[22353] Use correct algorithm strings on PermissionsToken and IdentityToken (backport #5450)

[mergify]

Description

This PR changes the strings transmitted in dds.cert.algo, dds.ca.algo, and dds.perm_ca.algo to the ones
specified in DDS-SEC-1.1.

In order to provide interoperability with legacy implementations, a new transmit_algorithms_as_legacy sub-property has been added to the builtin plugins configuration properties.

@Mergifyio backport 3.1.x 3.0.x 2.14.x 2.10.x

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.
• 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.
• N/A 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.
  • Related documentation PR: [22353] Document new transmit_algorithms_as_legacy on builtin security plugins Fast-DDS-docs#974
• 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.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

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This is an automatic backport of pull request #5450 done by [Mergify](https://mergify.com).