[21170] Fix DS servers not connecting due to ports logic (backport #4941)

[mergify[bot]]

Description

This PR fixes a bug that was avoiding discovery when a DS server tries to connect to another server which has a smaller physical port. The logic implemented in https://github.com/eProsima/Fast-DDS/pull/4586 needs to be used to fix the issue. It also adds support to automatically set the logical port of remote servers when the participant discoveryProtocol is configured as DiscoveryProtocol::SERVER, which was missing.

@Mergifyio backport 2.14.x 2.13.x 2.10.x 2.6.x

Contributor Checklist

• [X] Commit messages follow the project guidelines.

• [X] The code follows the style guidelines of this project.

• [X] 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

• N/A 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)

• [X] Changes are backport compatible: they do NOT break ABI nor change library core behavior.

• [X] 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.

• [X] Applicable backports have been included in the description.

Reviewer Checklist

• [x] The PR has a milestone assigned.
• [x] The title and description correctly express the PR's purpose.
• [x] Check contributor checklist is correct.
• [x] Check CI results: changes do not issue any warning.
• [x] Check CI results: failing tests are unrelated with the changes.

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  This is an automatic backport of pull request #4941 done by Mergify.

[MiguelCompany]

@richiprosima Please test discovery-server