[22024] Improve OpenSSL lifecycle handling (backport #5384)

[mergify]

Description

This PR fixes a crash in OpenSSL provoked when the atexit callback from openssl is triggered upon process destruction, making it to trigger a SIGSEV on an already released OpenSSL resource.

In addition, OpenSSL is now a Meyers singleton attached to RTPSDomainImpl.

In accordance with the best practices using OpenSSL and its documentation:

• Initialization is done through OpenSSL_init_crypto (available in all versions along with the OPENSSL_INIT_NO_ATEXIT option) that makes atexit not being registered.
• If atexit is not registered, user has to explicitly call OpenSSL_cleanup() (also, supported across versions).

@Mergifyio backport 3.1.x 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

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

• 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.

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This is an automatic backport of pull request #5384 done by [Mergify](https://mergify.com).

[Mario-DL]

Related MR https://gitlab.intranet.eprosima.com/eProsima/fastdds-installers/-/merge_requests/25

[Mario-DL]

I think that we would need to upgrade asio submodule to 1.31 in order to avoid the asio ssl windows compilation warning. Same for the 2.14.x and 2.10.x backports. (IDK if that would be possible)