diff --git a/ntcore/src/main/native/cpp/NetworkClient.cpp b/ntcore/src/main/native/cpp/NetworkClient.cpp
index 348ed2b391..da04dcac85 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.cpp
+++ b/ntcore/src/main/native/cpp/NetworkClient.cpp
@@ -43,8 +43,6 @@ NetworkClientBase::NetworkClientBase(int inst, std::string_view id,
       m_id{id},
       m_localQueue{logger},
       m_loop{*m_loopRunner.GetLoop()} {
-  m_localMsgs.reserve(net::NetworkLoopQueue::kInitialQueueSize);
-
   INFO("starting network client");
 }
 
@@ -194,9 +192,14 @@ NetworkClient3::~NetworkClient3() {
 }
 
 void NetworkClient3::HandleLocal() {
-  m_localQueue.ReadQueue(&m_localMsgs);
-  if (m_clientImpl) {
-    m_clientImpl->HandleLocal(m_localMsgs);
+  for (;;) {
+    auto msgs = m_localQueue.ReadQueue(m_localMsgs);
+    if (msgs.empty()) {
+      return;
+    }
+    if (m_clientImpl) {
+      m_clientImpl->HandleLocal(msgs);
+    }
   }
 }
 
@@ -358,9 +361,14 @@ NetworkClient::~NetworkClient() {
 }
 
 void NetworkClient::HandleLocal() {
-  m_localQueue.ReadQueue(&m_localMsgs);
-  if (m_clientImpl) {
-    m_clientImpl->HandleLocal(std::move(m_localMsgs));
+  for (;;) {
+    auto msgs = m_localQueue.ReadQueue(m_localMsgs);
+    if (msgs.empty()) {
+      return;
+    }
+    if (m_clientImpl) {
+      m_clientImpl->HandleLocal(msgs);
+    }
   }
 }
 
diff --git a/ntcore/src/main/native/cpp/NetworkClient.h b/ntcore/src/main/native/cpp/NetworkClient.h
index 73e113415f..77da5dd8aa 100644
--- a/ntcore/src/main/native/cpp/NetworkClient.h
+++ b/ntcore/src/main/native/cpp/NetworkClient.h
@@ -7,7 +7,6 @@
 #include <atomic>
 #include <functional>
 #include <memory>
-#include <optional>
 #include <span>
 #include <string>
 #include <string_view>
@@ -23,12 +22,11 @@
 
 #include "INetworkClient.h"
 #include "net/ClientImpl.h"
+#include "net/ClientMessageQueue.h"
 #include "net/Message.h"
-#include "net/NetworkLoopQueue.h"
 #include "net/WebSocketConnection.h"
 #include "net3/ClientImpl3.h"
 #include "net3/UvStreamConnection3.h"
-#include "ntcore_cpp.h"
 
 namespace wpi {
 class Logger;
@@ -80,7 +78,8 @@ class NetworkClientBase : public INetworkClient {
   std::shared_ptr<wpi::uv::Async<>> m_flushLocal;
   std::shared_ptr<wpi::uv::Async<>> m_flush;
 
-  std::vector<net::ClientMessage> m_localMsgs;
+  using Queue = net::LocalClientMessageQueue;
+  net::ClientMessage m_localMsgs[Queue::kBlockSize];
 
   std::vector<std::pair<std::string, unsigned int>> m_servers;
 
@@ -91,7 +90,7 @@ class NetworkClientBase : public INetworkClient {
   std::atomic<wpi::uv::Async<>*> m_flushLocalAtomic{nullptr};
   std::atomic<wpi::uv::Async<>*> m_flushAtomic{nullptr};
 
-  net::NetworkLoopQueue m_localQueue;
+  Queue m_localQueue;
 
   int m_connHandle = 0;
 
diff --git a/ntcore/src/main/native/cpp/NetworkServer.cpp b/ntcore/src/main/native/cpp/NetworkServer.cpp
index 55490bb5da..8fb419a12b 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.cpp
+++ b/ntcore/src/main/native/cpp/NetworkServer.cpp
@@ -42,6 +42,8 @@ namespace uv = wpi::uv;
 // use a larger max message size for websockets
 static constexpr size_t kMaxMessageSize = 2 * 1024 * 1024;
 
+static constexpr size_t kClientProcessMessageCountMax = 16;
+
 class NetworkServer::ServerConnection {
  public:
   ServerConnection(NetworkServer& server, std::string_view addr,
@@ -105,7 +107,6 @@ class NetworkServer::ServerConnection4 final
 void NetworkServer::ServerConnection::SetupOutgoingTimer() {
   m_outgoingTimer = uv::Timer::Create(m_server.m_loop);
   m_outgoingTimer->timeout.connect([this] {
-    m_server.HandleLocal();
     m_server.m_serverImpl.SendOutgoing(m_clientId,
                                        m_server.m_loop.Now().count());
   });
@@ -172,8 +173,10 @@ NetworkServer::ServerConnection3::ServerConnection3(
     ConnectionClosed();
   });
   stream->data.connect([this](uv::Buffer& buf, size_t size) {
-    m_server.m_serverImpl.ProcessIncomingBinary(
-        m_clientId, {reinterpret_cast<const uint8_t*>(buf.base), size});
+    if (m_server.m_serverImpl.ProcessIncomingBinary(
+            m_clientId, {reinterpret_cast<const uint8_t*>(buf.base), size})) {
+      m_server.m_idle->Start();
+    }
   });
   stream->StartRead();
 
