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Remove NT reconnect loop entirely #2398

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Merged
mcm001 merged 3 commits into from
Mar 16, 2026
+0 −18
Merged

Remove NT reconnect loop entirely #2398

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97b89e4
Remove NT reconnect loop entirely
mcm001 Mar 15, 2026
d859fdd
Merge branch 'main' into remove-nt-reconnect
mcm001 Mar 15, 2026
63be852
revert increased log level
crschardt Mar 16, 2026
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20 changes: 1 addition & 19 deletions ...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ public class NetworkTablesManager {

private NetworkTablesManager() {
ntInstance.addLogger(
LogMessage.kInfo, LogMessage.kCritical, this::logNtMessage); // to hide error messages
LogMessage.kDebug4, LogMessage.kCritical, this::logNtMessage); // to hide error messages
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ntInstance.addConnectionListener(true, this::checkNtConnectState); // to hide error messages

ntInstance.addListener(
Expand All @@ -104,7 +104,6 @@ private NetworkTablesManager() {

public void registerTimedTasks() {
m_timeSync.start();
TimedTaskManager.getInstance().addTask("NTManager", this::ntTick, 5000);
TimedTaskManager.getInstance()
.addTask("CheckHostnameAndCameraNames", this::checkHostnameAndCameraNames, 10000);
}
Expand Down Expand Up @@ -380,23 +379,6 @@ private void setServerMode() {
broadcastVersion();
}

// So it seems like if Photon starts before the robot NT server does, and both aren't static IP,
// it'll never connect. This hack works around it by restarting the client/server while the nt
// instance isn't connected, same as clicking the save button in the settings menu (or restarting
// the service)
private void ntTick() {
if (!ntInstance.isConnected()
&& !ConfigManager.getInstance().getConfig().getNetworkConfig().runNTServer) {
setConfig(ConfigManager.getInstance().getConfig().getNetworkConfig());
}

if (!ntInstance.isConnected() && !m_isRetryingConnection) {
m_isRetryingConnection = true;
logger.error(
"[NetworkTablesManager] Could not connect to the robot! Will retry in the background...");
}
}

public long getTimeSinceLastPong() {
return m_timeSync.getTimeSinceLastPong();
}
Expand Down
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