diff --git a/Camera.go b/Camera.go
new file mode 100644
index 0000000..0b9de53
--- /dev/null
+++ b/Camera.go
@@ -0,0 +1,378 @@
+package main
+
+import (
+	"encoding/binary"
+	"errors"
+	"fmt"
+	"io"
+	"log"
+	"net"
+	"strconv"
+	"strings"
+	"time"
+)
+
+// Camera contains all information and features on a single IP Camera
+type Camera struct {
+	ipAddress       net.IP
+	port            int
+	username        string
+	password        string
+	connected       bool
+	disconnect      bool
+	verbose         bool
+	connection      net.Conn
+	isLoggedIn      bool
+	messageHandlers map[uint32][]MessageHandler
+}
+
+// MessageHandler is used to process incoming messages from the camera
+type MessageHandler func(camera *Camera, message *Message) (bool, error)
+
+const (
+	LOGIN_ACCEPT          = 0x0111
+	START_PREVIEW         = 0x01FF
+	REQUEST_FILE_LIST     = 0xA025
+	FILE_LIST_CONTENT     = 0xA026
+	REQUEST_FIRMWARE_INFO = 0xA034
+	FIRMWARE_INFORMATION  = 0xA035
+	TAKE_PICTURE          = 0xA038
+	PICTURE_SAVED         = 0xA039
+	CONTROL_RECORDING     = 0xA03A
+)
+
+const (
+	// RemoveHandler instructs the network code to remove this handler after execution
+	RemoveHandler = true
+	// KeepHandler instructs the network code to keep this handler after execution
+	KeepHandler = false
+)
+
+// StoredFile is a file stored on the cameras sd-card
+type StoredFile struct {
+	Path string
+	Size uint64
+}
+
+// CreateCamera creates a new Camera instance
+func CreateCamera(ipAddress net.IP, port int, username, password string, verbose bool) *Camera {
+	camera := &Camera{
+		ipAddress:       ipAddress,
+		port:            port,
+		username:        username,
+		password:        password,
+		messageHandlers: make(map[uint32][]MessageHandler, 0),
+		verbose:         verbose,
+	}
+	return camera
+}
+
+// Connect to the camera and start responding to keepalive packets
+func (c *Camera) Connect() {
+	if c.verbose {
+		log.Printf("Connecting to %s:%d using username=%s, password=%s\n", c.ipAddress, c.port, c.username, c.password)
+	}
+	conn, err := net.Dial("tcp", fmt.Sprintf("%s:%d", c.ipAddress, c.port))
+	if err != nil {
+		log.Printf("ERROR: %s\n", err)
+		return
+	}
+	c.connection = conn
+
+	c.HandleFirst(0x0112, aliveRequestHandler)
+
+	go c.handleConnection()
+
+	c.Login()
+}
+
+// Login will try to login to the camera control service
+func (c *Camera) Login() error {
+	loginAccept := make(chan bool, 1)
+	c.Handle(LOGIN_ACCEPT, func(c *Camera, m *Message) (bool, error) {
+		_, err := loginResultHandler(c, m)
+		if err != nil {
+			return false, err
+		}
+		loginAccept <- true
+		return KeepHandler, nil
+	})
+
+	//TODO: Handle login error messages
+	c.SendPacket(CreateLoginPacket(c.username, c.password))
+
+	select {
+	case loginSuccess := <-loginAccept:
+		if loginSuccess {
+			return nil
+		}
+	case <-time.After(5 * time.Second):
+		return errors.New("Login request timed out")
+	}
+
+	return errors.New("Login failed")
+}
+
+// IsConnected returns true if the camera connection has not been disconnected
+func (c *Camera) IsConnected() bool {
+	return c.connected
+}
+
+func (c *Camera) handleConnection() {
+	header := Header{}
+	var payload []byte
+
+	for {
+		// Read the header from the wire
+		err := binary.Read(c.connection, binary.BigEndian, &header)
+		if err != nil {
+			log.Printf("ERROR Reading from Camera: %s\n", err)
+			break
+		}
+
+		// Check the Magic bytes
+		if header.Magic != 0xABCD {
