TRACING EVENTS FOR A REAL-TIME ROBOTICS CONTROL SYSTEM

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating event logs for trace events. The method includes receiving data representing a trigger for generating event entries of a real-time robotics control system. Each real-time thread corresponds to a non-real-time thread, and is communicatively coupled to a data structure allocated in a memory unit for the real-time thread to store event entries. Each real-time thread stores event entries into a corresponding data structure that is allocated for the real-time thread. The event entries are generated when the real-time thread is executed during real time. The stored event entries are provided to a non-real-time thread that corresponds to the real-time thread from a corresponding data structure. Each non-real-time thread processes the event entries to generate an event log for the corresponding real-time thread. The event log represents trace events occurred during operation of the real-time thread.