/****************************************************************************** * * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * MODULE: burying globals under a rock! * * FILE: global.c * * ABSTRACT: define globals and support routines. * * REVISION HISTORY * * $Log: globalS.c,v $ * Revision 1.1.1.1 2004/10/15 14:33:15 tomkol * Initial Import * * Revision 1.5 2003/07/22 15:22:57 nickr * Turned -u to be on by default. * * Revision 1.4 2003/04/20 02:28:13 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.3 2000/07/27 16:59:10 reids * Added function IPC_setMsgQueueLength. * Made IPC_setMsgQueueLength and IPC_setMsgPriority work with point-to-point * messages (used to work only with centrally-routed messages). * Made direct connections a bit more robust. * * Revision 2.2 2000/07/03 17:03:24 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.1.1.1 1999/11/23 19:07:36 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.2.2.9 1997/03/07 17:49:40 reids * Added support for OS2, needed by JSC team (thanks to Bob Goode). * Also fixed bug when passing between machines of different endianness. * * Revision 1.2.2.8 1997/01/27 20:09:30 udo * ipc_2_6_006 to r3_Dev merge * * Revision 1.2.2.6 1997/01/16 22:17:43 reids * Put "display" option back in. * * Revision 1.2.2.5 1996/12/18 15:10:29 reids * Fixed bug to enable multiple connects and disconnects (by not calling * taskVarAdd more than once per task) * Defined common macros to clean up code * * Revision 1.2.2.4 1996/10/29 16:44:24 reids * Removed a compiler warning. * * Revision 1.2.2.3 1996/10/24 15:19:19 reids * Make everything use x_ipcMalloc/x_ipcFree. * * Revision 1.2.2.2 1996/10/18 18:05:10 reids * Moved state var from server to module. * * Revision 1.2.2.1 1996/10/02 20:58:33 reids * Changes to support LISPWORKS. * * Revision 1.3 1996/09/06 22:30:27 pgluck * Removed static declarations for VxWorks * * Revision 1.2 1996/05/24 16:45:53 reids * Removed all (most?) of the task-tree related code from the IPC build. * * Revision 1.1 1996/05/09 01:01:26 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.1 1996/03/03 04:31:30 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.32 1996/07/25 22:24:26 rich * Fixed some memory leaks with handlers and removed some problems where a * disconnection caused a cleanup, but a variable would be assumed to still * be valid. * * Revision 1.31 1996/05/09 18:31:00 reids * Changes to keep X_IPC consistent with the NASA IPC package. * Some bug fixes (mainly to do with freeing formatters). * * Revision 1.30 1996/02/06 19:04:47 rich * Changes for VXWORKS pipes. Note: the read and write sockets descriptors * can be different. * * Revision 1.29 1996/01/30 15:04:16 rich * Fixed var array index problem. Index refers to the enclosing structure. * Added ability to force 32 bit enums and changed some #defs to enums to * ease debugging. Fixed initialization problems for central. * * Revision 1.28 1996/01/23 00:06:32 rich * Fixed memory leak when a module connects and disconnects. Also fixed a * problem with using