static void onHeartbeatReturned(final ThreadId id, final Status status, final AppendEntriesRequest request,
                                    final AppendEntriesResponse response, final long rpcSendTime) {
        if (id == null) {
            // replicator already was destroyed.
            return;
        }
        final long startTimeMs = Utils.nowMs();
        Replicator r;
        if ((r = (Replicator) id.lock()) == null) {
            return;
        }
        boolean doUnlock = true;
        try {
            final boolean isLogDebugEnabled = LOG.isDebugEnabled();
            StringBuilder sb = null;
            if (isLogDebugEnabled) {
                sb = new StringBuilder("Node ") //
                    .append(r.options.getGroupId()) //
                    .append(':') //
                    .append(r.options.getServerId()) //
                    .append(" received HeartbeatResponse from ") //
                    .append(r.options.getPeerId()) //
                    .append(" prevLogIndex=") //
                    .append(request.getPrevLogIndex()) //
                    .append(" prevLogTerm=") //
                    .append(request.getPrevLogTerm());
            }
            if (!status.isOk()) {
                if (isLogDebugEnabled) {
                    sb.append(" fail, sleep, status=") //
                        .append(status);
                    LOG.debug(sb.toString());
                }
                r.setState(State.Probe);
                notifyReplicatorStatusListener(r, ReplicatorEvent.ERROR, status);
                if ((r.consecutiveErrorTimes++) % 10 == 0) {
                    LOG.warn("Fail to issue RPC to {}, consecutiveErrorTimes={}, error={}, groupId={}", r.options.getPeerId(),
                        r.consecutiveErrorTimes, status, r.options.getGroupId());
                }
                r.startHeartbeatTimer(startTimeMs);
                return;
            }
            r.consecutiveErrorTimes = 0;
            if (response.getTerm() > r.options.getTerm()) {
                if (isLogDebugEnabled) {
                    sb.append(" fail, greater term ") //
                        .append(response.getTerm()) //
                        .append(" expect term ") //
                        .append(r.options.getTerm());
                    LOG.debug(sb.toString());
                }
                final NodeImpl node = r.options.getNode();
                r.notifyOnCaughtUp(RaftError.EPERM.getNumber(), true);
                r.destroy();
                node.increaseTermTo(response.getTerm(), new Status(RaftError.EHIGHERTERMRESPONSE,
                    "Leader receives higher term heartbeat_response from peer:%s, group:%s", r.options.getPeerId(), r.options.getGroupId()));
                return;
            }
            if (!response.getSuccess() && response.hasLastLogIndex()) {
                if (isLogDebugEnabled) {
                    sb.append(" fail, response term ") //
                        .append(response.getTerm()) //
                        .append(" lastLogIndex ") //
                        .append(response.getLastLogIndex());
                    LOG.debug(sb.toString());
                }
                LOG.warn("Heartbeat to peer {} failure, try to send a probe request, groupId={}.", r.options.getPeerId(), r.options.getGroupId());
                doUnlock = false;
                r.sendProbeRequest();
                r.startHeartbeatTimer(startTimeMs);
                return;
            }
            if (isLogDebugEnabled) {
                LOG.debug(sb.toString());
            }
            if (rpcSendTime > r.lastRpcSendTimestamp) {
                r.lastRpcSendTimestamp = rpcSendTime;
            }
            r.startHeartbeatTimer(startTimeMs);
        } finally {
            if (doUnlock) {
                id.unlock();
            }
        }
    }
Unblock and continue sending right now.
jraft-core/src/main/java/com/alipay/sofa/jraft/core/Replicator.java