The Orion SDK is a set of tools, published on GitHub, that you can use to interface with the SolarWinds Orion API. The API is not specific to any one Orion Platform product, such as SAM; instead, it's the infrastructure that all of those products run on. Each time you use an Orion Platform product, you're also interacting with the API -- it's open and waiting for requests that come from within the products (for example, when you add a node). The API is already running on your Main Polling Engine, as well as any Additional Polling Engines (APEs) or Additional Web Servers (AWS).
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