%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rox345).
h(in_state(rox345,open),0).
stuck(loi345a,open).
stuck(fi12,open).
stuck(rox12,closed).
stuck(li345a,open).
has_leak(rfm1).
h(in_state(rfm1,open),0).
has_leak(rohb).
h(in_state(rohb,open),0).
stuck(rm1,open).
stuck(fm2,open).
has_leak(lfm2).
h(in_state(lfm2,open),0).
stuck_at(fmc1_w52,fmc1_g9,1).
stuck_at(fmc2_w6,fmc2_g3,1).
stuck_at(fmc1_w16,fmc1_g9,0).
stuck_at(fmc1_w53,fmc1_g3,0).
stuck_at(fmc1_w16,fmc1_g10,0).
%%%%%%%%%%%%     GOALS     %%%%%%%%%%%%%

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

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

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

