Pycyphal heartbeat listener

from pycyphal.application import make_node, NodeInfo
import pycyphal
import uavcan
import asyncio
import time

def handle_command(msg: uavcan.node.Heartbeat_1_0, _metadata: pycyphal.transport.TransferFrom) -> None:
    print('Heartbeat received:', msg)

async def main() -> None:
    with make_node(NodeInfo(name="org.opencyphal.pycyphal.demo.plant"), "plant.db") as node:
        heartbeat_subscriptor = node.make_subscriber(uavcan.node.Heartbeat_1_0, "heartbeat")
        heartbeat_subscriptor.receive_in_background(handle_command)
        while True:
            await asyncio.sleep(1)


if __name__ == "__main__":
    try:
        asyncio.run(main())
    except KeyboardInterrupt:
        pass