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Updates to a less ambiguous API to prepare for Fast-RTPS integration

This reverts commit 69b73c355d86c8844e49e45957f01b37d8f3c589.

Issue-Id: SCM-927
Change-Id: I5ea0e05ec5ed826b7fd3ed3ca30319cddce4566f
Signed-off-by: Kurtis Charnock <kurtis.charnock@arm.com>