Add a c++ trace file reader/writer

[TimmRuppert]

As discussed this repo should contain a writer/reader etc. for trace files (including .mcap). Here are some loose requirements I put together based and previous discussions. Please feel free to challenge something or request to add your requirements.

Requirements (WIP)

• File Format Support:

  • Should support .osi, .txth, and the upcoming .mcap, aiming for transparent integration for the user—if feasible.
  • Note that only .mcap allows index-based operations, multiple top-level messages, etc., so careful consideration is needed for handling these differences.

• Future Python Compatibility:

  • Design the interface with the possibility of supporting a Python version in the future.

• Basic CI/Test Setup:

  • Implement a minimal Continuous Integration and test setup for the repository.

• Basic Documentation/Guide:

  • Create an initial tutorial or usage guide. This should cover basic usage and setup.
  • More comprehensive documentation should be addressed in a separate issue to avoid overloading the PR and discussions.

• Library and Examples:

  • Provide the functionality as a library along with a few practical examples.

• OSI Integration:

  • If time permits, explore a user-friendly way to integrate the OSI (main repository) both statically and dynamically, considering time constraints for the initial setup. For a PoC/WiP it might be enough to link statically