+			log.Printf("Received message with invalid magic (%x)\n", header.Magic)
+			break
+		}
+
+		// Read the payload from the wire (if any)
+		if header.Length > 0 {
+			payload = make([]byte, header.Length)
+			bytesRead, err := io.ReadFull(c.connection, payload)
+			if err != nil || (uint16(bytesRead) != header.Length) {
+				log.Printf("ERROR Reading Payload from Camera: %s, expected %d Bytes, got %d\n", err, header.Length, bytesRead)
+				break
+			}
+		} else {
+			payload = []byte{}
+		}
+
+		message := &Message{
+			Header:  header,
+			Payload: payload,
+		}
+
+		// If there is not registered handler, dump the message
+		if len(c.messageHandlers[header.MessageType]) == 0 {
+			log.Printf("Received Unknown Message (no handler registered):\n%s\n", message)
+			continue
+		}
+
+		// Run all registered handlers for this message type
+		remainingMessageHandlers := make([]MessageHandler, 0)
+		for _, handler := range c.messageHandlers[header.MessageType] {
+			remove, err := handler(c, message)
+			if !remove {
+				remainingMessageHandlers = append(remainingMessageHandlers, handler)
+			}
+
+			if err != nil {
+				log.Printf("ERROR running message handler (%v): %s\n", handler, err)
+				break
+			}
+		}
+		// replace handlers with all but the one-shot handlers
+		c.messageHandlers[header.MessageType] = remainingMessageHandlers
+
+		if c.disconnect {
+			break
+		}
+	}
+	c.Log("Disconnecting")
+	c.connected = false
+}
+
+// Handle adds a new message handler to the list of message handlers for a given message type
+func (c *Camera) Handle(messageType uint32, handleFunc MessageHandler) {
+	c.addHandler(messageType, handleFunc, false)
+}
+
+// HandleFirst adds a new message handler to the start of the list of message handlers
+// for a given message type
+func (c *Camera) HandleFirst(messageType uint32, handleFunc MessageHandler) {
+	c.addHandler(messageType, handleFunc, true)
+}
+
+func (c *Camera) addHandler(messageType uint32, handleFunc MessageHandler, prepend bool) {
+	if c.messageHandlers[messageType] == nil {
+		c.messageHandlers[messageType] = make([]MessageHandler, 0)
+	}
+
+	if prepend {
+		c.messageHandlers[messageType] = append([]MessageHandler{handleFunc}, c.messageHandlers[messageType]...)
+	} else {
+		c.messageHandlers[messageType] = append(c.messageHandlers[messageType], handleFunc)
+	}
+}
+
+// Log will write to stdout if this camera has been set to be verbose
+func (c *Camera) Log(format string, data ...interface{}) {
+	if c.verbose {
+		log.Printf(format+"\n", data)
+	}
+}
+
+// GetFileList retrieves a list of files stored on the cameras SD-Card
+func (c *Camera) GetFileList() ([]StoredFile, error) {
+	fileListComplete := make(chan []StoredFile, 1)
+	fileListData := ""
+
+	c.Handle(FILE_LIST_CONTENT, func(c *Camera, m *Message) (bool, error) {
+		numParts := binary.LittleEndian.Uint32(m.Payload[:4])
+		currentPart := binary.LittleEndian.Uint32(m.Payload[4:8])
+		fileListData += string(m.Payload[8:])
+		if currentPart+1 >= numParts {
+			fileListComplete <- parseFileList(fileListData)
+			return RemoveHandler, nil
+		}
+		return KeepHandler, nil
+	})
+
+	err := c.SendPacket(CreatePacket(CreateCommandHeader(REQUEST_FILE_LIST), []byte{0x01, 0x00, 0x00, 0x00}))
+	if err != nil {
+		return nil, err
+	}
+
+	select {
+	case result := <-fileListComplete:
+		return result, nil
+	case <-time.After(10 * time.Second):
+		return nil, errors.New("Timed out while loading file list")
+	}
+}
+
+func parseFileList(input string) []StoredFile {
