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signal-cli
signal-cli provides an unofficial commandline, JSON-RPC and dbus interface for the Signal messenger.
Doesn't have a simple API but it's possible to build an API using something like this It has D-Bus support to be used with different programming languages
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CodeRabbit
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I just built a bot for signal in Python. There is a small library called semaphore: https://github.com/lwesterhof/semaphore
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As Signal does not have a real API, it uses signald for communication with Signals server, which is also open source: https://gitlab.com/signald/signald