change to metadata

Author: L4co77

scripts/README.md

@@ -7,13 +7,12 @@ These steps allow you to get the updated behaviors.xml, which should happen ever
 
 ```bash
 # In moveitpro repo when your REST API is running, get the generated XML data
-# Save it to scripts/ directory in moveit_pro_example_ws workspace
-curl -X GET http://localhost:3200/behaviors/data > scripts/behaviors_raw.xml
+curl -X GET http://localhost:3200/behaviors/data > behaviors_raw.xml
 ```
 
 ### enrich_behaviors_with_usage.py
 
-Enhances `behaviors_raw.xml` with usage information (`<UsedIn>` elements) showing which Objectives use each behavior.
+Enhances `behaviors_raw.xml` with usage information (Metadata fields with `used_in` attribute) showing which Objectives use each behavior.
 
 **Run this script in `moveit_pro_example_ws` workspace.**
 
@@ -36,11 +35,12 @@ python3 scripts/enrich_behaviors_with_usage.py --xml scripts/behaviors_raw.xml -
 - Discovers all robot configs in the workspace
 - Extracts which Objectives use which behaviors by parsing Objective XML files
 - Preserves all existing XML data (ports, metadata, etc.)
-- Adds `<UsedIn>` elements to each behavior in the XML showing:
+- Adds `Metadata` elements with `used_in` attribute to each behavior's `MetadataFields` showing:
   - Which configs use the behavior
   - Which Objectives use the behavior
   - The file path of each Objective
   - The usage type (Action, Control, Decorator, SubTree)
+- The `used_in` attribute contains a JSON array of usage objects
 - Outputs enhanced XML file ready for conversion to JSON
 
 #### Requirements
@@ -73,7 +73,7 @@ python scripts/update_behaviors_from_xml.py /path/to/behaviors_with_usage.xml
 
 - Extracts port information (input, output, input/output) from XML Action and SubTree elements
 - Extracts metadata (subcategory, description, deprecated status)
-- Extracts `used_in` information from `<UsedIn>` elements (if present)
+- Extracts `used_in` information from `Metadata` elements with `used_in` attribute (if present)
 - Updates existing behaviors in JSON or adds new ones
 - Preserves existing data like links and other fields
 - Updates the export date

scripts/enrich_behaviors_with_usage.py

@@ -2,13 +2,14 @@
 """
 Enhance behaviors.xml with usage information from Objectives.
 
-This script reads behaviors.xml (from REST API) and adds <UsedIn> elements
-showing which Objectives use each behavior.
+This script reads behaviors.xml (from REST API) and adds Metadata fields
+with used_in information showing which Objectives use each behavior.
 
 Run this script in moveit_pro_example_ws workspace.
 """
 
 import argparse
+import json
 import os
 import sys
 from pathlib import Path
@@ -328,26 +329,29 @@ def enhance_behaviors_xml(
             traceback.print_exc()
             continue
 
-    # Add UsedIn elements to each behavior element
+    # Add used_in Metadata to each behavior element
     print("Adding usage information to XML...", file=sys.stderr)
     behaviors_with_usage = 0
 
     for behavior_id, elem in behavior_elements.items():
-        # Remove existing UsedIn elements if any
-        for used_in in elem.findall(".//UsedIn"):
-            elem.remove(used_in)
-
-        # Add new UsedIn elements
+        # Remove existing used_in Metadata if any
+        metadata_fields = elem.find(".//MetadataFields")
+        if metadata_fields is not None:
+            for metadata in metadata_fields.findall(".//Metadata[@used_in]"):
+                metadata_fields.remove(metadata)
+        else:
+            # Create MetadataFields if it doesn't exist
+            metadata_fields = ET.SubElement(elem, "MetadataFields")
+
+        # Add new used_in Metadata
         if behavior_id in all_objective_usages:
             usages = all_objective_usages[behavior_id]
-            used_in_container = ET.SubElement(elem, "UsedIn")
-
-            for usage in usages:
-                usage_elem = ET.SubElement(used_in_container, "Usage")
-                usage_elem.set("config", usage["config"])
-                usage_elem.set("objective_id", usage["objective_id"])
-                usage_elem.set("objective_file", usage["objective_file"])
-                usage_elem.set("usage_type", usage["usage_type"])
+            # Serialize usages to JSON string
+            used_in_json = json.dumps(usages, ensure_ascii=False)
+            
+            # Add Metadata element with used_in attribute
+            used_in_metadata = ET.SubElement(metadata_fields, "Metadata")
+            used_in_metadata.set("used_in", used_in_json)
 
             behaviors_with_usage += 1