD/test.qts \
 
-TRIKCONTROL_DIR = ../trikControl/
-TRIKSCRIPTRUNNER_DIR = ../trikScriptRunner/
+copyToDestdir($$OTHER_FILES)
+
+uses(trikKernel trikControl trikScriptRunner)
+
+INCLUDEPATH += \
+	../trikKernel/include/ \
+	../trikControl/include/ \
+	../trikScriptRunner/include/ \
 
 TEMPLATE = app
 CONFIG += console
@@ -29,13 +37,3 @@ QT += gui
 if (equals(QT_MAJOR_VERSION, 5)) {
 	QT += widgets
 }
-
-include(../global.pri)
-
-copyToDestdir(test.qts)
-
-INCLUDEPATH = \
-	$$PWD \
-	$$TRIKSCRIPTRUNNER_DIR/include \
-
-LIBS += -L$$DESTDIR -ltrikScriptRunner$$CONFIGURATION_SUFFIX
diff --git a/trikRuntime.pro b/trikRuntime.pro
index 3f168aa59..648e69c03 100644
--- a/trikRuntime.pro
+++ b/trikRuntime.pro
@@ -26,6 +26,6 @@ SUBDIRS = \
 
 trikScriptRunner.depends = trikControl trikKernel
 trikCommunicator.depends = trikScriptRunner
-trikRun.depends = trikScriptRunner
+trikRun.depends = trikScriptRunner trikKernel
 trikServer.depends = trikCommunicator
-trikGui.depends = trikCommunicator trikScriptRunner trikWiFi
+trikGui.depends = trikCommunicator trikScriptRunner trikWiFi trikKernel
diff --git a/trikScriptRunner/include/trikScriptRunner/trikScriptRunner.h b/trikScriptRunner/include/trikScriptRunner/trikScriptRunner.h
index 7ae4870cd..0495cf5b7 100644
--- a/trikScriptRunner/include/trikScriptRunner/trikScriptRunner.h
+++ b/trikScriptRunner/include/trikScriptRunner/trikScriptRunner.h
@@ -35,42 +35,33 @@ class TrikScriptRunner : public QObject
 	~TrikScriptRunner();
 
 public slots:
-	/// Executes given script asynchronously. If some script is already executing, it will be aborted.
+	/// Executes given script asynchronously. If some script is already executing, it will be aborted (but no
+	/// completed() signal will be sent for it). Execution state will be reset (and robot fully stopped) before and
+	/// after script execution. For event-driven mode (where script has brick.run() command) script counts as finished
+	/// when it requests to quit by itself or was aborted. When script is finished, completed() signal will be emitted.
 	/// @param script - script in Qt Script language to be executed.
 	void run(QString const &script);
 
-	/// Reads a script from given file and asynchronously executes it. If some script is already executing, it will be
-	/// aborted.
-	/// @param fileName - name of a file with script.
-	void runFromFile(QString const &fileName);
+	/// Executes given script as direct command, so it will use existing script execution environment (or create one
+	/// if needed) and will not reset execution state before or after execution. Sequence of direct commands counts
+	/// as finished when one of them directly requests to quit (by brick.quit() command), then robot will be stopped,
+	/// execution state will reset and completed() signal will be emitted.
+	/// @param command - script in Qt Script to be executed as direct command.
+	void runDirectCommand(QString const &command);
 
-	/// Aborts script execution.
+	/// Aborts script execution. completed() signal will be emitted when script will be actually aborted, robot will
+	/// be stopped and execution state will be reset. Note that direct commands and scripts in event-driven mode will
+	/// be stopped as well.
 	void abort();
 
-	/// Returns true if a system is in event-driven running mode, so it shall wait for events when script is executed.
-	/// If it is false, script will exit immediately.
-	bool isInEventDrivenMode() const;
-
 signals:
-	/// Fired when current script completes execution.
+	/// Emitted when current script completes execution (for event-driven mode it means that script requested to quit
+	/// or was aborted).
 	void completed();
 
-private slots:
-	/// Called when script runner reports that it has finished execution. Used to stop robot.
-	void onScriptExecutionCompleted();
-
 private:
-	enum State {
-		idle
-		, running
-		, stopping
-	};
-
 	/// Proxy for script engine thread.
 	QScopedPointer<ScriptRunnerProxy> mScriptRunnerProxy;
-
-	/// Execution state of a runner.
-	State mExecutionState;
 };
 
