OClCollMeshEngn: Add bridged delay in finalize()

See the diff of the todo file within this commit for more details.

In short, we do this to prevent the possibility of an in-flight async
contin accessing metadata that we've already destroyed after finalize()
has been called.

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.cpp

@@ -6,8 +6,11 @@
 #include <vector>
 #include <string>
 #include <string_view>
+#include <algorithm>
 #include <boost/system/error_code.hpp>
+#include <boost/asio/deadline_timer.hpp>
 #include <asynchronousContinuation.h>
+#include <asynchronousBridge.h>
 #include <callback.h>
 #include <asynchronousLoop.h>
 #include <componentThread.h>
@@ -166,7 +169,46 @@ void OpenClCollatingAndMeshingEngine::finalize()
 
 	// Complete any running kernels
 	if (compactIsRunning) { compactKernelComplete(true); }
-	if (collateIsRunning) { collateKernelComplete(std::nullopt, std::nullopt, true); }
+	if (collateIsRunning) {
+		collateKernelComplete(std::nullopt, std::nullopt, true);
+	}
+
+	{
+		/**	EXPLANATION:
+		 * Calculate the delay as the maximum of the configured delay and any
+		 * future delays. The 0 is a placeholder for any delays that will be
+		 * introduced in the future. When new delays are added, they should be
+		 * included in the std::max() call (e.g., std::max(
+		 * OCLCOLLMESH_ENGN_FINALIZE_DELAY_MS, futureDelay1, futureDelay2, 0)).
+		 */
+		int delayMs = std::max(OCLCOLLMESH_ENGN_FINALIZE_DELAY_MS, 0);
+
+		auto& ioService = smoHooksPtr->ComponentThread_getSelf()->getIoService();
+		AsynchronousBridge bridge(ioService);
+		boost::asio::deadline_timer timeoutTimer(ioService);
+
+		/**	EXPLANATION:
+		 * We wait for delayMs milliseconds to ensure that any in-flight OpenCL
+		 * kernel operations have definitely finished. OpenCL kernels cannot be
+		 * cancelled once enqueued, so in-flight kernels may still be executing
+		 * when finalize() is called. The delay ensures any running kernels
+		 * complete and their callbacks execute before we destroy resources.
+		 * This prevents use-after-free errors from resumed async continuations
+		 * accessing destroyed state.
+		 */
+		timeoutTimer.expires_from_now(
+			boost::posix_time::milliseconds(delayMs));
+		timeoutTimer.async_wait(
+			[&bridge](const boost::system::error_code& error)
+			{
+				(void)error;
+
+				// Always signal complete, whether timeout expired or was cancelled
+				bridge.setAsyncOperationComplete();
+			});
+
+		bridge.waitForAsyncOperationCompleteOrIoServiceStopped();
+	}
 
 	// Release OpenCL buffers via smo hooks
 	if (smoHooksPtr && smoHooksPtr->ComputeManager_releaseUseHostPtrBuffer)

stimBuffApis/livoxGen1/openClCollatingAndMeshingEngine.h

@@ -21,6 +21,8 @@
 #include <user/compute.h>
 #include <user/senseApiDesc.h>
 
+#define OCLCOLLMESH_ENGN_FINALIZE_DELAY_MS 1
+
 namespace smo {
 namespace stim_buff {
 

todo

@@ -38,18 +38,7 @@
 
 	PcloudStimProducer::stop=>start() sequence:
 
-		OpenClCollatingAndMeshingEngine::finalize():
+		Attaching and detaching StimBuffs from StimProducers:
-I'm also worried, though less so, about the OClCollMeshEngn: it's
-a lot less likely to have an in-flight op run past the point where
-the OClCollMeshEngn object has expired.
-* But there's still a chance that a long-running OCl kernel could
-  cause an in-flight async contin to resume executing after its
-  OclCollMeshEngn has expired.
-* We should do a bridged async wait for the std::max() of all
-  timeouts used by OClCollMeshEngn to pass before leaving
-  PcloudStimProducer::stop.
-
-	Attaching and detaching StimBuffs from StimProducers:
 We've written code recently to attach and detact stimBuffs from a
 stimProducer. The code is quite nice, but there's this hanging
 omen over the fact that we put no thought into ensuring that