I've looked at it half-heartedly a number of times but have never been able to work out what the "library de jour" was or what IPC mechanism the low-level implementation used. I've used netlink for udev hotplug messages and found it rather a no-brainer, but suspect that the two have very little in common.
I'd suggest working out what flavour of D-Bus your system uses, and investigating libdbus or whatever. /If/ it uses unix domain sockets, I suspect the major problem will be working out how to tell the daemon responsible for distributing messages that you want some, since it's not generally possible for multiple processes to listen on the same socket (they're very similar to UDP).
MarkMLl