Detailed Python sequence
```mermaid
sequenceDiagram
  participant ts as TimingSystem
  participant py as Python
  participant pb as PowerBrick

  activate py
  Note over py: .setup_sync()<br/>prepare code snipplets
  py -)+ pb: sftp / ssh
  Note over pb: sftp triggerSync<br/>run triggerSync
  pb --)- py: done
  Note over py: .setup_coord_trf()
  py -)+ pb: download code
  Note over pb: setup coordinate transformation
  pb --)- py: done
  Note over py: .setup_motion()
  py -)+ pb: generate code<br/>download code
  Note over pb: setup motion program
  pb --)- py: done
  Note over py: .setup_gather()
  py -)+ pb: download code
  Note over pb: set addresses to gather<br/>Gather.Enable=1
  pb --)- py: done
  Note over py: .homing()
  py -)+ pb: download code
  Note over pb: runs homing PLC [if needed]<br/>enable plc 1
  pb --) py: done
  Note over py: wait(Motor[1].HomeComplete)
  deactivate py
  pb ->>- py: HomeComplete
  activate py
  Note over py: .run()
  py -)+ pb: .run()
  Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
  pb --) py: done
  Note over py: .wait_armed()<br/>wait(Q[0]==-2)  # wait until motors are at first position
  deactivate py
  Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-2 (motion armed)
  pb ->>- py: Q[0]=-2 done
  activate py
  Note over py: .trigger() #send a start trigger (if needed) after given time
  Note over pb: wait for the start trigger
  alt simulated trigger
    Note over py:Q[10]=1
    py-)+pb: start trigger
    Note over pb: DesTimeBase=Sys.ServoPeriod
  else real trigger
    ts-)pb: start trigger<br/>triggerSync:DesTimeBase=Sys.ServoPeriod
  end
  Note over pb: pvt10abs<br/>move to all points
  Note over py: while .progress()<br/>wait(Gather.Enable==0)
  deactivate py
    loop 10 ms
      Note over pb: move to next point
    end
  Note over pb: Gather.Enable=0
  pb ->>- py: Gather.Enable=0
  activate py
  Note over py: .gather_upload()
  deactivate py
```

more detailed sequence trial 1
```mermaid
sequenceDiagram
  participant py as Python
  participant pb as PowerBrick

  Note over py: .setup_sync()
  create participant ts as TriggerSync
  py -)+ ts: .setup_sync()
  create participant tsync as triggersync_func()
  ts -) tsync: start thread
  create participant tsim as trig_sim_func()
  ts -) tsim: ? if sync_mode&2 then start thread
  deactivate ts

  Note over py: .setup_coord_trf()<br/>shapepath.py
  py -)+ pb: download code
  pb --)- py: done
  Note over py: .setup_motion()<br/>shapepath.py
  py -)+ pb: generate code<br/>download code
  pb --)- py: done
  Note over py: .setup_gather()
  Note over py, pb: calls set_address(*address)<br/>that sets also Gather.Enable=1.
