Alternative B: Event-based notification between RouDi and User AppRouDiRouDiUserAppAUserAppAUserAppBUserAppBgetMiddlewareInterface() / CREATE_INTERFACECREATE_INTERFACE_ACKhandleInterfaces() sends complete service registryOnly react on CaproMessageSubType::SERVICEoffer()loop[every 100ms]doDiscovery()doDiscoveryForPublisherPorts()alt[CaproMessage received]sendToAllMatchingInterfaces()dispatchCaProMessage()wake up from wait()