Hi,
Prime Infrastructure will reply to UDP/161 queries as long as you configure an SNMP community on it.
The information provided however, is very limited, but interface status/statistics should be available.
server/admin# conf t
server/admin(config)# snmp-server community test ro
server/admin(config)# end
server/admin#
ade # snmpwalk -v 2c -c test server
SNMPv2-MIB::sysDescr.0 = STRING: Cisco Prime Infrastructure Appliance
SNMPv2-MIB::sysName.0 = STRING: server
...
IF-MIB::ifDescr.1 = STRING: lo
IF-MIB::ifDescr.2 = STRING: eth0
IF-MIB::ifDescr.3 = STRING: sit0
IF-MIB::ifOperStatus.1 = INTEGER: up(1)
IF-MIB::ifOperStatus.2 = INTEGER: up(1)
IF-MIB::ifOperStatus.3 = INTEGER: down(2)
etc.
Luis