If drops are fine, TIPC is probably overkill. I would probably just wrap something generic using UNIX domain sockets up into a library and re-use that as needed.
Depending on your permissions requirements[1], and if you really only need a signaling flag, have you considered the filesystem? Just touch a file in a well-defined directory named after the event that happened, and poll it periodically. Removing the file clears the flag. Signals can coalesce, but you should never drop any. You can poll a directory (that will normally be empty) without much CPU load (the directory inode will be cached most of the time). You could setup a multiple listeners by giving them their own "inbox" directory, like. e.g.:
# send a notification
touch "${HOME}/.${app_name}rc/messages/${destination}/${signal_flag_name}"
Using the filesystem opens up the possibility of a message sender being anything that can generate - even indirectly - an open(O_CREAT). Your signals also persist across programs shutdowns and crashes - you can send and receive even when the other side isn't running - and your state can persist across reboots. Also, you can leverage some of the guarantees provided by the kenel's vfs layer. For example, rename(2) is atomic, so you can send small data payloads by writing to a different name first.
FLAG_PATH="${HOME}/.${app_name}rc/messages/${destination}/${signal_flag_name}"
# using the PID ($$) to not collide with other message senders
TEMP_PATH="${FLAG_PATH}-new-$$"
echo -e "foo=bar\nbaz=quux\ncount=42" > "${TEMP_PATH}"
mv "${TEMP_PATH}" "${FLAG_PATH}"
As an optional linux-specific feature, you can extend that technique to be event-driven (no polling loop) by telling the kernel to notify you about file-create events by listening to the directory (NOT the file) with inotify(7) for the IN_CREATE messages. Those events can be received either in a simple blocking style by letting poll(2) wake-up your process. Alternatively, you can receive events in in a non-blocking style with poll(2) if you give inotify_init1(2) the IN_NONBLOCK flag. The man oage inotify(7) should have an example.
[1] this can get annoyingly complicated - but certainly not impossible - if you have to care about user/group permissions, esp. on the directory. Making a group specific to the message sending can help.