[Summer of code] Let broker send heartbeat to controller

[hzh0425]

What is the purpose of the change

tracking issue: #4330

Brief changelog

When the controller is deployed independently, let the broker send the heartbeat to the controller.

Verifying this change

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[codecov-commenter]

Codecov Report

Merging #4341 (39fbeeb) into 5.0.0-beta-dledger-controller (4e9e4e3) will decrease coverage by 0.08%.
The diff coverage is 9.35%.

@@                         Coverage Diff                         @@
##             5.0.0-beta-dledger-controller    #4341      +/-   ##
===================================================================
- Coverage                            43.55%   43.47%   -0.09%     
+ Complexity                            6319     6310       -9     
===================================================================
  Files                                  835      835              
  Lines                                59199    59285      +86     
  Branches                              8068     8082      +14     
===================================================================
- Hits                                 25787    25777      -10     
- Misses                               30091    30177      +86     
- Partials                              3321     3331      +10     

Impacted Files	Coverage Δ
.../rocketmq/broker/hacontroller/ReplicasManager.java	0.00% <0.00%> (ø)
...org/apache/rocketmq/broker/out/BrokerOuterAPI.java	19.25% <0.00%> (-0.61%)	⬇️
...he/rocketmq/common/protocol/body/SyncStateSet.java	0.00% <0.00%> (ø)
...amesrv/controller/GetReplicaInfoRequestHeader.java	0.00% <0.00%> (ø)
...mesrv/controller/GetReplicaInfoResponseHeader.java	0.00% <0.00%> (ø)
...ache/rocketmq/container/InnerBrokerController.java	44.00% <0.00%> (ø)
...ache/rocketmq/store/config/MessageStoreConfig.java	55.82% <ø> (-0.36%)	⬇️
...a/org/apache/rocketmq/broker/BrokerController.java	47.84% <2.56%> (-0.73%)	⬇️
.../java/org/apache/rocketmq/common/BrokerConfig.java	28.23% <25.00%> (-0.06%)	⬇️
...e/rocketmq/controller/impl/manager/BrokerInfo.java	81.25% <33.33%> (-11.61%)	⬇️
... and 14 more

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[coveralls]

Coverage increased (+0.02%) to 47.665% when pulling 39fbeeb on hzh0425:feature/broker-sendheartbeat-to-controller into 4e9e4e3 on apache:5.0.0-beta-dledger-controller.

[RongtongJin]

If the controller is deployed independently, we do not send heartbeat to the namesrv.