**Describe the bug**
A runtime error occurs in the topic_filtern function of the mqtt_parser.c file within the NanoMQ project. The function triggers an undefined behavior when the strncpy function is called with a null pointer as its second argument. This violates the non-null expectation for strncpy's arguments as declared in the standard library header string.h.

**Expected behavior**
The topic_filtern function is expected to safely copy a given number of characters from the input string to a newly allocated buffer. Before attempting to copy, the function should verify that the input pointer is not null to comply with the strncpy function's requirements. 

**Actual Behavior**
When the topic_filtern function is invoked with a null input pointer, it proceeds to call strncpy without any checks for nullity. This results in a runtime error reported by the UndefinedBehaviorSanitizer, specifically stating "null pointer passed as argument 2, which is declared to never be null." 

**To Reproduce**

Follow these steps to reproduce the issue:

1. Compile NanoMQ with ASan and UBSan enabled:

    ```bash
    mkdir nanomq/build
    cd build
    cmake -DBUILD_BENCH=ON -DASAN=ON -DTSAN=ON \
        -DCMAKE_C_COMPILER=clang \
        -DCMAKE_CXX_COMPILER=clang++ \
        -DCMAKE_C_FLAGS="-g -fsanitize=address,undefined -fno-omit-frame-pointer" \
        -DCMAKE_CXX_FLAGS="-g -fsanitize=address,undefined -fno-omit-frame-pointer" \
        -DCMAKE_LD_FLAGS="-fsanitize=address,undefined" \
        ..
    make clean
    make -j 8
    ```

2. Start the NanoMQ server with the following command:

    ```bash
   nanomq/build/nanomq/nanomq start --url nmq-tcp://0.0.0.0:5883 --url nmq-ws://localhost:5885 --max_tq_thread 8 -n 16
    ```

3. Send a series of hexstreams to the server in sequence, which are stored in the file `hexstream.txt` using the code：
```python
import socket

def send_packet(input):
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    try:
        s.connect(('127.0.0.1', 5883))
        s.send(input)
    except ConnectionResetError:
        print("Connection was reset.")
    except ConnectionRefusedError:
        print("Connection refused.")
    finally:
        s.close()

with open('hexstream.txt', 'r') as f:
    crash_log = f.read().splitlines()

for c in crash_log:
    clean_c = ''.join(c.split())
    packet = bytearray.fromhex(clean_c)
    send_packet(packet)
```
All hexstreams that triggered the issue are in the file：
[hexstream.txt](https://github.com/nanomq/nanomq/files/14755758/hexstream.txt)




**Environment Details**
 - NanoMQ version 0.21.7
 - Operating system and version Ubuntu 20.04 LTS
 - Compiler and language used  clang version 12.0.0
 - testing scenario

**Crash Report**
log of server:
```
2024-03-25 06:54:58 [391720] ERROR nanomq/nng/src/supplemental/nanolib/conf_ver2.c:1534 conf_parse_ver2: Configure file [(null)] or [/etc/nanomq.conf] not found or unreadable
NanoMQ Broker is started successfully!
2024-03-25 06:54:58 [391729] ERROR nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:456 tcptran_pipe_nego_cb: connect nego error rv: Unknown error #130(130)
2024-03-25 06:54:58 [391733] ERROR nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:456 tcptran_pipe_nego_cb: connect nego error rv: Unknown error #130(130)
2024-03-25 06:54:58 [391737] ERROR nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1075 nano_pipe_recv_cb: Invalid subscribe packet!
2024-03-25 06:54:58 [391735] ERROR nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1075 nano_pipe_recv_cb: Invalid subscribe packet!
2024-03-25 06:54:58 [391741] ERROR nanomq/nanomq/apps/broker.c:104 sig_handler: signal signumber: 6 received!



