Do you have a commercial license? If not don't bother reading the rest of my answer.
With the QtSingleApplication solution code, you can set up your different apps to be singletons (I'm not sure if this is appropriate for you). Then, to send a message, you can just execute the app using QProcess and a commandline that describes your new message. If the app is already running, then a message is just sent directly to the running app.
In fact, if you inspect the QtSingleApplication code carefully, you can probably change this to eliminate the singleton behaviour, but maintain the message passing behaviour.
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