Add #connectWithTimeout (1/n)

Add #connectWithTimeout which allows us to specify the timeout before
giving up the connection. The method throws a TimeoutException so the
caller can catch it and retry connection again.

Note we don't change the exception spec. of #connect in order to be
source and binary compatible.

Bug: 147785023
Test: m
Change-Id: I5ac61ed0aef107f4e38166c0b95bc3a3fb419387