% % The hardest version of problem3 that we have. % %%%%%%%%%%%%%%%%%% Initial Situation %%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%% FAULTS and OTHER EXCEPTIONS %%%%%%%%%%%%%%%%%%%% has_leak(ffm2). has_leak(fom3). has_leak(rfm3). has_leak(rfm4). has_leak(lom1). has_leak(lfx345). stuck(rfi345a,closed). stuck(roi345b,closed). stuck(rfi12,closed). stuck(lx12,closed). h(in_state(ffm2,open),0). h(in_state(fom3,open),0). h(in_state(lfx345,open),0). h(in_state(lom1,open),0). h(in_state(rfm3,open),0). h(in_state(rfm4,open),0). stuck_at(fhca_w99,fhca_g5,0). %%%%%%%%%%%%%%%%%%%%%%%% GOALS %%%%%%%%%%%%%%%%%%%%%%%%%% % A goal must be specified for every subsystem of the RCS. % If subsystem 's' is not involved in the goal use done(s). % Maneuver -Z goal(T,fwd_rcs) :- time(T), pair_of_jets(J1,J2), h(ready_to_fire(J1),T), h(ready_to_fire(J2),T). goal(T,left_rcs) :- time(T), jet_of(J,left_rcs), direction(J,down), h(ready_to_fire(J),T). goal(T,right_rcs) :- time(T), jet_of(J,right_rcs), direction(J,up), h(ready_to_fire(J),T). % Checking plan: %:- not occurs(flip(fm2,closed),0). %:- not occurs(flip(fm3,closed),1). %:- not occurs(flip(fha,open),2). %:- not occurs(flip(fi12,open),3). %:- not occurs(flip(fi345,open),4). %:- not occurs(flip(fm1,open),5). %:- not occurs(flip(fm4,open),6). %:- not occurs(flip(rm3,closed),0). %:- not occurs(flip(rm4,closed),1). %:- not occurs(flip(rha,open),2). %:- not occurs(open_roi345a,3). %:- not occurs(open_rfi345b,4). %:- not occurs(flip(rx345,open),5). %:- not occurs(flip(rx12,open),6). %:- not occurs(flip(rm2,open),7). %:- not occurs(opena_lfhb,0). %:- not occurs(open_loi345b,1). %:- not occurs(flip(lm3,open),2). %:- not occurs(flip(lm4,open),3). %:- not occurs(close_lfx345,4). %:- not occurs(flip(lm1,closed),5). %:- not occurs(flip(li12,open),6). %:- not occurs(flip(lm2,open),7). %% Not generated by plan. But it was checked. %occurs(flip(lm1,closed),0), %occurs(flip(lx345,closed),1), %occurs(flip(lha,open),2), %occurs(flip(li12,open),3), %occurs(flip(lm2,open),4).