+	files := strings.Split(input, ";")
+	stored := make([]StoredFile, len(files)-1)
+	for i, file := range files {
+		parts := strings.Split(file, ":")
+		if len(parts) == 2 {
+			size, err := strconv.ParseUint(parts[1], 10, 64)
+
+			if err == nil && size > 0 && len(parts[0]) > 0 {
+				stored[i] = StoredFile{
+					Path: parts[0],
+					Size: size,
+				}
+			}
+		}
+	}
+	return stored
+}
+
+// GetFirmwareInfo will request firmware information from the camera
+func (c *Camera) GetFirmwareInfo() (string, error) {
+	if !c.isLoggedIn {
+		return "", errors.New("Camera Login required")
+	}
+
+	firmwareInfo := make(chan string, 1)
+	c.Handle(FIRMWARE_INFORMATION, func(c *Camera, m *Message) (bool, error) {
+		firmwareInfo <- string(m.Payload)
+		return RemoveHandler, nil
+	})
+	err := c.SendPacket(CreateCommandPacket(REQUEST_FIRMWARE_INFO))
+	if err != nil {
+		return "", err
+	}
+
+	select {
+	case result := <-firmwareInfo:
+		return result, nil
+	case <-time.After(5 * time.Second):
+		return "", errors.New("Firmware information request timed out")
+	}
+}
+
+// SendPacket sends a raw packet to the camera
+func (c *Camera) SendPacket(packet []byte) error {
+	_, err := c.connection.Write(packet)
+	return err
+}
+
+// TakePicture instructs the camera to take a still image
+func (c *Camera) TakePicture() error {
+	if !c.isLoggedIn {
+		return errors.New("Camera Login required")
+	}
+
+	pictureTaken := make(chan bool, 1)
+	c.Handle(PICTURE_SAVED, func(c *Camera, m *Message) (bool, error) {
+		c.Log("Picture has been saved to SD-Card")
+		pictureTaken <- true
+		return RemoveHandler, nil
+	})
+
+	err := c.SendPacket(CreateCommandPacket(TAKE_PICTURE))
+	if err != nil {
+		return err
+	}
+
+	select {
+	case <-pictureTaken:
+		return nil
+	case <-time.After(5 * time.Second):
+		return errors.New("TAKE_PICTURE request timed out")
+	}
+}
+
+// StartPreviewStream starts streaming video to this host
+func (c *Camera) StartPreviewStream() error {
+	if !c.isLoggedIn {
+		return errors.New("Camera Login required")
+	}
+	c.Log("Starting Preview Stream")
+	return c.SendPacket(CreateCommandPacket(START_PREVIEW))
+}
+
+// StartRecording starts recording video to SD-Card
+func (c *Camera) StartRecording() error {
+	if !c.isLoggedIn {
+		return errors.New("Camera Login required")
+	}
+	c.Log("Starting to record video")
+	return c.SendPacket(CreatePacket(CreateCommandHeader(CONTROL_RECORDING), []byte{0x01, 0x00, 0x00, 0x00}))
+}
+
+// StopRecording stops recording video to SD-Card
+func (c *Camera) StopRecording() error {
+	if !c.isLoggedIn {
+		return errors.New("Camera Login required")
+	}
+	c.Log("Stopping to record video")
+	return c.SendPacket(CreatePacket(CreateCommandHeader(CONTROL_RECORDING), []byte{0x00, 0x00, 0x00, 0x00}))
+}
+
+// Disconnect from the camera
+func (c *Camera) Disconnect() {
+	c.disconnect = true
+	c.connected = false
+	c.connection.Close()
+}
+
+func aliveRequestHandler(camera *Camera, message *Message) (bool, error) {
+	camera.Log("Received Alive Request")
+	responseHeader := CreateCommandHeader(0x0113) // Alive Response
+	response := CreatePacket(responseHeader, []byte{})
+	camera.Log("Sending Alive Response")
+	return KeepHandler, camera.SendPacket(response)
+}
+
+// OnMessage handles an incoming firmware info message
+func firmwareInfoHandler(camera *Camera, message *Message) (bool, error) {
+	camera.Log("Received Firmware Information")
+	camera.Log("Firmware Version: %s", string(message.Payload))