the direct connection flag. This was introduced when * we added contexts for keeping track of the central server. * * Revision 1.27 1996/01/05 16:31:23 rich * Added windows NT port. * * Revision 1.26 1995/12/17 20:21:28 rich * Have free routines set pointers to NULL. * Removed old makefiles. * * Revision 1.25 1995/10/25 22:48:26 rich * Fixed problems with context switching. Now the context is a separate * data structure accessed from the module data structure, using the * currentContext field. GET_C_GLOBAL is used instead of GET_M_GLOBAL for * the context dependent fields. * * Revision 1.24 1995/07/25 20:09:03 rich * Changes for NeXT machine (3.0). * * Revision 1.23 1995/07/10 16:17:29 rich * Interm save. * * Revision 1.22 1995/07/06 21:16:29 rich * Solaris and Linux changes. * * Revision 1.21 1995/04/07 05:03:14 rich * Fixed GNUmakefiles to find the release directory. * Cleaned up libc.h file for sgi and vxworks. Moved all system includes * into libc.h * Got direct queries to work. * Fixed problem in allocating/initializing generic mats. * The direct flag (-c) now mostly works. Connect message has been extended to * indicate when direct connections are the default. * Problem with failures on sunOS machines. * Fixed problem where x_ipcError would not print out its message if logging had * not been initialized. * Fixed another memory problem in modVar.c. * Fixed problems found in by sgi cc compiler. Many type problems. * * Revision 1.20 1995/04/05 19:10:51 rich * Adding Reid's Changes. * Consolidating the matrix code. * * Revision 1.19 1995/04/04 19:42:16 rich * Added sgi support. * Split low level com routines out to be used in devUtils. * Improved some error messages. * Added central switch to default to direct connections. Does not work yet. * Fixed the vectorization code. * * Revision 1.18 1995/03/28 01:14:36 rich * - Added ability to log data with direct connections. Also fixed some * problems with global variables. It now uses broadcasts for watching variables. * - Added preliminary memory recovery routines to handle out of memory * conditions. It currently purges items from resource queues. Needs to * be tested. * - If the CENTRALHOST environment variable is not set, try the current * host. * - Fixed a problem with central registered messages that caused the parsed * formatters to be lost. * - Added const declarations where needed to the prototypes in x_ipc.h. * - x_ipcGetConnections: Get the fd_set. Needed for direct connections. * - Added x_ipcExecute and x_ipcExecuteWithConstraints. Can "execute" a goal * or command. * - x_ipcPreloadMessage: Preload the definition of a message from the * central server. * * Revision 1.17 1995/01/25 00:01:17 rich * Release of x_ipc 7.9. Mostly speed improvements. * The cvs binaries may now be located in /usr/local. * Fixed problems with little endian translation. * * Revision 1.16 1995/01/18 22:40:40 rich * X_IPC 7.9: Speed improvements. * Use unix sockets for communication on the same machine. * Eliminate copying. * Optimize loop for arrays, especially