[21128] Make all public headers .hpp

[JesusPoderoso]

Description

This PR performs the following changes in the public API:

• Updates header guard following this structure: FOLDER_SUBFOLDER__FILENAME_HPP
• Updates the doxygen file reference /* @file filename.hpp
• Updates the file name filename.h -> filename.hpp
• Updates the usages (includes) of the filename
• One commit per header changed

This PR should be merged before (and it is on top of) the following PRs (in order):

• 4898

• 4930

This PR also needs an update in Fast DDS Python, Shapes Demo, Discovery Server and Fast DDS Gen, and regenerate all types:

• eProsima/Fast-DDS-Gen/pull/358
• https://github.com/eProsima/Fast-DDS-docs/pull/825
• eProsima/Fast-DDS-python/pull/148
• eProsima/ShapesDemo/pull/148
• eProsima/Discovery-Server/pull/89

Contributor Checklist

• [x] Commit messages follow the project guidelines.
• [x] The code follows the style guidelines of this project.
• N/A 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)
• ❌ Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• ❌ Changes are API compatible.
• [x] 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.
• N/A 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.