```
Here is the ASan report:
```
nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:16: runtime error: null pointer passed as argument 2, which is declared to never be null
/usr/include/string.h:127:14: note: nonnull attribute specified here
    #0 0x677646 in topic_filtern nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:2
    #1 0x67a850 in nano_ctx_send nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:415:8
    #2 0x615318 in nni_ctx_send nanomq/nng/src/core/socket.c:1438:2
    #3 0x5aef47 in nng_ctx_send nanomq/nng/src/nng.c:419:2
    #4 0x58ae3e in server_cb nanomq/nanomq/apps/broker.c:418:4
    #5 0x626485 in nni_task_exec nanomq/nng/src/core/taskq.c:144:3
    #6 0x5d08c3 in nni_aio_finish_impl nanomq/nng/src/core/aio.c:469:3
    #7 0x5d094c in nni_aio_finish_sync nanomq/nng/src/core/aio.c:484:2
    #8 0x68d84b in nano_pipe_recv_cb nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1217:2
    #9 0x626485 in nni_task_exec nanomq/nng/src/core/taskq.c:144:3
    #10 0x5d08c3 in nni_aio_finish_impl nanomq/nng/src/core/aio.c:469:3
    #11 0x5d094c in nni_aio_finish_sync nanomq/nng/src/core/aio.c:484:2
    #12 0x92f2a7 in tcptran_pipe_recv_cb nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:891:2
    #13 0x6253ae in nni_taskq_thread nanomq/nng/src/core/taskq.c:50:4
    #14 0x628eb8 in nni_thr_wrap nanomq/nng/src/core/thread.c:94:3
    #15 0x63bb0b in nni_plat_thr_main nanomq/nng/src/platform/posix/posix_thread.c:266:2
    #16 0x7ffae6287608 in start_thread /build/glibc-eX1tMB/glibc-2.31/nptl/pthread_create.c:477:8
    #17 0x7ffae6015292 in clone /build/glibc-eX1tMB/glibc-2.31/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:95

SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:16 in 



```

Null Pointer Dereference in Function topic_filtern at mqtt_parser.c Leading to Runtime Error 
This is a GitHub Issue
repo:nanomq
owner:emqx
Title : Null Pointer Dereference in Function topic_filtern at mqtt_parser.c Leading to Runtime Error 
Issue date:

--- start body ---
**Describe the bug**
A runtime error occurs in the topic_filtern function of the mqtt_parser.c file within the NanoMQ project. The function triggers an undefined behavior when the strncpy function is called with a null pointer as its second argument. This violates the non-null expectation for strncpy's arguments as declared in the standard library header string.h.

**Expected behavior**
The topic_filtern function is expected to safely copy a given number of characters from the input string to a newly allocated buffer. Before attempting to copy, the function should verify that the input pointer is not null to comply with the strncpy function's requirements. 

**Actual Behavior**
When the topic_filtern function is invoked with a null input pointer, it proceeds to call strncpy without any checks for nullity. This results in a runtime error reported by the UndefinedBehaviorSanitizer, specifically stating "null pointer passed as argument 2, which is declared to never be null." 

**To Reproduce**

Follow these steps to reproduce the issue:

1. Compile NanoMQ with ASan and UBSan enabled:

    ```bash
    mkdir nanomq/build
    cd build
    cmake -DBUILD_BENCH=ON -DASAN=ON -DTSAN=ON \
        -DCMAKE_C_COMPILER=clang \
        -DCMAKE_CXX_COMPILER=clang++ \
        -DCMAKE_C_FLAGS="-g -fsanitize=address,undefined -fno-omit-frame-pointer" \
        -DCMAKE_CXX_FLAGS="-g -fsanitize=address,undefined -fno-omit-frame-pointer" \
        -DCMAKE_LD_FLAGS="-fsanitize=address,undefined" \
        ..
    make clean
    make -j 8
    ```

2. Start the NanoMQ server with the following command:

    ```bash
   nanomq/build/nanomq/nanomq start --url nmq-tcp://0.0.0.0:5883 --url nmq-ws://localhost:5885 --max_tq_thread 8 -n 16
    ```

