[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).