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- Change: if leadership is lost, the cluster is left with the **joint** config. One does not receive response of the change-membership request should always re-send to ensure membership config is applied. - Change: remove joint-uniform logic from RaftCore, which brings a lot complexity to raft impl. This logic is now done in Raft(which is a shell to control RaftCore). - Change: RaftCore.membership is changed to `ActiveMembership`, which includes a log id and a membership config. Making this change to let raft be able to check if a membership is committed by comparing the log index and its committed index. - Change: when adding a existent non-voter, it returns an `Ok` value instead of an `Err`. - Change: add arg `blocking` to `add_non_voter` and `change_membership`. A blocking `change_membership` still wait for the two config change log to commit. `blocking` only indicates if to wait for replication to non-voter to be up to date. - Change: remove `non_voters`. Merge it into `nodes`. Now both voters and non-voters share the same replication handle. - Change: remove field `ReplicationState.is_ready_to_join`, it can be just calculated when needed. - Change: remove `is_stepping_down`, `membership.contains()` is quite enough. - Change: remove `consensus_state`.
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