Check docker-swarm status from a node that is not a part of swarm

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I have swarm cluster and want to perform health checks on it from a separate node which is on same private network. If I were doing this from the cluster itself, I would simply execute docker node ls and check if any of my nodes were "Unavailable".

So, does docker-swarm have any endpoints from which I could get the same or similar data as the output of docker node ls command?

I just need a way to reach my managers from the node that is not a part of swarm. Any idea is much appreciated!

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