3. Send a series of hexstreams to the server in sequence, which are stored in the file `hexstream.txt` using the code：
```python
import socket

def send_packet(input):
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    try:
        s.connect(('127.0.0.1', 5883))
        s.send(input)
    except ConnectionResetError:
        print("Connection was reset.")
    except ConnectionRefusedError:
        print("Connection refused.")
    finally:
        s.close()

with open('hexstream.txt', 'r') as f:
    crash_log = f.read().splitlines()

for c in crash_log:
    clean_c = ''.join(c.split())
    packet = bytearray.fromhex(clean_c)
    send_packet(packet)
```
All hexstreams that triggered the issue are in the file：
[hexstream.txt](https://github.com/nanomq/nanomq/files/14755758/hexstream.txt)




**Environment Details**
 - NanoMQ version 0.21.7
 - Operating system and version Ubuntu 20.04 LTS
 - Compiler and language used  clang version 12.0.0
 - testing scenario

**Crash Report**
log of server:
```
2024-03-25 06:54:58 [391720] ERROR nanomq/nng/src/supplemental/nanolib/conf_ver2.c:1534 conf_parse_ver2: Configure file [(null)] or [/etc/nanomq.conf] not found or unreadable
NanoMQ Broker is started successfully!
2024-03-25 06:54:58 [391729] ERROR nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:456 tcptran_pipe_nego_cb: connect nego error rv: Unknown error #130(130)
2024-03-25 06:54:58 [391733] ERROR nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:456 tcptran_pipe_nego_cb: connect nego error rv: Unknown error #130(130)
2024-03-25 06:54:58 [391737] ERROR nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1075 nano_pipe_recv_cb: Invalid subscribe packet!
2024-03-25 06:54:58 [391735] ERROR nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1075 nano_pipe_recv_cb: Invalid subscribe packet!
2024-03-25 06:54:58 [391741] ERROR nanomq/nanomq/apps/broker.c:104 sig_handler: signal signumber: 6 received!



```
Here is the ASan report:
```
nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:16: runtime error: null pointer passed as argument 2, which is declared to never be null
/usr/include/string.h:127:14: note: nonnull attribute specified here
    #0 0x677646 in topic_filtern nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:2
    #1 0x67a850 in nano_ctx_send nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:415:8
    #2 0x615318 in nni_ctx_send nanomq/nng/src/core/socket.c:1438:2
    #3 0x5aef47 in nng_ctx_send nanomq/nng/src/nng.c:419:2
    #4 0x58ae3e in server_cb nanomq/nanomq/apps/broker.c:418:4
    #5 0x626485 in nni_task_exec nanomq/nng/src/core/taskq.c:144:3
    #6 0x5d08c3 in nni_aio_finish_impl nanomq/nng/src/core/aio.c:469:3
    #7 0x5d094c in nni_aio_finish_sync nanomq/nng/src/core/aio.c:484:2
    #8 0x68d84b in nano_pipe_recv_cb nanomq/nng/src/sp/protocol/mqtt/nmq_mqtt.c:1217:2
    #9 0x626485 in nni_task_exec nanomq/nng/src/core/taskq.c:144:3
    #10 0x5d08c3 in nni_aio_finish_impl nanomq/nng/src/core/aio.c:469:3
    #11 0x5d094c in nni_aio_finish_sync nanomq/nng/src/core/aio.c:484:2
    #12 0x92f2a7 in tcptran_pipe_recv_cb nanomq/nng/src/sp/transport/mqtt/broker_tcp.c:891:2
    #13 0x6253ae in nni_taskq_thread nanomq/nng/src/core/taskq.c:50:4
    #14 0x628eb8 in nni_thr_wrap nanomq/nng/src/core/thread.c:94:3
    #15 0x63bb0b in nni_plat_thr_main nanomq/nng/src/platform/posix/posix_thread.c:266:2
    #16 0x7ffae6287608 in start_thread /build/glibc-eX1tMB/glibc-2.31/nptl/pthread_create.c:477:8
    #17 0x7ffae6015292 in clone /build/glibc-eX1tMB/glibc-2.31/misc/../sysdeps/unix/sysv/linux/x86_64/clone.S:95

SUMMARY: UndefinedBehaviorSanitizer: undefined-behavior nanomq/nng/src/sp/protocol/mqtt/mqtt_parser.c:1865:16 in 



```

--- end body ---
