[17294] Honor allow_unauthenticated_participants flag (backport #3385)

[mergify]

This is an automatic backport of pull request #3385 done by Mergify.
Cherry-pick of 9adaf25 has failed:

On branch mergify/bp/2.9.x/pr-3385
Your branch is up to date with 'origin/2.9.x'.

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Changes to be committed:
	modified:   include/fastdds/rtps/builtin/discovery/endpoint/EDP.h
	modified:   include/fastdds/rtps/builtin/discovery/endpoint/EDPSimple.h
	modified:   include/fastdds/rtps/builtin/discovery/endpoint/EDPStatic.h
	modified:   include/fastdds/rtps/builtin/discovery/participant/PDP.h
	modified:   include/fastdds/rtps/builtin/liveliness/WLP.h
	modified:   include/fastdds/rtps/security/accesscontrol/EndpointSecurityAttributes.h
	modified:   src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp
	modified:   src/cpp/rtps/builtin/discovery/endpoint/EDPStatic.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPClient.h
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPServer.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPServer.hpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPServerListener.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
	modified:   src/cpp/rtps/builtin/discovery/participant/timedevent/DSClientEvent.cpp
	modified:   src/cpp/rtps/builtin/liveliness/WLP.cpp
	modified:   src/cpp/security/accesscontrol/Permissions.cpp
	modified:   src/cpp/security/authentication/PKIDH.cpp
	modified:   test/blackbox/common/BlackboxTestsSecurity.cpp
	new file:   test/certs/certs/AE7BAD8C075AEAF8.pem
	new file:   test/certs/ecdsaparam
	new file:   test/certs/governance_allow_unauth_all_disabled_access_none.smime
	new file:   test/certs/governance_allow_unauth_all_disabled_access_none.xml
	new file:   test/certs/governance_allow_unauth_all_disabled_access_none_other_ca.smime
	new file:   test/certs/governance_allow_unauth_all_disabled_read_write_enabled.smime
	new file:   test/certs/governance_allow_unauth_all_disabled_read_write_enabled.xml
	new file:   test/certs/governance_allow_unauth_all_disabled_read_write_enabled_other_ca.smime
	new file:   test/certs/governance_allow_unauth_rtps_encrypt.smime
	new file:   test/certs/governance_allow_unauth_rtps_encrypt.xml
	new file:   test/certs/index_other.txt
	new file:   test/certs/othercacert.pem
	new file:   test/certs/othercacert.txt
	new file:   test/certs/othercaconf.cnf
	new file:   test/certs/othercakey.pem
	new file:   test/certs/othersub.cnf
	new file:   test/certs/othersubcert.pem
	new file:   test/certs/othersubcert.txt
	new file:   test/certs/othersubkey.pem
	new file:   test/certs/othersubreq.pem
	new file:   test/certs/permissions_helloworld_securehelloworld.smime
	new file:   test/certs/permissions_helloworld_securehelloworld.xml
	new file:   test/certs/permissions_helloworld_securehelloworld_other_ca.smime
	new file:   test/certs/permissions_helloworld_securehelloworld_other_ca.xml
	new file:   test/certs/serial_other
	new file:   test/communication/simple_allow_unauthenticated_sub_profile.xml
	new file:   test/communication/simple_secure_allow_unauthenticated_pub_profile.xml
	modified:   test/mock/rtps/PDP/fastdds/rtps/builtin/discovery/participant/PDP.h
	modified:   test/mock/rtps/PDPSimple/fastdds/rtps/builtin/discovery/participant/PDPSimple.h
	modified:   test/unittest/rtps/discovery/EdpTests.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   include/fastdds/rtps/builtin/discovery/participant/PDPSimple.h
	both modified:   src/cpp/rtps/security/SecurityManager.cpp
	both modified:   src/cpp/rtps/security/SecurityManager.h
	both modified:   test/communication/CMakeLists.txt
	both modified:   test/unittest/rtps/security/SecurityHandshakeProcessTests.cpp
	both modified:   test/unittest/rtps/security/SecurityTests.cpp
	both modified:   test/unittest/rtps/security/SecurityValidationRemoteTests.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[Mario-DL]

@richiprosima please test this