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Custom accessory

Custom accessory

Can you create your own HomeKit accessory? I write a lot of software that my home runs and I want to be able to integrate it with HomeKit. For example, I have several IP cameras and I want to be able to receive motion notifications on Apple TV. I know homebridge exists, but I want to have this in my own software. This would also be for personal use, so it does not have to be public. May? Thank you in advance!