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[SPARK-27419][CORE] Avoid casting heartbeat interval to seconds (2.4)
## What changes were proposed in this pull request? Right now as we cast the heartbeat interval to seconds, any value less than 1 second will be casted to 0. This PR just backports the changes of the heartbeat interval in #22473 from master. ## How was this patch tested? Jenkins Closes #24329 from zsxwing/SPARK-27419. Authored-by: Shixiong Zhu <zsxwing@gmail.com> Signed-off-by: Wenchen Fan <wenchen@databricks.com>
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