RSDK-11407: move closeStreamServer to stopWeb

robot/web/web.go

@@ -360,6 +360,7 @@ func (svc *webService) stopWeb() {
 	if svc.cancelFunc != nil {
 		svc.cancelFunc()
 	}
+	svc.closeStreamServer()
 	svc.isRunning = false
 	svc.webWorkers.Wait()
 }
@@ -484,7 +485,6 @@ func (svc *webService) runWeb(ctx context.Context, options weboptions.Options) (
 				svc.logger.Errorw("error stopping rpc server", "error", err)
 			}
 		}()
-		svc.closeStreamServer()
 	})
 	svc.webWorkers.Add(1)
 	utils.PanicCapturingGo(func() {

robot/web/web_c.go

@@ -27,15 +27,18 @@ func (svc *webService) Reconfigure(ctx context.Context, _ resource.Dependencies,
 }
 
 func (svc *webService) closeStreamServer() {
-	if err := svc.streamServer.Close(); err != nil {
-		svc.logger.Errorw("error closing stream server", "error", err)
-	}
+	// streamServer is called by svc.stopWeb, which is called by both Stop and Close in the shutdown process.
+	if svc.streamServer != nil {
+		if err := svc.streamServer.Close(); err != nil {
+			svc.logger.Errorw("error closing stream server", "error", err)
+		}
 
-	// RSDK-10570: Nil out the stream server such that we recreate it on a `runWeb` call. Recreating
-	// the stream server is important for passing in a fresh `svc.cancelCtx` that's in an alive
-	// state. The stream server checks that context, for example, when handling the AddStream API
-	// call.
-	svc.streamServer = nil
+		// RSDK-10570: Nil out the stream server such that we recreate it on a `runWeb` call. Recreating
+		// the stream server is important for passing in a fresh `svc.cancelCtx` that's in an alive
+		// state. The stream server checks that context, for example, when handling the AddStream API
+		// call.
+		svc.streamServer = nil
+	}
 }
 
 func (svc *webService) initStreamServer(ctx context.Context, srv rpc.Server) error {