%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rox345).
h(in_state(rox345,open),0).
has_leak(fohb).
h(in_state(fohb,open),0).
stuck(ri12,open).
has_leak(ffm1).
h(in_state(ffm1,open),0).
has_leak(rom4).
h(in_state(rom4,open),0).
stuck(rm5,closed).
stuck(rom4,closed).
stuck(lom4,open).
stuck_at(fmc3_w16,fmc3_g9,1).
stuck_at(fmc2_w4,fmc2_g1,1).
stuck_at(fmc3_w41,fmc3_g4,1).
stuck_at(fmc4_w6,fmc4_g4,1).
stuck_at(fmc1_w60,fmc1_g10,1).
%%%%%%%%%%%%     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).

