Fix consumer of python queue size is zero (apache#5706)

Fixes apache#5634


Master Issue: apache#5634

### Motivation

In java clients, when we call the `receive`, we will block it until a message arrives. in python clients, when we call the `receive` function, we add a delay parameter of 100ms. when the queue size is 0, the `receive` will have a strict check on the queue size, causing the following exception to be thrown

```
Traceback (most recent call last):
  File "tst.py", line 10, in <module>
    msg = consumer.receive()
  File "/python3.7/site-packages/pulsar/__init__.py", line 930, in receive
    msg = self._consumer.receive()
Exception: Pulsar error: InvalidConfiguration
```
### Modifications

* Removing timeout parameter in synchronous `receive`
* Add test for queue size is 0

### Verifying this change

Add Test

pulsar-client-cpp/python/pulsar_test.py

@@ -174,6 +174,23 @@ def test_consumer_initial_position(self):
         consumer.unsubscribe()
         client.close()
 
+    def test_consumer_queue_size_is_zero(self):
+        client = Client(self.serviceUrl)
+        consumer = client.subscribe('my-python-topic-consumer-init-queue-size-is-zero',
+                                    'my-sub',
+                                    consumer_type=ConsumerType.Shared,
+                                    receiver_queue_size=0,
+                                    initial_position=InitialPosition.Earliest)
+        producer = client.create_producer('my-python-topic-consumer-init-queue-size-is-zero')
+        producer.send(b'hello')
+        time.sleep(0.1)
+        msg = consumer.receive()
+        self.assertTrue(msg)
+        self.assertEqual(msg.data(), b'hello')
+
+        consumer.unsubscribe()
+        client.close()
+
     def test_message_properties(self):
         client = Client(self.serviceUrl)
         topic = 'my-python-test-message-properties'

pulsar-client-cpp/python/src/consumer.cc

@@ -33,9 +33,7 @@ Message Consumer_receive(Consumer& consumer) {
 
     while (true) {
         Py_BEGIN_ALLOW_THREADS
-        // Use 100ms timeout to periodically check whether the
-        // interpreter was interrupted
-        res = consumer.receive(msg, 100);
+        res = consumer.receive(msg);
         Py_END_ALLOW_THREADS
 
         if (res != ResultTimeout) {