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The onUnload event of the main page is triggered when the user leaves the page or closes the window. You will need to test if the user just follows a link, but the code to close the windows first require that you store all the references to the winods you open in an array:
<html>
<head>
<script language="JavaScript"><!--
var WinIds = new Array();
CurrentWin = 0;
WinId[CurrentWin++] = window.open('popup1.htm');
...
WinId[CurrentWin++] = window.open('popup2.htm');
function closeAll() {
for (i=0;i<WinId.length;i++) {
if (WinId[i] && !WinId[i].closed) WinId[i].close();
}
}
//--></script>
</head>
<body onUnload="closeAll()">
...