simple, primitive arrays. * Optimize the buffer size. * * Revision 1.15 1994/11/02 21:34:22 rich * Now works for linux machines (i486). * Got afs to work on alpha (and hopefully other vendor OS's) * Added generic Makefile. * Made libc.h and x_ipcMatrix.h module includes. * Reduced the size of libc.h by using more system includes. * * Revision 1.14 1994/10/27 14:43:11 reids * Change the default handling of wiretap messages. Now the default is to * place them as children of the tapped message; the "-t" option changes the * default to place them all under the task tree root node. * * Revision 1.13 1994/05/25 04:57:25 rich * Defined macros for registering simple messages and handlers at once. * Added function to ignore logging for all messages associated with a * global variable. * Moved module global variable routines to a new file so they are not * included in the .sa library file. Gets better code sharing and lets you * debug these routines. * Added code to force the module variables to be re-initialized after the * server goes down. * x_ipcClose now will not crash if the server is down and frees some module * memory. * The command line flag "-u" turns off the simple user interface. * Added routines to free hash tables and id tables. * * Revision 1.12 1994/05/17 23:15:56 rich * Added global variables and associated routines. * Added some error checking. The central connection is now set to -1 * rather than zero to prevent x_ipc messages from being send to stdout. * Now compiles on the sgi machines. Still need to have the endian and * alignment figured out automatically. * * Revision 1.11 1994/04/28 22:16:50 rich * Added very simple stdin interface to central. You can type command line * argument into standard in while central is running. One option per * line. In addition, it understands "quit" and "help". * * Revision 1.10 1994/04/28 16:16:13 reids * Changes in X_IPC Version 7.6: * 1) New functions: x_ipcIgnoreLogging and x_ipcResumeLogging * 2) Code for MacIntosh (MPW) version of X_IPC * * Revision 1.9 1994/04/16 19:42:19 rich * First release of X_IPC for the DEC alpha. * Changes were needed because longs are 64 bits. * Fixed alignment assumption in the data message format. * Fixed the way offsets are calculated for variable length arrays. This * was a problem even without 64 bit longs and pointers. * * Added the commit date to the version information printed out with the -v * option. * * Now uses standard defines for byte order * (BYTE_ORDER = BIG_ENDIAN, LITTLE_ENDIAN or PDP_ENDIAN) * * Defined alignment types: ALIGN_INT ALINE_LONGEST and ALIGN_WORD. * * *** WARNING *** * sending longs between alphas and non-alpha machines will probably not work. * *** WARNING *** * * Revision 1.8 1994/03/28 02:22:56 rich * parseFmttrs needs to be in the server objects and not the module objects. * * Revision 1.7 1994/03/27 22:50:30 rich * Fixed problem with lisp version not working because of some compiler * flags used for the shared library version. * X_IPC now compiles for alphas, but does not run. * * Revision 