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Cleanup the symantics of ACS Handler
The ACS handler was using a channel to support looping, but the channel was only sent to from the current thread via a go routine that would just write to the channel. The rewrite maintains the behavior of always connecting when disconnected potentially after a retry backoff. However it uses a simple endless for loop rather than reading from channels to mimic this straightforward behavior. The rewrite also adheres to the interface contract on returning the error from the context if it is Done for any reason other than cancelled.
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