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Add a signal handler for SIGHUP that sets a global variable g_restart.
All the real execution of falco was already centralized in a standalone
function falco_init(), so simply exit on g_restart=true and call
falco_init() in a loop that restarts if g_restart is set to true.
Take care to not daemonize more than once and to reset the getopt index
to 1 on restart.
This fixes #432.