[Radical Pi]

The Driver plugin has a semaphore on outgoing data, so they still have to wait in line for the data to leave the serial port. On the receiving line of the cRIO though, messages can arrive out of order and are dispatched to their code as soon as they arrive (or not, that's just what it looks like from the comments). Considering how fast the jags run (main loop every 1ms), and that most messages are handled by the CAN or Serial interrupts, the return is probably fast enough to cause a minimal change in the speed of the commands.

Why don't you put the enumeration on a timer so it only executes every 2 seconds. There isn't really any need to enumerate for every single loop, especially being a slow command

I saw the same slowdown in the C++ code. If 3 jags loose connection it slows down the code enough to set off watchdogs on the jags and knock out the entire network. I plan on writing a wrapper class for CANJaguar that blocks messages if the jag is lost.