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This fixes an busy-loop.
When the last `TaskHandle` on a `TaskSchedule` is dropped, the
schedule is permanently canceled: whatever operation it was
scheduling should no longer be performed. But our code was broken:
the `sleep()` and `sleep_until_wallclock()` functions don't verify
whether the handles are dropped or not.
This breakage caused an CPU-eating busy-loop in
`sleep_until_wallclock`.
With this patch, we now return a `Result<(), SleepError>` from these
functions.
Fixes #572.
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