 }
diff --git a/trikScriptRunner/src/scriptEngineWorker.cpp b/trikScriptRunner/src/scriptEngineWorker.cpp
index ae77a9f73..fb2648d45 100644
--- a/trikScriptRunner/src/scriptEngineWorker.cpp
+++ b/trikScriptRunner/src/scriptEngineWorker.cpp
@@ -1,4 +1,4 @@
-/* Copyright 2013 Yurii Litvinov
+/* Copyright 2013 - 2014 Yurii Litvinov, CyberTech Labs Ltd.
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -16,8 +16,11 @@
 
 #include <QtCore/QDebug>
 #include <QtCore/QFile>
+#include <QtCore/QVector>
 
 #include <trikKernel/fileUtils.h>
+#include <trikKernel/debug.h>
+
 #include <trikControl/battery.h>
 #include <trikControl/display.h>
 #include <trikControl/encoder.h>
@@ -43,84 +46,75 @@ Q_DECLARE_METATYPE(Motor*)
 Q_DECLARE_METATYPE(Sensor*)
 Q_DECLARE_METATYPE(Sensor3d*)
 Q_DECLARE_METATYPE(CameraLineDetectorSensor*)
+Q_DECLARE_METATYPE(QVector<int>)
 
-ScriptEngineWorker::ScriptEngineWorker(QString const &configFilePath, const QString &startDirPath)
+ScriptEngineWorker::ScriptEngineWorker(QString const &configFilePath, QString const &startDirPath)
 	: mEngine(NULL)
-	, mBrick(*this->thread(), configFilePath, startDirPath)
+	, mConfigFilePath(configFilePath)
 	, mStartDirPath(startDirPath)
+	, mGuiThread(this->thread())
 {
-	connect(&mBrick, SIGNAL(quitSignal()), this, SLOT(onScriptRequestingToQuit()));
 }
 
-void ScriptEngineWorker::run(QString const &script)
+void ScriptEngineWorker::reset()
 {
-	if (mEngine != NULL) {
-		if (mEngine->isEvaluating()) {
-			mEngine->abortEvaluation();
-		}
-
-		// Here we can safely delete mEngine, we're not in its stack. There's no way to call run() from Qt Script.
-		delete mEngine;
-	}
-
-	initScriptEngine();
+	Q_ASSERT(mEngine);
 
-	QScriptValue brickProxy = mEngine->newQObject(&mBrick);
-	mEngine->globalObject().setProperty("brick", brickProxy);
-
-	if (QFile::exists(mStartDirPath + "system.js")) {
-		runAndReportException(trikKernel::FileUtils::readFromFile(mStartDirPath + "system.js"));
-	}
+	mEngine->abortEvaluation();
 
-	runAndReportException(script);
+	QMetaObject::invokeMethod(this, "resetScriptEngine", Qt::QueuedConnection);
 
-	if (!mBrick.isInEventDrivenMode()) {
+	if (mBrick->isInEventDrivenMode()) {
+		mBrick->stop();
 		emit completed();
 	}
 }
 
-void ScriptEngineWorker::abort()
+void ScriptEngineWorker::init()
 {
-	if (mEngine != NULL) {
-		mEngine->abortEvaluation();
-
-		// We need to delete script engine to clear possible connections from inside Qt Script, but we can't do that
-		// right now because we can be in mEngine's call stack. Also we can not invoke it directly since we can be in
-		// another thread and deleting it on return to that thread's event loop will surely crash worker, and Qt docs
-		// are not clear whether deleteLater implementation is aware of that problem.
-		QMetaObject::invokeMethod(mEngine, "deleteLater");
-	}
+	mBrick.reset(new Brick(*mGuiThread, mConfigFilePath, mStartDirPath));
+	connect(mBrick.data(), SIGNAL(quitSignal()), this, SLOT(onScriptRequestingToQuit()));
+
+	resetScriptEngine();
 }
 
-bool ScriptEngineWorker::isRunning() const
+void ScriptEngineWorker::run(QString const &script, bool inEventDrivenMode)
 {
-	if (mEngine == NULL) {
-		return false;
-	} else {
-		return mEngine->isEvaluating();
+	Q_ASSERT(mEngine);
+
+	if (inEventDrivenMode) {
+		mBrick->run();
 	}
-}
 
