[21232] Fix flaky latency tests on mac

[Mario-DL]

Description

Some of the Latency tests failed in mac from time to time, in particular, the intraprocess ones. Analysis revealed the following backtrace:

libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::BaseReader::downcast(eprosima::fastdds::rtps::RTPSReader*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/reader/BaseReader.cpp:236)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::StatefulWriter::intraprocess_delivery(eprosima::fastdds::rtps::CacheChange_t*, eprosima::fastdds::rtps::ReaderProxy*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/writer/StatefulWriter.cpp:483)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::StatefulWriter::deliver_sample_to_intraprocesses(eprosima::fastdds::rtps::CacheChange_t*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/writer/StatefulWriter.cpp:642)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::StatefulWriter::deliver_sample_nts(eprosima::fastdds::rtps::CacheChange_t*, eprosima::fastdds::rtps::RTPSMessageGroup&, eprosima::fastdds::rtps::LocatorSelectorSender&, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > > const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/writer/StatefulWriter.cpp:2194)
libfastdds.3.0.0.dylib!std::__1::enable_if<std::is_base_of<eprosima::fastdds::rtps::FlowControllerPureSyncPublishMode, eprosima::fastdds::rtps::FlowControllerSyncPublishMode>::value, bool>::type eprosima::fastdds::rtps::FlowControllerImpl<eprosima::fastdds::rtps::FlowControllerSyncPublishMode, eprosima::fastdds::rtps::FlowControllerFifoSchedule>::add_new_sample_impl<eprosima::fastdds::rtps::FlowControllerSyncPublishMode>(eprosima::fastdds::rtps::RTPSWriter*, eprosima::fastdds::rtps::CacheChange_t*, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > > const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/flowcontrol/FlowControllerImpl.hpp:1191)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::FlowControllerImpl<eprosima::fastdds::rtps::FlowControllerSyncPublishMode, eprosima::fastdds::rtps::FlowControllerFifoSchedule>::add_new_sample(eprosima::fastdds::rtps::RTPSWriter*, eprosima::fastdds::rtps::CacheChange_t*, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > > const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/flowcontrol/FlowControllerImpl.hpp:1012)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::StatefulWriter::unsent_change_added_to_history(eprosima::fastdds::rtps::CacheChange_t*, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > > const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/writer/StatefulWriter.cpp:455)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::WriterHistory::notify_writer(eprosima::fastdds::rtps::CacheChange_t*, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > > const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/history/WriterHistory.cpp:124)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::WriterHistory::add_change_(eprosima::fastdds::rtps::CacheChange_t*, eprosima::fastdds::rtps::WriteParams&, std::__1::chrono::time_point<std::__1::chrono::steady_clock, std::__1::chrono::duration<long long, std::__1::ratio<1l, 1000000000l> > >) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/history/WriterHistory.cpp:145)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::WriterHistory::add_change(eprosima::fastdds::rtps::CacheChange_t*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/history/WriterHistory.cpp:52)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::EDPSimple::removeLocalReader(eprosima::fastdds::rtps::RTPSReader*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp:738)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::BuiltinProtocols::removeLocalReader(eprosima::fastdds::rtps::RTPSReader*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/builtin/BuiltinProtocols.cpp:304)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::RTPSParticipantImpl::deleteUserEndpoint(eprosima::fastdds::rtps::GUID_t const&) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/participant/RTPSParticipantImpl.cpp:2140)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::RTPSDomainImpl::removeRTPSReader(eprosima::fastdds::rtps::RTPSReader*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/RTPSDomain.cpp:532)
libfastdds.3.0.0.dylib!eprosima::fastdds::rtps::RTPSDomain::removeRTPSReader(eprosima::fastdds::rtps::RTPSReader*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/rtps/RTPSDomain.cpp:516)
libfastdds.3.0.0.dylib!eprosima::fastdds::dds::DataReaderImpl::stop() (/Users/mardom/dds_ws/src/fastdds/src/cpp/fastdds/subscriber/DataReaderImpl.cpp:335)
libfastdds.3.0.0.dylib!eprosima::fastdds::dds::DataReaderImpl::~DataReaderImpl() (/Users/mardom/dds_ws/src/fastdds/src/cpp/fastdds/subscriber/DataReaderImpl.cpp:349)
libfastdds.3.0.0.dylib!eprosima::fastdds::statistics::dds::DataReaderImpl::~DataReaderImpl() (/Users/mardom/dds_ws/src/fastdds/src/cpp/statistics/fastdds/subscriber/DataReaderImpl.hpp:43)
libfastdds.3.0.0.dylib!eprosima::fastdds::statistics::dds::DataReaderImpl::~DataReaderImpl() (/Users/mardom/dds_ws/src/fastdds/src/cpp/statistics/fastdds/subscriber/DataReaderImpl.hpp:43)
libfastdds.3.0.0.dylib!eprosima::fastdds::statistics::dds::DataReaderImpl::~DataReaderImpl() (/Users/mardom/dds_ws/src/fastdds/src/cpp/statistics/fastdds/subscriber/DataReaderImpl.hpp:43)
libfastdds.3.0.0.dylib!eprosima::fastdds::dds::SubscriberImpl::delete_datareader(eprosima::fastdds::dds::DataReader const*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/fastdds/subscriber/SubscriberImpl.cpp:298)
libfastdds.3.0.0.dylib!eprosima::fastdds::dds::Subscriber::delete_datareader(eprosima::fastdds::dds::DataReader const*) (/Users/mardom/dds_ws/src/fastdds/src/cpp/fastdds/subscriber/Subscriber.cpp:129)
LatencyTest!LatencyTestPublisher::~LatencyTestPublisher() (/Users/mardom/dds_ws/src/fastdds/test/performance/latency/LatencyTestPublisher.cpp:74)
LatencyTest!LatencyTestPublisher::~LatencyTestPublisher() (/Users/mardom/dds_ws/src/fastdds/test/performance/latency/LatencyTestPublisher.cpp:59)

In intraprocess there is a race in destruction since the LatencySubsriber deletes its participant and then, when the LatencyPublisher deletes their entites it tries to access the EDP builtins on the LatencySubscriber which are deleted.

This PR lets the user endpoints be destroyed while guaranteeing that both are alive before deleting the participants.

In addition, proposes a refactor for using a BaseReader instead of a RTPSReader for the local_reader_ member of the readerproxy to save up a dynamic_cast when downcasting.

Contributor Checklist

• Commit messages follow the project guidelines.
• The code follows the style guidelines of this project.
• NO 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.
• NO 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.
• NO New feature has been added to the versions.md file (if applicable).
• NO New feature has been documented/Current behavior is correctly described in the documentation.
• NO 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.

[elianalf]

LGTM: CI passed here ce9fc78 and the failed tests are unrelated.