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Simplify dependency upgrade process and upgrade Pulsar C++ client to 3.1.0 (#56)
### Motivation
Currently there are many files that require the download URLs of
dependencies to download them. It's hard to maintain if some download
URL changed. For example,
#17 updates the ZLib
download URL under https://zlib.net/fossils/ for macOS build. However,
the ZLib download URL for Linux is under
https://github.com/madler/zlib/archive/. The same goes for the Pulsar
C++ client, it's hard to test another URL because the candidates and the
official releases are stored in different paths.
### Modifications
Add a `dep-url.sh` to provide two shell functions:
- `pulsar_cpp_base_url`: Print the base URL of the Pulsar C++ client
release, there are the source code or binaries in the subpath.
- `download_dependency`: Download the source code according to the
dependency file and the dependency name.
Then apply the `dep-url.sh` in all files that need to download the
source or binary of the dependencies.
In addition, this PR upgrades the `pulsar-cpp` dependency to 3.1.0 so
that the Windows build can depend on an official release.
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