[24604] Fix minor dataraces

[ZakariaTalbi]

Description

The goal of this PR is to solve some of the minor dataraces that appear when running under the TSAN meta.

LocalReader datarace:

ReaderLocator::local_reader_ was being read in intraprocess_heartbeat and intraprocess_delivery without holding the writer's mutex, while ReaderLocator::stop() reset it under that same mutex, causing a data race. Fixed by acquiring mp_mutex before calling local_reader() in both methods.

As this was already being reported by TSAN when running the DDSBasic_WarningOnDelete_Test, no new tests have been added.

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

[MiguelCompany]

Apart from my comments below, please check whether changes made in PubSubReader and PubSubWriter also apply to PubSubWriterReader and/or PubSubParticipant

[MiguelCompany]

Change these into FASTDDS_TODO_BEFORE(4, 0, ...)

[MiguelCompany]

Suggested change

	std::unique_lock<std::mutex> lock(mutexDiscovery_);
	std::lock_guard<std::mutex> lock(mutexDiscovery_);

[MiguelCompany]

Take the chance to also change it in other places.

[MiguelCompany]

Suggested change

	std::unique_lock<std::mutex> lock(mutexDiscovery_);
	std::lock_guard<std::mutex> lock(mutexDiscovery_);

[MiguelCompany]

Suggested change

	std::unique_lock<std::mutex> lock(mutexDiscovery_);
	std::lock_guard<std::mutex> lock(mutexDiscovery_);