fix: prevent engine_destroy crash on stale task handle

components/livekit/core/engine.c

@@ -33,6 +33,10 @@
 // MARK: - Constants
 static const char* TAG = "livekit_engine";
 
+/// Maximum time `engine_destroy` waits for the engine task to exit before
+/// forcibly deleting it.
+#define ENGINE_TASK_JOIN_TIMEOUT_MS 5000
+
 // MARK: - Type definitions
 
 /// Engine state machine state.
@@ -55,6 +59,7 @@ typedef enum {
     EV_MAX_RETRIES_REACHED, /// Maximum number of retry attempts reached.
     _EV_STATE_ENTER,        /// State enter hook (internal).
     _EV_STATE_EXIT,         /// State exit hook (internal).
+    _EV_STOP,               /// Wakes the engine task so it can observe shutdown (internal).
 } engine_event_type_t;
 
 /// An event processed by the engine state machine.
@@ -111,6 +116,7 @@ typedef struct {
     session_state_t session;
 
     TaskHandle_t task_handle;
+    SemaphoreHandle_t task_done_sem;
     QueueHandle_t event_queue;
     TimerHandle_t timer;
     bool is_running;
@@ -1063,6 +1069,11 @@ static void engine_task(void *arg)
 
     // Discard any remaining events in the queue before exiting.
     flush_event_queue(eng);
+
+    // Signal that the task has finished so `engine_destroy` can join instead of
+    // deleting the task handle itself. Deleting from both sides races: the task
+    // self-deletes here while `engine_destroy` may still hold a now-stale handle.
+    xSemaphoreGive(eng->task_done_sem);
     vTaskDelete(NULL);
 }
 
@@ -1125,6 +1136,12 @@ engine_handle_t engine_init(const engine_options_t *options)
         goto _init_failed;
     }
 
+    // Created before the task so the task can always signal completion on exit.
+    eng->task_done_sem = xSemaphoreCreateBinary();
+    if (eng->task_done_sem == NULL) {
+        goto _init_failed;
+    }
+
     if (xTaskCreate(
         engine_task,
         "engine_task",
@@ -1176,11 +1193,23 @@ engine_err_t engine_destroy(engine_handle_t handle)
     engine_t *eng = (engine_t *)handle;
     eng->is_running = false;
     if (eng->task_handle != NULL) {
-        // TODO: Wait for disconnected state or timeout
-        vTaskDelay(pdMS_TO_TICKS(100));
-        vTaskDelete(eng->task_handle);
+        // The task may be blocked waiting for an event, so enqueue a stop event
+        // to wake it; it will then observe `is_running == false` and exit its loop.
+        event_enqueue(eng, &(engine_event_t){ .type = _EV_STOP }, true);
+
+        // Join the task rather than deleting it here: the task self-deletes via
+        // vTaskDelete(NULL), so deleting `task_handle` could act on a stale handle
+        // and crash. Only force deletion if the task fails to exit in time.
+        if (xSemaphoreTake(eng->task_done_sem, pdMS_TO_TICKS(ENGINE_TASK_JOIN_TIMEOUT_MS)) != pdTRUE) {
+            ESP_LOGW(TAG, "Engine task did not exit in time; forcing deletion");
+            vTaskDelete(eng->task_handle);
+        }
         eng->task_handle = NULL;
     }
+    if (eng->task_done_sem != NULL) {
+        vSemaphoreDelete(eng->task_done_sem);
+        eng->task_done_sem = NULL;
+    }
     if (eng->timer != NULL) {
         xTimerDelete(eng->timer, portMAX_DELAY);
         eng->timer = NULL;