[22710] Filter interested readers on PDP writer (backport #5604) (backport #5672)

[mergify]

Description

Manual backport ABI compatible from: #5604

This fixes a high CPU and network usage situation with PDP simple discovery when a new participant is created in a network where there is a high number of existing participants.

@Mergifyio backport 2.10x

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

• Any new/modified methods have been properly documented using Doxygen.

• NA Any new configuration API has an equivalent XML API (with the corresponding XSD extension)

• Changes are backport compatible: they do NOT break ABI nor change library core behavior.

• Changes are API compatible.

• NA New feature has been added to the versions.md file (if applicable).

• NA 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.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

---

This is an automatic backport of pull request #5672 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of b56b56a has failed:

On branch mergify/bp/2.10.x/pr-5672
Your branch is up to date with 'origin/2.10.x'.

You are currently cherry-picking commit b56b56ae.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   include/fastdds/rtps/writer/StatelessWriter.h
	modified:   src/cpp/CMakeLists.txt
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
	new file:   src/cpp/rtps/builtin/discovery/participant/simple/PDPStatelessWriter.cpp
	new file:   src/cpp/rtps/builtin/discovery/participant/simple/PDPStatelessWriter.hpp
	modified:   src/cpp/rtps/builtin/discovery/participant/simple/SimplePDPEndpoints.hpp
	modified:   src/cpp/rtps/writer/StatelessWriter.cpp
	modified:   test/blackbox/api/dds-pim/PubSubParticipant.hpp
	modified:   test/blackbox/common/BlackboxTestsDiscovery.cpp
	modified:   test/blackbox/common/DDSBlackboxTestsListeners.cpp
	modified:   test/unittest/dds/publisher/CMakeLists.txt

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   src/cpp/rtps/participant/RTPSParticipantImpl.cpp
	both modified:   test/blackbox/api/fastrtps_deprecated/PubSubParticipant.hpp
	deleted by us:   test/blackbox/common/DDSBlackboxTestsMonitorService.cpp
	both modified:   test/unittest/statistics/dds/CMakeLists.txt

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