-bool ScriptEngineWorker::isInEventDrivenMode() const
-{
-	return mBrick.isInEventDrivenMode();
+	runAndReportException(script);
+
+	if (!mBrick->isInEventDrivenMode()) {
+		mBrick->stop();
+		resetScriptEngine();
+		emit completed();
+	}
 }
 
 void ScriptEngineWorker::onScriptRequestingToQuit()
 {
-	abort();
+	if (!mBrick->isInEventDrivenMode()) {
+		// Somebody erroneously called brick.quit() before entering event loop, so we must force event loop for brick
+		// and only then quit, to send properly completed() signal.
+		mBrick->run();
+	}
 
-	/// @todo Completed will be already sent by run() after abortExecution?
-	emit completed();
+	reset();
 }
 
-void ScriptEngineWorker::initScriptEngine()
+void ScriptEngineWorker::resetScriptEngine()
 {
-	mEngine = new QScriptEngine();
+	if (mEngine) {
+		mEngine->deleteLater();
+	}
 
-	connect(mEngine, SIGNAL(destroyed()), this, SLOT(onScriptEngineDestroyed()));
+	mEngine = new QScriptEngine();
 
-	mBrick.reset();
+	mBrick->reset();
 
 	qScriptRegisterMetaType(mEngine, batteryToScriptValue, batteryFromScriptValue);
 	qScriptRegisterMetaType(mEngine, displayToScriptValue, displayFromScriptValue);
@@ -132,13 +126,16 @@ void ScriptEngineWorker::initScriptEngine()
 	qScriptRegisterMetaType(mEngine, sensorToScriptValue, sensorFromScriptValue);
 	qScriptRegisterMetaType(mEngine, sensor3dToScriptValue, sensor3dFromScriptValue);
 	qScriptRegisterMetaType(mEngine, cameraLineDetectorSensorToScriptValue, cameraLineDetectorSensorFromScriptValue);
+	qScriptRegisterSequenceMetaType<QVector<int> >(mEngine);
 
-	mEngine->setProcessEventsInterval(1);
-}
+	QScriptValue brickProxy = mEngine->newQObject(mBrick.data());
+	mEngine->globalObject().setProperty("brick", brickProxy);
 
-void ScriptEngineWorker::onScriptEngineDestroyed()
-{
-	mEngine = NULL;
+	if (QFile::exists(mStartDirPath + "system.js")) {
+		runAndReportException(trikKernel::FileUtils::readFromFile(mStartDirPath + "system.js"));
+	}
+
+	mEngine->setProcessEventsInterval(1);
 }
 
 void ScriptEngineWorker::runAndReportException(QString const &script)
diff --git a/trikScriptRunner/src/scriptEngineWorker.h b/trikScriptRunner/src/scriptEngineWorker.h
index dcd9f24a9..36d5a9f08 100644
--- a/trikScriptRunner/src/scriptEngineWorker.h
+++ b/trikScriptRunner/src/scriptEngineWorker.h
@@ -36,43 +36,43 @@ class ScriptEngineWorker : public QObject
 	/// @param startDirPath - path to the directory from which the application was executed.
 	ScriptEngineWorker(QString const &configFilePath, QString const &startDirPath);
 
-	/// Returns true, if script engine is initialized and running.
-	bool isRunning() const;
-
-	/// Aborts script execution.
-	void abort();
-
-	/// Returns true if a system is in event-driven running mode, so it shall wait for events when script is executed.
-	/// If it is false, script will exit immediately.
-	bool isInEventDrivenMode() const;
+	/// Stops script execution and resets execution state (including script engine and trikControl itself). Can be
+	/// called from another thread.
+	void reset();
 
 signals:
-	/// Fired when current script execution completed.
+	/// Emitted when current script execution is completed or is aborted by reset() call.
 	void completed();
 
 public slots:
+	/// Initializes script engine and creates its own trikControl instance.
+	void init();
+
 	/// Executes given script.
-	void run(QString const &script);
+	/// @param script - script to execute.
+	/// @param inEventDrivenMode - shall this script be executed in event-driven mode, i.e. not emit completed() signal
+	///        when it is finished.
+	void run(QString const &script, bool inEventDrivenMode);
 
 private slots:
 	/// Abort script execution.
 	void onScriptRequestingToQuit();
 
-	/// Do cleanup when script engine finally is deleted.
-	void onScriptEngineDestroyed();
+	/// Kill old script engine, create and reinit a new one.
+	void resetScriptEngine();
 
 private:
-
-	void initScriptEngine();
 	void runAndReportException(QString const &script);
 
