authz: support empty principals and fix rbac authenticated matcher #4883
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Previously, if we had empty principals in SDK policy, the translator would create RBAC policy with ANY rule for "Principal". With the changes in this PR, an empty principal in SDK policy will check for authenticated connection.
Similar behavior to unset principal_name in RBAC proto
https://www.envoyproxy.io/docs/envoy/latest/api-v3/config/rbac/v3/rbac.proto#config-rbac-v3-principal-authenticated
This PR also fixes rbac authenticated matcher, to check for TLS authenticated connection and correctly handle empty strings for TLS and plaintext case.
RELEASE NOTES: