you can check a service at different level.
- response to ping
- open a tcp connection and close it
- submit a true request
The first 2 options can easily be done with existing keepalive functions, but the last one requires a script.
If you go for the script, what you can do is sniff a request going to your tacacs server and save the hexadecimal info. You can then type this hexadecimal part in your script and replay it using the 'raw' keyword.
Regards,
Gilles.