 	// Has ownership. No smart pointers here because we need to do manual memory managment
 	// due to complicated mEngine lifecycle (see .cpp for more details).
 	QScriptEngine *mEngine;
 
-	trikControl::Brick mBrick;
+	QScopedPointer<trikControl::Brick> mBrick;
 
+	QString const mConfigFilePath;
 	QString const mStartDirPath;
+	QThread *mGuiThread;  // Does not have ownership.
 };
 
 }
diff --git a/trikScriptRunner/src/scriptRunnerProxy.cpp b/trikScriptRunner/src/scriptRunnerProxy.cpp
index c81763a9f..2a43f989a 100644
--- a/trikScriptRunner/src/scriptRunnerProxy.cpp
+++ b/trikScriptRunner/src/scriptRunnerProxy.cpp
@@ -33,26 +33,24 @@ ScriptRunnerProxy::ScriptRunnerProxy(QString const &configFilePath, QString cons
 	connect(mEngineWorker, SIGNAL(completed()), this, SIGNAL(completed()));
 
 	mWorkerThread.start();
+
+	QMetaObject::invokeMethod(mEngineWorker, "init");
 }
 
 ScriptRunnerProxy::~ScriptRunnerProxy()
 {
-	mEngineWorker->abort();
+	/// @todo Do not reset engine here, just shut it down.
+	mEngineWorker->reset();
 	QMetaObject::invokeMethod(&mWorkerThread, "quit");
 	mWorkerThread.wait(1000);
 }
 
-void ScriptRunnerProxy::run(QString const &script)
-{
-	QMetaObject::invokeMethod(mEngineWorker, "run", Q_ARG(QString const &, script));
-}
-
-void ScriptRunnerProxy::abort()
+void ScriptRunnerProxy::run(QString const &script, bool inEventDrivenMode)
 {
-	mEngineWorker->abort();
+	QMetaObject::invokeMethod(mEngineWorker, "run", Q_ARG(QString const &, script), Q_ARG(bool, inEventDrivenMode));
 }
 
-bool ScriptRunnerProxy::isInEventDrivenMode() const
+void ScriptRunnerProxy::reset()
 {
-	return mEngineWorker->isInEventDrivenMode();
+	mEngineWorker->reset();
 }
diff --git a/trikScriptRunner/src/scriptRunnerProxy.h b/trikScriptRunner/src/scriptRunnerProxy.h
index 9de18d481..bc115706a 100644
--- a/trikScriptRunner/src/scriptRunnerProxy.h
+++ b/trikScriptRunner/src/scriptRunnerProxy.h
@@ -39,14 +39,10 @@ class ScriptRunnerProxy : public QObject
 
 	/// Executes given script asynchronously. If some script is already executing, it will be aborted.
 	/// @param script - script in Qt Script language to be executed.
-	void run(QString const &script);
+	void run(QString const &script, bool inEventDrivenMode);
 
 	/// Aborts script execution.
-	void abort();
-
-	/// Returns true if a system is in event-driven running mode, so it shall wait for events when script is executed.
-	/// If it is false, script will exit immediately.
-	bool isInEventDrivenMode() const;
+	void reset();
 
 signals:
 	/// Fired when current script completes execution.
diff --git a/trikScriptRunner/src/trikScriptRunner.cpp b/trikScriptRunner/src/trikScriptRunner.cpp
index 314ce9458..7b702c8c8 100644
--- a/trikScriptRunner/src/trikScriptRunner.cpp
+++ b/trikScriptRunner/src/trikScriptRunner.cpp
@@ -21,9 +21,8 @@ using namespace trikScriptRunner;
 
 TrikScriptRunner::TrikScriptRunner(QString const &configFilePath, QString const &startDirPath)
 	: mScriptRunnerProxy(new ScriptRunnerProxy(configFilePath, startDirPath))
-	, mExecutionState(idle)
 {
-	connect(mScriptRunnerProxy.data(), SIGNAL(completed()), this, SLOT(onScriptExecutionCompleted()));
+	connect(mScriptRunnerProxy.data(), SIGNAL(completed()), this, SIGNAL(completed()));
 }
 
 TrikScriptRunner::~TrikScriptRunner()
@@ -32,33 +31,15 @@ TrikScriptRunner::~TrikScriptRunner()
 
 void TrikScriptRunner::run(QString const &script)
 {
-	mExecutionState = running;
-	mScriptRunnerProxy->run(script);
+	mScriptRunnerProxy->run(script, false);
 }
 