@@ -293,10 +296,14 @@ void NetworkServer::ServerConnection4::ProcessWsUpgrade() {
       ConnectionClosed();
     });
     m_websocket->text.connect([this](std::string_view data, bool) {
-      m_server.m_serverImpl.ProcessIncomingText(m_clientId, data);
+      if (m_server.m_serverImpl.ProcessIncomingText(m_clientId, data)) {
+        m_server.m_idle->Start();
+      }
     });
     m_websocket->binary.connect([this](std::span<const uint8_t> data, bool) {
-      m_server.m_serverImpl.ProcessIncomingBinary(m_clientId, data);
+      if (m_server.m_serverImpl.ProcessIncomingBinary(m_clientId, data)) {
+        m_server.m_idle->Start();
+      }
     });
 
     SetupOutgoingTimer();
@@ -320,12 +327,11 @@ NetworkServer::NetworkServer(std::string_view persistentFilename,
       m_serverImpl{logger},
       m_localQueue{logger},
       m_loop(*m_loopRunner.GetLoop()) {
-  m_localMsgs.reserve(net::NetworkLoopQueue::kInitialQueueSize);
   m_loopRunner.ExecAsync([=, this](uv::Loop& loop) {
     // connect local storage to server
-    m_serverImpl.SetLocal(&m_localStorage);
+    m_serverImpl.SetLocal(&m_localStorage, &m_localQueue);
     m_localStorage.StartNetwork(&m_localQueue);
-    HandleLocal();
+    ProcessAllLocal();
 
     // load persistent file first, then initialize
     uv::QueueWork(m_loop, [this] { LoadPersistent(); }, [this] { Init(); });
@@ -350,9 +356,9 @@ void NetworkServer::Flush() {
   }
 }
 
-void NetworkServer::HandleLocal() {
-  m_localQueue.ReadQueue(&m_localMsgs);
-  m_serverImpl.HandleLocal(m_localMsgs);
+void NetworkServer::ProcessAllLocal() {
+  while (m_serverImpl.ProcessLocalMessages(128)) {
+  }
 }
 
 void NetworkServer::LoadPersistent() {
@@ -421,8 +427,10 @@ void NetworkServer::Init() {
   m_readLocalTimer = uv::Timer::Create(m_loop);
   if (m_readLocalTimer) {
     m_readLocalTimer->timeout.connect([this] {
-      HandleLocal();
-      m_serverImpl.SendAllOutgoing(m_loop.Now().count(), false);
+      if (m_serverImpl.ProcessLocalMessages(kClientProcessMessageCountMax)) {
+        DEBUG4("Starting idle processing");
+        m_idle->Start();  // more to process
+      }
     });
     m_readLocalTimer->Start(uv::Timer::Time{100}, uv::Timer::Time{100});
   }
@@ -447,7 +455,7 @@ void NetworkServer::Init() {
   m_flush = uv::Async<>::Create(m_loop);
   if (m_flush) {
     m_flush->wakeup.connect([this] {
-      HandleLocal();
+      ProcessAllLocal();
       m_serverImpl.SendAllOutgoing(m_loop.Now().count(), true);
     });
   }
@@ -455,10 +463,28 @@ void NetworkServer::Init() {
 
   m_flushLocal = uv::Async<>::Create(m_loop);
   if (m_flushLocal) {
-    m_flushLocal->wakeup.connect([this] { HandleLocal(); });
+    m_flushLocal->wakeup.connect([this] {
+      if (m_serverImpl.ProcessLocalMessages(kClientProcessMessageCountMax)) {
+        DEBUG4("Starting idle processing");
+        m_idle->Start();  // more to process
+      }
+    });
   }
   m_flushLocalAtomic = m_flushLocal.get();
 
+  m_idle = uv::Idle::Create(m_loop);
+  if (m_idle) {
+    m_idle->idle.connect([this] {
+      if (m_serverImpl.ProcessIncomingMessages(kClientProcessMessageCountMax)) {
+        DEBUG4("Starting idle processing");
+        m_idle->Start();  // more to process
+      } else {
+        DEBUG4("Stopping idle processing");
+        m_idle->Stop();  // go back to sleep
+      }
+    });
+  }
+
   INFO("Listening on NT3 port {}, NT4 port {}", m_port3, m_port4);
 
   if (m_port3 != 0) {
diff --git a/ntcore/src/main/native/cpp/NetworkServer.h b/ntcore/src/main/native/cpp/NetworkServer.h
index 3f5a0947c7..db4ecfac05 100644
--- a/ntcore/src/main/native/cpp/NetworkServer.h
+++ b/ntcore/src/main/native/cpp/NetworkServer.h
@@ -13,10 +13,11 @@
 
 #include <wpinet/EventLoopRunner.h>
 #include <wpinet/uv/Async.h>
+#include <wpinet/uv/Idle.h>
 #include <wpinet/uv/Timer.h>
 
+#include "net/ClientMessageQueue.h"
 #include "net/Message.h"
-#include "net/NetworkLoopQueue.h"
 #include "net/ServerImpl.h"
 #include "ntcore_cpp.h"
 
@@ -49,7 +50,7 @@ class NetworkServer {
   class ServerConnection3;
   class ServerConnection4;
 
-  void HandleLocal();
+  void ProcessAllLocal();
   void LoadPersistent();
   void SavePersistent(std::string_view filename, std::string_view data);
   void Init();
@@ -71,9 +72,11 @@ class NetworkServer {
   std::shared_ptr<wpi::uv::Timer> m_savePersistentTimer;
   std::shared_ptr<wpi::uv::Async<>> m_flushLocal;
   std::shared_ptr<wpi::uv::Async<>> m_flush;
+  std::shared_ptr<wpi::uv::Idle> m_idle;
   bool m_shutdown = false;
 
