add backoff to heartbeats and detect unresponsive nodes#20
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If nodes don't respond, we retry sending heartbeat requests with exponential backoff. If the still do not respond after a set amount of attempts, we remove them from the list of connected nodes, and they must re-register.
Previously, heartbeats were scheduled an amount of periods from a fixed reference point. Therefore, if one heartbeat request was delayed, but the next was not, there could be a smaller time delta between those two requests. This made the calculation of the backoff wrong.
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Adds additional config options to enable exponential backoff, as well as a maximum number of unanswered heartbeats.
Moved heartbeat logic to heartbeat.rs