From da58f4c9bff3bb51b75f5f8a950fe43db23e8bc9 Mon Sep 17 00:00:00 2001
From: Alelafar <alafarciola@fbk.eu>
Date: Mon, 19 Feb 2024 16:52:26 +0100
Subject: [PATCH] update time_triggered_plan and test

---
 unified_planning/plans/time_triggered_plan.py | 32 +++++++------------
 unified_planning/test/test_ttp_to_stn.py      |  6 +++-
 2 files changed, 16 insertions(+), 22 deletions(-)

diff --git a/unified_planning/plans/time_triggered_plan.py b/unified_planning/plans/time_triggered_plan.py
index 52c050a4c..53f1cc1dc 100644
--- a/unified_planning/plans/time_triggered_plan.py
+++ b/unified_planning/plans/time_triggered_plan.py
@@ -186,7 +186,11 @@ def convert_to(
         """
         if plan_kind == self._kind:
             return self
-        elif plan_kind == plans.plan.PlanKind.STN_PLAN:
+        elif (
+            plan_kind == plans.plan.PlanKind.STN_PLAN
+            and not problem.kind.has_decrease_continuous_effects()
+            and not problem.kind.has_increase_continuous_effects()
+        ):
             return _convert_to_stn(self, problem)
         else:
             raise UPUsageError(f"{type(self)} can't be converted to {plan_kind}.")
@@ -440,24 +444,6 @@ def _get_timepoint_effects(
     return timepoint_effects
 
 
-# def _get_timepoint_continuous_effects(
-#     action: DurativeAction,
-#     timing: Fraction,
-#     start: Fraction,
-#     duration: Fraction,
-# ) -> List[Effect]:
-#     """
-#     Returns the List of continuous effects of the given action in the given timing.
-#     start and duration are the start and duration of the given action
-#     """
-#     timepoint_continuous_effects = []
-#     for c_effects_timing, el in action.continuous_effects.items():
-#         absolute_effect_time = _absolute_time(c_effects_timing, start, duration)
-#         if absolute_effect_time == timing:
-#             timepoint_continuous_effects.extend(el)
-#     return timepoint_continuous_effects
-
-
 def _get_timepoint_simulated_effects(
     action: DurativeAction,
     timing: Fraction,
@@ -496,7 +482,12 @@ def _extract_action_timings(
     timings: Set[Fraction] = set()
 
     absolute_time = lambda timing: _absolute_time(timing, start, duration)
-    timings.update(map(absolute_time, chain(action.effects, action.simulated_effects)))
+    timings.update(
+        map(
+            absolute_time,
+            chain(action.effects, action.continuous_effects, action.simulated_effects),
+        )
+    )
 
     for interval in action.conditions.keys():
         lower_increment: Fraction = epsilon if interval.is_left_open() else Fraction(0)
@@ -530,7 +521,6 @@ def _extract_instantenous_actions(
             inst_action.add_precondition(cond)
         for eff in _get_timepoint_effects(action, timing, start, duration):
             inst_action._add_effect_instance(eff)
-        # va aggiunto qualcosa? Come traformo il continuous change in istantenuous action?
         sim_eff = _get_timepoint_simulated_effects(action, timing, start, duration)
         if sim_eff is not None:
             inst_action.set_simulated_effect(sim_eff)
diff --git a/unified_planning/test/test_ttp_to_stn.py b/unified_planning/test/test_ttp_to_stn.py
index c3bacf3f8..b2f8170ea 100644
--- a/unified_planning/test/test_ttp_to_stn.py
+++ b/unified_planning/test/test_ttp_to_stn.py
@@ -84,7 +84,11 @@ def test_all_valid(self):
 
         for name, tc in self.problems.items():
             for valid_plan in tc.valid_plans:
-                if valid_plan.kind == PlanKind.TIME_TRIGGERED_PLAN:
+                if (
+                    valid_plan.kind == PlanKind.TIME_TRIGGERED_PLAN
+                    and not tc.problem.kind.has_decrease_continuous_effects()
+                    and not tc.problem.kind.has_increase_continuous_effects()
+                ):
                     stn_plan = valid_plan.convert_to(PlanKind.STN_PLAN, tc.problem)
                     tt_plan = stn_plan.convert_to(
                         PlanKind.TIME_TRIGGERED_PLAN, tc.problem