Chaoyu - think of the data as arriving in a bar. Each bar represents a minute of price/volume data. The prices and volume is aggregated from all of the trades that happend in the market during that minute. The bar is timestamped with the end of the measured minute. The bar includes open, close, high, low, volume, and price.
price is always forward-filled. The other fields (open, close, high, low, and volume) are never forward-filled.
So in your example, the 9:31 bar, the open price is the price of the first trade that happened during the minute that ended at 9:31:00. If there were no trades in that minute then it is a NaN. The price is going to be the price of the last trade that happened during that minute, and if there were no trades during the minute, it will be forward-filled from the most recent trade.
Note that there is no guarantee that the close of given minute will be identical to the open of the subsequent minute. If the last trade in a minute is $10, then the close is $10. If the first trade in the next minute is at $10.05, then then the open for that minute is $10.05.
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