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The Remote Command Message (RCM) SW framework provides a client/server implementation for executing functions on a remote processor. RCM provides both client (RcmClient) and server (RcmServer) related APIs.
It was originally developed by gathering requirements from several SW architectures that required a "little remote worker thread" to send jobs to. For example, DSP Bridge, Codec Engine, and similar frameworks sent 'jobs' to a worker thread on a remote processor to do work on their behalf (e.g. create threads, get CPU load, allocate remote memory, etc). RCM was developed as a way to generalize that "remote client/server" model and provide it for the general case.
RCM is platform independent, and built upon the portable XDC Runtime and the IPC product's MessageQ services.
TI's Distributed OpenMax implementation on TI81XX processors leverages RCM.
RCM was introduced as a component in the Framework Components 3.00 release, and provided with FC through the 3.22 stream. It was removed from FC 3.23 and moved into IPC Utils 1.00, in an effort to keep FC focused on XDAIS-related services.
IPC Utils can be downloaded here: http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/ipcutils/index.html
The RCM API Reference Guide provides a good overview, including available features, as well as documentation on each API.
The RCM examples are unfortunately weak in FC 3.22 releases and earlier. They are being cleaned up, and will likely be provided when RCM is removed from FC and spun into its own product.