-  std::vector<net::ClientMessage> m_localMsgs;
+  using Queue = net::LocalClientMessageQueue;
+  net::ClientMessage m_localMsgs[Queue::kBlockSize];
 
   net::ServerImpl m_serverImpl;
 
@@ -87,7 +90,7 @@ class NetworkServer {
   };
   std::vector<Connection> m_connections;
 
-  net::NetworkLoopQueue m_localQueue;
+  Queue m_localQueue;
 
   wpi::EventLoopRunner m_loopRunner;
   wpi::uv::Loop& m_loop;
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.cpp b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
index ff5408e722..13b01156cc 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.cpp
@@ -99,7 +99,7 @@ void ClientImpl::ProcessIncomingBinary(uint64_t curTimeMs,
   }
 }
 
-void ClientImpl::HandleLocal(std::vector<ClientMessage>&& msgs) {
+void ClientImpl::HandleLocal(std::span<ClientMessage> msgs) {
   DEBUG4("HandleLocal()");
   for (auto&& elem : msgs) {
     // common case is value
diff --git a/ntcore/src/main/native/cpp/net/ClientImpl.h b/ntcore/src/main/native/cpp/net/ClientImpl.h
index 95a5b7e68f..9e3a189d1a 100644
--- a/ntcore/src/main/native/cpp/net/ClientImpl.h
+++ b/ntcore/src/main/native/cpp/net/ClientImpl.h
@@ -45,7 +45,7 @@ class ClientImpl final : private ServerMessageHandler {
 
   void ProcessIncomingText(std::string_view data);
   void ProcessIncomingBinary(uint64_t curTimeMs, std::span<const uint8_t> data);
-  void HandleLocal(std::vector<ClientMessage>&& msgs);
+  void HandleLocal(std::span<ClientMessage> msgs);
 
   void SendOutgoing(uint64_t curTimeMs, bool flush);
 
