Mutex globalMutex;

// Create a named mutex which will 
// work across processes.  If you don't
// care about inter-process synchronization you
// don't event need to call this method.

globalMutex.Create("GlobalName");

// Enter the critical
// section of memory (block
// other threads/processes).
globalMutex.Lock();

// Do some stuff

// When done, leave 
// critical section in memory
// (allow access to other threads
//  and processes)
globalMutex.Unlock();

Packet packet;    
int b, c;
double d;
unsigned char a;

/*  Test encoding and decoding
    that automatically keeps track
    of encode and decode positions in
    the packet. */
a = 3;
b = 100;
c = -33;
d = 3.145;

cout << "Data being written.\n";
cout << "\t" << (int)a << endl;
cout << "\t" << b << endl;
cout << "\t" << c << endl;
cout << "\t" << d << endl << endl;
//  Write data into packet.
packet.Write(a);
packet.Write(b);
packet.Write(c);
packet.Write(d);

//  Clear values.
a = 0;
b = c = 0;
d = 0;

//  Start reading from beginning of packet.
packet.SetReadPos(0);
packet.Read(a);
packet.Read(b);
packet.Read(c);
packet.Read(d);

// Values should match originals.
cout << "Data read.\n";
cout << "\t" << (int)a << endl;
cout << "\t" << b << endl;
cout << "\t" << c << endl;
cout << "\t" << d << endl << endl;

UdpServer server;
Packet data;
IP4Address source;
data.SetByteOrder(CX_PACKET_BIG_ENDIAN);
if(!server.InitializeMulticastSocket(20000, "224.1.0.1")) 
{
    cout << "Unable to initialize on port " << PORT << endl;
    return;
}

char key = 0;
// Loop until <escape key> is pressed.
while(key != 27) 
{
    //  Receive up to 500 bytes and
    //  store the result in the Packet data, 
    //  the timeout value is 0, so this is a
    //  blocking receive.  A pointer to a string
    //  will provide the IP address of the
    //  sender of the data.
    if(server.Recv(data, 500, 0, &source) > 0) 
    { 
        char val;
        while(data.Read(val))
            cout << val;
			
        cout << endl;
    }

    key = GetChar();     //  Get key.

}

UdpClient client;
IP4Address::List hosts;
client.GetHostAddresses(hosts);
cout << "IP Address for Host Machine\n";
for(int i = 0; i < (int)hosts.size(); i++ ) 
{
    cout << hosts[i].mString << endl;
}

Packet data;
data.SetByteOrder(CX_PACKET_BIG_ENDIAN);

if(!client.InitializeSocket("192.168.1.2", 20000)) 
{
    return;
}

cout << "Initialized UDP Client Socket on port " << 20000<< endl;

char key = 0;
while(key != 27) 
{
    if((key = GetChar()) > 0) 
    {
        data.Write(key);   
        cout << key;
        client.Send(data);  //  Send data (could send character array also if desired
	data.Clear();       //  Clear packet and encode data.
        /*  Alternative way to send:
        client.Send(&key, 1);    //  Send buffer/array.
        */
    }
}

// Process 1 (Server)

MappedMemory mappedMem;

// Create mapped/shared memory called "MySharedMemory", and
// make it 200 bytes in size.
mappedMem.CreateMappedMemory("MySharedMemory", 200);

// Lock the shared memory so that we avoid read/write
// errors from other processes/threads using this
// mapped/shared memory also.
mappedMem.Lock();

// Set the write position in shared memory.
mappedMem->SetWritePos(0);
// Now write some numbers.  The write position will advance 
// automatically based on the size of the data written.
for(unsigned char i = 0; i < 200; i++)
{
    mappedMem->Write(i);
}
// When done, release the mutex lock.
mappedMem.Unlock();

// If done with shared memory, close it.  However,
// if no other process is attached to your shared memory
// location, it will be deleted. (Always deleted when the
// last attached process disconnects).
mappedMem.CloseMappedMemory();

// Process 2 (Client)

MappedMemory mappedMem;

// Open mapped/shared memory called "MySharedMemory".
if(mappedMem.OpenMappedMemory("MySharedMemory"))
{
    // Lock the shared memory so that we avoid read/write
    // errors from other processes/threads using this
    // mapped/shared memory also.
    mappedMem.Lock();

    // Set the read position in shared memory.
    mappedMem->SetReadPos(0);
    // Now read out the numbers.
    for(unsigned int i = 0; i < mappedMem.Length(); i++)
    {
        // The read position will advance automatically 
        // based on the size of the data read.
        unsigned char var;
        mappedMem->Read(var);
    }
    // When done, release the mutex lock.
    mappedMem.Unlock();

    // If done with shared memory, close it.  
    // However, if no other process is 
    // attached to your shared memory
    // location, it will be deleted. 
    // (Always deleted when the
    // last attached process disconnects).
    mappedMem.CloseMappedMemory();
}

