New buffers and codec

[Mallets]

This PR refactors completely:

1. Zenoh buffers
2. Zenoh protocol codec

The proposed refactor brings:

• Decoupling between actual protocol codec and buffer implementation
• Different buffers can be used to serialize/deserialize zenoh messages
• Changes to the protocol don't require changing the inherent buffer impl
• It's a first for having basic protocol support (e.g. buffers, protocol, and codec) in a no_std environment
  • buffers are no_std. More work will be needed for protocol and codec.

I'm marking this PR as draft although CI tests seem to be happy.
Before marking as non-draft, additional tests should be run with all zenoh binding, plugins, and backends:

• zenoh-c Align with Zenoh Rust new-buffers zenoh-c#96
• zenoh-python Align with Zenoh Rust new-buffers zenoh-python#86
• zenoh-plugin-dds Align with Zenoh Rust new-buffers zenoh-plugin-dds#104
• zenoh-plugin-mqtt Align with Zenoh Rust new-buffers zenoh-plugin-mqtt#7
• zenoh-plugin-webserver Align with Zenoh Rust new-buffers zenoh-plugin-webserver#16
• zenoh-backend-s3 Align with Zenoh Rust new-buffers zenoh-backend-s3#6
• zenoh-backend-filesystem Align with Zenoh Rust new-buffers zenoh-backend-filesystem#26
• zenoh-backend-rocksdb Align with Zenoh Rust new-buffers zenoh-backend-rocksdb#20
• zenoh-backend-influxdb Align with Zenoh Rust new-buffers zenoh-backend-influxdb#25
• zenoh-pico BUILD_INTEGRATION=ON ARGS=-V make all; ZENOH_BRANCH=new-buffers ARGS=-V make test is successful