This is a D-BUS sample by using sd-bus includes testing to emit signals and to call methods with D-BUS architecture.

There are other d-bus packages, like glib. However, accourding to the testing by IBM, sd-bus is the fastest, so building a Ubuntu IPC can hinge mainly on sd-bus. For more information concerning the performance, see here.

Testing OS: ubuntu-16.04.2-desktop-amd64

$ sudo apt-get install libsystemd-dev

$ make all	
$ ./serviced-a	

Open a new terminal

$ ./serviced-b

Some useful tools for debugging:

• D-Feet - install from Ubuntu Software
• busctl - e.g. busctl --user tree INTERFACE_NAME
• dbus-monitor - execute from CLI