1.6 1994/01/31 18:27:53 reids * Several major changes (and some minor ones) * 1. x_ipcFreeData and x_ipcFreeReply now work even if the data or message format * is NULL * 2. Using the "-t" option in central, message taps are added as a child of * the task tree node that was tapped. * 3. Named formatters are now expanded only when needed * For more details, see ../doc/x_ipc-7-4.release.notes * * Revision 1.5 1993/12/14 17:33:47 rich * Changed getMGlobal to GET_M_GLOBAL and changed getSGlobal to * GET_S_GLOBAL to conform to Chris' software standards. * * Patched problem with connecting between machines with different byte * orders. The real fix requires changing the way formats are stored. * Searching for structural similar formats does not guarantee that you * find the right format. * * Revision 1.4 1993/11/21 20:17:58 rich * Added shared library for sun4c_411 sunos machines. * Added install to the makefile. * Fixed problems with global variables. * * Revision 1.3 1993/10/21 16:13:55 rich * Fixed compiler warnings. * * Revision 1.2 1993/08/30 21:53:37 fedor * V7+V6+VXWORKS Everything compiles but there are initialization problems. * * Revision 1.1.1.1 1993/05/20 05:45:23 rich * Importing x_ipc version 8 * * Revision 8.1 1993/05/20 00:30:01 rich * RTG - initial checkin of Chris Fedor's version 8 of x_ipc * * Revision 1.2 1993/05/19 17:23:57 fedor * Added Logging. * * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:15 $ * $Author: tomkol $ * * *****************************************************************************/ #include "globalS.h" #ifndef VXWORKS struct timeval timeBlock; #endif /*****************************/ #undef TRUE #define TRUE 1 #undef FALSE #define FALSE 0 #if defined(VXWORKS) /* VX works needs to access the globals through a pointer. */ GS_PTR gS = NULL; #else /* In general, the globals can just be statically allocated. */ GS_PTR gS_ptr = NULL; GS_TYPE gS; #endif void globalSInit(void) { int32 i; #if defined(VXWORKS) if (gS == NULL) { if (taskVarAdd(0, (int *)&gS) != OK) { printErr("taskVarAdd failed\n"); } } #endif if (sGlobalp() && GET_S_GLOBAL(x_ipcServerModGlobal)) { SHUTDOWN_SOCKET(GET_S_GLOBAL(x_ipcServerModGlobal)->readSd); } else { #if defined(VXWORKS) gS = (GS_TYPE *)x_ipcMalloc(sizeof(GS_TYPE)); bzero((void *)gS,sizeof(GS_TYPE)); #else gS_ptr = &gS; #endif } GET_S_GLOBAL(Log_File) = NULL; GET_S_GLOBAL(avgSize) = 0;/***/ GET_S_GLOBAL(avgTime) = 0;/***/ #ifndef NMP_IPC GET_S_GLOBAL(Default_Finite_Lower_Qbound) = NULL;/***/ GET_S_GLOBAL(Default_Finite_Upper_Qbound) = NULL;/***/ GET_S_GLOBAL(Default_Lower_Qbound) = NULL;/***/ GET_S_GLOBAL(Default_Upper_Qbound) = NULL;/***/ GET_S_GLOBAL(FO_Queue) = NULL; GET_S_GLOBAL(In_Queue) = NULL; GET_S_GLOBAL(Lower_Bound_Propagation_Rule) = NULL; GET_S_GLOBAL(MINUS_INFINITY) = -1.0e23; GET_S_GLOBAL(Minus_One_Qbound) = NULL;/***/ GET_S_GLOBAL(Minus_One_Quant) = NULL;/***/ GET_S_GLOBAL(Node_Counter) = 0; GET_S_GLOBAL(Now) = NULL;/***/ GET_S_GLOBAL(One_Qbound) = NULL;/***/ GET_S_GLOBAL(One_Quant) = NULL;/***/ GET_S_GLOBAL(Out_Stack) = NULL;/***/ GET_S_GLOBAL(PLUS_INFINITY) = 1.0e23; GET_S_GLOBAL(Prop_Epsilon) = 0.03; GET_S_GLOBAL(Qlat_Epsilon) = 0.001; GET_S_GLOBAL(Relation_Hash_Table) = NULL; GET_S_GLOBAL(Relation_Propagation_Rule) = NULL; GET_S_GLOBAL(Repropagate_Lower_Bound_Rule) = NULL; GET_S_GLOBAL(Repropagate_Upper_Bound_Rule) = NULL; GET_S_GLOBAL(Search_Memory) = NULL; /* GET_S_GLOBAL(THE_CONTEXTS) = NULL;*/ /* GET_S_GLOBAL(THE_CURRENT_CONTEXT) = NULL; */ GET_S_GLOBAL(Temp_Out_Memory) = NULL; GET_S_GLOBAL(The_Free_List) = NULL; GET_S_GLOBAL(Upper_Bound_Propagation_Rule) = NULL; GET_S_GLOBAL(Zero_Qbound) = NULL;/***/ GET_S_GLOBAL(Zero_Quant) = NULL;/***/ GET_S_GLOBAL(activationRule) = NULL;/***/ GET_S_GLOBAL(afterAchievedRule) = NULL;/***/ GET_S_GLOBAL(afterPlannedRule) = NULL;/***/ GET_S_GLOBAL(alwaysTrueNodeGlobal) = NULL;/***/ GET_S_GLOBAL(beforeAchievingRule) = NULL;/***/ GET_S_GLOBAL(beforeHandlingRule) = NULL;/***/ GET_S_GLOBAL(beforePlanningRule) = NULL;/***/ GET_S_GLOBAL(byPassHnd) = NULL; #endif GET_S_GLOBAL(byteSize) = 0;/***/ GET_S_GLOBAL(byteTotal) = 0;/***/ GET_S_GLOBAL(cursor) = 0; #ifndef NMP_IPC GET_S_GLOBAL(demonMonitorTable) = NULL; GET_S_GLOBAL(durableItemList) = NULL; #endif GET_S_GLOBAL(diffTime) = 0;/***/ GET_S_GLOBAL(dispatchFreeListGlobal) = NULL; GET_S_GLOBAL(dispatchTable) = NULL; GET_S_GLOBAL(endLoop) = 0;/***/ GET_S_GLOBAL(endMon) = 0;/***/ GET_S_GLOBAL(endTime) = 0;/***/ GET_S_GLOBAL(foundHnd) = NULL; #ifndef NMP_IPC GET_S_GLOBAL(hasAssumptionJust) = 0;/***/ GET_S_GLOBAL(endOfConstraintRule) = NULL;/***/ GET_S_GLOBAL(free_flag_location) = 0;/***/ GET_S_GLOBAL(indentGlobal) = 0; GET_S_GLOBAL(isDelayedGlobal) = FALSE; GET_S_GLOBAL(killLaterRuleGlobal) = NULL; #endif GET_S_GLOBAL(lastTime) = 0; GET_S_GLOBAL(mTotal) = 0;/***/ GET_M_GLOBAL(moduleList) = NULL; GET_S_GLOBAL(moduleTable) = NULL; GET_S_GLOBAL(monPer) = 0;/***/ GET_S_GLOBAL(msgPer) = 0;/***/ GET_S_GLOBAL(newModDataGlobal).modName = "**NEWMOD**"; GET_S_GLOBAL(newModDataGlobal).hostName = "**UNKNOWN**"; #ifndef NMP_IPC GET_S_GLOBAL(monitorTable) = NULL; GET_S_GLOBAL(numBoundsGlobal) = 0; GET_S_GLOBAL(numQuantitiesGlobal) = 0; GET_S_GLOBAL(numRelationsGlobal) = 0; GET_S_GLOBAL(numRuleQueuesGlobal) = 0; GET_S_GLOBAL(numRulesRunGlobal) = 0; GET_S_GLOBAL(num_consed) = 0; GET_S_GLOBAL(num_freed) = 0; GET_S_GLOBAL(pollingMonitorList) = NULL; GET_S_GLOBAL(qassertCheckGlobal) = FALSE;/***/ GET_S_GLOBAL(resendAfterCrashGlobal) = FALSE; GET_S_GLOBAL(ruleNumberDecimalGlobal) = 1; GET_S_GLOBAL(ruleNumberGlobal) = 0; GET_S_GLOBAL(ruleNumberPositionsGlobal) = 1; GET_S_GLOBAL(ruleTraceGlobal) = FALSE; #endif #ifdef SERVER_PORT GET_S_GLOBAL(serverPortGlobal) = SERVER_PORT; #else GET_S_GLOBAL(serverPortGlobal) = 0;/***/ #endif GET_S_GLOBAL(startLoop) = 0;/***/ GET_S_GLOBAL(startMon) = 0;/***/ GET_S_GLOBAL(startTime) = 0;/***/ GET_S_GLOBAL(x_ipcAbortTable) = NULL;/***/ GET_S_GLOBAL(x_ipcDebugGlobal) = FALSE;/***/ #ifndef NMP_IPC GET_S_GLOBAL(tmsAssumpJustificationGlobal) = NULL; GET_S_GLOBAL(tmsContraNodeGlobal) = NULL; GET_S_GLOBAL(tmsTraceGlobal) = FALSE; #endif