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audio: Add 'join' method to StreamWorker
This is intended for use in tests where the worker just executes some actions and then exits by itself. Use of 'join' instead of 'stop' ensures that the worker goes through all actions. Bug: 205884982 Test: atest libaudioaidlcommon_test Change-Id: I8a9f4f0bb786ee606e3b63a9847f414119716a7d