[RSDK-9869] Globally Manage Lifecycle of Shared Connection to App (vi…

…amrobotics#4761)

web/server/entrypoint.go

@@ -192,10 +192,17 @@ func RunServer(ctx context.Context, args []string, _ logging.Logger) (err error)
 
 	// the underlying connection in `appConn` can be nil. In this case, a background Goroutine is kicked off to reattempt dials in a
 	// serialized manner
-	appConn, err := grpc.NewAppConn(ctx, cfgFromDisk.Cloud, logger.Sublogger("networking").Sublogger("app_connection"))
+	appConnLogger := logger.Sublogger("networking").Sublogger("app_connection")
+	appConn, err := grpc.NewAppConn(ctx, cfgFromDisk.Cloud, appConnLogger)
 	if err != nil {
 		return err
 	}
+	defer func() {
+		err := appConn.Close()
+		if err != nil {
+			appConnLogger.Error(err)
+		}
+	}()
 
 	// Start remote logging with config from disk.
 	// This is to ensure we make our best effort to write logs for failures loading the remote config.
@@ -468,7 +475,6 @@ func (s *robotServer) serveWeb(ctx context.Context, cfg *config.Config) (err err
 		utils.PanicCapturingGo(func() {
 			defer close(cloudRestartCheckerActive)
 			restartCheck := newRestartChecker(cfg.Cloud, s.logger, s.conn)
-			defer restartCheck.close()
 			restartInterval := defaultNeedsRestartCheckInterval
 
 			for {

web/server/restart_checker.go

@@ -6,7 +6,6 @@ import (
 	"time"
 
 	apppb "go.viam.com/api/app/v1"
-	"go.viam.com/utils"
 	"go.viam.com/utils/rpc"
 
 	"go.viam.com/rdk/config"
@@ -20,7 +19,6 @@ const (
 
 type needsRestartChecker interface {
 	needsRestart(ctx context.Context) (bool, time.Duration, error)
-	close()
 }
 
 type needsRestartCheckerGRPC struct {
@@ -29,12 +27,6 @@ type needsRestartCheckerGRPC struct {
 	client rpc.ClientConn
 }
 
-func (c *needsRestartCheckerGRPC) close() {
-	if c.client != nil {
-		utils.UncheckedErrorFunc(c.client.Close)
-	}
-}
-
 // ForceRestart lets random other parts of the app request an exit.
 var ForceRestart bool