  py -)+ pb: download code
  Note over pb: Gather.Enable=1
  pb --)- py: done
  Note over py: .homing()
  py -)+ pb: download code
  pb --) py: done
  Note over pb: runs homing PLC if needed<br/>enable plc 1
  Note over py: wait(Motor[1].HomeComplete)
  pb ->>- py: HomeComplete
  Note over py: .run()
  py -)+ pb: .run()
  pb --)- py: done
  Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2<br/>move to first point<br/>DesTimeBase=0 (wait motion)
  Note over tsync: wait(Q[0]==-3)
  pb -)+ tsync: Q[0]=-3
  Note over py: MXMotion.py:.wait_armed()<br/>wait(Q[0]==-2)
  tsync -)+ py: Q[0]=-2
  Note over py: MXMotion.py:.trigger()<br/>if sync_mode&1 then Q[10]=1
  deactivate py

  tsync -)+ pb: DesTimeBase=ServoPerion
  loop aaa
    tsync ->> tsync:adjust DesTimeBase<br/>while Gather.Enable!=0
  end
  activate tsim
  loop bbb
    tsim ->> tsim:simulate start and frame triggers
  end
  deactivate tsim 

  Note over pb: pvt10abs<br/>move to all points
  Note over pb: Gather.Enable=0
  Note over py: while .progress()<br/>wait(Gather.Enable==0)
  pb -)+ py: Gather.Enable=0
  pb -)- tsync: Gather.Enable=0
  
  Note over py: shapepath.py:.gather_upload()
  Note over ts: wait threds finished
  activate ts

  deactivate tsync 
  destroy tsync
  tsync -x ts: thread finished
  destroy tsim
  tsim -x ts: thread finished
  deactivate ts
  deactivate py

  box rgba(196,196,224,.3) TriggerSync executable
  participant ts
  participant tsim
  participant tsync
  end
```
more detailed sequence simulated trigger and speed adjustment
```mermaid
sequenceDiagram
  participant py as Python
  participant pb as PowerBrick
  participant ts as TimingSystem

  activate py
  Note over py: .setup_sync()<br/>prepare code snipplets
  py -)+ pb: sftp / ssh
  Note over pb: sftp triggerSync<br/>run triggerSync
  pb --)- py: done
  Note over py: .setup_sync()
  create participant tgss as TriggerSync
  py -)+ tgss: .setup_sync()
  create participant tsync as triggersync_func()
  tgss ->> tsync: start thread
  opt if sync_mode&2
    create participant tsim as trig_sim_func()
    tgss ->>- tsim: start thread
  end
#  deactivate tgss



  Note over py: .setup_coord_trf()
  py -)+ pb: download code
  Note over pb: setup coordinate transformation
  pb --)- py: done
  Note over py: .setup_motion()
  py -)+ pb: generate code<br/>download code
  Note over pb: setup motion program
  pb --)- py: done
  Note over py: .setup_gather()
  py -)+ pb: download code
  Note over pb: set addresses to gather<br/>Gather.Enable=1
  pb --)- py: done
  Note over py: .homing()
  py -)+ pb: download code
  Note over pb: runs homing PLC [if needed]<br/>enable plc 1
  pb --) py: done
  Note over py: wait(Motor[1].HomeComplete)
  deactivate py
  pb -)- py: HomeComplete
  activate py
  Note over py: .run()
  py -)+ pb: .run()
  Note over pb: runs motion program 2 in coordSystem 1<br/>&1br2
  pb --) py: done
  Note over py: .wait_armed()<br/>wait(Q[0]==-2)  # wait until motors are at first position
  deactivate py
  Note over pb: move to first point<br/>DesTimeBase=0 (wait motion)<br/>Q[0]=-3 (motion program waiting at start position)

  pb -) tsync: Q[0]=-3 (motion program waiting at start position)

  pb -)- py: Q[0]=-2 done
  activate py
  Note over py: .trigger() #send a start trigger (if needed) after given time
  Note over pb: wait for the start trigger
    Note over py:Q[10]=1
    py-)+pb: start trigger
    Note over pb: DesTimeBase=Sys.ServoPeriod
  Note over pb: pvt10abs<br/>move to all points
  Note over py: while .progress()<br/>wait(Gather.Enable==0)
  deactivate py
  loop 10 ms
    Note over pb: move to next point
  end
  #activate tsync
  #activate tsim
  tgss->>tsync: Wait for tsync to Finish
  tgss->>tsim: Wait for tsim to Finish

  Note over pb: Gather.Enable=0
  pb -) py: Gather.Enable=0
  pb -) tsync: Gather.Enable=0
  pb -)- tsim: Gather.Enable=0

  destroy tsync
  tsync-->>tgss: exit triggersync_func() thread
  destroy tsim
  tsim-->>tgss: exit triggersync_func() thread
  destroy tgss
  tsync-->tgss: Exit Main Thread
  
  activate py
  Note over py: .gather_upload()
  deactivate py

```