MessageReceiver refactor to fix deadlocks [14069] <master>

[MiguelBarro]

Description

For sanitizer CI see #2565

This refactor promotes the mutex to shared mutex in order to prevent deadlocks due to interaction with participant mutexes.

A) std::mutex MessageReceives::mtx_
B) std::recursive_mutex* RTPSParticipantImpl::mp_mutex
C) std::mutex RTPSParticipantImpl::m_receiverResourcelistMutex

MessageReceiver::associateEndpoint(C > A) takes A while C is taken at RTPSParticipantImpl::assignEndpoint2LocatorList()

EDP::pairing_writer_proxy_with_any_local_reader(A > B) takes B while A is taken in MessageReceiver::process_data_message_without_security()

RTPSParticipantImpl::deleteUserEndpoint(B > C) takes C while B is taken in RTPSParticipantImpl::disable()

This is the first use of shared_mutex in Fast-DDS. Because it's a C++17 feature a public domain implementation is included in our utils folder to support old compilers.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• [Sanitizer] Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added.
• NA Any new/modified methods have been properly documented using Doxygen.
• Fast DDS test suite has been run locally.
• Changes are ABI compatible.
• Changes are API compatible.
• NA Documentation builds and tests pass locally.
• NA New feature has been added to the versions.md file (if applicable).
• NA New feature has been documented/Current behavior is correctly described in the documentation.

Reviewer Checklist

• Check contributor checklist is correct.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[jsan-rt]

LGTM. Original comments on this PR can be found on PR #2565.