Don't know if you've tried switching off engine and re-starting. My C200's refused to change gear on two occasions in 3 years but the re-start clears the fault.
The oil has been topped up, been put on a computer and codes 122,126 and 147 came up. The ABS, BAS lights are on and the cruise control doesn't work, is this an electrical fault. I didn't know weather any body had had the same problem before.
ABS / BAS lights often cured by replacing brake light switch. I'm not so sure that's the problem in your case though. The brake light switch issue is usually intermittant and doing a restart of the engine usually puts the lights out for a while
If the traction lights are on and the faults in the traction system are wheel speed related then that can cause problems with the gearbox as it gets it's road speed signals from the traction control unit via the chassis can network. If you get this looked at it may well sort out the gearbox fault as well.