%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(rfm5).
h(in_state(rfm5,open),0).
stuck(fi345,closed).
stuck(lha,closed).
stuck(fom2,closed).
stuck(fi12,closed).
has_leak(roha).
h(in_state(roha,open),0).
has_leak(lfx345).
h(in_state(lfx345,open),0).
stuck(rom3,closed).
stuck_at(fmc1_w6,fmc1_g4,1).
stuck_at(fmc4_w38,fmc4_g10,1).
stuck_at(fmc1_w42,fmc1_g8,1).
stuck_at(fmc1_w6,fmc1_g4,1).
stuck_at(fmc4_w43,fmc4_g4,1).
%%%%%%%%%%%%     GOALS     %%%%%%%%%%%%%

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

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

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

