Examples
17. Node Description Complex
Worked CATL example: Node Description Complex (catl_17_node_description_complex)
A worked example message from the AEP-105 0.3.0-rc4 example set, shown in both JSON (Volume III) and XML (Volume II) encodings.
{
"header": {
"message_type": "MessageTypeEnum_NODE_DESCRIPTION",
"source": "a895f8f5-46b0-5603-bdf0-b270a2867c09",
"version": "0.3.0",
"time_sent": "2025-03-18T12:05:00+00:00"
},
"body": {
"identifier": "0d421b7b-03ab-5c51-9128-ba72e6deec3f",
"timestamp": "2025-03-18T12:05:00+00:00",
"endurance": "PT3H",
"capabilities": {
"task_conditions_mode": "TaskConditionModeEnum_NOT_SUPPORTED",
"task_conditions_template": "TaskTemplateModeEnum_NOT_SUPPORTED"
},
"constraints": [
{
"constraint": {
"$discriminator": "GeneralConstraintTypeEnum_TOGGLE",
"toggle": {
"default_value": false
}
},
"identifier": "82a65d35-842a-5007-9c3c-888674e51cdf",
"description": "Enable obstacle avoidance",
"name": "obstacle_avoidance"
},
{
"constraint": {
"$discriminator": "GeneralConstraintTypeEnum_RANGE",
"range": {
"minimum": 0.0,
"maximum": 100.0,
"default_value": 12.0
}
},
"identifier": "bb96a649-b0fd-5cbd-8bfe-4cfe44371a83",
"description": "Minimum distance",
"name": "distance"
},
{
"constraint": {
"$discriminator": "GeneralConstraintTypeEnum_ENUMERATION",
"enumeration": {
"default_value": {
"name": "ON"
},
"possible_values": [
{
"name": "ON"
},
{
"name": "OFF"
},
{
"name": "AUTO"
}
],
"enumeration_type": {
"name": "CUSTOM"
}
}
},
"identifier": "b956d1a5-d9ff-5b4d-9e9b-f4eb60c830ce",
"description": "Enable tracking",
"name": "tracking"
},
{
"constraint": {
"$discriminator": "GeneralConstraintTypeEnum_EQUIPMENT",
"equipment": {
"default_emission_control": "ConstraintTypeEmissionControlEnum_ROUTINE",
"equipment_type": "AnyEquipmentEnum_OPTICAL_SENSOR_VIDEO_SENSOR"
}
},
"identifier": "11757cb1-0ba2-5664-9fa5-f6c37e4c38b4",
"description": "Sonar configuration",
"name": "sonar"
}
]
}
}<?xml version="1.0" encoding="UTF-8"?>
<catl_hibw_messages_node:node_description xmlns:catl_hibw_messages_node="urn:nato:stanag:4817:catl/hibw/messages/node" xmlns:catl_hibw_messages_core="urn:nato:stanag:4817:catl/hibw/messages/core" xmlns:base_entity="urn:nato:stanag:4817:base/entity" xmlns:base_node="urn:nato:stanag:4817:base/node" xmlns:base_constraints="urn:nato:stanag:4817:base/constraints" xmlns:base_meta="urn:nato:stanag:4817:base/meta">
<catl_hibw_messages_core:header>
<catl_hibw_messages_core:message_type>MessageTypeEnum_NODE_DESCRIPTION</catl_hibw_messages_core:message_type>
<catl_hibw_messages_core:source>a895f8f5-46b0-5603-bdf0-b270a2867c09</catl_hibw_messages_core:source>
<catl_hibw_messages_core:version>0.3.0</catl_hibw_messages_core:version>
<catl_hibw_messages_core:time_sent>2025-03-18T12:05:00+00:00</catl_hibw_messages_core:time_sent>
</catl_hibw_messages_core:header>
<catl_hibw_messages_node:body>
<base_entity:identifier>0d421b7b-03ab-5c51-9128-ba72e6deec3f</base_entity:identifier>
<base_entity:timestamp>2025-03-18T12:05:00+00:00</base_entity:timestamp>
<base_node:endurance>PT3H</base_node:endurance>
<base_node:capabilities>
<base_node:task_conditions_mode>TaskConditionModeEnum_NOT_SUPPORTED</base_node:task_conditions_mode>
<base_node:task_conditions_template>TaskTemplateModeEnum_NOT_SUPPORTED</base_node:task_conditions_template>