diff --git a/ntcore/src/main/native/cpp/net/ClientMessageQueue.h b/ntcore/src/main/native/cpp/net/ClientMessageQueue.h
new file mode 100644
index 0000000000..c2e6f950a8
--- /dev/null
+++ b/ntcore/src/main/native/cpp/net/ClientMessageQueue.h
@@ -0,0 +1,87 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <span>
+#include <string>
+
+#include <wpi/FastQueue.h>
+#include <wpi/mutex.h>
+
+#include "Message.h"
+#include "MessageHandler.h"
+
+namespace wpi {
+class Logger;
+}  // namespace wpi
+
+namespace nt::net {
+
+class ClientMessageQueue {
+ public:
+  virtual ~ClientMessageQueue() = default;
+
+  virtual std::span<ClientMessage> ReadQueue(std::span<ClientMessage> out) = 0;
+  virtual void ClearQueue() = 0;
+};
+
+namespace detail {
+
+template <size_t MaxValueSize, bool IsMutexed>
+class ClientMessageQueueImpl final : public ClientMessageHandler,
+                                     public ClientMessageQueue {
+ public:
+  static constexpr size_t kBlockSize = 64;
+
+  explicit ClientMessageQueueImpl(wpi::Logger& logger) : m_logger{logger} {}
+
+  bool empty() const { return m_queue.empty(); }
+
+  // ClientMessageQueue - calls to these read the queue
+  std::span<ClientMessage> ReadQueue(std::span<ClientMessage> out) final;
+  void ClearQueue() final;
+
+  // ClientMessageHandler - calls to these append to the queue
+  void ClientPublish(int pubuid, std::string_view name,
+                     std::string_view typeStr, const wpi::json& properties,
+                     const PubSubOptionsImpl& options) final;
+  void ClientUnpublish(int pubuid) final;
+  void ClientSetProperties(std::string_view name,
+                           const wpi::json& update) final;
+  void ClientSubscribe(int subuid, std::span<const std::string> topicNames,
+                       const PubSubOptionsImpl& options) final;
+  void ClientUnsubscribe(int subuid) final;
+  void ClientSetValue(int pubuid, const Value& value) final;
+
+ private:
+  wpi::FastQueue<ClientMessage, kBlockSize> m_queue{kBlockSize - 1};
+  wpi::Logger& m_logger;
+
+  class NoMutex {
+   public:
+    void lock() {}
+    void unlock() {}
+  };
+  [[no_unique_address]]
+  std::conditional_t<IsMutexed, wpi::mutex, NoMutex> m_mutex;
+
+  struct ValueSize {
+    size_t size{0};
+    bool errored{false};
+  };
+  struct Empty {};
+  [[no_unique_address]]
+  std::conditional_t<MaxValueSize != 0, ValueSize, Empty> m_valueSize;
+};
+
+}  // namespace detail
+
+using LocalClientMessageQueue =
+    detail::ClientMessageQueueImpl<2 * 1024 * 1024, true>;
+using NetworkIncomingClientQueue = detail::ClientMessageQueueImpl<0, false>;
+
+}  // namespace nt::net
+
+#include "ClientMessageQueue.inc"
diff --git a/ntcore/src/main/native/cpp/net/ClientMessageQueue.inc b/ntcore/src/main/native/cpp/net/ClientMessageQueue.inc
new file mode 100644
index 0000000000..fd2c5f13a7
--- /dev/null
+++ b/ntcore/src/main/native/cpp/net/ClientMessageQueue.inc
@@ -0,0 +1,106 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <span>
+#include <string>
+
+#include <wpi/Logger.h>
+
+#include "ClientMessageQueue.h"
+
+namespace nt::net::detail {
+
+template <size_t MaxValueSize, bool IsMutexed>
+inline void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientPublish(
+    int pubuid, std::string_view name, std::string_view typeStr,
+    const wpi::json& properties, const PubSubOptionsImpl& options) {
+  std::scoped_lock lock{m_mutex};
+  m_queue.enqueue(ClientMessage{PublishMsg{
+      pubuid, std::string{name}, std::string{typeStr}, properties, options}});
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+inline void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientUnpublish(
+    int pubuid) {
+  std::scoped_lock lock{m_mutex};
+  m_queue.enqueue(ClientMessage{UnpublishMsg{pubuid}});
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+inline void
+ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientSetProperties(
+    std::string_view name, const wpi::json& update) {
+  std::scoped_lock lock{m_mutex};
+  m_queue.enqueue(ClientMessage{SetPropertiesMsg{std::string{name}, update}});
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+inline void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientSubscribe(
+    int subuid, std::span<const std::string> topicNames,
+    const PubSubOptionsImpl& options) {
+  std::scoped_lock lock{m_mutex};
+  m_queue.enqueue(ClientMessage{
+      SubscribeMsg{subuid, {topicNames.begin(), topicNames.end()}, options}});
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+inline void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientUnsubscribe(
+    int subuid) {
+  std::scoped_lock lock{m_mutex};
+  m_queue.enqueue(ClientMessage{UnsubscribeMsg{subuid}});
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+std::span<ClientMessage>
+ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ReadQueue(
+    std::span<ClientMessage> out) {
+  std::scoped_lock lock{m_mutex};
+  size_t count = 0;
+  for (auto&& msg : out) {
+    if (!m_queue.try_dequeue(msg)) {
+      break;
+    }
+    if constexpr (MaxValueSize != 0) {
+      if (auto* val = std::get_if<ClientValueMsg>(&msg.contents)) {
+        m_valueSize.size -= sizeof(ClientMessage) + val->value.size();
+        m_valueSize.errored = false;
+      }
+    }
+    ++count;
+  }
+  return out.subspan(0, count);
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClearQueue() {
+  std::scoped_lock lock{m_mutex};
+  ClientMessage msg;
+  while (m_queue.try_dequeue(msg)) {
+  }
+  if constexpr (MaxValueSize != 0) {
+    m_valueSize.size = 0;
+    m_valueSize.errored = false;
+  }
+}
+
+template <size_t MaxValueSize, bool IsMutexed>
+void ClientMessageQueueImpl<MaxValueSize, IsMutexed>::ClientSetValue(
+    int pubuid, const Value& value) {
+  std::scoped_lock lock{m_mutex};
+  if constexpr (MaxValueSize != 0) {
+    m_valueSize.size += sizeof(ClientMessage) + value.size();
+    if (m_valueSize.size > MaxValueSize) {
+      if (!m_valueSize.errored) {
+        WPI_ERROR(m_logger, "NT: dropping value set due to memory limits");
+        m_valueSize.errored = true;
+      }
+      return;  // avoid potential out of memory
+    }
+  }
+  m_queue.enqueue(ClientMessage{ClientValueMsg{pubuid, value}});
+}
+
+}  // namespace nt::net::detail
diff --git a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.cpp b/ntcore/src/main/native/cpp/net/NetworkLoopQueue.cpp
deleted file mode 100644
index cb7f05e09f..0000000000
--- a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "NetworkLoopQueue.h"
-
-#include <wpi/Logger.h>
-
-using namespace nt::net;
-
-static constexpr size_t kMaxSize = 2 * 1024 * 1024;
-
-void NetworkLoopQueue::ClientSetValue(int pubuid, const Value& value) {
-  std::scoped_lock lock{m_mutex};
-  m_size += sizeof(ClientMessage) + value.size();
-  if (m_size > kMaxSize) {
-    if (!m_sizeErrored) {
-      WPI_ERROR(m_logger, "NT: dropping value set due to memory limits");
-      m_sizeErrored = true;
-    }
-    return;  // avoid potential out of memory
-  }
-  m_queue.emplace_back(ClientMessage{ClientValueMsg{pubuid, value}});
-}
diff --git a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.h b/ntcore/src/main/native/cpp/net/NetworkLoopQueue.h
deleted file mode 100644
index ca55ed96b4..0000000000
--- a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.h
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <span>
-#include <string>
-#include <vector>
-
-#include <wpi/mutex.h>
-
-#include "Message.h"
-#include "MessageHandler.h"
-
-namespace wpi {
-class Logger;
-}  // namespace wpi
-
-namespace nt::net {
-
-class NetworkLoopQueue : public ClientMessageHandler {
- public:
-  static constexpr size_t kInitialQueueSize = 2000;
-
-  explicit NetworkLoopQueue(wpi::Logger& logger) : m_logger{logger} {
-    m_queue.reserve(kInitialQueueSize);
-  }
-
-  void ReadQueue(std::vector<ClientMessage>* out);
-  void ClearQueue();
-
-  // ClientMessageHandler - calls to these append to the queue
-  void ClientPublish(int pubuid, std::string_view name,
-                     std::string_view typeStr, const wpi::json& properties,
-                     const PubSubOptionsImpl& options) final;
-  void ClientUnpublish(int pubuid) final;
-  void ClientSetProperties(std::string_view name,
-                           const wpi::json& update) final;
-  void ClientSubscribe(int subuid, std::span<const std::string> topicNames,
-                       const PubSubOptionsImpl& options) final;
-  void ClientUnsubscribe(int subuid) final;
-  void ClientSetValue(int pubuid, const Value& value) final;
-
- private:
-  wpi::mutex m_mutex;
-  std::vector<ClientMessage> m_queue;
-  wpi::Logger& m_logger;
-  size_t m_size{0};
-  bool m_sizeErrored{false};
-};
-
-}  // namespace nt::net
-
-#include "NetworkLoopQueue.inc"
diff --git a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.inc b/ntcore/src/main/native/cpp/net/NetworkLoopQueue.inc
deleted file mode 100644
index 1143e23d25..0000000000
--- a/ntcore/src/main/native/cpp/net/NetworkLoopQueue.inc
+++ /dev/null
@@ -1,65 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#pragma once
-
-#include <span>
-#include <string>
-#include <vector>
-
-#include "NetworkLoopQueue.h"
-
-namespace nt::net {
-
-inline void NetworkLoopQueue::ReadQueue(std::vector<ClientMessage>* out) {
-  std::scoped_lock lock{m_mutex};
-  out->swap(m_queue);
-  m_queue.resize(0);
-  m_queue.reserve(out->capacity());  // keep the same running capacity
-  m_size = 0;
-  m_sizeErrored = false;
-}
-
-inline void NetworkLoopQueue::ClearQueue() {
-  std::scoped_lock lock{m_mutex};
-  m_queue.resize(0);
-  m_size = 0;
-  m_sizeErrored = false;
-}
-
-inline void NetworkLoopQueue::ClientPublish(int pubuid, std::string_view name,
-                                            std::string_view typeStr,
-                                            const wpi::json& properties,
-                                            const PubSubOptionsImpl& options) {
-  std::scoped_lock lock{m_mutex};
-  m_queue.emplace_back(ClientMessage{PublishMsg{
-      pubuid, std::string{name}, std::string{typeStr}, properties, options}});
-}
-
-inline void NetworkLoopQueue::ClientUnpublish(int pubuid) {
-  std::scoped_lock lock{m_mutex};
-  m_queue.emplace_back(ClientMessage{UnpublishMsg{pubuid}});
-}
-
-inline void NetworkLoopQueue::ClientSetProperties(std::string_view name,
-                                                  const wpi::json& update) {
-  std::scoped_lock lock{m_mutex};
-  m_queue.emplace_back(
-      ClientMessage{SetPropertiesMsg{std::string{name}, update}});
-}
-
-inline void NetworkLoopQueue::ClientSubscribe(
-    int subuid, std::span<const std::string> topicNames,
-    const PubSubOptionsImpl& options) {
-  std::scoped_lock lock{m_mutex};
-  m_queue.emplace_back(ClientMessage{
-      SubscribeMsg{subuid, {topicNames.begin(), topicNames.end()}, options}});
-}
-
-inline void NetworkLoopQueue::ClientUnsubscribe(int subuid) {
-  std::scoped_lock lock{m_mutex};
-  m_queue.emplace_back(ClientMessage{UnsubscribeMsg{subuid}});
-}
-
-}  // namespace nt::net
diff --git a/ntcore/src/main/native/cpp/net/ServerImpl.cpp b/ntcore/src/main/native/cpp/net/ServerImpl.cpp
index e24842d0ba..016929bbae 100644
--- a/ntcore/src/main/native/cpp/net/ServerImpl.cpp
+++ b/ntcore/src/main/native/cpp/net/ServerImpl.cpp
@@ -17,6 +17,7 @@
 #include <wpi/Base64.h>
 #include <wpi/MessagePack.h>
 #include <wpi/SmallVector.h>
+#include <wpi/SpanExtras.h>
 #include <wpi/StringExtras.h>
 #include <wpi/json.h>
 #include <wpi/raw_ostream.h>
@@ -26,6 +27,7 @@
 #include "Log.h"
 #include "NetworkInterface.h"
 #include "Types_internal.h"
+#include "net/Message.h"
 #include "net/WireEncoder.h"
 #include "net3/WireConnection3.h"
 #include "net3/WireEncoder3.h"
@@ -432,12 +434,13 @@ void ServerImpl::ClientDataLocal::SendPropertiesUpdate(TopicData* topic,
   }
 }
 
