How do I add a timeout to multiprocessing.connection.Client(..) in Python 3.7?

I've got two Python programs running. Program A connects to program B with the multiprocessing module:

# Connection code in program A
# -----------------------------
import multiprocessing
import multiprocessing.connection

...

connection = multiprocessing.connection.Client(
('localhost', 19191),                # <- address of program B
authkey='embeetle'.encode('utf-8')   # <- authorization key
)

...

connection.send(send_data)

recv_data = connection.recv()

It works perfectly most of the time. However, sometimes program B is frozen (the details don't matter much, but it usually happens when the GUI from program B spawns a modal window).
While program B is frozen, program A hangs at the following line:

connection = multiprocessing.connection.Client(
('localhost', 19191),                # <- address of program B
authkey='embeetle'.encode('utf-8')   # <- authorization key
)

It keeps waiting for a response. I would like to put a timeout parameter, but the call to multiprocessing.connection.Client(..) does not have one.

How can I implement a timeout here?

 
Notes:
I'm working on a Windows 10 computer with Python 3.7.

from How do I add a timeout to multiprocessing.connection.Client(..) in Python 3.7?