[14749] Solving sanitizer issue 4139 <master>

[MiguelBarro]

For sanitizer CI see #2679

Description

LivelinessManager should be refactored in order to solve lock inversion issues reported in several issues like 4139.
The class has now a

    std::mutex mutex_;

devoted to safeguarding the class data (including member collection contents). And a

   shared_mutex col_mutex_;

devoted to protecting member collections and allowing their safe traversal without taking any writer lock that will lead to lock inversion.
The code was reordered in order to prevent any callbacks (potencial deadlock sources) with any lock taken (only shared_lock or none is allowed.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• NA Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added.
• 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.
• 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

[MiguelCompany]

@richiprosima Please test this