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(cherry picked from commit 5aae669)
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Backport commit 5aae669 to Apache IoTDB dev/1.3.
This avoids a ConfigNode consensus write when the coordinator progress index already covers the agent progress index. The heartbeat regression tests are adapted to the dev/1.3 PipeHeartbeat API.\n\nVerification: Checkstyle and Spotless passed. The targeted Maven test reached Java compilation but was stopped by local JVM native-memory exhaustion before test execution.