SHM: domain boundary functionality

[yellowhatter]

Describe the feature

When data is crossing SHM domain boundary, there are few useful operations available:

shm2raw Already implemented, but I think we need to make this tunable through the config, otherwise it will be very easy to block host's network by accidentally subscribing to some high-bandwidth data that is not intended to leave an SHM domain. Also some other useful things may be supported here, like mapping SHM message's QoS (Lowest priority + Drop) etc

raw2shm Here it is very interesting thing: if we have multiple clients + router residing in the same SHM domain, we can optimize data routing by making raw2shm conversion for the data arriving from outside at the router level. This is a very powerful optimization, that even can happen automatically, making Zenoh-based host infrastructure faster!