Refactor DiscoveryServerParticipant

[irenebm]

Merge after:

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

[codecov-commenter]

Codecov Report

Attention: 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).

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   36.51%   37.74%   +1.22%     
==========================================
  Files         169      152      -17     
  Lines       11542     6976    -4566     
  Branches     5277     2759    -2518     
==========================================
- Hits         4215     2633    -1582     
+ Misses       4582     2966    -1616     
+ Partials     2745     1377    -1368     

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