Make the CS-side and SM-side safe vs connection failures

When starting/stopping SM (but not CS), I've noticed that the CS side stops instead of reconnecting. We need to make sure it keeps trying to reconnect after a connection failure, and likewise that SM can handle connection failures as well. We'll have to also spell out exactly what should happen when each side gets a connection error at each point of processing. Common sense decides what should happen, just need to codify it.