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ICD-001 is a network communication protocol based on XML. The protocol is used over standard TCP/IP client-server connections.
There are two documents that describe the protocol
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See 6.2
in detail. The primary document, RND-S0053, covers the protocol, including message structure, message framing and all the outgoing messages. The second document covers all the commands, these are the incoming message, in other words control messages that an external application or system can send to Witness.