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1. Performs request validation.

2. If the member joins the group (i.e. member epoch is 0):

   1. Look up or create the group.
      1. If the group is created the topology epoch of the group is set to the topology epoch sent by the member.
   2. GROUP_ID_NOT_FOUND is returned if the group ID is associated with a group type that is not streams or classic (the latter will be allowed for migration).
   3. Compare the topology epoch of the request ER to the topology epoch of the group EG
      1. If ER=EG, check if topology metadata in the request is equal to the topology metadata of the group, otherwise fail with STREAMS_INVALID_TOPOLOGY_EPOCH
      2. If ER<EG, fail with STREAMS_TOPOLOGY_FENCED 
      3. If ER>EG+1, fail with STREAMS_INVALID_TOPOLOGY_EPOCH
      4. If ER=EG+1, update the topology by writing the new topology record to the offset topic
   4. Creates the member.
3. If the member is already part of the group (i.e. member epoch is greater than 0):
   1. Looks up the group.
   2. GROUP_ID_NOT_FOUND is returned if the group ID does not exist anymore.
   3. If the member does not exist, returns UNKNOWN_MEMBER_ID
   4. Checks whether the member epoch matches the member epoch in its current assignment. FENCED_MEMBER_EPOCH is returned otherwise. The member is also removed from the group.
      • There is an edge case here. When the group coordinator transitions a member to its target epoch, the heartbeat response with the new member epoch may be lost. In this case, the member will retry with the member epoch that it knows about and its request will be rejected with a FENCED_MEMBER_EPOCH. This will be handled as in KIP-848.
   5. If the topology epoch in the request is less than the topology epoch of the group, set state STALE_TOPOLOGY  in the response.
4. Updates information of the member if needed. The group epoch is incremented if there is any change.
5. If the topology or topic metadata changed, detect any topology / topic mismatches as described earlier in this document.
6. Reconcile the member assignments as explained earlier in this document.
7. When a member assignment gets changed it will bump the soft state group-wide StreamsGroup EndpointEpoch  and bump the corresponding member EndpointInformationEpoch in the response.  When all members EndpointInformationEpoch values converge on the same value as the group-wide EndpointEpoch updated IQ information will be included in the member heartbeat response.  

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