-void ServerImpl::ClientDataLocal::HandleLocal(
-    std::span<const ClientMessage> msgs) {
-  DEBUG4("HandleLocal()");
-  if (msgs.empty()) {
-    return;
-  }
+bool ServerImpl::ClientData4Base::DoProcessIncomingMessages(
+    ClientMessageQueue& queue, size_t max) {
+  DEBUG4("ProcessIncomingMessage()");
+  max = (std::min)(m_msgsBuf.size(), max);
+  std::span<ClientMessage> msgs =
+      queue.ReadQueue(wpi::take_front(std::span{m_msgsBuf}, max));
+
   // just map as a normal client into client=0 calls
   bool updatepub = false;
   bool updatesub = false;
@@ -468,17 +471,28 @@ void ServerImpl::ClientDataLocal::HandleLocal(
   if (updatesub) {
     UpdateMetaClientSub();
   }
+
+  return msgs.size() == max;  // don't know for sure, but there might be more
 }
 
-void ServerImpl::ClientData4::ProcessIncomingText(std::string_view data) {
-  if (WireDecodeText(data, *this, m_logger)) {
-    UpdateMetaClientPub();
-    UpdateMetaClientSub();
+bool ServerImpl::ClientData4::ProcessIncomingText(std::string_view data) {
+  constexpr int kMaxImmProcessing = 10;
+  bool queueWasEmpty = m_incoming.empty();
+  // can't directly process, because we don't know how big it is
+  WireDecodeText(data, m_incoming, m_logger);
+  if (queueWasEmpty &&
+      DoProcessIncomingMessages(m_incoming, kMaxImmProcessing)) {
+    m_wire.StopRead();
+    return true;
   }
+  return false;
 }
 