</base_node:capabilities>
<catl_hibw_messages_node:constraints>
<base_constraints:constraint>
<base_constraints:discriminator>GeneralConstraintTypeEnum_TOGGLE</base_constraints:discriminator>
<base_constraints:toggle>
<base_constraints:default_value>false</base_constraints:default_value>
</base_constraints:toggle>
</base_constraints:constraint>
<base_constraints:identifier>82a65d35-842a-5007-9c3c-888674e51cdf</base_constraints:identifier>
<base_constraints:description>Enable obstacle avoidance</base_constraints:description>
<base_constraints:name>obstacle_avoidance</base_constraints:name>
</catl_hibw_messages_node:constraints>
<catl_hibw_messages_node:constraints>
<base_constraints:constraint>
<base_constraints:discriminator>GeneralConstraintTypeEnum_RANGE</base_constraints:discriminator>
<base_constraints:range>
<base_constraints:minimum>0.0</base_constraints:minimum>
<base_constraints:maximum>100.0</base_constraints:maximum>
<base_constraints:default_value>12.0</base_constraints:default_value>
</base_constraints:range>
</base_constraints:constraint>
<base_constraints:identifier>bb96a649-b0fd-5cbd-8bfe-4cfe44371a83</base_constraints:identifier>
<base_constraints:description>Minimum distance</base_constraints:description>
<base_constraints:name>distance</base_constraints:name>
</catl_hibw_messages_node:constraints>
<catl_hibw_messages_node:constraints>
<base_constraints:constraint>
<base_constraints:discriminator>GeneralConstraintTypeEnum_ENUMERATION</base_constraints:discriminator>
<base_constraints:enumeration>
<base_constraints:default_value>
<base_meta:name>ON</base_meta:name>
</base_constraints:default_value>
<base_constraints:possible_values>
<base_meta:name>ON</base_meta:name>
</base_constraints:possible_values>
<base_constraints:possible_values>
<base_meta:name>OFF</base_meta:name>
</base_constraints:possible_values>
<base_constraints:possible_values>
<base_meta:name>AUTO</base_meta:name>
</base_constraints:possible_values>
<base_constraints:enumeration_type>
<base_meta:name>CUSTOM</base_meta:name>
</base_constraints:enumeration_type>
</base_constraints:enumeration>
</base_constraints:constraint>
<base_constraints:identifier>b956d1a5-d9ff-5b4d-9e9b-f4eb60c830ce</base_constraints:identifier>
<base_constraints:description>Enable tracking</base_constraints:description>
<base_constraints:name>tracking</base_constraints:name>
</catl_hibw_messages_node:constraints>
<catl_hibw_messages_node:constraints>
<base_constraints:constraint>
<base_constraints:discriminator>GeneralConstraintTypeEnum_EQUIPMENT</base_constraints:discriminator>
<base_constraints:equipment>
<base_constraints:default_emission_control>ConstraintTypeEmissionControlEnum_ROUTINE</base_constraints:default_emission_control>
<base_constraints:equipment_type>AnyEquipmentEnum_OPTICAL_SENSOR_VIDEO_SENSOR</base_constraints:equipment_type>
</base_constraints:equipment>
</base_constraints:constraint>
<base_constraints:identifier>11757cb1-0ba2-5664-9fa5-f6c37e4c38b4</base_constraints:identifier>
<base_constraints:description>Sonar configuration</base_constraints:description>
<base_constraints:name>sonar</base_constraints:name>
</catl_hibw_messages_node:constraints>
</catl_hibw_messages_node:body>
</catl_hibw_messages_node:node_description>