Fix supervisor exiting after restart-all#164
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Procs started at boot are tracked by a WaitGroup, but procs started again via the RPC Start/Restart handlers were not, so once every proc had been stopped once (e.g. by restart-all) the supervisor considered all procs done and exited.
Route start/restart RPC messages through the supervisor loop so restarted procs are registered in the same WaitGroup, and hold the counter during the stop/start window of a restart. Also give each RPC server its own rpc.Server instance so repeated startServer calls in one process do not serve a stale registration.
Fixes #112