%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rom4).
h(in_state(rom4,open),0).
stuck(foha,closed).
stuck(rm3,closed).
stuck(roi345b,open).
stuck(lx345,closed).
has_leak(fom2).
h(in_state(fom2,open),0).
has_leak(rfm4).
h(in_state(rfm4,open),0).
stuck(fha,closed).
has_leak(loi345a).
h(in_state(loi345a,open),0).
stuck(rfm5,open).
stuck_at(fmc3_w53,fmc3_g3,0).
stuck_at(fmc4_w38,fmc4_g10,1).
stuck_at(fmc4_w16,fmc4_g9,0).
stuck_at(fmc1_w44,fmc1_g8,1).
stuck_at(fmc2_w56,fmc2_g1,1).
%%%%%%%%%%%%     GOALS     %%%%%%%%%%%%%

% Maneuver to be performed: minus_z
goal(T,fwd_rcs) :- time(T),
                   h(maneuver_of(minus_z,fwd_rcs),T).

goal(T,left_rcs) :- time(T),
                   h(maneuver_of(minus_z,left_rcs),T).

goal(T,right_rcs) :- time(T),
                   h(maneuver_of(minus_z,right_rcs),T).

