diff --git a/main.go b/main.go
index 47103468..37714b88 100644
--- a/main.go
+++ b/main.go
@@ -167,7 +167,7 @@ func (p *program) forwardTrack(path string, id int, flow trackFlow, frame []byte
 		if c.path == path && c.state == _CLIENT_STATE_PLAY {
 			if c.streamProtocol == _STREAM_PROTOCOL_UDP {
 				if flow == _TRACK_FLOW_RTP {
-					p.rtpl.chanWrite <- &udpWrite{
+					p.rtpl.write <- &udpWrite{
 						addr: &net.UDPAddr{
 							IP:   c.ip(),
 							Zone: c.zone(),
@@ -176,7 +176,7 @@ func (p *program) forwardTrack(path string, id int, flow trackFlow, frame []byte
 						buf: frame,
 					}
 				} else {
-					p.rtcpl.chanWrite <- &udpWrite{
+					p.rtcpl.write <- &udpWrite{
 						addr: &net.UDPAddr{
 							IP:   c.ip(),
 							Zone: c.zone(),
@@ -187,7 +187,7 @@ func (p *program) forwardTrack(path string, id int, flow trackFlow, frame []byte
 				}
 
 			} else {
-				c.chanWrite <- &gortsplib.InterleavedFrame{
+				c.write <- &gortsplib.InterleavedFrame{
 					Channel: trackToInterleavedChannel(id, flow),
 					Content: frame,
 				}
diff --git a/server-client.go b/server-client.go
index cbd1addd..df24645a 100644
--- a/server-client.go
+++ b/server-client.go
@@ -113,7 +113,7 @@ type serverClient struct {
 	streamSdpParsed *sdp.Message // filled only if publisher
 	streamProtocol  streamProtocol
 	streamTracks    []*track
-	chanWrite       chan *gortsplib.InterleavedFrame
+	write           chan *gortsplib.InterleavedFrame
 }
 
 func newServerClient(p *program, nconn net.Conn) *serverClient {
@@ -124,8 +124,8 @@ func newServerClient(p *program, nconn net.Conn) *serverClient {
 			ReadTimeout:  _READ_TIMEOUT,
 			WriteTimeout: _WRITE_TIMEOUT,
 		}),
-		state:     _CLIENT_STATE_STARTING,
-		chanWrite: make(chan *gortsplib.InterleavedFrame),
+		state: _CLIENT_STATE_STARTING,
+		write: make(chan *gortsplib.InterleavedFrame),
 	}
 
 	c.p.mutex.Lock()
@@ -143,7 +143,7 @@ func (c *serverClient) close() error {
 
 	delete(c.p.clients, c)
 	c.conn.NetConn().Close()
-	close(c.chanWrite)
+	close(c.write)
 
 	if c.path != "" {
 		if pub, ok := c.p.publishers[c.path]; ok && pub == c {
@@ -755,7 +755,7 @@ func (c *serverClient) handleRequest(req *gortsplib.Request) bool {
 		if c.streamProtocol == _STREAM_PROTOCOL_TCP {
 			// write RTP frames sequentially
 			go func() {
-				for frame := range c.chanWrite {
+				for frame := range c.write {
 					c.conn.WriteInterleavedFrame(frame)
 				}
 			}()
diff --git a/server-udpl.go b/server-udpl.go
index de79d872..1f1d470d 100644
--- a/server-udpl.go
+++ b/server-udpl.go
@@ -12,10 +12,11 @@ type udpWrite struct {
 }
 
 type serverUdpListener struct {
-	p         *program
-	nconn     *net.UDPConn
-	flow      trackFlow
-	chanWrite chan *udpWrite
+	p     *program
+	nconn *net.UDPConn
+	flow  trackFlow
+	write chan *udpWrite
+	done  chan struct{}
 }
 
 func newServerUdpListener(p *program, port int, flow trackFlow) (*serverUdpListener, error) {
@@ -27,10 +28,11 @@ func newServerUdpListener(p *program, port int, flow trackFlow) (*serverUdpListe
 	}
 
 	l := &serverUdpListener{
-		p:         p,
-		nconn:     nconn,
-		flow:      flow,
-		chanWrite: make(chan *udpWrite),
+		p:     p,
+		nconn: nconn,
+		flow:  flow,
+		write: make(chan *udpWrite),
+		done:  make(chan struct{}),
 	}
 
 	l.log("opened on :%d", port)
@@ -49,56 +51,61 @@ func (l *serverUdpListener) log(format string, args ...interface{}) {
 
 func (l *serverUdpListener) run() {
 	go func() {
-		for {
-			// create a buffer for each read.
-			// this is necessary since the buffer is propagated with channels
-			// so it must be unique.
-			buf := make([]byte, 2048) // UDP MTU is 1400
-			n, addr, err := l.nconn.ReadFromUDP(buf)
-			if err != nil {
-				l.log("ERR: %s", err)
-				break
-			}
+		for w := range l.write {
+			l.nconn.SetWriteDeadline(time.Now().Add(_WRITE_TIMEOUT))
+			l.nconn.WriteTo(w.buf, w.addr)
+		}
+	}()
+
+	for {
+		// create a buffer for each read.
+		// this is necessary since the buffer is propagated with channels
+		// so it must be unique.
+		buf := make([]byte, 2048) // UDP MTU is 1400
+		n, addr, err := l.nconn.ReadFromUDP(buf)
+		if err != nil {
+			break
+		}
 
-			func() {
-				l.p.mutex.RLock()
-				defer l.p.mutex.RUnlock()
+		func() {
+			l.p.mutex.RLock()
+			defer l.p.mutex.RUnlock()
 
-				// find path and track id from ip and port
-				path, trackId := func() (string, int) {
-					for _, pub := range l.p.publishers {
-						for i, t := range pub.streamTracks {
-							if !pub.ip().Equal(addr.IP) {
-								continue
-							}
+			// find path and track id from ip and port
+			path, trackId := func() (string, int) {
+				for _, pub := range l.p.publishers {
+					for i, t := range pub.streamTracks {
+						if !pub.ip().Equal(addr.IP) {
+							continue
+						}
 
-							if l.flow == _TRACK_FLOW_RTP {
-								if t.rtpPort == addr.Port {
-									return pub.path, i
-								}
-							} else {
-								if t.rtcpPort == addr.Port {
-									return pub.path, i
-								}
+						if l.flow == _TRACK_FLOW_RTP {
+							if t.rtpPort == addr.Port {
+								return pub.path, i
+							}
+						} else {
+							if t.rtcpPort == addr.Port {
+								return pub.path, i
 							}
 						}
 					}
-					return "", -1
-				}()
-				if path == "" {
-					return
 				}
-
-				l.p.forwardTrack(path, trackId, l.flow, buf[:n])
+				return "", -1
 			}()
-		}
-	}()
+			if path == "" {
+				return
+			}
 
-	go func() {
-		for {
-			w := <-l.chanWrite
-			l.nconn.SetWriteDeadline(time.Now().Add(_WRITE_TIMEOUT))
-			l.nconn.WriteTo(w.buf, w.addr)
-		}
-	}()
+			l.p.forwardTrack(path, trackId, l.flow, buf[:n])
+		}()
+	}
+
+	close(l.write)
+
+	l.done <- struct{}{}
+}
+
+func (l *serverUdpListener) close() {
+	l.nconn.Close()
+	<-l.done
 }