Alternative D: iceoryx-based ECU forwarding CaPro messages to Gateway and User Appiceoryx instance e.g. electronic control unitRouDiUser App«object»DiscoveryInfoADDS Gateway«object»DiscoveryInfoBDDS instance e.g. electronic control unitPortManager::sendToAllMatchingInterfacePorts()«object»UserAppListener«object»UserDefinedCallback+findService() : cxx::expected<InstanceContainer, FindServiceError>-m_subscriber : Subscriber<ServiceRegistryTopic>-m_lastServiceRegistry : ServiceRegistryTopic«object»GatewayListener«object»GatewayUserDefinedCallback+findService() : cxx::expected<InstanceContainer, FindServiceError>-m_subscriber : Subscriber<ServiceRegistryTopic>-m_lastServiceRegistry : ServiceRegistryTopicDCPSTopicImplementedNot yet implementedpublish(ServiceRegistryTopic)publish(ServiceRegistryTopic)callscallsattached toattached to