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lsdbus is a simple to use D-Bus binding for Lua based on the sd-bus
and sd-event APIs:

https://github.com/kmarkus/lsdbus

Main features:

   - support for server and client (incl. introspection) 
   - seamless type conversion between Lua and D-Bus
   - support for multiple event sources such as D-Bus signal or periodic events

The current API is driven by my needs for embedded scripting and
testing, but I'm certainly open to further extensions.

License is LGPLv2 as some code is borrowed from libsystemd.

Best regards
Markus