[20684] New SocketTransportInterface

[juanlofer-eprosima]

Description

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.
• [ ] New feature has been added to the versions.md file (if applicable).
• [ ] 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.