Add option to prevent auto-termination after MCAP playback (#31)

* Fix parameter passing error
* run.default with params now works written in README.md

* Add ignore_playback_finish options
* To meet our requirements, controlling shutdown condition in `Run` class is needed

* Add ignore_playback_finish in README

* Add test for replay finish condition

* run pre-commit

Author: f0reachARR

README.md

@@ -146,6 +146,24 @@ When `use_clock=True` (default), the replay framework will:
 When `use_clock=False`, the replay will:
 - Skip `/clock` topic publishing
 
+#### Termination Condition
+
+By default, the replay will run until all messages from the input MCAP are played back.
+After that, the `run` stops immediately and the `analyze` step is executed.
+
+To wait for `run` to finish instead of stopping immediately after playback, you can set a `ignore_playback_finish` flag in `ReplayRunParams`:
+
+```python
+from replay_testing import ReplayRunParams
+
+@run.default(params=ReplayRunParams(name='default', ignore_playback_finish=True))
+class Run:
+    def generate_launch_description(self) -> LaunchDescription:
+        # Your launch description here
+        # Note: Every node in the launch description must finish on its own. Otherwise, the test will hang.
+        pass
+```
+
 ### Analyze `@analyze`
 
 The analyze step is run after the mcap from the `run` is recorded and written. It is a basic wrapper over `unittest.TestCase`, so any `unittest` assertions are built in.

replay_testing/decorators/run.py

@@ -52,5 +52,5 @@ def parameterize(parameters: list[ReplayRunParams]):
         return run(parameters=parameters)
 
     @staticmethod
-    def default(params: dict = {}):
-        return run(parameters=[ReplayRunParams(name='default', params=params)])
+    def default(params: ReplayRunParams = ReplayRunParams(name='default')):
+        return run(parameters=[params])

replay_testing/models.py

@@ -34,8 +34,9 @@ class RunnerArgs(BaseModel):
 
 class ReplayRunParams(BaseModel):
     name: str
-    params: dict
+    params: dict = {}
     runner_args: RunnerArgs = RunnerArgs()
+    ignore_playback_finish: bool = False
 
 
 class Mcap(BaseModel):

replay_testing/replay_runner.py

@@ -139,26 +139,30 @@ def _create_run_launch_description(
             output='screen',
         )
 
-        # Event handler to gracefully exit when the process finishes
-        on_exit_handler = RegisterEventHandler(
-            OnProcessExit(
-                target_action=player_action,
-                # Shutdown the launch service
-                on_exit=[launch.actions.EmitEvent(event=Shutdown())],
-            )
-        )
-
-        # Launch description with the event handler
-        return LaunchDescription([
+        # Launch description
+        ld = LaunchDescription([
             ExecuteProcess(
                 cmd=['ros2', 'bag', 'record', '-s', 'mcap', '-o', str(run_fixture.path), '--all'],
                 output='screen',
             ),
             test_ld,
             player_action,  # Add the MCAP playback action
-            on_exit_handler,  # Add the event handler to shutdown after playback finishes
         ])
 
+        if not params.ignore_playback_finish:
+            # Event handler to gracefully exit when the process finishes
+            on_exit_handler = RegisterEventHandler(
+                OnProcessExit(
+                    target_action=player_action,
+                    # Shutdown the launch service
+                    on_exit=[launch.actions.EmitEvent(event=Shutdown())],
+                )
+            )
+
+            ld.add_action(on_exit_handler)
+
+        return ld
+
     def filter_fixtures(self) -> list[ReplayFixture]:
         self._log_stage_start(ReplayTestingPhase.FIXTURES)
 

test/replay_tests/basic_replay_finish_condition.py

@@ -0,0 +1,79 @@
+# Copyright (c) 2025-present Polymath Robotics, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#    http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+import pathlib
+
+from launch import LaunchDescription
+from launch.actions import EmitEvent, ExecuteProcess, RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+
+from replay_testing import (
+    LocalFixture,
+    ReplayRunParams,
+    analyze,
+    fixtures,
+    read_messages,
+    run,
+)
+
+cmd_vel_only_fixture = pathlib.Path(__file__).parent.parent / 'fixtures' / 'cmd_vel_only.mcap'
+
+
+@fixtures.parameterize([LocalFixture(path=cmd_vel_only_fixture)])
+class FilterFixtures:
+    required_input_topics = ['/vehicle/cmd_vel']
+    expected_output_topics = ['/user/cmd_vel']
+
+
+@run.default(params=ReplayRunParams(name='default', ignore_playback_finish=True))
+class Run:
+    def generate_launch_description(self) -> LaunchDescription:
+        target_process = ExecuteProcess(
+            cmd=[
+                'ros2',
+                'topic',
+                'pub',
+                '-r',
+                '10',
+                '-t',
+                '20',
+                '/user/cmd_vel',
+                'geometry_msgs/msg/Twist',
+                '{linear: {x: 1.0}, angular: {z: 0.5}}',
+            ],
+            name='topic_pub',
+            output='screen',
+        )
+        on_exit_handler = RegisterEventHandler(
+            OnProcessExit(
+                target_action=target_process,
+                # Shutdown the launch service
+                on_exit=[EmitEvent(event=Shutdown())],
+            )
+        )
+        return LaunchDescription([
+            target_process,
+            on_exit_handler,
+        ])
+
+
+@analyze
+class AnalyzeBasicReplay:
+    def test_expected_failure(self):
+        msgs_it = read_messages(self.reader, topics=['/user/cmd_vel'])
+
+        msgs = [(topic_name, msg, timestamp) for topic_name, msg, timestamp in msgs_it]
+        assert len(msgs) == 20