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Allow Undertow to stop when a request is being handled
Previously, unlike embedded Jetty, Netty, and Tomcat, Undertow would not stop when one of its worker threads was in use. This meant that a a long-running or stalled request could prevent the application from shutting down in response to SIGTERM or SIGINT, and SIGTERM would be required to get the process to exit. This commit updates the factories for the reactive and servlet Undertow web server factories to configure Undertow to use a 0ms shutdown timeout. This aligns it with the behaviour of Jetty, Netty, and Tomcat. Tests have been introduced to verify the behaviour across the reactive and servlet variants of all four supported embedded web servers. Fixes gh-21319
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