[SCSI] use a completion in scsi_send_eh_cmnd

scsi_send_eh_cmnd currently uses a semaphore and an overload of eh_timer
to either get a completion for a command for a timeout.
Switch to using a completion and wait_for_completion_timeout to simply
the code and not having to deal with the races ourselves.

Signed-off-by: Christoph Hellwig <hch@lst.de>
Signed-off-by: James Bottomley <James.Bottomley@SteelEye.com>