GET_S_GLOBAL(totalMon) = 0;/***/ GET_S_GLOBAL(totalMsg) = 0;/***/ GET_S_GLOBAL(totalMsgRun) = 0;/***/ GET_S_GLOBAL(totalWait) = 0;/***/ GET_S_GLOBAL(waitExpectedGlobal) = 0; GET_S_GLOBAL(waitList) = NULL; GET_S_GLOBAL(waitPer) = 0;/***/ GET_S_GLOBAL(waitTotalGlobal) = 0; #ifndef NMP_IPC GET_S_GLOBAL(whenAchievedRule) = NULL;/***/ GET_S_GLOBAL(whenPlannedRule) = NULL;/***/ GET_S_GLOBAL(whileAchievingRule) = NULL;/***/ GET_S_GLOBAL(whilePlanningRule) = NULL;/***/ #endif /* name_buffer[100];*/ for (i=0;i<100;i++) { GET_S_GLOBAL(name_buffer)[i] = '\0'; } #ifndef NMP_IPC GET_S_GLOBAL(freed_flag) = (value_ptr)&GET_S_GLOBAL(free_flag_location); #endif #if defined(VXWORKS) sprintf(GET_S_GLOBAL(Log_File_Name), "x_ipc.log.%ld", tickGet()); #else sprintf(GET_S_GLOBAL(Log_File_Name), "x_ipc.log.%ld", (long)time(0)); #endif #ifndef NMP_IPC GET_S_GLOBAL(tapsUnderRoot) = FALSE; #endif GET_S_GLOBAL(directDefault) = FALSE; #if defined(VXWORKS) || defined(_WINSOCK_) || defined(OS2) GET_S_GLOBAL(listenToStdin) = FALSE; #else // Changed by Nick Roy, July 22, 2003 // Sets -u as default GET_S_GLOBAL(listenToStdin) = FALSE; #endif GET_S_GLOBAL(terminalLog).theFile = stdout; GET_S_GLOBAL(terminalLog).messages = TRUE; GET_S_GLOBAL(terminalLog).status = TRUE; GET_S_GLOBAL(terminalLog).time = FALSE; GET_S_GLOBAL(terminalLog).data = FALSE; GET_S_GLOBAL(terminalLog).summary = FALSE; GET_S_GLOBAL(terminalLog).refId = FALSE; GET_S_GLOBAL(terminalLog).parentId = 0; // Changed by Nick Roy // Sets -s as default GET_S_GLOBAL(terminalLog).quiet = TRUE; GET_S_GLOBAL(terminalLog).flush = TRUE; GET_S_GLOBAL(terminalLog).ignore = TRUE; GET_S_GLOBAL(terminalLog).ignoreNow = FALSE; GET_S_GLOBAL(fileLog).theFile = NULL; GET_S_GLOBAL(fileLog).messages = FALSE; GET_S_GLOBAL(fileLog).status = FALSE; GET_S_GLOBAL(fileLog).time = FALSE; GET_S_GLOBAL(fileLog).data = FALSE; GET_S_GLOBAL(fileLog).summary = FALSE; GET_S_GLOBAL(fileLog).refId = FALSE; GET_S_GLOBAL(fileLog).parentId = 0; GET_S_GLOBAL(fileLog).quiet = FALSE; GET_S_GLOBAL(fileLog).flush = TRUE; GET_S_GLOBAL(fileLog).ignore = TRUE; GET_S_GLOBAL(fileLog).ignoreNow = FALSE; GET_M_GLOBAL(logList)[0] = &GET_S_GLOBAL(terminalLog); GET_M_GLOBAL(logList)[1] = &GET_S_GLOBAL(fileLog); GET_M_GLOBAL(logList)[2] = NULL; GET_C_GLOBAL(serverRead) = CENTRAL_SERVER_ID; GET_C_GLOBAL(serverWrite) = CENTRAL_SERVER_ID; #ifndef NMP_IPC GET_S_GLOBAL(Location) = 0;/***/ GET_S_GLOBAL(ParseString) = NULL; GET_S_GLOBAL(TokenList) = NULL;/***/ GET_S_GLOBAL(TokenListHead) = NULL; GET_S_GLOBAL(cursorPosGlobal) = 0; GET_S_GLOBAL(lineNumGlobal) = 0; GET_S_GLOBAL(truncatedGlobal) = 0; GET_S_GLOBAL(formatStack) = NULL; #else /* NMP_IPC */ GET_S_GLOBAL(nodeStatusNames)[(int32)AllocatedDispatch] = "Allocated"; GET_S_GLOBAL(nodeStatusNames)[(int32)AttendingDispatch] = "Active"; GET_S_GLOBAL(nodeStatusNames)[(int32)PendingDispatch] = "Pending"; GET_S_GLOBAL(nodeStatusNames)[(int32)InactiveDispatch] = "Inactive"; GET_S_GLOBAL(nodeStatusNames)[(int32)HandledDispatch] = "Completed"; #endif /* NMP_IPC */ } void