trusty: keymaster-hal: Reconnect on failed VERSION

Trusty Keymaster will currently disconnect the client on an invalid
message. This includes the newly introduced GET_VERSION2 message.

While in the future we could change this behavior, this is a backcompat
path and so we can't assume a changed Trusty. Reconnect on failed
GET_VERSION2 before attempting version negotiation.

Bug: 177843218
Test: Set PIN on device using older Trusty
Change-Id: Ie60e4aaafa43e375797e6288b97834cac42413f4