feat(uxrce_dds_client): allow building Micro-XRCE-DDS_Client v3 (#27597)

Adds new nuttx config entry: UXRCE_DDS_CLIENT_USE_DDS_V3

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

.gitmodules

@@ -72,6 +72,10 @@
 	path = src/lib/heatshrink/heatshrink
 	url = https://github.com/PX4/heatshrink.git
 	branch = px4
+[submodule "src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3"]
+	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client-v3
+	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
+	branch = px4-release/3
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
 	url = https://github.com/PX4/PX4-gazebo-models.git

src/modules/uxrce_dds_client/CMakeLists.txt

@@ -35,8 +35,12 @@ if(${CMAKE_VERSION} VERSION_LESS_EQUAL "3.15")
 	message(WARNING "skipping uxrce_dds_client, Micro-XRCE-DDS-Client needs to be fixed to work with CMAKE_VERSION ${CMAKE_VERSION}")
 
 else()
-
-	set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
+	if(CONFIG_UXRCE_DDS_CLIENT_USE_DDS_V3)
+		message(WARNING "Using Micro-XRCE-DDS-Client v3 for uxrce_dds_client module")
+		set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client-v3)
+	else()
+		set(microxrceddsclient_src_dir   ${CMAKE_CURRENT_SOURCE_DIR}/Micro-XRCE-DDS-Client)
+	endif()
 	set(microxrceddsclient_build_dir ${CMAKE_CURRENT_BINARY_DIR})
 
 	px4_add_git_submodule(TARGET git_micro_xrce_dds_client PATH "${microxrceddsclient_src_dir}")

src/modules/uxrce_dds_client/Kconfig

@@ -3,3 +3,10 @@ menuconfig MODULES_UXRCE_DDS_CLIENT
 	default n
 	---help---
 		Enable support for the UXRCE-DDS Client
+
+menuconfig UXRCE_DDS_CLIENT_USE_DDS_V3
+depends on MODULES_UXRCE_DDS_CLIENT
+	bool "use DDS v3"
+	default n
+	---help---
+		Enable support for Micro-XRCE-DDS-Client version 3.