feat(dds): add end-to-end native CDR support

[thun-res]

Summary / 概述

为 VLink 增加端到端的原生 DDS CDR 支持，使 Fast DDS IDL、ROS 2 消息及原生 DDS 类型可以直接接入 VLink，并支持发现、监控、录制和回放。

主要改动：

• 新增 SchemaType::kCdr，同步支持 C++、C API、Python API 和相关构建宏。
• 将 CDR 统一为包含 DDS encapsulation header 的字节负载，并让 Publisher、Subscriber、Setter、Getter、Client 和 Server 使用统一的数据路径。
• 新增 byte-backed Fast DDS Topic 类型，支持通过原生类型名创建 Topic。
• 改进 Fast DDS 2.x/3.x、CycloneDDS 和 DDSR 的类型兼容性、无效 Sample 处理及 payload 生命周期。
• 支持 CDR 节点的发现上报、CLI 展示、Bag 录制与回放，以及运行时类型变化后的订阅重建。
• 更新 DDS CDR、ROS 2、录制相关文档、示例及 v2.1.0 Changelog。
• 同时包含连接等待锁反转、Bag 元数据、Iceoryx、MQTT 热路径、MessageLoop、LZAV 和 Conan 配置等稳定性与性能改进。

该改动使 VLink 能够直接与原生 DDS/ROS 2 数据类型互操作，并在工具链中完整保留 CDR 类型及序列化信息。

Type of change / 变更类型

• Bug fix / 缺陷修复
• New feature / 新功能
• Performance / 性能优化
• Refactor / 重构（行为不变）
• Build · CI · packaging / 构建·CI·打包
• Docs only / 仅文档

Related issues / 关联 Issue

N/A

How was this tested? / 如何测试

本分支补充或更新了以下测试覆盖：

• C API 与 Python API 的 CDR Schema 类型映射。
• Bag 未知丢包元数据处理。
• Client 与 Publisher 连接等待的锁行为。
• TriggerRecorder 异步任务完成与调度失败路径。
• DDS CDR 相关示例及 API 使用路径。

实际执行结果（提交前请替换为真实结果）：

• tools/format.sh
• tools/check.sh
• C++ unit tests
• Python API tests
• Fast DDS 2.x/3.x build and interoperability tests
• ROS 2 message communication test

Checklist / 检查项

• tools/format.sh and tools/check.sh pass / 通过格式化与检查门禁
• clang-tidy is clean for changed files / 改动文件 clang-tidy 无告警
• Builds and tests pass on the affected platforms (Linux / Windows / macOS) / 受影响平台编译与测试通过
• No new compiler warnings (ENABLE_TEST_WARN=ON) / 无新增编译告警
• Docs updated and kept in sync across 中文 + English when behavior changed / 行为变更时已同步更新中英文文档
• Public API / ABI changes are intentional and documented / 公共 API/ABI 变更是有意为之并已说明

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[chatgpt-codex-connector]

Own incoming CDR bytes before deserialize returns

When receiving any native CDR sample, this stores a non-owning view of SerializedPayload_t::data in the loaned Bytes sample. The serialized payload is owned by Fast DDS and its lifetime is only guaranteed during TopicDataType::deserialize; returning the application-data loan later does not retain that payload. Fast DDS can therefore recycle or overwrite the buffer before process_message() invokes the subscriber/client/server callback, causing corrupted data or use-after-free behavior. Deep-copy the payload here or retain an owning payload object for the complete sample lifetime.

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