-void ServerImpl::ClientData4::ProcessIncomingBinary(
+bool ServerImpl::ClientData4::ProcessIncomingBinary(
     std::span<const uint8_t> data) {
+  constexpr int kMaxImmProcessing = 10;
+  // if we've already queued, keep queuing
+  int count = m_incoming.empty() ? 0 : kMaxImmProcessing;
   for (;;) {
     if (data.empty()) {
       break;
@@ -503,8 +517,17 @@ void ServerImpl::ClientData4::ProcessIncomingBinary(
     }
 
     // handle value set
-    ClientSetValue(pubuid, value);
+    if (++count < kMaxImmProcessing) {
+      ClientSetValue(pubuid, value);
+    } else {
+      m_incoming.ClientSetValue(pubuid, value);
+    }
   }
+  if (count >= kMaxImmProcessing) {
+    m_wire.StopRead();
+    return true;
+  }
+  return false;
 }
 
 void ServerImpl::ClientData4::SendValue(TopicData* topic, const Value& value,
@@ -608,11 +631,12 @@ bool ServerImpl::ClientData3::TopicData3::UpdateFlags(TopicData* topic) {
   return updated;
 }
 
-void ServerImpl::ClientData3::ProcessIncomingBinary(
+bool ServerImpl::ClientData3::ProcessIncomingBinary(
     std::span<const uint8_t> data) {
   if (!m_decoder.Execute(&data)) {
     m_wire.Disconnect(m_decoder.GetError());
   }
+  return false;
 }
 
 void ServerImpl::ClientData3::SendValue(TopicData* topic, const Value& value,
@@ -1918,14 +1942,11 @@ void ServerImpl::SendOutgoing(int clientId, uint64_t curTimeMs) {
   }
 }
 
-void ServerImpl::HandleLocal(std::span<const ClientMessage> msgs) {
-  // just map as a normal client into client=0 calls
-  m_localClient->HandleLocal(msgs);
-}
-
-void ServerImpl::SetLocal(ServerMessageHandler* local) {
+void ServerImpl::SetLocal(ServerMessageHandler* local,
+                          ClientMessageQueue* queue) {
   DEBUG4("SetLocal()");
   m_local = local;
+  m_localClient->SetQueue(queue);
 
   // create server meta topics
   m_metaClients = CreateMetaTopic("$clients");
@@ -1939,19 +1960,39 @@ void ServerImpl::SetLocal(ServerMessageHandler* local) {
   m_localClient->UpdateMetaClientSub();
 }
 
-void ServerImpl::ProcessIncomingText(int clientId, std::string_view data) {
+bool ServerImpl::ProcessIncomingText(int clientId, std::string_view data) {
   if (auto client = m_clients[clientId].get()) {
-    client->ProcessIncomingText(data);
+    return client->ProcessIncomingText(data);
+  } else {
+    return false;
   }
 }
 
-void ServerImpl::ProcessIncomingBinary(int clientId,
+bool ServerImpl::ProcessIncomingBinary(int clientId,
                                        std::span<const uint8_t> data) {
   if (auto client = m_clients[clientId].get()) {
-    client->ProcessIncomingBinary(data);
+    return client->ProcessIncomingBinary(data);
+  } else {
+    return false;
   }
 }
 
+bool ServerImpl::ProcessIncomingMessages(size_t max) {
+  DEBUG4("ProcessIncomingMessages({})", max);
+  bool rv = false;
+  for (auto&& client : m_clients) {
+    if (client && client->ProcessIncomingMessages(max)) {
+      rv = true;
+    }
+  }
+  return rv;
+}
+
+bool ServerImpl::ProcessLocalMessages(size_t max) {
+  DEBUG4("ProcessLocalMessages({})", max);
+  return m_localClient->ProcessIncomingMessages(max);
+}
+
 void ServerImpl::ConnectionsChanged(const std::vector<ConnectionInfo>& conns) {
   UpdateMetaClients(conns);
 }
diff --git a/ntcore/src/main/native/cpp/net/ServerImpl.h b/ntcore/src/main/native/cpp/net/ServerImpl.h
index 01e0058ec7..f4fae4113c 100644
--- a/ntcore/src/main/native/cpp/net/ServerImpl.h
+++ b/ntcore/src/main/native/cpp/net/ServerImpl.h
@@ -21,9 +21,8 @@
 #include <wpi/UidVector.h>
 #include <wpi/json.h>
 
-#include "Log.h"
+#include "ClientMessageQueue.h"
 #include "Message.h"
-#include "NetworkInterface.h"
 #include "NetworkOutgoingQueue.h"
 #include "NetworkPing.h"
 #include "PubSubOptions.h"
@@ -63,11 +62,15 @@ class ServerImpl final {
   void SendAllOutgoing(uint64_t curTimeMs, bool flush);
   void SendOutgoing(int clientId, uint64_t curTimeMs);
 
-  void HandleLocal(std::span<const ClientMessage> msgs);
-  void SetLocal(ServerMessageHandler* local);
+  void SetLocal(ServerMessageHandler* local, ClientMessageQueue* queue);
 