-void TrikScriptRunner::runFromFile(QString const &fileName)
+void TrikScriptRunner::runDirectCommand(QString const &command)
 {
-	mExecutionState = running;
-	mScriptRunnerProxy->run(trikKernel::FileUtils::readFromFile(fileName));
+	mScriptRunnerProxy->run(command, true);
 }
 
 void TrikScriptRunner::abort()
 {
-	mScriptRunnerProxy->abort();
-}
-
-bool TrikScriptRunner::isInEventDrivenMode() const
-{
-	return mScriptRunnerProxy->isInEventDrivenMode();
-}
-
-void TrikScriptRunner::onScriptExecutionCompleted()
-{
-	if (mExecutionState == running) {
-		mExecutionState = stopping;
-		mScriptRunnerProxy->run("brick.stop()");
-	} else {
-		mExecutionState = idle;
-		emit completed();
-	}
+	mScriptRunnerProxy->reset();
 }
diff --git a/trikScriptRunner/trikScriptRunner.pro b/trikScriptRunner/trikScriptRunner.pro
index a7d25241f..9d87aacb3 100644
--- a/trikScriptRunner/trikScriptRunner.pro
+++ b/trikScriptRunner/trikScriptRunner.pro
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include(../global.pri)
+
 HEADERS += \
 	$$PWD/include/trikScriptRunner/trikScriptRunner.h \
 	$$PWD/src/scriptableParts.h \
@@ -27,23 +29,15 @@ SOURCES += \
 OTHER_FILES += \
 	$$PWD/system.js \
 
-TRIKCONTROL_DIR = ../trikControl/
-TRIKKERNEL_DIR = ../trikKernel/
-
 TEMPLATE = lib
 QT += script
 
 DEFINES += TRIKSCRIPTRUNNER_LIBRARY
 
-include(../global.pri)
-
 copyToDestdir(system.js)
 
-TARGET = trikScriptRunner$$CONFIGURATION_SUFFIX
-
-INCLUDEPATH = \
-	$$PWD \
-	$$TRIKCONTROL_DIR/include \
-	$$TRIKKERNEL_DIR/include \
+uses(trikKernel trikControl)
 
-LIBS += -L$$DESTDIR -ltrikControl$$CONFIGURATION_SUFFIX -ltrikKernel$$CONFIGURATION_SUFFIX
+INCLUDEPATH += \
+	$$PWD/../trikKernel/include/ \
+	$$PWD/../trikControl/include/ \
diff --git a/trikServer/trikServer.pro b/trikServer/trikServer.pro
index 8060e8727..2f6392c20 100644
--- a/trikServer/trikServer.pro
+++ b/trikServer/trikServer.pro
@@ -12,11 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include(../global.pri)
+
 SOURCES += \
 	$$PWD/main.cpp \
 
-TRIKCONTROL_DIR = ../trikControl/
-TRIKCOMMUNICATOR_DIR = ../trikCommunicator/
+uses(trikControl trikCommunicator)
+
+INCLUDEPATH += \
+	../trikControl/include/ \
+	../trikCommunicator/include/ \
 
 TEMPLATE = app
 CONFIG += console
@@ -26,11 +31,3 @@ QT += gui
 if (equals(QT_MAJOR_VERSION, 5)) {
 	QT += widgets
 }
-
-include(../global.pri)
-
-INCLUDEPATH = \
-	$$PWD \
-	$$TRIKCOMMUNICATOR_DIR/include \
-
-LIBS += -L$$DESTDIR -ltrikCommunicator$$CONFIGURATION_SUFFIX
diff --git a/trikWiFi/trikWiFi.pro b/trikWiFi/trikWiFi.pro
index 5b3b2efac..07a0d0da9 100644
--- a/trikWiFi/trikWiFi.pro
+++ b/trikWiFi/trikWiFi.pro
@@ -12,20 +12,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+include(../global.pri)
+
 TEMPLATE = lib
 
 QT += xml
 
 DEFINES += TRIKWIFI_LIBRARY
 
-include(../global.pri)
-
-TARGET = trikWiFi$$CONFIGURATION_SUFFIX
-
-INCLUDEPATH = \
-	$$PWD \
-	$$PWD/include/trikWiFi \
-
 win32 {
 	PLATFORM = windows
 } else {