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stubserver: add support to optionally pass in a grpc.Server or xds.GRPCServer #7291

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@easwars

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There are tests which currently implement their own version of the test service instead of using the stub server because they have to register the test service on a server (grpc.Server or xds.GRPCServer) that they create in the test. If we add support to pass in an optional server to the stub server, these tests could start using the latter.

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