问Java程序在接收到大约1000个UDP DatagramPackets后冻结10秒，然后再次恢复。

EN

serverSocket.receive(receivedPacket); // receives the array of Bytes

package readers;

import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.SocketException;
import java.util.regex.Matcher;
import java.util.regex.Pattern;

public class MyProgram {
    // Network variables 
    public static DatagramSocket serverSocket;
    private static DatagramPacket receivedPacket; 

    // Received data variables
    private static byte[] aReceivedData = new byte[1024];
    private static String sReceivedData;
    private static String sAxesInformationReceived;
    private static Double[] dAxesInformationReceived = new Double[7]; 

    // ******** MAIN ***************************************
    public static void main(String[] args) throws  Exception {  
        int mFramecount =0;
        int mPort = 30004; //default value
        int mTimeout = 20*1000; //default value
        int mFramelimit = (15 * 1000); //default value

        // Create UDP server socket
        try {
            serverSocket = new DatagramSocket(mPort);
            serverSocket.setReuseAddress(true);
            serverSocket.setSoTimeout(mTimeout);
        } catch (SocketException e) 
        {   System.err.println("socket bind fail"); closeSocket();e.printStackTrace(); return; }

        // Receive the UDP packet   
        try {
            receivedPacket = new DatagramPacket(aReceivedData, aReceivedData.length);
            serverSocket.receive(receivedPacket); // receive the array of Bytes
        } catch (Exception e) { closeSocket();  return; }  
        //Clear Buffer  
        for (int i = 0; i < 7; i++) {
            if(dAxesInformationReceived[i] == null)
            {
                dAxesInformationReceived[i] = 0.0;
            }
        }


        // <<<<<<<<<<<WHILE <<<<<<<<<<<<<<<<<<<< 
        while (true) {          

            //Clear Buffer
            for(int i=0; i < aReceivedData.length; i++)
            {
                aReceivedData[i]=0;
            }


            // Decoding and Parsing received values
            try {

                receivedPacket = new DatagramPacket(aReceivedData, aReceivedData.length); 
                serverSocket.receive(receivedPacket); // receive the array of Bytes

                byte[] byteData = new byte[receivedPacket.getLength()];
                System.arraycopy(receivedPacket.getData(), receivedPacket.getOffset(), byteData, 0,  receivedPacket.getLength()); 
                sReceivedData = new String(byteData, "UTF-8");   
                Pattern pattern = Pattern.compile("@(.*?)@"); // RegEx
                Matcher matcher = pattern.matcher(sReceivedData); 
                System.out.println("Data: '" + sReceivedData + "', || length: " + byteData.length + "|| Frame count="+ mFramecount ++);

                /*
                 * mFramecount++;
                        if (mFramecount %100 == 0) {
                            System.out.println("Data: '" + sReceivedData + "', || length: " + byteData.length + "|| Frame count="+ mFramecount );
                        }
                 */

                if (matcher.find()) {
                    sAxesInformationReceived = matcher.group(1);
                    String[] sAxesValuesInStringArray = sAxesInformationReceived.split("#");
                    if (sAxesValuesInStringArray.length != 7) {
                        System.err.println("[UnityControl] invalide number of axis");
                        break;
                    }
                    for (int i = 0; i < 7; i++) {
                        dAxesInformationReceived[i] = Double.parseDouble(sAxesValuesInStringArray[i]);
                    }
                } else {
                    System.err.println("[UnityControl] invalid format");
                    break;
                }
            } catch (Exception e) {
                System.err.println("[UnityControl] socket exception");
                e.printStackTrace();
                break;
            }



            /* THIS PART IS USING THE ROBOT's API */
            // Change destination according to the received position
            JointPosition framePos = new JointPosition(
                    Math.toRadians(dAxesInformationReceived[0]),
                    Math.toRadians(dAxesInformationReceived[1]),
                    Math.toRadians(dAxesInformationReceived[2]),
                    Math.toRadians(dAxesInformationReceived[3]),
                    Math.toRadians(dAxesInformationReceived[4]),
                    Math.toRadians(dAxesInformationReceived[5]),
                    Math.toRadians(dAxesInformationReceived[6]));

            try {
                if(runtime.setDestination(framePos)<0) 
                    break; // break when error planning robot motion
            }
            catch(Exception e)
            {
                System.err.println("Runtime exeption");
                break;
            }

            if(mFramecount >= mFramelimit) break;


        }
        // LOOP BACK  
    }

    //**********************************************************************
    static void closeSocket() {
        if (serverSocket != null) {
            serverSocket.disconnect();
            serverSocket.close();
            System.out.println("[UnityControl] socket closed");

        }
    }

}