[20181] Hotfix: Secure simple participants with initialpeers over TCP match (backport #5071)

[mergify]

Description

This PR fixes a behavior that changed in f2e5ce making simple secure participants not match.

The tcp client sends its DATA[P] to the tcp server, the server starts the security handshake but the client is not able to accept the security handshake request because it does not have the discovery information from the server participant.

@Mergifyio backport 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.

• N/A 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.
• N/A 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 #5071 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 3ca60e0 has failed:

On branch mergify/bp/2.10.x/pr-5071
Your branch is up to date with 'origin/2.10.x'.

You are currently cherry-picking commit 3ca60e061.
  (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:   include/fastdds/rtps/builtin/discovery/participant/PDPSimple.h

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
	both modified:   test/blackbox/common/BlackboxTestsSecurity.cpp

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

[MiguelCompany]

@Mergifyio rebase

[mergify]

rebase

✅ Branch has been successfully rebased