Remove unfinished packets after timeout

src/extension/network/NUClearNetwork.cpp

@@ -851,6 +851,15 @@ namespace extension {
                                     // We have completed this packet, discard the data
                                     assemblers.erase(assemblers.find(packet.packet_id));
                                 }
+
+                                // Check for and delete any timed out packets
+                                for (auto it = assemblers.begin(); it != assemblers.end();) {
+                                    const auto now              = std::chrono::steady_clock::now();
+                                    const auto timeout          = remote->round_trip_time * 10.0;
+                                    const auto& last_chunk_time = it->second.first;
+
+                                    it = now > last_chunk_time + timeout ? assemblers.erase(it) : std::next(it);
+                                }
                             }
                         }
                     } break;