Make timeout/timeoutTo always return the outcome of the effect

`timeout*` methods are implemented in terms of a race between a desired
effect and the timeout. In the case that both effects complete
simultaneously, it could happen that the timeout would win the race, a
`TimeoutException` be raised, and the outcome of the desired effect
lost.

As is noted in #3456, this is a general problem with the `race*`
methods, and can't be addressed in the general case without breaking the
current interfaces.

This change is a more narrow take on the problem specifically focusing
on the `timeout` and `timeoutTo` methods. As these methods inherently
wait for both racing effects to complete, the implementation is changed
to always take into account the outcome of the desired effect, only
raising a `TimeoutException` if the timeout won the race *and* the
desired effect was effectively canceled. Similarly, errors from the
desired effect are preferentially propagated over the generic
`TimeoutException`.

The `timeoutAndForget` methods are left unchanged, as they explicitly
avoid waiting for the losing effect to finish.

This change allows for `timeout` and `timeoutTo` methods to be safely
used on effects that acquire resources, such as `Semaphore.acquire`,
ensuring that successful outcomes are always propagated back to the
user.

core/shared/src/main/scala/cats/effect/IO.scala

@@ -819,9 +819,12 @@ sealed abstract class IO[+A] private () extends IOPlatform[A] {
    */
   def timeoutTo[A2 >: A](duration: Duration, fallback: IO[A2]): IO[A2] = {
     handleDuration[IO[A2]](duration, this) { finiteDuration =>
-      race(IO.sleep(finiteDuration)).flatMap {
-        case Right(_) => fallback
-        case Left(value) => IO.pure(value)
+      IO.uncancelable { poll =>
+        poll(racePair(IO.sleep(finiteDuration))) flatMap {
+          case Left((oc, f)) => f.cancel *> oc.embed(poll(IO.canceled) *> IO.never)
+          case Right((f, _)) =>
+            f.cancel *> f.join.flatMap { oc => oc.fold(fallback, IO.raiseError, identity) }
+        }
       }
     }
   }

kernel/shared/src/main/scala/cats/effect/kernel/GenTemporal.scala

@@ -91,9 +91,13 @@ trait GenTemporal[F[_], E] extends GenConcurrent[F, E] with Clock[F] {
     handleDuration(duration, fa)(timeoutTo(fa, _, fallback))
 
   protected def timeoutTo[A](fa: F[A], duration: FiniteDuration, fallback: F[A]): F[A] =
-    flatMap(race(fa, sleep(duration))) {
-      case Left(a) => pure(a)
-      case Right(_) => fallback
+    uncancelable { poll =>
+      implicit val F: GenTemporal[F, E] = this
+
+      poll(racePair(fa, sleep(duration))) flatMap {
+        case Left((oc, f)) => f.cancel *> oc.embed(poll(F.canceled) *> F.never)
+        case Right((f, _)) => f.cancel *> f.join.flatMap { oc => oc.embed(fallback) }
+      }
     }
 
   /**
@@ -115,9 +119,16 @@ trait GenTemporal[F[_], E] extends GenConcurrent[F, E] with Clock[F] {
 
   protected def timeout[A](fa: F[A], duration: FiniteDuration)(
       implicit ev: TimeoutException <:< E): F[A] = {
-    flatMap(race(fa, sleep(duration))) {
-      case Left(a) => pure(a)
-      case Right(_) => raiseError[A](ev(new TimeoutException(duration.toString())))
+    uncancelable { poll =>
+      implicit val F: GenTemporal[F, E] = this
+
+      poll(racePair(fa, sleep(duration))) flatMap {
+        case Left((oc, f)) => f.cancel *> oc.embed(poll(F.canceled) *> F.never)
+        case Right((f, _)) =>
+          f.cancel *> f.join.flatMap { oc =>
+            oc.embed(raiseError[A](ev(new TimeoutException(duration.toString()))))
+          }
+      }
     }
   }