Alternative D: Event-based notification between RouDi and User AppRouDiRouDiUserAppAUserAppAUserAppBUserAppBDiscoveryInfo::DiscoveryInfo()getMiddlewareSubscriber() / CREATE_SubscriberCREATE_SUBSCRIBER_ACKListener::attachEvent(discoveryInfo)Listener::wait()Only react on CaproMessageSubType::SERVICEoffer()loop[every 100ms]doDiscovery()doDiscoveryForPublisherPorts()alt[CaproMessage received]sendToAllMatchingInterfaces()publish(ServiceRegistryTopic)wake up from Listener::wait()