From 1a2b960b0d7343ba2143ed88f1d60aa75ee8c22f Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 12 May 2020 14:08:10 +1000
Subject: [PATCH] GCS_MAVLink: prune old statustexts from queue

---
 libraries/GCS_MAVLink/GCS.h          |  4 ++++
 libraries/GCS_MAVLink/GCS_Common.cpp | 32 ++++++++++++++++++++++++++++
 2 files changed, 36 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 819f43448a..b54756106f 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -890,16 +890,20 @@ public:
 
     struct statustext_t {
         mavlink_statustext_t    msg;
+        uint16_t                entry_created_ms;
         uint8_t                 bitmask;
     };
     class StatusTextQueue : public ObjectArray<statustext_t> {
     public:
         using ObjectArray::ObjectArray;
         HAL_Semaphore &semaphore() { return _sem; }
+        void prune();
     private:
         // a lock for the statustext queue, to make it safe to use send_text()
         // from multiple threads
         HAL_Semaphore _sem;
+
+        uint32_t last_prune_ms;
     };
 
     StatusTextQueue &statustext_queue() {
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 41c64a7986..5a02e3f180 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -1921,6 +1921,7 @@ void GCS::send_textv(MAV_SEVERITY severity, const char *fmt, va_list arg_list, u
             break;
         }
 
+        statustext.entry_created_ms = AP_HAL::millis16();
         statustext.msg.severity = severity;
 
         static uint16_t msgid;
@@ -2012,6 +2013,37 @@ void GCS::service_statustext(void)
     for (uint8_t i=0; i<first_backend_to_send; i++) {
         chan(i)->service_statustext();
     }
+
+    _statustext_queue.prune();
+}
+
+void GCS::StatusTextQueue::prune(void)
+{
+    // consider pruning the statustext queue of ancient entries
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - last_prune_ms < 1000) {
+        return;
+    }
+    last_prune_ms = now_ms;
+
+    const uint16_t now16_ms = AP_HAL::millis16();
+    for (uint8_t idx=0; idx<available(); ) {
+        const GCS::statustext_t *statustext = (*this)[idx];
+        if (statustext == nullptr) {
+            INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
+            break;
+        }
+        // be wary of integer promotion here
+        const uint16_t age = now16_ms - statustext->entry_created_ms;
+        if (age > 5000) {
+            // too old.  Purge it.
+            remove(idx);
+            continue;
+        }
+        // this is a queue.  If this one wasn't too old then the next
+        // one isn't either.
+        break;
+    }
 }
 
 /*