[taichichuan]

We punted the network tables stuff early in the season and went with straight up UDP sockets. There are a lot of misconceptions in the WPILib code regarding network communications. E.g., if you have a source of UDP packets talking to the cRio, you need to have a consumer running in your teleop disabled code to toss the UDP data away or the bot will hang.

This is because the implementation on WPILib tries to buffer all network traffic and deliver it regardless of whether it should or not. UDP traffic without a listener should just be tossed on the floor according to the specification. But, that's not what WPILib does. In fact, WPILib apparently keeps allocating RAM for the network comms until the bot runs out of memory. Thanks goodness this isn't a safety critical application.

So, if it's possible for you, drop back to good old UDP sockets (not TCP as they require a connection be maintained). Just remember to create a thread on the cRio to run and read/throw away the packets if you're not in an operational mode).

HTH,

Mike