Some situation VMware tools failed to send heartbeats and still Application functioning properly. In this case VM are restarted ?
No the HA VM/Application monitoring will also monitor the I/O. So even if the VMware tools stopped working, the application is working fine, it will check for the I/O and make sure it doesn't just restart the machine based on VMtools heartbeat.
Take a look at the link below. This concept is explained very well.
vSphere HA VM Monitoring - Back to Basics - VMware vSphere Blog
You need application SDK for the application you will be monitoring to monitor it. Just enabling it will not do the job.
Here's the link for VMware Documentation : vSphere Documentation Center
Abhilash B
LinkedIn : https://www.linkedin.com/in/abhilashhb/