+	return KeepHandler, nil
+}
+
+func loginResultHandler(camera *Camera, message *Message) (bool, error) {
+	if message.Header.MessageType == 0x0111 {
+		camera.isLoggedIn = true
+		camera.Log("Login accepted")
+	} else if message.Header.MessageType == 0x1234 { // TODO: RE error code
+		camera.Log("Login failed")
+		return RemoveHandler, errors.New("There is already a client connected to the camera")
+	}
+	return RemoveHandler, nil
+}
diff --git a/RTPRelay.go b/RTPRelay.go
new file mode 100644
index 0000000..de42b2f
--- /dev/null
+++ b/RTPRelay.go
@@ -0,0 +1,106 @@
+package main
+
+import (
+	"bytes"
+	"encoding/binary"
+	"encoding/hex"
+	"io"
+	"log"
+	"net"
+)
+
+// RTPRelay holds information on the relaying stream listener
+type RTPRelay struct {
+	close      bool
+	targetIP   net.IP
+	targetPort int
+}
+
+// CreateRTPRelay creates a UDP listener that handles live data
+// from the camera and forwards it as an RTP stream
+func CreateRTPRelay(targetAddress net.IP, targetPort int) RTPRelay {
+	conn, err := net.ListenPacket("udp", ":6669")
+
+	if err != nil {
+		log.Printf("ERROR: %s\n", err)
+	}
+
+	relay := RTPRelay{
+		targetIP:   targetAddress,
+		targetPort: targetPort,
+	}
+	if err != nil {
+		log.Printf("ERROR: %s\n", err)
+	}
+
+	go handleCameraStream(relay, conn)
+
+	return relay
+}
+
+func handleCameraStream(relay RTPRelay, conn net.PacketConn) {
+	buffer := make([]byte, 2048)
+	header := StreamHeader{}
+	var payload []byte
+
+	rtpTarget := net.UDPAddr{
+		IP:   relay.targetIP,
+		Port: relay.targetPort,
+	}
+	rtpSource, _ := net.ResolveUDPAddr("udp", "127.0.0.1:5000")
+	rtpConn, _ := net.DialUDP("udp", rtpSource, &rtpTarget)
+
+	var sequenceNumber uint16
+	var elapsed uint32
+
+	frameBuffer := []byte{}
+
+	for {
+		conn.ReadFrom(buffer)
+		packetReader := bytes.NewReader(buffer)
+		binary.Read(packetReader, binary.BigEndian, &header)
+
+		if header.Magic != 0xBCDE {
+			log.Printf("Received message with invalid magic (%x).", header.Magic)
+			break
+		}
+		if header.Length > 0 {
+			payload = make([]byte, header.Length)
+			bytesRead, err := io.ReadFull(packetReader, payload)
+			if err != nil {
+				log.Printf("Read Error: %s, %d bytes\n", err, bytesRead)
+				break
+			}
+		} else {
+			payload = []byte{}
+		}
+
+		switch header.MessageType {
+		case 0x0001: // H.264 Data
+			frameBuffer = append(frameBuffer, payload...)
+		case 0x0002: // Time
+			packet := bytes.Buffer{}
+			packet.Write([]byte{0x80, 0x63})
+			binary.Write(&packet, binary.BigEndian, sequenceNumber)
+			binary.Write(&packet, binary.BigEndian, (uint32)(elapsed*90))
+			binary.Write(&packet, binary.BigEndian, (uint64(0)))
+			packet.Write(frameBuffer)
+			rtpConn.Write(packet.Bytes())
+			frameBuffer = []byte{}
+			sequenceNumber++
+			elapsed = binary.LittleEndian.Uint32(payload[12:])
+			//log.Printf("Elapsed: %d (%x)\n", elapsed, payload[12:])
+		default:
+			log.Printf("Received Unknown Message: %+v\n", header)
+			log.Printf("Payload:\n%s\n", hex.Dump(payload))
+		}
+		if relay.close {
+			break
+		}
+	}
+}
+
+// Stop stops listening for packets
+func (r *RTPRelay) Stop() {
+	r.close = true
+}
diff --git a/ipcamera.go b/ipcamera.go
index fc8ec8b..6a4dd73 100644
--- a/ipcamera.go
+++ b/ipcamera.go
@@ -4,6 +4,7 @@ import (
 	"bufio"
 	"encoding/binary"
 	"encoding/hex"
+	"fmt"
 	"io"
 	"log"
 	"net"
@@ -27,11 +28,15 @@ func main() {
 			relay := CreateRTPRelay(net.ParseIP("127.0.0.1"), 5220)
 			defer relay.Stop()
 
