[20599] Protect asio exception hotfix (backport #4527)

[mergify]

This is an automatic backport of pull request #4527 done by Mergify.
Cherry-pick of 08193d5 has failed:

On branch mergify/bp/2.10.x/pr-4527
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	both modified:   src/cpp/rtps/transport/TCPTransportInterface.cpp

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[mergify]

Cherry-pick of 08193d5 has failed:

On branch mergify/bp/2.10.x/pr-4527
Your branch is up to date with 'origin/2.10.x'.

You are currently cherry-picking commit 08193d5f7.
  (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)

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/rtps/transport/TCPTransportInterface.cpp

no changes added to commit (use "git add" and/or "git commit -a")

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

[cferreiragonz]

• Merge after: [20120] TCPSendResources cleanup (backport #4300) #4512

[cferreiragonz]

This PR also backports features of #4319 and some features of #4300 that could not be backported in #4512 because of the missing features of #4319.

[MiguelCompany]

@jepemi Could you please rebase this to fix the conflicts ?

[MiguelCompany]

@richiprosima Please test this