Test: Add integration of the eRPC system

 - PSA Client API IDL file
 - Client and server init and API wrappers
 - Example client application

Signed-off-by: Kevin Peng <kevin.peng@arm.com>
Signed-off-by: Jamie Fox <jamie.fox@arm.com>
Signed-off-by: Summer Qin <summer.qin@arm.com>
Change-Id: If6180fd3e596c9daabd31262fb10ae0a1583bc9b
diff --git a/erpc/host_example/main.c b/erpc/host_example/main.c
new file mode 100644
index 0000000..b46ab27
--- /dev/null
+++ b/erpc/host_example/main.c
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2023, Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: BSD-3-Clause
+ *
+ */
+
+#include <stdio.h>
+#include "erpc_port.h"
+#include "erpc_client_start.h"
+#include "tfm_erpc_psa_client_api.h"
+
+int main(int argc, char *argv[])
+{
+    erpc_transport_t transport;
+
+#ifdef ERPC_TRANSPORT_UART
+    transport = erpc_transport_serial_init(PORT_NAME, 115200);
+#elif defined(ERPC_TRANSPORT_TCP)
+    transport = erpc_transport_tcp_init(ERPC_HOST, ERPC_PORT, false);
+#else
+#error "No valid transportation layer selected."
+#endif
+
+    if (!transport) {
+        printf("eRPC transport init failed!\r\n");
+        return 1;
+    }
+
+    erpc_client_start(transport);
+
+    printf("psa_framework_version: %d\r\n", psa_framework_version());
+
+    return 0;
+}