232 lines
6.7 KiB
C
232 lines
6.7 KiB
C
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/** @file trace.h
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* \~chinese @brief 向控制器日志系统注入日志方面的接口 \~english @brief Interface for injecting logs into the controller's logging system
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*/
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#ifndef AUBO_SDK_TRACE_INTERFACE_H
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#define AUBO_SDK_TRACE_INTERFACE_H
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#include <string>
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#include <vector>
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#include <memory>
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#include <sstream>
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#include <aubo/global_config.h>
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#include <aubo/type_def.h>
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namespace arcs {
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namespace common_interface {
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/**
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* \~chinese 提供给控制器扩展程序的日志记录系统 \~english provides a logging system for controller extension programs
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*/
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class ARCS_ABI_EXPORT Trace
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{
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public:
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Trace();
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virtual ~Trace();
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/**
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* \~chinese 向 aubo_control 日志注入告警信息 \~english Injects alarm information into the aubo_control log
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*
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* TraceLevel: \n
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* 0 - FATAL \n
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* 1 - ERROR \n
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* 2 - WARNING \n
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* 3 - INFO \n
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* 4 - DEBUG \n
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*
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* \~chinese code定义参考 error_stack \~english Code definitions refer to error_stack
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*
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* @param level
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* @param code
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* @param args
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* @return
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*
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* \~chinese @par Python函数原型 \~english @par Python function prototype
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* alarm(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel,
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* arg1: int, arg2: List[str]) -> int
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*
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* \~chinese @par Lua函数原型 \~english @par Lua function prototype
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* alarm(level: number, code: number, args: table) -> nil
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*
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* \~chinese @par JSON-RPC请求示例 \~english @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.Trace.alarm","params":["",1,["Error","Trajectory
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* planning failed!","1"]],"id":1}
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*
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* \~chinese @par JSON-RPC响应示例 \~engish @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":0}
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*
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*/
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int alarm(TraceLevel level, int code,
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const std::vector<std::string> &args = {});
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/**
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* \chinese
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* 打印文本信息到日志中
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*
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* @param msg 文本信息
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* @return
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*
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* @par Python函数原型
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* textmsg(self: pyaubo_sdk.Trace, arg0: str) -> int
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*
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* @par Lua函数原型
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* textmsg(msg: string) -> nil
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.Trace.textmsg","params":["test"],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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* \endchinese
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* \english
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* print message into log
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*
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* @param msg message information
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* @return
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*
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* @par Python function prototype
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* textmsg(self: pyaubo_sdk.Trace, arg0: str) -> int
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*
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* @par Lua function prototype
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* textmsg(msg: string) -> nil
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.Trace.textmsg","params":["test"],"id":1}
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*
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* @par JSON-RPC responose example
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* {"id":1,"jsonrpc":"2.0","result":0}
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* \endenglish
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*/
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int textmsg(const std::string &msg);
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/**
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* \~chinese 通知上位机 \~english Notify the system
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*
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* @param msg
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* @return
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*/
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int notify(const std::string &msg);
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/**
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* \chinese
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* 向连接的 RTDE 客户端发送弹窗请求
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*
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* @param level
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* @param title
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* @param msg
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* @param mode 模式 \n
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* 0: 普通模式 \n
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* 1: 阻塞模式 \n
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* 2: 输入模式 bool \n
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* 3: 输入模式 int \n
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* 4: 输入模式 double \n
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* 5: 输入模式 string \n
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* @return
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*
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* @par Python函数原型
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* popup(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel,
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* arg1: str, arg2: str, arg3: int) -> int
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*
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* @par Lua函数原型
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* popup(level: number, title: string, msg: string, mode: number) -> nil
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.Trace.popup","params":["","Error","Trajectory
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* planning failed!",1],"id":1}
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*
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* @par JSON-RPC响应示例
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* {"id":1,"jsonrpc":"2.0","result":0}
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* \endchinese
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* \english
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* Send a popup request to the connected RTDE client
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*
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* @param level
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* @param title
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* @param msg
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* @param mode mode \n
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* 0: normal mode \n
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* 1: blocking mode \n
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* 2: input mode bool \n
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* 3: input mode int \n
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* 4: input mode double \n
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* 5: input mode string \n
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* @return
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*
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* @par Python function prototype
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* popup(self: pyaubo_sdk.Trace, arg0: arcs::common_interface::TraceLevel,
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* arg1: str, arg2: str, arg3: int) -> int
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*
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* @par Lua function prototype
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* popup(level: number, title: string, msg: string, mode: number) -> nil
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.Trace.popup","params":["","Error","Trajectory
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* planning failed!",1],"id":1}
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*
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* @par JSON-RPC response example
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* {"id":1,"jsonrpc":"2.0","result":0}
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* \endenglish
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*/
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int popup(TraceLevel level, const std::string &title,
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const std::string &msg, int mode);
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/**
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* \chinese
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* peek最新的 AlarmInfo(上次一获取之后)
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*
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* last_time设置为0时，可以获取到所有的AlarmInfo
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*
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* @param num
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* @param last_time
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* @return
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*
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* @par Python函数原型
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* peek(self: pyaubo_sdk.Trace, arg0: int, arg1: int) ->
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* List[arcs::common_interface::RobotMsg]
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*
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* @par Lua函数原型
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* peek(num: number, last_time: number) -> table
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*
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* @par JSON-RPC请求示例
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* {"jsonrpc":"2.0","method":"rob1.Trace.peek","params":[1,0],"id":1}
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*
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* @par JSON-RPC响应示例
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* {{"id":1,"jsonrpc":"2.0","result":[{"args":["RobotModeType.Running"],
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* "code":30045,"level":"INFO","source":"rob1","timestamp":5102883064300}]}
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* \endchinese
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* \english
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* peek the latest AlarmInfo (after the last retrieval)
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*
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* When last_time is set as 0, retrieve all AlarmInfo
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*
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* @param num
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* @param last_time
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* @return
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*
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* @par Python function prototype
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* peek(self: pyaubo_sdk.Trace, arg0: int, arg1: int) ->
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* List[arcs::common_interface::RobotMsg]
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*
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* @par Lua function prototype
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* peek(num: number, last_time: number) -> table
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*
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* @par JSON-RPC request example
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* {"jsonrpc":"2.0","method":"rob1.Trace.peek","params":[1,0],"id":1}
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*
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* @par JSON-RPC response example
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* {{"id":1,"jsonrpc":"2.0","result":[{"args":["RobotModeType.Running"],
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* "code":30045,"level":"INFO","source":"rob1","timestamp":5102883064300}]}
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* \endenglish
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*/
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RobotMsgVector peek(size_t num, uint64_t last_time = 0);
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protected:
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void *d_;
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};
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using TracePtr = std::shared_ptr<Trace>;
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} // namespace common_interface
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} // namespace arcs
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#endif
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