Redesign in cache consumer and circular message cache to get rid from busy loop

[MichaelOrlov]

Add wait_for_data() method to the message cache interface which will
block current thread and wait on condition variable until
notify_data_ready() will be called from producer thread.
Now logic will be more transparent in cache consumer IMO. i.e.

    message_cache_->wait_for_data();
    message_cache_->swap_buffers();
    auto consumer_buffer = message_cache_->get_consumer_buffer();
    consume_callback_(consumer_buffer->data());
    consumer_buffer->clear();
    message_cache_->release_consumer_buffer();

Also with this PR I think we will finally fix an issue related to the high probability to drop messages during the bag split.
Now there are no chance to drop messages unless there are no space in the cache any more. i.e. We can safely put new messages in primary buffer, while at the same time flushing messages to the storage from the secondary buffer.

• Closes Rosbag2 consume 100% of the CPU resources on one core in snapshot mode. #940
• Closes Bag splitting blocks the writer which can cause message loss #640

[MichaelOrlov]

Running CI
CI_BRANCH_TO_TEST: morlov/fix_for_busy_loop_in_snapshot_mode
BUILD args: --packages-up-to rosbag2_cpp rosbag2_compression rosbag2_transport rosbag2_tests
TEST args: --packages-select rosbag2_cpp rosbag2_compression rosbag2_transport rosbag2_tests
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9515

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[jhdcs]

This looks good to me!