Refactor DiscoveryServerParticipant

[irenebm]

Merge after:

• [20509] Update repository for Fast DDS 3.0.0 compatibility #111

[codecov-commenter]

Codecov Report

❌ Patch coverage is 13.68421% with 82 lines in your changes missing coverage. Please review.
✅ Project coverage is 37.74%. Comparing base (4b19122) to head (2b0b750).
⚠️ Report is 34 commits behind head on main.

Files with missing lines	Patch %	Lines
...pp/participant/rtps/DiscoveryServerParticipant.cpp	13.68%	75 Missing and 7 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #127      +/-   ##
==========================================
+ Coverage   36.54%   37.74%   +1.19%     
==========================================
  Files         169      152      -17     
  Lines       11542     6976    -4566     
  Branches     5277     2759    -2518     
==========================================
- Hits         4218     2633    -1585     
+ Misses       4580     2966    -1614     
+ Partials     2744     1377    -1367     

Flag	Coverage Δ
	?

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.