-  void ProcessIncomingText(int clientId, std::string_view data);
-  void ProcessIncomingBinary(int clientId, std::span<const uint8_t> data);
+  // these return true if any messages have been queued for later processing
+  bool ProcessIncomingText(int clientId, std::string_view data);
+  bool ProcessIncomingBinary(int clientId, std::span<const uint8_t> data);
+
+  // later processing -- returns true if more to process
+  bool ProcessIncomingMessages(size_t max);
+  bool ProcessLocalMessages(size_t max);
 
   // Returns -1 if cannot add client (e.g. due to duplicate name).
   // Caller must ensure WireConnection lifetime lasts until RemoveClient() call.
@@ -181,8 +184,9 @@ class ServerImpl final {
           m_logger{logger} {}
     virtual ~ClientData() = default;
 
-    virtual void ProcessIncomingText(std::string_view data) = 0;
-    virtual void ProcessIncomingBinary(std::span<const uint8_t> data) = 0;
+    // these return true if any messages have been queued for later processing
+    virtual bool ProcessIncomingText(std::string_view data) = 0;
+    virtual bool ProcessIncomingBinary(std::span<const uint8_t> data) = 0;
 
     virtual void SendValue(TopicData* topic, const Value& value,
                            ValueSendMode mode) = 0;
@@ -193,6 +197,9 @@ class ServerImpl final {
     virtual void SendOutgoing(uint64_t curTimeMs, bool flush) = 0;
     virtual void Flush() = 0;
 
+    // later processing -- returns true if more to process
+    virtual bool ProcessIncomingMessages(size_t max) = 0;
+
     void UpdateMetaClientPub();
     void UpdateMetaClientSub();
 
@@ -248,7 +255,12 @@ class ServerImpl final {
 
     void ClientSetValue(int pubuid, const Value& value) final;
 
+    bool DoProcessIncomingMessages(ClientMessageQueue& queue, size_t max);
+
     wpi::DenseMap<TopicData*, bool> m_announceSent;
+
+   private:
+    std::array<ClientMessage, 16> m_msgsBuf;
   };
 
   class ClientDataLocal final : public ClientData4Base {
@@ -256,8 +268,17 @@ class ServerImpl final {
     ClientDataLocal(ServerImpl& server, int id, wpi::Logger& logger)
         : ClientData4Base{"", "", true, [](uint32_t) {}, server, id, logger} {}
 
-    void ProcessIncomingText(std::string_view data) final {}
-    void ProcessIncomingBinary(std::span<const uint8_t> data) final {}
+    bool ProcessIncomingText(std::string_view data) final { return false; }
+    bool ProcessIncomingBinary(std::span<const uint8_t> data) final {
+      return false;
+    }
+
+    bool ProcessIncomingMessages(size_t max) final {
+      if (!m_queue) {
+        return false;
+      }
+      return DoProcessIncomingMessages(*m_queue, max);
+    }
 
     void SendValue(TopicData* topic, const Value& value,
                    ValueSendMode mode) final;
@@ -268,7 +289,10 @@ class ServerImpl final {
     void SendOutgoing(uint64_t curTimeMs, bool flush) final {}
     void Flush() final {}
 
-    void HandleLocal(std::span<const ClientMessage> msgs);
+    void SetQueue(ClientMessageQueue* queue) { m_queue = queue; }
+
+   private:
+    ClientMessageQueue* m_queue = nullptr;
   };
 
   class ClientData4 final : public ClientData4Base {
@@ -280,10 +304,19 @@ class ServerImpl final {
                           server, id,       logger},
           m_wire{wire},
           m_ping{wire},
+          m_incoming{logger},
           m_outgoing{wire, local} {}
 
-    void ProcessIncomingText(std::string_view data) final;
-    void ProcessIncomingBinary(std::span<const uint8_t> data) final;
+    bool ProcessIncomingText(std::string_view data) final;
+    bool ProcessIncomingBinary(std::span<const uint8_t> data) final;
+
+    bool ProcessIncomingMessages(size_t max) final {
+      if (!DoProcessIncomingMessages(m_incoming, max)) {
+        m_wire.StartRead();
+        return false;
+      }
+      return true;
+    }
 
     void SendValue(TopicData* topic, const Value& value,
                    ValueSendMode mode) final;
@@ -302,6 +335,7 @@ class ServerImpl final {
 
    private:
     NetworkPing m_ping;
+    NetworkIncomingClientQueue m_incoming;
     NetworkOutgoingQueue<ServerMessage> m_outgoing;
   };
 
@@ -315,10 +349,13 @@ class ServerImpl final {
         : ClientData{"", connInfo, local, setPeriodic, server, id, logger},
           m_connected{std::move(connected)},
           m_wire{wire},
-          m_decoder{*this} {}
+          m_decoder{*this},
+          m_incoming{logger} {}
 
-    void ProcessIncomingText(std::string_view data) final {}
-    void ProcessIncomingBinary(std::span<const uint8_t> data) final;
+    bool ProcessIncomingText(std::string_view data) final { return false; }
+    bool ProcessIncomingBinary(std::span<const uint8_t> data) final;
+
+    bool ProcessIncomingMessages(size_t max) final { return false; }
 
     void SendValue(TopicData* topic, const Value& value,
                    ValueSendMode mode) final;
@@ -358,6 +395,7 @@ class ServerImpl final {
     State m_state{kStateInitial};
     net3::WireDecoder3 m_decoder;
 
