Re-implement heartbeat using scheduled_send
By using `scheduled_send` instead of `delayed_send`, we can keep track of the timeliness of our heartbeats. If the BASP broker processes its tick after the next interval is over, we can assume an overload situation or too low heartbeat intervals. Further, the type of the `heartbeat_interval` constant was changed to `timespan` in order to fix a mismatch between the actor system config and the BASP broker. Relates #1095. (cherry picked from commit 801a458f)
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