[20239] Make DataWriters always send the key hash on keyed topics

[Mario-DL]

Description

This PR corrects the behavior of the DataWriters on keyed topics. Currently, if the DataReader does not expect_inline_qos, then the DataWriter is not sending the key despite of publishing on a keyed topic.

This PR makes the DataWriter always send the key regardless of the configuration of the reader if the topic is keyed.

Note: the builtin endpoints are retrieving the key in their listeners. In fact, its the first thing they do (computeKey()). It is true that they are the filling the instancehandle from the PID_ENDPOINT_GUID instead of the PID_KEY_HASH which could be arguable if we are strict, but in essence, both carry the same information, the complete guid of the entity

@Mergifyio backport 2.12.x 2.11.x 2.10.x 2.6.x

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A Any new/modified methods have been properly documented using Doxygen.
• Changes are ABI compatible.
• Changes are API compatible.
• N/A New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[Mario-DL]

Checked that the topic keys feature works without enforcing the inline QoS in the reader when using this branch

[Mario-DL]

Before asking for the CI here, we should wait for #4261 to be merged

[EduPonz]

@Mergifyio backport 2.12.x 2.11.x 2.10.x 2.6.x

[mergify]

backport 2.12.x 2.11.x 2.10.x 2.6.x

✅ Backports have been created

• #4350 [20239] Make DataWriters always send the key hash on keyed topics (backport #4238) has been created for branch 2.12.x
• #4351 [20239] Make DataWriters always send the key hash on keyed topics (backport #4238) has been created for branch 2.11.x
• #4352 [20239] Make DataWriters always send the key hash on keyed topics (backport #4238) has been created for branch 2.10.x
• #4353 [20239] Make DataWriters always send the key hash on keyed topics (backport #4238) has been created for branch 2.6.x but encountered conflicts

[EduPonz]

@Mergifyio rebase master

[mergify]

rebase master

❌ Base branch update has failed

Git reported the following error:

Rebasing (1/10)
Auto-merging test/blackbox/api/dds-pim/PubSubReader.hpp
CONFLICT (content): Merge conflict in test/blackbox/api/dds-pim/PubSubReader.hpp
Auto-merging test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
CONFLICT (content): Merge conflict in test/blackbox/api/fastrtps_deprecated/PubSubReader.hpp
error: could not apply a4712168... Refs #20257: Add regression test
hint: Resolve all conflicts manually, mark them as resolved with
hint: "git add/rm <conflicted_files>", then run "git rebase --continue".
hint: You can instead skip this commit: run "git rebase --skip".
hint: To abort and get back to the state before "git rebase", run "git rebase --abort".
Could not apply a4712168... Refs #20257: Add regression test

[JesusPoderoso]

@richiprosima please test this