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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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