apache / apache/beam

SdkWorker should be stopped in SdkHarness

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harness P3 python sub-task
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Description

I found that in SdkHarness do not  stop the SdkWorker when finish.  We should add the logic for sopt the SdkWorker in SdkHarness.  See `sdk_worker.py`. 

Imported from Jira [BEAM-8325](https://issues.apache.org/jira/browse/BEAM-8325). Original Jira may contain additional context.
Reported by: sunjincheng121.
Subtask of issue #19681

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