globalSFree(void) { #ifndef NMP_IPC int i; #endif if (sGlobalp()) { x_ipc_listFreeAllItems((LIST_FREE_FN)moduleClean, GET_M_GLOBAL(moduleList)); x_ipc_listFree(&(GET_M_GLOBAL(moduleList))); x_ipc_idTableFree(&GET_S_GLOBAL(dispatchTable)); #ifndef NMP_IPC freeJustification(&GET_S_GLOBAL(tmsAssumpJustificationGlobal)); x_ipc_listFreeAllItems((LIST_FREE_FN)x_ipcFree, GET_S_GLOBAL(durableItemList)); x_ipc_listFree(&(GET_S_GLOBAL(durableItemList))); x_ipc_listFreeAllItems((LIST_FREE_FN)x_ipcFree, GET_S_GLOBAL(pollingMonitorList)); x_ipc_listFree(&(GET_S_GLOBAL(pollingMonitorList))); #endif x_ipc_listFreeAllItems((LIST_FREE_FN)dispatchFree, GET_S_GLOBAL(waitList)); x_ipc_listFree(&(GET_S_GLOBAL(waitList))); #ifndef NMP_IPC x_ipc_listFreeAllItems((LIST_FREE_FN)x_ipcFree, GET_S_GLOBAL(The_Free_List)); x_ipc_listFree(&(GET_S_GLOBAL(The_Free_List))); #endif freeDispatchList(GET_S_GLOBAL(dispatchFreeListGlobal)); #ifndef NMP_IPC ruleFree(&GET_S_GLOBAL(Lower_Bound_Propagation_Rule)); ruleFree(&GET_S_GLOBAL(Relation_Propagation_Rule)); ruleFree(&GET_S_GLOBAL(Repropagate_Lower_Bound_Rule)); ruleFree(&GET_S_GLOBAL(Repropagate_Upper_Bound_Rule)); ruleFree(&GET_S_GLOBAL(Upper_Bound_Propagation_Rule)); ruleFree(&GET_S_GLOBAL(activationRule)); ruleFree(&GET_S_GLOBAL(afterAchievedRule)); ruleFree(&GET_S_GLOBAL(afterPlannedRule)); ruleFree(&GET_S_GLOBAL(beforeAchievingRule)); ruleFree(&GET_S_GLOBAL(beforeHandlingRule)); ruleFree(&GET_S_GLOBAL(beforePlanningRule)); ruleFree(&GET_S_GLOBAL(endOfConstraintRule)); ruleFree(&GET_S_GLOBAL(killLaterRuleGlobal)); ruleFree(&GET_S_GLOBAL(whenAchievedRule)); ruleFree(&GET_S_GLOBAL(whenPlannedRule)); ruleFree(&GET_S_GLOBAL(whileAchievingRule)); ruleFree(&GET_S_GLOBAL(whilePlanningRule)); FreeQuantity(&GET_S_GLOBAL(Minus_One_Quant)); /* FreeQuantity(&GET_S_GLOBAL(Now));*/ FreeQuantity(&GET_S_GLOBAL(One_Quant)); FreeQuantity(&GET_S_GLOBAL(Zero_Quant)); #endif x_ipc_hashTableFree(&GET_S_GLOBAL(Relation_Hash_Table),x_ipc_hashItemsFree, NULL); #ifndef NMP_IPC x_ipc_hashTableFree(&GET_S_GLOBAL(demonMonitorTable),x_ipc_hashItemsFree, NULL); x_ipc_hashTableFree(&GET_S_GLOBAL(monitorTable),x_ipc_hashItemsFree, NULL); #endif x_ipc_hashTableFree(&GET_S_GLOBAL(x_ipcAbortTable),x_ipc_hashItemsFree, NULL); x_ipc_hashTableFree(&GET_S_GLOBAL(varTable),x_ipc_hashItemsFree, NULL); #ifndef NMP_IPC x_ipcFree((char *)GET_S_GLOBAL(Default_Finite_Lower_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(Default_Finite_Upper_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(Default_Lower_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(Default_Upper_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(Minus_One_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(One_Qbound)); x_ipcFree((char *)GET_S_GLOBAL(Zero_Qbound)); tmsFreeNode(&GET_S_GLOBAL(alwaysTrueNodeGlobal)); tmsFreeNode(&GET_S_GLOBAL(tmsContraNodeGlobal)); Free_Memory(&GET_S_GLOBAL(Search_Memory)); Free_Memory(&GET_S_GLOBAL(Temp_Out_Memory)); Free_Queue(&GET_S_GLOBAL(FO_Queue)); Free_Queue(&GET_S_GLOBAL(In_Queue)); for(i=0; i