[22056] Fix TCP discovery server locators translation (backport #5382) (backport #5410)

[mergify]

Description

This PR is a partial backport of #5382, which fixes a bug where a TCP client connecting to localhost is unable to identify the locator of a TCP discovery server with a custom GUID listening on any. This causes the client to create two different channels for the same connection, where the latest can never be reached. The reason is that the server's locator is not considered from the same host due to its custom GUID. Hence, the server transforms the client's locator into localhost but the client does not do the same with the server's locator.

The proposed fix is to create a new entry into the channel_resources_ map for each local interface available. In this way, every locator with local address will reuse the same TCP channel, instead of creating a new one. Any new attempt of creating a new channel will be rejected by the server if the address was previously added.

@Mergifyio backport 3.0.x 2.14.x 2.10.x

Contributor Checklist

• Commit messages follow the project guidelines.

• The code follows the style guidelines of this project.

• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally. Related tests: [22056] Transform locators using new host_id PID (backport #107) Discovery-Server#108

• N/A Any new/modified methods have been properly documented using Doxygen.

• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)

• Changes are backport compatible: they do NOT break ABI nor change library core behavior.

• Changes are API compatible.

• N/A New feature has been added to the versions.md file (if applicable).

• N/A New feature has been documented/Current behavior is correctly described in the documentation.

• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

---

This is an automatic backport of pull request #5410 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of d71913b has failed:

On branch mergify/bp/2.14.x/pr-5410
Your branch is up to date with 'origin/2.14.x'.

You are currently cherry-picking commit d71913b7a.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   src/cpp/rtps/security/SecurityManager.cpp
	modified:   src/cpp/rtps/transport/TCPTransportInterface.cpp
	modified:   src/cpp/rtps/transport/TCPTransportInterface.h
	modified:   src/cpp/rtps/transport/tcp/RTCPMessageManager.cpp
	modified:   test/unittest/transport/TCPv4Tests.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   tools/fds/server.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[EugenioCollado]

LGTM with green CI