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Grug Variant Diff

[iris] Replace monolithic heartbeat with focused Ping/StartTasks/StopTasks/PollTasks RPCs #1701

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[iris] Replace monolithic heartbeat with focused Ping/StartTasks/StopTasks/PollTasks RPCs

[iris] Replace monolithic heartbeat with focused Ping/StartTasks/StopTasks/PollTasks RPCs #1701

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