audiohal: Restart audioserver if HAL services can't be obtained

HAL services are crucial for the audioflinger to work.
If for some reason device or effect factories can't be obtained,
log a error message and crash af. If the problem with obtaining
services is transient, restarting af helps to restore audio.

Bug: 36153684
Change-Id: Iec17a6c6e19650cf1d1de1ec30caf05753b9bce1
Test: reproed the bug, checked that af restarts and finds devices
(cherry picked from commit 425a5028)