[20701] Enforce SHM ports open mode exclusions

[MiguelCompany]

Description

As originally reported in #4504 a port could be open first with ReadShared and then with ReadExclusive the internal state of the port was incorrectly changed. This meant that the same port could be used at the same time for unicast and multicast.

This PR fixes #4634 by checking incompatibilities inside lock_read_exlcusive / lock_read_shared methods of the Port class.

@Mergifyio backport 2.13.x 2.10.x 2.6.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.
• Changes are ABI compatible.
• 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.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

[EduPonz]

@Mergifyio backport 2.13.x 2.10.x 2.6.x

[mergify]

backport 2.13.x 2.10.x 2.6.x

✅ Backports have been created

• #4645 [20701] Enforce SHM ports open mode exclusions (backport #4635) has been created for branch 2.13.x
• #4646 [20701] Enforce SHM ports open mode exclusions (backport #4635) has been created for branch 2.10.x but encountered conflicts
• #4647 [20701] Enforce SHM ports open mode exclusions (backport #4635) has been created for branch 2.6.x but encountered conflicts

[EduPonz]

@richiprosima please test this