TCP first message loss (#699)

* Refs #20508: Add wait_for_logical_port_negotiation_ms to transport descriptor

Signed-off-by: Jesus Perez <jesusperez@eprosima.com>

* Refs #20508: Reuse unused transport descriptor tcp_negotiation_timeout

Signed-off-by: Jesus Perez <jesusperez@eprosima.com>

---------

Signed-off-by: Jesus Perez <jesusperez@eprosima.com>

Author: jepemi

docs/03-exports/aliases-api.include

@@ -632,6 +632,7 @@
 .. |TCPTransportDescriptor::keep_alive_thread-api| replace:: :cpp:var:`keep_alive_thread<eprosima::fastdds::rtps::TCPTransportDescriptor::keep_alive_thread>`
 .. |TCPTransportDescriptor::accept_thread-api| replace:: :cpp:var:`accept_thread<eprosima::fastdds::rtps::TCPTransportDescriptor::accept_thread>`
 .. |TCPTransportDescriptor::tls_config-api| replace:: :cpp:var:`tls_config<eprosima::fastdds::rtps::TCPTransportDescriptor::tls_config>`
+.. |TCPTransportDescriptor::tcp_negotiation_timeout-api| replace:: :cpp:var:`tcp_negotiation_timeout<eprosima::fastdds::rtps::TCPTransportDescriptor::tcp_negotiation_timeout>`
 
 .. |TCPTransportDescriptor::TLSConfig-api| replace:: :cpp:struct:`TLSConfig<eprosima::fastdds::rtps::TCPTransportDescriptor::TLSConfig>`
 .. |TCPTransportDescriptor::TLSConfig::add_verify_mode-api| replace:: :cpp:func:`add_verify_mode()<eprosima::fastdds::rtps::TCPTransportDescriptor::TLSConfig::add_verify_mode>`

docs/fastdds/transport/tcp/tcp.rst

@@ -132,6 +132,13 @@ The following table describes the common data members for both TCPv4 and TCPv6.
     - |ThreadSettings|
     -
     - |ThreadSettings| for the threads processing incoming TCP connection requests.
+  * - |TCPTransportDescriptor::tcp_negotiation_timeout-api|
+    - ``uint32_t``
+    - 0
+    - Time to wait for logical port negotiation (in ms). If a logical port is under negotiation, it waits for the
+      negotiation to finish up to this timeout before trying to send a message to that port. Setting this option to
+      non-zero values increases the discovery time. Setting it to zero means no wait but could lead to loss of first
+      messages.
 
 .. warning::
 

docs/fastdds/xml_configuration/transports.rst

@@ -111,6 +111,9 @@ A more detailed explanation of each of these elements can be found in :ref:`comm
 | ``<enable_tcp_nodelay>``      | Socket option for disabling the Nagle |br|         | ``bool``             | ``false``|
 |                               | algorithm. (**TCP only**).                         |                      |          |
 +-------------------------------+----------------------------------------------------+----------------------+----------+
+| ``<tcp_negotiation_timeout>`` | Time to wait for logical port negotiation (in ms)  | ``uint32_t``         | ``0``    |
+|                               | |br| (**TCP only**).                               |                      |          |
++-------------------------------+----------------------------------------------------+----------------------+----------+
 | ``<segment_size>``            | Size (in bytes) of the shared-memory segment. |br| | ``uint32_t``         | 262144   |
 |                               | (Optional, **SHM only**).                          |                      |          |
 +-------------------------------+----------------------------------------------------+----------------------+----------+