ICOM LAN communication interface

Hi, I’m a software developer, trying to communicate with ICOM receiver via LAN UDP port. I know that there is a serial interface which can be used with the remote utility, but there is a technical difficulty to use it in my project. I’m trying to find message types, structures, sending/receiving order. I’ve tried to investigate your sources, but it is a little complicated to understand a data flow from there. Can you help me with this issue?
Thanks in advance.
Roman