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signal-cli
signal-cli provides an unofficial commandline, JSON-RPC and dbus interface for the Signal messenger.
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InfluxDB
Power Real-Time Data Analytics at Scale. Get real-time insights from all types of time series data with InfluxDB. Ingest, query, and analyze billions of data points in real-time with unbounded cardinality.
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
I just built a bot for signal in Python. There is a small library called semaphore: https://github.com/lwesterhof/semaphore
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
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.