Merge #156830

156830:  storeliveness: smear storeliveness heartbeat messages to reduce goroutine spikes at heartbeat interval tick r=miraradeva,iskettaneh a=dodeca12

This PR introduces heartbeat smearing logic that batches and smears Store Liveness heartbeat sends across destination nodes to prevent thundering herd of goroutine spikes.

### Changes

Core changes are within these files:

```sh
pkg/kv/kvserver/storeliveness
├── support_manager.go  # Rename SendAsync→EnqueueMessage, add smearing settings
└── transport.go        # Add smearing sender goroutine to transport.go which takes care of smearing when enabled
```

### Background

Previously, all stores in a cluster sent heartbeats immediately at each heartbeat interval tick. In large clusters with multi-store nodes, this created synchronized bursts of goroutine spikes that caused issues in other parts of the running CRDB process.

### Commits

**Commit: Introduce heartbeat smearing**

- Adds a smearing sender goroutine to `transport.go` that batches enqueued messages
- Smears send signals across queues using `taskpacer` to spread traffic over time
- Configurable via cluster settings (default: enabled)

**How it works:**

1. Messages are enqueued via `EnqueueMessage()` into per-node queues
2. When `SendAllEnqueuedMessages()` is called, transport's smearing sender goroutine waits briefly to batch messages
3. Transport's smearing sender goroutine uses `taskpacer` to pace signaling to each queue over a smear duration
4. Each `processQueue` goroutine drains its queue and sends when signalled

### New Cluster Settings

- `kv.store_liveness.heartbeat_smearing.enabled` (default: true) - Enable/disable smearing
- `kv.store_liveness.heartbeat_smearing.refresh` (default: 10ms) - Batching window duration
- `kv.store_liveness.heartbeat_smearing.smear` (default: 1ms) - Time to spread sends across queues

### Backward Compatibility

- Feature is disabled by setting `kv.store_liveness.heartbeat_smearing.enabled=false`
- When disabled, messages are sent immediately via the existing path (non-smearing mode)

### Testing

- Added comprehensive unit tests verifying:
  - Messages batch correctly across multiple destinations
  - Smearing spreads signals over the configured time window
  - Smearing mode vs immediate mode behaviour
  - Message ordering and reliability

All existing tests updated to call `SendAllEnqueuedMessages()` after enqueuing when smearing is enabled.

#### Roachprod testing

##### Prototype #1

- Ran a prototype with a [similar design](#154942) (TL;DR of prototype, the heartbeats were smeared via `SupportManager` goroutines being put to sleep; this current design ensures that `SupportManager` goroutines do not get blocked) on a roachprod with 150 node cluster to verify smearing works. 

| Before changes (current behaviour on master) | After changes (prototype) |
|--------|--------|
| <img width="2680" height="570" alt="image" src="https://github.com/user-attachments/assets/32fe6ee0-437f-48eb-b3f1-087a3eafe6ac" /> | <img width="2692" height="634" alt="image" src="https://github.com/user-attachments/assets/66b5b82b-bbc4-4f47-a13e-5f6d42a1c6d4" /> |

##### Current changes

- Ran a roachprod test with current changes but without the check for empty queues (more info - https://reviewable.io/reviews/cockroachdb/cockroach/156378#-). This check did end up proving vital, as the test results didn't show the expected smearing behaviour. 

- Ran a mini-roachprod test on [this prototype commit](https://github.com/cockroachdb/cockroach/pull/155317/files#diff-9282b4b1d9a2fe32fae81e5776eb081e58069b4bc7db76718873b75f026e16c1) (where the only real difference between my changes is the inclusion of the length check on the queues that have messages on that commit) showed expected smearing behaviour. 

<img width="1797" height="469" alt="image" src="https://github.com/user-attachments/assets/bd7778ef-9f8d-4dbf-8ed2-dac40e7fb03c" />

Fixes: #148210

Release note: None


Co-authored-by: Swapneeth Gorantla <swapneeth.gorantla@cockroachlabs.com>

Author: craig[bot]

pkg/kv/kvserver/store_test.go

@@ -248,7 +248,7 @@ func createTestStoreWithoutStart(
 		supportGracePeriod := rpcContext.StoreLivenessWithdrawalGracePeriod()
 		options := storeliveness.NewOptions(livenessInterval, heartbeatInterval, supportGracePeriod)
 		transport, err := storeliveness.NewTransport(
-			cfg.AmbientCtx, stopper, cfg.Clock, cfg.NodeDialer, grpcServer, drpcServer, nil, /* knobs */
+			cfg.AmbientCtx, stopper, cfg.Clock, cfg.NodeDialer, grpcServer, drpcServer, cfg.Settings, nil, /* knobs */
 		)
 		require.NoError(t, err)
 		knobs := cfg.TestingKnobs.StoreLivenessKnobs

pkg/kv/kvserver/storeliveness/BUILD.bazel

@@ -30,10 +30,12 @@ go_library(
         "//pkg/util/envutil",
         "//pkg/util/hlc",
         "//pkg/util/log",
+        "//pkg/util/metamorphic",
         "//pkg/util/metric",
         "//pkg/util/protoutil",
         "//pkg/util/stop",
         "//pkg/util/syncutil",
+        "//pkg/util/taskpacer",
         "//pkg/util/timeutil",
         "@com_github_cockroachdb_errors//:errors",
         "@com_github_cockroachdb_redact//:redact",