For sample code, Rich Teer has examples (and a whole 40 page chapter on doors) 
in his excellent "Solaris Systems Programming" book.  I would highly recommend 
this book to anyone that is programming on Solaris.  You can download sample 
source code and find more info on his book at 
http://www.rite-group.com/rich/ssp/
(the doors chapter is 22).
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