How do micro services in Cloud Foundry communicate?

I'm a newbie in Cloud Foundry. In following the reference application provided by Predix (https://www.predix.io/resources/tutorials/tutorial-details.html?tutorial_id=1473&tag=1610&journey=Connect%20devices%20using%20the%20Reference%20App&resources=1592,1473,1600), the application consisted of several modules and each module is implemented as micro service.

My question is, how do these micro services talk to each other? I understand they must be using some sort of REST calls but the problem is:

1. service registry: Say I have services A, B, C. How do these components 'discover' the REST URLs of other components? As the component URL is only known after the service is pushed to cloud foundry.

2. How does cloud foundry controls the components dependency during service startup and service shutdown? Say A cannot start until B is started. B needs to be shutdown if A is shutdown.