[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.

---

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

[mergify]

Cherry-pick of 44310c4 has failed:

On branch mergify/bp/mergify/bp/2.14.x/pr-5386/pr-5384
Your branch is up to date with 'origin/mergify/bp/2.14.x/pr-5386'.

You are currently cherry-picking commit 44310c4f8.
  (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/security/OpenSSLInit.hpp
	modified:   test/blackbox/common/BlackboxTestsSecurity.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/RTPSDomainImpl.hpp

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