feat: introduce the advanced publisher and subscriber (backport #368)

[mergify]

With this PR, we replace the QueryingSubscriber and PublicationCache (+ a normal publisher)
with the AdvancedSubscriber and AdvancedPublisher.

NOTE: A deadlock is found when undeclaring advanced subscribers. It will be fixed once eclipse-zenoh/zenoh#1685 is merged and synced with zenoh-c.

---

This is an automatic backport of pull request #368 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   rmw_zenoh_cpp/src/detail/graph_cache.cpp
	modified:   rmw_zenoh_cpp/src/detail/graph_cache.hpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
	modified:   rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[Yadunund]

It looks like we're switching from create_map_and_set_sequence_num() to AttachmentData in this PR which was not part of #368.
Do we still need create_map_and_set_sequence_num?

[Yadunund]

I think it's best if we do a backport of #294 but make modifications to drop the tracetools dependency. That should ensure we're consistent with our usage of AttachmentData instead of create_map_and_set_sequence_num. Please hold off on merging this and the humble backport in the meanwhile.

[ahcorde]

@Yadunund the tracetools PR was merge and this one was updated

[Yadunund]

LGTM with all tests passing!

[Pleune]

Sorry to comment on a closed PR

Building zenoh-cpp 5dfb68c9ac966925e59bcb52f39b9bc26c0ad6d3 & zenoh-c 261493682c7dc54db3a07079315e009a2e7c1573 (1.2.1) and rmw_zenoh ecf21d45edb870ca2d3e24d38503842081420766 aginst the commits listed in the vendoring CMake file, all from the rolling, or in this case jazzy, branches, I get errors like below:

   > /build/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp:114:15: error: 'AdvancedPublisher' in namespace 'zenoh::ext' does not name a type
   >   114 |   zenoh::ext::AdvancedPublisher pub_;
   >       |               ^~~~~~~~~~~~~~~~~
   > In file included from /build/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp:30:
   > /build/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp:142:29: error: 'AdvancedSubscriber' is not a member of 'zenoh::ext'
   >   142 |   std::optional<zenoh::ext::AdvancedSubscriber<void>> sub_;
   >       |                             ^~~~~~~~~~~~~~~~~~
   > /build/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp:142:52: error: template argument 1 is invalid
   >   142 |   std::optional<zenoh::ext::AdvancedSubscriber<void>> sub_;
   >       |                                                    ^~
   > make[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:286: CMakeFiles/rmw_zenoh_cpp.dir/src/detail/rmw_subscription_data.cpp.o] Error 1
   > /build/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp:57:24: error: 'ShmProvider' is not a member of 'zenoh'
   >    57 |   std::optional<zenoh::ShmProvider> & shm_provider();
   >       |                        ^~~~~~~~~~~
   > /build/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp:57:35: error: template argument 1 is invalid
   >    57 |   std::optional<zenoh::ShmProvider> & shm_provider();
   >       |                                   ^
   > make[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:412: CMakeFiles/rmw_zenoh_cpp.dir/src/rmw_get_node_info_and_types.cpp.o] Error 1
   > make[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:482: CMakeFiles/rmw_zenoh_cpp.dir/src/rmw_init.cpp.o] Error 1
   > make[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:440: CMakeFiles/rmw_zenoh_cpp.dir/src/rmw_get_topic_endpoint_info.cpp.o] Error 1

Is there any obvious reason that this would be happening?

Thank you!

Sorry this seems unrelated to this PR. It was just the first thing to break. I need to debug my setup.

My problem is that flags such as Z_FEATURE_SHARED_MEMORY and Z_FEATURE_UNSTABLE_API are not defined anywhere, but they are needed before including zenoh.hxx. If someone see this and could provide any insight that would be very helpful.