Matrix mat1, mat2, mat3, mat4;

mat1.Create(3, 5);
mat2.Create(5, 3);

mat3.Create(4, 4);
mat4.Create(4, 4);

for(unsigned int i = 0; i < mat2.Rows(); i++)
    for(unsigned int j = 0; j < mat2.Cols(); j++)
        mat2[i][j] = (i + j);

for(unsigned int i = 0; i < mat1.Rows(); i++)
    for(unsigned int j = 0; j < mat1.Cols(); j++)
        mat1(i, j) = (i + j);

mat3[0][0] = 3; mat3[0][1] = 2; mat3[0][2] = 0; mat3[0][3] = 1;
mat3[1][0] = 4; mat3[1][1] = 0; mat3[1][2] = 1; mat3[1][3] = 2;
mat3[2][0] = 3; mat3[2][1] = 0; mat3[2][2] = 2; mat3[2][3] = 1;
mat3[3][0] = 9; mat3[3][1] = 2; mat3[3][2] = 3; mat3[3][3] = 1;

mat1.Print();
mat2.Print();
mat3.Print();

cout << "M1 * M2 = \n";
mat1 *= mat2;
mat1.Print();

double d;
mat3.GetDeterminant(d);
cout << "Det of M3 = " << d << "\n";

mat4[0][0] = 1; mat4[0][1] = 0; mat4[0][2] = 0; mat4[0][3] = 0;
mat4[1][0] = 0; mat4[1][1] = 1; mat4[1][2] = 0; mat4[1][3] = 0;
mat4[2][0] = 0; mat4[2][1] = 0; mat4[2][2] = 1; mat4[2][3] = 0;
mat4[3][0] = 0; mat4[3][1] = 0; mat4[3][2] = 0; mat4[3][3] = 1;

Matrix imat3;

Matrix::GaussJordan(mat3, mat4, imat3);

cout << "Matrix A:\n";
mat3.Print();
cout << "Inverse of Matrix A:\n";

imat3.Print();
cout << "A*A^-1\n";       
(mat3*imat3).Print();

cout << "Checking inverse\n";
Matrix iden = mat3.Inverse()*mat3;

iden.Print();

Wgs wgs;    //  World geodetic coordinates (lat, long, elevation).
Gcc gcc;    //  GeoCentric Coordinates ( X, Y, Z).

Point3D xyz, hpr; //  HLA/DIS orientation ( psi, theta, phi), and heading, pitch, roll.

//  Set the starting location in the world using
//  a latitude and longitue.  The object at the location
//  is at a heading of 135, pitch of 20 degrees, and roll of 30 degrees.
wgs.mLatitude = -34.9;
wgs.mLongitude = 138.5;
wgs.mElevation = 10000;
//  Heading, Pitch, Roll
hpr( CX_DEG2RAD(135), CX_DEG2RAD(20), CX_DEG2RAD(30) );

//  Display initial values to screen.
cout << "World Geodetic Position (WGS): Latitude: " 
     << wgs.mLatitude << ", Longitude: " 
     << wgs.mLongitude << ", Elevation: " 
     << wgs.mElevation << endl;
cout << "HPR orientation values:\n";
cout << "Degrees: X: " << CX_RAD2DEG(hpr.mX) << ", Y: " << CX_RAD2DEG(hpr.mY) << ", Z: "
     << CX_RAD2DEG(hpr.mZ) << endl;
cout << "Radians: X: " << hpr.mX << ", Y: " << hpr.mY << ", Z: "
     << hpr.mZ << endl;

//  Convert from [WGS, HPR] to the HLA/DIS coordinates [GCC, XYZ].
WgsHprToGccXyz( wgs, hpr, gcc, xyz);
cout << "World GeoCentric Position (GCC): X: " 
     << gcc.mX << ", Y: " 
     << gcc.mY << ", Z: " 
     << gcc.mZ << endl;
cout << "DIS orientation values:\n";
cout << "Degrees: X: " << CX_RAD2DEG(xyz.mX) << ", Y: " << CX_RAD2DEG(xyz.mY) << ", Z: "
     << CX_RAD2DEG(xyz.mZ) << endl;
cout << "Radians: X: " << xyz.mX << ", Y: " << xyz.mY << ", Z: "
     << xyz.mZ << endl;

//  Convert back to [WGS, HPR] from HLA/DIS coordinates [GCC, XYZ].
GccXyzToWgsHpr( gcc, xyz, wgs, hpr );
cout << "World Geodetic Position (WGS): Latitude: " 
     << wgs.mLatitude << ", Longitude: " 
     << wgs.mLongitude << ", Elevation: " 
     << wgs.mElevation << endl;
cout << "HPR orientation values:\n";
cout << "Degrees: X: " << CX_RAD2DEG(hpr.mX) << ", Y: " << CX_RAD2DEG(hpr.mY) << ", Z: "
     << CX_RAD2DEG(hpr.mZ) << endl;
cout << "Radians: X: " << hpr.mX << ", Y: " << hpr.mY << ", Z: "
     << hpr.mZ << endl;

// How to convert from WGS to UTM Coordinates
Utm utm;

utm << wgs;
wgs2 << utm;