Heartbeat Protocols/Algorithms or best practices
Recently I've added some load-balancing capabilities to a piece of software that I wrote. It is a networked application that does some data crunching based on input coming from a SQL database. Since the crunching can be pretty intensive I've added the capability to have multiple instances of this application running on different servers to split the load but as it is now the load balancing is a manual act. A user must specify which instances take which portion of the input domain.
I would like to take that to the next level and program the instances to automatically negotiate the diving up of the input data and to recognize if one of them "disappears" (has crashed or has been powered down) so that the remaining instances can take on the failed instance's workload.
In order to implement this I'm considering using a simple heartbeat protocol between the instances to determine who's online and who isn't and while this is not terribly complicated I'd like to know if there are any established heartbeat network protocols (based on UDP, TCP or both).
Obviously this happens a lot in the networking world with clustering, fail-over and high-availability technologies so I guess in the end I'd like to know if maybe there are any established protocols or algorithms that I should be aware of or implement.
EDIT
It seems, based on the answers, that either there are no well established heart-beat protocols or that nobody knows about them (which would imply that they aren't so well established after all) in which case I'm just going to roll my own.
While none of the answers offered what I was looking for specifically I'm going to vote for Matt Davis's answer since it was the closest and he pointed out a good idea to use multicast.
Thank you all for your time~
Answer
Distribued Interactive Simulation (DIS), which is defined under IEEE Standard 1278, uses a default heartbeat of 5 seconds via UDP broadcast. A DIS heartbeat is essentially an Entity State PDU, which fully defines the state, including the position, of the given entity. Due to its application within the simulation community, DIS also uses a concept referred to as dead-reckoning to provide higher frequency heartbeats when the actual position, for example, is outside a given threshold of its predicted position.
In your case, a DIS Entity State PDU would be overkill. I only mention it to make note of the fact that heartbeats can vary in frequency depending on the circumstances. I don't know that you'd need something like this for the application you described, but you never know.
For heartbeats, use UDP, not TCP. A heartbeat is, by nature, a connectionless contrivance, so it goes that UDP (connectionless) is more relevant here than TCP (connection-oriented).
The thing to keep in mind about UDP broadcasts is that a broadcast message is confined to the broadcast domain. In short, if you have computers that are separated by a layer 3 device, e.g., a router, then broadcasts are not going to work because the router will not transmit broadcast messages from one broadcast domain to another. In this case, I would recommend using multicast since it will span the broadcast domains, providing the time-to-live (TTL) value is set high enough. It's also a more automated approach than directed unicast, which would require the sender to know the IP address of the receiver in order to send the message.