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Make acknowledge APIs synchronous and improve the documents (#121)
Fixes #114 ### Motivation Currently the `acknowledge` and `acknowledge_cumulative` methods are all asynchronous. Even if any error happened, no exception would be raised. For example, when acknowledging cumulatively on a consumer whose consumer type is Shared or KeyShared, no error happens. ### Modifications - Change these methods to synchronous and raise exceptions if the acknowledgment failed. - Add `PulsarTest.test_acknowledge_failed` to test these failed cases. - Improve the documents to describe which exceptions could be raised in which cases.
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