libpq-be-fe-helpers.h: wrap new cancel APIs

libpq-be-fe-helpers.h: wrap new cancel APIs

Commit 61461a300c1c introduced new functions to libpq for cancelling
queries.  This commit introduces a helper function that backend-side
libraries and extensions can use to invoke those.  This function takes a
timeout and can itself be interrupted while it is waiting for a cancel
request to be sent and processed, instead of being blocked.

This replaces the usage of the old functions in postgres_fdw and dblink.

Finally, it also adds some test coverage for the cancel support in
postgres_fdw.

Author: Jelte Fennema-Nio <postgres@jeltef.nl>
Discussion: https://postgr.es/m/CAGECzQT_VgOWWENUqvUV9xQmbaCyXjtRRAYO8W07oqashk_N+g@mail.gmail.com