%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rom2).
h(in_state(rom2,open),0).
stuck(rhb,open).
stuck(ri12,closed).
stuck(rhb,open).
has_leak(foi12).
h(in_state(foi12,open),0).
stuck(lha,open).
stuck(rm4,closed).
has_leak(rfm2).
h(in_state(rfm2,open),0).
stuck_at(fmc4_w4,fmc4_g2,0).
stuck_at(fmc3_w38,fmc3_g10,0).
stuck_at(fmc1_w44,fmc1_g8,0).
stuck_at(fmc2_w4,fmc2_g2,1).
stuck_at(fmc4_w16,fmc4_g9,1).
%%%%%%%%%%%%     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).

