Close camera streams on robot close and when there are no more listeners #122
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Close camera streams properly -- when there are no more listeners.
We reuse camera streams. Whenever someone asks for a stream, we return a cached copy if available. This stream might be new, cached and open, cached and previously closed (needs to be reopened), etc. We don't want the implementer to have to think about this. They should be able to call
closewhenever they are done, and we should figure out if it's time to actually close the stream (imagine they have multiple views with the same stream open, they should be able to close one without closing all).This PR basically says, once there are no more subscribers to this stream, then close it for real. And finally, upon closing the robot, release all resources.