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The error event is currently allowed to be emitted for non-fatal errors, but our implementations actually only ever emit this as a fatal error and then close the stream.
This simple PR ensures that the error event is documented to only be allowed for fatal errors that will result in the stream being closed. Marking this as a new feature because one can now rely on this event and build reliable error handling logic.
This means that this will not affect normal usage. However, it is a BC break for those that currently implement our interfaces and currently emit non-fatal errors. Empirical evidence suggests that this is not common at all (no single use of this is known).