all: sync "Bug Fixes" of the intranet version

[liuzengh]

• v0.16.1
• v0.16.0 but not include
  • stream: notify server when client context canceled
  • client: fix possible nil method timeout
  • {restful}: continue to handle even if transcodeRequest failed
• v0.15.1 but not include
  • transport: ensure that the timeout for UDP dialing takes effect
• v0.15.0

RELEASE NOTES: NONE

[codecov[bot]]

Codecov Report

Attention: 35 lines in your changes are missing coverage. Please review.

Comparison is base (65a60b1) 85.52917% compared to head (9fd8bb2) 86.05746%.

Files	Patch %	Lines
config/trpc_config.go	87.86127%	16 Missing and 5 partials :warning:
http/transport.go	87.50000%	4 Missing and 2 partials :warning:
config.go	55.55556%	2 Missing and 2 partials :warning:
client/stream.go	78.57143%	2 Missing and 1 partial :warning:
stream/server.go	96.42857%	0 Missing and 1 partial :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #161 +/- ## =================================================== + Coverage 85.52917% 86.05746% +0.52829% =================================================== Files 189 190 +1 Lines 16129 16360 +231 =================================================== + Hits 13795 14079 +284 + Misses 1774 1720 -54 - Partials 560 561 +1 ``` | [Flag](https://app.codecov.io/gh/trpc-group/trpc-go/pull/161/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=trpc-group) | Coverage Δ | | |---|---|---| | [unittests](https://app.codecov.io/gh/trpc-group/trpc-go/pull/161/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=trpc-group) | `86.05746% <92.44060%> (+0.52829%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=trpc-group#carryforward-flags-in-the-pull-request-comment) to find out more.

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[liuzengh]

Compatibility analysis

The following two incompatibility changes are acceptable and have been fully discussed in mr in the intranet version:

• trpc.group/trpc-go/trpc-go/http Incompatible changes:
  • FormSerialization: old is comparable, new is not

• trpc.group/trpc-go/trpc-go/transport Incompatible changes:
  • ListenFd.OriginalListenCloser: removed