This is just the sample code using dbus IPC. Listener just waits for the dbus message, and reply to the sender. The sender will get the reply from the listener and print.
I assume the system is debian, and i used this code in Raspberry Pi 2,3
To build the code, you need to install
sudo apt-get install libdbus-1-dev
sudo apt-get install glib2.0
sudo apt-get install libdbus-glib-1-dev
sudo cp dbus-config.conf /etc/dbus-1/system.d/
./build.sh