Properly reap child processes.

Multiple changes. - There's still a delay somewhere with threading in the socket read() that impacts simultaneous client connections. After a bunch of experimenting with Channel message passing, rip it all out in favor of a simple fork()ing server. - Remove the color option, just check stdout for a tty instead to make it automatic. - Better error handling for malformed packets/samples.

Force a GC pass after 25 cycles. Don't bother with sync() at exit, unnecessary.