+    NetworkIncomingClientQueue m_incoming;
     std::vector<net3::Message3> m_outgoing;
     wpi::DenseMap<NT_Topic, size_t> m_outgoingValueMap;
     int64_t m_nextPubUid{1};
diff --git a/ntcore/src/test/native/cpp/net/MockClientMessageQueue.h b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.h
new file mode 100644
index 0000000000..99ac6cbce6
--- /dev/null
+++ b/ntcore/src/test/native/cpp/net/MockClientMessageQueue.h
@@ -0,0 +1,33 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <algorithm>
+#include <utility>
+#include <vector>
+
+#include "net/ClientMessageQueue.h"
+#include "net/Message.h"
+
+namespace nt::net {
+
+class MockClientMessageQueue : public net::ClientMessageQueue {
+ public:
+  std::span<ClientMessage> ReadQueue(std::span<ClientMessage> out) override {
+    size_t size = out.size();
+    if (size > msgs.size()) {
+      size = msgs.size();
+    }
+    std::move(msgs.begin(), msgs.begin() + size, out.begin());
+    msgs.erase(msgs.begin(), msgs.begin() + size);
+    return out.subspan(0, size);
+  }
+
+  void ClearQueue() override { msgs.clear(); }
+
+  std::vector<ClientMessage> msgs;
+};
+
+}  // namespace nt::net
diff --git a/ntcore/src/test/native/cpp/net/ServerImplTest.cpp b/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
index 064508ec6f..dce0fb4a38 100644
--- a/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
+++ b/ntcore/src/test/native/cpp/net/ServerImplTest.cpp
@@ -18,6 +18,7 @@
 #include "../TestPrinters.h"
 #include "../ValueMatcher.h"
 #include "Handle.h"
+#include "MockClientMessageQueue.h"
 #include "MockMessageHandler.h"
 #include "MockWireConnection.h"
 #include "gmock/gmock.h"
@@ -45,6 +46,7 @@ namespace nt {
 class ServerImplTest : public ::testing::Test {
  public:
   ::testing::StrictMock<net::MockServerMessageHandler> local;
+  ::testing::StrictMock<net::MockClientMessageQueue> queue;
   wpi::MockLogger logger;
   net::ServerImpl server{logger};
 };
@@ -144,7 +146,7 @@ static std::vector<uint8_t> EncodeServerBinary(const T& msgs) {
 
 TEST_F(ServerImplTest, PublishLocal) {
   // publish before client connect
-  server.SetLocal(&local);
+  server.SetLocal(&local, &queue);
   constexpr int pubuid = 1;
   constexpr int pubuid2 = 2;
   constexpr int pubuid3 = 3;
@@ -165,10 +167,9 @@ TEST_F(ServerImplTest, PublishLocal) {
   }
 
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   // client connect; it should get already-published topic as soon as it
@@ -213,20 +214,18 @@ TEST_F(ServerImplTest, PublishLocal) {
 
   // publish before send control
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::PublishMsg{pubuid2, "test2", "double", wpi::json::object(), {}}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   server.SendAllOutgoing(100, false);
 
   // publish after send control
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::PublishMsg{pubuid3, "test3", "double", wpi::json::object(), {}}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   server.SendAllOutgoing(200, false);
@@ -234,7 +233,7 @@ TEST_F(ServerImplTest, PublishLocal) {
 
 TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
   // publish before client connect
-  server.SetLocal(&local);
+  server.SetLocal(&local, &queue);
   constexpr int pubuid = 1;
   EXPECT_CALL(
       local,
@@ -242,12 +241,11 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
                      wpi::json::object(), std::optional<int>{pubuid}));
 
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::ClientValueMsg{pubuid, Value::MakeDouble(1.0, 10)}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   ::testing::StrictMock<net::MockWireConnection> wire;
@@ -306,7 +304,7 @@ TEST_F(ServerImplTest, ClientSubTopicOnlyThenValue) {
 }
 
 TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
-  server.SetLocal(&local);
+  server.SetLocal(&local, &queue);
   constexpr int pubuidLocal = 1;
   constexpr int subuid = 1;
   {
@@ -323,19 +321,17 @@ TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
   }
 
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{net::PublishMsg{
+    queue.msgs.emplace_back(net::ClientMessage{net::PublishMsg{
         pubuidLocal, "test2", "double", wpi::json::object(), {}}});
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::ClientValueMsg{pubuidLocal, Value::MakeDouble(1.0, 10)}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(
+    queue.msgs.emplace_back(
         net::ClientMessage{net::SubscribeMsg{subuid, {"test"}, {}}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   ::testing::StrictMock<net::MockWireConnection> wire;
@@ -374,7 +370,7 @@ TEST_F(ServerImplTest, ClientDisconnectUnpublish) {
 
 TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
   // publish before client connect
-  server.SetLocal(&local);
+  server.SetLocal(&local, &queue);
   constexpr int pubuid = 1;
   NT_Topic topicHandle = nt::Handle{0, 1, nt::Handle::kTopic};
   constexpr int subuid = 1;
@@ -394,14 +390,13 @@ TEST_F(ServerImplTest, ZeroTimestampNegativeTime) {
   }
 
   {
-    std::vector<net::ClientMessage> msgs;
-    msgs.emplace_back(net::ClientMessage{
+    queue.msgs.emplace_back(net::ClientMessage{
         net::PublishMsg{pubuid, "test", "double", wpi::json::object(), {}}});
-    msgs.emplace_back(
+    queue.msgs.emplace_back(
         net::ClientMessage{net::ClientValueMsg{pubuid, defaultValue}});
-    msgs.emplace_back(
+    queue.msgs.emplace_back(
         net::ClientMessage{net::SubscribeMsg{subuid, {"test"}, {}}});
-    server.HandleLocal(msgs);
+    EXPECT_FALSE(server.ProcessLocalMessages(UINT_MAX));
   }
 
   // client connect; it should get already-published topic as soon as it