I have an Android device (with Lollipop image, if important) running in Genymotion 2.4 and connect to it via ADB (version 1.0.32) from another developer PC with Eclipse in local
If you use MacOS Sierra - there is a known bug in it.
28.11.2016 There is no workaround yet except restarting adb which is suggested in @lustig answer.
This may not work for you, but has worked for me in the situation where my device simply goes ADB offline. One of the comments on your question mentions that their emulator typically goes offline when their device sleeps. Mine does the same and also goes offline after long periods of inactivity, despite not actually sleeping. Anyway, my fix is plain and simple:
In terminal, navigate to where you have the SDK installed. Then, navigate to the directory platform-tools within your SDK, and issue the following command:
adb kill-server
After that finishes, type this one:
adb devices
That almost always fixes my problem, and I hope it fixes yours as well. Let me know how that works for you.