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: true}
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
 
 			log.Printf("Using Camera: %+v\n", camera)
 
-			camera.Connect(username, password)
+			camera.Connect()
+			camera.Login()
+			camera.StartPreviewStream()
+
 			bufio.NewReader(os.Stdin).ReadBytes('\n')
 		},
 	}
@@ -45,12 +50,20 @@ func main() {
 		Short: "List files stored on the cameras SD-Card",
 		Args:  cobra.ExactArgs(1),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: false}
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, false)
+			defer camera.Disconnect()
 
-			camera.Connect(username, password)
-			camera.RequestFileList()
-			camera.WaitForMessage(0xA027)
-			//camera.StoredFiles
+			camera.Connect()
+			camera.Login()
+			files, err := camera.GetFileList()
+			if err != nil {
+				log.Printf("ERROR Receiving File List: %s\n", err)
+				return
+			}
+
+			for _, file := range files {
+				fmt.Printf("%s\t%d\n", file.Path, file.Size)
+			}
 		},
 	}
 
@@ -59,10 +72,13 @@ func main() {
 		Short: "Take a still image and save to SD-Card",
 		Args:  cobra.ExactArgs(1),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: true}
-			camera.Connect(username, password)
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
+
+			camera.Connect()
+			camera.Login()
+
 			camera.TakePicture()
-			camera.WaitForMessage(0xA039)
 		},
 	}
 
@@ -71,10 +87,13 @@ func main() {
 		Short: "Start recording video to SD-Card",
 		Args:  cobra.ExactArgs(1),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: true}
-			camera.Connect(username, password)
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
+
+			camera.Connect()
+			camera.Login()
+
 			camera.StartRecording()
-			camera.WaitForMessage(0xA03B)
 		},
 	}
 
@@ -83,10 +102,13 @@ func main() {
 		Short: "Stop recording video to SD-Card",
 		Args:  cobra.ExactArgs(1),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: true}
-			camera.Connect(username, password)
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
+
+			camera.Connect()
+			camera.Login()
+
 			camera.StopRecording()
-			camera.WaitForMessage(0xA03B)
 		},
 	}
 
@@ -95,9 +117,12 @@ func main() {
 		Short: "Send a raw command to the camera",
 		Args:  cobra.ExactArgs(2),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[1], Port: (int)(port), Verbose: true}
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
+
+			camera.Connect()
+			camera.Login()
 
-			camera.Connect(username, password)
 			command, err := hex.DecodeString(args[0])
 			if err != nil {
 				log.Printf("ERROR: %s\n", err)
@@ -107,13 +132,12 @@ func main() {
 			if len(command) >= 2 {
 				header := CreateCommandHeader(uint32(binary.BigEndian.Uint16(command[:2])))
 				payload := command[2:]
-				log.Printf("Waiting for Login to finish")
-				camera.WaitForMessage(0x0111)
 				packet := CreatePacket(header, payload)
 				log.Printf("Sending Command: %X\n", packet)
 				camera.SendPacket(packet)
 			}
 
+			log.Printf("Waiting for Data, press ENTER to quit")
 			bufio.NewReader(os.Stdin).ReadBytes('\n')
 		},
 	}
@@ -123,12 +147,19 @@ func main() {
 		Short: "List files stored on the cameras SD-Card",
 		Args:  cobra.ExactArgs(1),
 		Run: func(cmd *cobra.Command, args []string) {
-			camera := Camera{IPAddress: args[0], Port: (int)(port), Verbose: false}
+			camera := CreateCamera(net.ParseIP(args[0]), int(port), username, password, true)
+			defer camera.Disconnect()
 
-			camera.Connect(username, password)
-			camera.RequestFileList()
-			camera.WaitForMessage(0xA027)
-			newestFile := camera.StoredFiles[len(camera.StoredFiles)-1].Path
+			camera.Connect()
+			camera.Login()
+
+			files, err := camera.GetFileList()
+			if err != nil {
+				log.Printf("ERROR Receiving File List: %s\n", err)
+				return
+			}
+
+			newestFile := files[len(files)-1].Path
 			url := "http://" + args[0] + newestFile
 			log.Printf("Downloading latest File: %s\n", url)
 			downloadFile(filepath.Base(newestFile), url)
diff --git a/protocol.go b/protocol.go
index 213ce89..3953ff3 100644
--- a/protocol.go
+++ b/protocol.go
@@ -2,6 +2,8 @@ package main
 
 import (
 	"bytes"
+	"encoding/hex"
+	"fmt"
 
 	"github.com/icza/bitio"
 )
@@ -13,6 +15,20 @@ type Header struct {
 	MessageType uint32
 }
 
+func (h *Header) String() string {
+	return fmt.Sprintf("{ Header Magic=0x%X, Length=%d, MessageType=0x%X }", h.Magic, h.Length, h.MessageType)
+}
+
+// Message represents a complete message from/to the camera
+type Message struct {
+	Header  Header
+	Payload []byte
+}
+
+func (m *Message) String() string {
+	return fmt.Sprintf("{ Message Header=%s, Payload=\n%s\n }", m.Header, hex.Dump(m.Payload))
+}
+
 // StreamHeader is a live preview message header
 type StreamHeader struct {
 	Magic          uint16