alb_reader.h

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#ifndef _ALB_READER_H
#define _ALB_READER_H

// Standard headers
#include <memory>

// Osef headers
#include "tcpStream.h"
#include "tlvParser.h"

// Local headers
#include "alb_publisher.h"

class AlbReader {
    public:
        AlbReader(ros::NodeHandle &nodeHandle);

        bool init();

        int parse();

    private:
        bool isTlvParsable(const Tlv::tlv_s *frame);

        bool areInputArgumentsValid();

        void parseInputArguments();

        int connectToLiveStream();

    private:
        TcpStreamReader tcp_reader;
        std::string ip_v4;
        int port;

        AlbPublisher alb_publisher;
        std::unique_ptr<uint8_t[]> buffer;
        bool alb_initialized;
};

#endif // _ALB_READER_H