CDAR-756: Update UDPSockets to listen at higher frequency (#579)

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# PR Details
## Description
When running a simulation with CARMA Streets, the position data in the
SDSMs appear to lag the ground truth significantly.
In the included image, the square inside the blue circle indicates the
VRU’s reported position in the SDSM. The blue square is its actual
position. They yellow circle shows CARMA’s reported SDSM position with
the green rectangle showing its actual position.


![image](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/72627660-d8ab-4a4e-8c37-db73c3bd919c)

Based on a visualization of carla-sensor-lib’s logs for the pedestrian
(actor 221), it appears that the position data does get updated at some
point. The image below is a timestamp vs. x position graph.
After further investigation, there is a difference in time stamps
between the SDSMs and external objects.

![image](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/3ddcf1ae-8429-4d3b-82c4-66f2fc646200)

It was found that is was largely due to the CDASimAdapter only consuming
detection data at 10 hz (wall time). When running at real-time speed,
the simulation can generate detection data at significantly higher
frequency. This PR updates the consuming frequency to 200 Hz. This fix
should be sufficient until the number of simultaneous detection exceeds
10 objects of 100Hz frequency.

Improved delay shown below:


![screenshot](https://github.com/usdot-fhwa-OPS/V2X-Hub/assets/77466294/1d03c6c0-bbf2-4318-86ad-583e2b1ae6a6)

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## Related Issue

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issue first -->
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to reproduce -->
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## Motivation and Context
Fix detection data delay for SDSM data
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## How Has This Been Tested?
CDASim Deployment
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## Types of changes

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the boxes that apply: -->

- [x] Defect fix (non-breaking change that fixes an issue)
- [ ] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

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that apply. -->
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here to help! -->

- [ ] I have added any new packages to the sonar-scanner.properties file
- [ ] My change requires a change to the documentation.
- [ ] I have updated the documentation accordingly.
- [x] I have read the **CONTRIBUTING** document.
[V2XHUB Contributing
Guide](https://github.com/usdot-fhwa-OPS/V2X-Hub/blob/develop/Contributing.md)
- [ ] I have added tests to cover my changes.
- [ ] All new and existing tests passed.

.github/workflows/sonar-scanner.yml

@@ -21,7 +21,7 @@ jobs:
           fetch-depth: 0
           submodules: recursive
       - name:  Install sonar-scanner and build-wrapper
-        uses: sonarsource/sonarcloud-github-c-cpp@v1
+        uses: sonarsource/sonarcloud-github-c-cpp@v2
       - name: Run install_dependencies.sh script
         run: |
           scripts/install_dependencies.sh

src/v2i-hub/CDASimAdapter/src/CDASimAdapter.cpp

@@ -126,27 +126,27 @@ namespace CDASimAdapter{
 
     void CDASimAdapter::start_immediate_forward_thread() {
         if ( !immediate_forward_timer ) {
-            immediate_forward_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            immediate_forward_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
         immediate_forward_tick_id = immediate_forward_timer->AddPeriodicTick([this]() {
             this->attempt_message_from_v2xhub();
 
         } // end of lambda expression
-        , std::chrono::milliseconds(100) );
+        , std::chrono::milliseconds(5) );
 
         immediate_forward_timer->Start();
 
     }
 
     void CDASimAdapter::start_message_receiver_thread() {
         if ( !message_receiver_timer ) {
-            message_receiver_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            message_receiver_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
 
         message_receiver_tick_id = message_receiver_timer->AddPeriodicTick([this]() {
             this->attempt_message_from_simulation();
         } // end of lambda expression
-        , std::chrono::milliseconds(100) );
+        , std::chrono::milliseconds(5) );
         message_receiver_timer->Start();
 
     }
@@ -174,7 +174,7 @@ namespace CDASimAdapter{
         {
             if(!external_object_detection_thread_timer)
             {
-                external_object_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>();
+                external_object_detection_thread_timer  = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
             }            
             external_object_detection_thread_timer->AddPeriodicTick([this](){
                 PLOG(logDEBUG1) << "Listening for Sensor Detected Message from CDASim." << std::endl;
@@ -187,7 +187,7 @@ namespace CDASimAdapter{
                     PLOG(logDEBUG1) << "CDASim connection has not yet received an simulated sensor detected message!" << std::endl;
                 }
             }//End lambda
-            , std::chrono::milliseconds(100));
+            , std::chrono::milliseconds(5));
             external_object_detection_thread_timer->Start();
         }
         catch ( const UdpServerRuntimeError &e ) 
@@ -216,13 +216,13 @@ namespace CDASimAdapter{
     void CDASimAdapter::start_time_sync_thread_timer() {
         PLOG(logDEBUG) << "Creating Thread Timer for time sync" << std::endl;
         if ( !time_sync_timer ) {
-            time_sync_timer = std::make_unique<tmx::utils::ThreadTimer>();
+            time_sync_timer = std::make_unique<tmx::utils::ThreadTimer>(std::chrono::milliseconds(5));
         }
         time_sync_tick_id = time_sync_timer->AddPeriodicTick([this]() {
             PLOG(logDEBUG1) << "Listening for time sync messages from CDASim." << std::endl;
             this->attempt_time_sync();
         } // end of lambda expression
-        , std::chrono::milliseconds(100));
+        , std::chrono::milliseconds(5));
         time_sync_timer->Start();
     }