Adds config to controller for heartbeat config
Add config to routers for heartbeat config
Adds configurable heartbeats to controller <-> controller connections
* progress on controller communication
* added yaml encoding/decoding
* move dispatch callbacks to be more consistent
* update unit tests
* small cleaups
* Add new datadir to unit tests
* fix linter
* Was able to use FSM hooks to get configuration updates to show raft state
* Send index to prevent older versions from being applied and added leader override
* pr comments and added/removed ctrl connections
* added error logging
* pr comments
* spelling and bad log newlines
* added delete from the toconnect map and added end case to the background connect
* reordered removal from map
* added mtx around access. Forgot that was changed to be unsopported.
Paul Lorenz