caclmgrd does not restart when it dies

[scottlaird]

Description

dding an invalid control plane ACL via config acl add can crash caclmgrd, and when this happens it is not restarted.

This is a companion to #4970, which covers the creation of invalid ACL entries via config acl add. Both are follow-ons to #4749.

Steps to reproduce the issue:

1. ps aux | grep cacl
2. config acl add table FOO CTRLPLANE
3. show acl table
4. ps aux | grep cacl

Describe the results you received:

caclmgrd stops running.

Describe the results you expected:

It kept running, or at a minimum restarts once the broken config is fixed.

Additional information you deem important (e.g. issue happens only occasionally):

Output of show version:

# show version

SONiC Software Version: SONiC.master.310-a748daea
Distribution: Debian 10.4
Kernel: 4.19.0-6-amd64
Build commit: a748daea
Build date: Sat Jun 13 10:12:11 UTC 2020
Built by: johnar@jenkins-worker-8

Platform: x86_64-accton_as7326_56x-r0
HwSKU: Accton-AS7326-56X
ASIC: broadcom
Serial Number: 732656X1846013
Uptime: 00:37:17 up 23:08,  2 users,  load average: 1.38, 1.35, 1.35

Docker images:
REPOSITORY                    TAG                   IMAGE ID            SIZE
docker-sonic-mgmt-framework   latest                765d650f105f        486MB
docker-sonic-mgmt-framework   master.310-a748daea   765d650f105f        486MB
docker-router-advertiser      latest                105dc9e73b44        347MB
docker-router-advertiser      master.310-a748daea   105dc9e73b44        347MB
docker-lldp                   latest                2f2479c7d482        373MB
docker-lldp                   master.310-a748daea   2f2479c7d482        373MB
docker-database               latest                b3f02e02d003        346MB
docker-database               master.310-a748daea   b3f02e02d003        346MB
docker-sonic-telemetry        latest                b46261f07321        410MB
docker-sonic-telemetry        master.310-a748daea   b46261f07321        410MB
docker-snmp                   latest                db45e7531ce5        385MB
docker-snmp                   master.310-a748daea   db45e7531ce5        385MB
docker-teamd                  latest                1813cd84ad3b        312MB
docker-teamd                  master.310-a748daea   1813cd84ad3b        312MB
docker-syncd-brcm             latest                5eeca25b3391        439MB
docker-syncd-brcm             master.310-a748daea   5eeca25b3391        439MB
docker-sflow                  latest                9c0663ae35f8        313MB
docker-sflow                  master.310-a748daea   9c0663ae35f8        313MB
docker-platform-monitor       latest                fc4796e4c396        355MB
docker-platform-monitor       master.310-a748daea   fc4796e4c396        355MB
docker-orchagent              latest                98564ff3a891        331MB
docker-orchagent              master.310-a748daea   98564ff3a891        331MB
docker-nat                    latest                16b62a26b3ae        314MB
docker-nat                    master.310-a748daea   16b62a26b3ae        314MB
docker-fpm-frr                latest                d217cb04b291        332MB
docker-fpm-frr                master.310-a748daea   d217cb04b291        332MB
docker-dhcp-relay             latest                1f173bac0239        301MB
docker-dhcp-relay             master.310-a748daea   1f173bac0239        301MB

**Attach debug file `sudo generate_dump`:**

```
(paste your output here)
```