%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rfx345).
h(in_state(rfx345,open),0).
has_leak(fom5).
h(in_state(fom5,open),0).
stuck(ri345a,closed).
has_leak(rox12).
h(in_state(rox12,open),0).
stuck(lm2,open).
stuck(rm4,open).
stuck(rm1,closed).
stuck(loi345a,closed).
stuck(fm1,open).
stuck(fm4,closed).
stuck_at(fmc2_w28,fmc2_g11,0).
stuck_at(fmc4_w6,fmc4_g4,1).
stuck_at(fmc1_w41,fmc1_g4,1).
stuck_at(fmc4_w44,fmc4_g8,0).
stuck_at(fmc3_w60,fmc3_g2,0).
%%%%%%%%%%%%     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).

