Qt应用处理高频UDP数据时出现无响应问题求助

我开发了一款处理高频数据的Qt应用，当前每30ms接收约2kb的UDP数据，但应用会出现无响应的情况。

注意：仅在UDP连接时出现该问题；若通过定时器循环更新相同数据（不使用UDP连接），应用运行完全正常。

UDP处理相关代码 #

#ifndef UDPHANDLER_H
#define UDPHANDLER_H

#include <QObject>
#include <QUdpSocket>
#include <QThread>
#include <QHostAddress>
#include <QElapsedTimer>

class UdpSocketHandler : public QObject
{
    Q_OBJECT

public:
    explicit UdpSocketHandler(QObject *parent = nullptr);
    ~UdpSocketHandler();
    void bindSocket(const QHostAddress &address, quint16 port);

public slots:
    void onReadyRead();  // Slot to handle the datagrams

private:
    QUdpSocket *udpSocket;
    QThread *workerThread;  // Thread for the UDP handling
    QElapsedTimer Elapsed_time;
    QHostAddress address;
    quint16 port;
};

#endif // UDPHANDLER_H

#include "udphandler.h"
#include "custom/data/DataFile.h"
#include <QDebug>
#include <QtConcurrent/QtConcurrent>
#include <QTimer>

UdpSocketHandler::UdpSocketHandler(QObject *parent)
    : QObject(parent), udpSocket(nullptr), workerThread(new QThread(this))
{
}

void UdpSocketHandler::setupThread()
{
    this->moveToThread(workerThread);

    connect(workerThread, &QThread::started, this, &UdpSocketHandler::setupSocket);

    workerThread->start();  
}

UdpSocketHandler::~UdpSocketHandler()
{
    if (workerThread->isRunning()) {
        workerThread->quit();
        workerThread->wait();
    }

    if (udpSocket) {
        udpSocket->close();
        delete udpSocket;
        udpSocket = nullptr;
    }

    delete workerThread;
}

void UdpSocketHandler::setupSocket()
{
    udpSocket = new QUdpSocket(this);   
    udpSocket->setSocketOption(QAbstractSocket::ReceiveBufferSizeSocketOption, 64 * 1024);  
    udpSocket->setSocketOption(QAbstractSocket::LowDelayOption, 1);

    if (udpSocket->bind(address, port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint)) {
        qWarning() << Q_FUNC_INFO << "Socket bound to Addr:" << address.toString() << "PORT:" << port;

        connect(udpSocket, &QUdpSocket::readyRead, this, &UdpSocketHandler::onReadyRead);
    } else {
        qWarning() << Q_FUNC_INFO << "Failed to bind UDP socket. Addr:" << address.toString() << "PORT:" << port;
    }
}

void UdpSocketHandler::bindSocket(const QHostAddress &m_address, quint16 m_port)
{
    address = m_address;
    port = m_port;

    setupThread();
}

void UdpSocketHandler::onReadyRead()
{
    while (udpSocket->hasPendingDatagrams()) {
        QByteArray datagram;
        datagram.resize(udpSocket->pendingDatagramSize());

        udpSocket->readDatagram(datagram.data(), datagram.size());

        QtConcurrent::run([datagram]() {
            aerx::readDataFromStruct(datagram); 
        });
        datagram.clear();  
    }
}

//In main.cpp
UdpSocketHandler* udpHandler = new UdpSocketHandler();
udpHandler->bindSocket(QHostAddress(offsetSenderIP), offsetSenderPORT);

测试代码（无UDP连接时正常运行） #

connect(timerForTest, &QTimer::timeout, this, [this](){
    aerx::setMapVal(KEY_PitchVal, pitch);
    aerx::setMapVal(KEY_YawVal,   yaw);
    aerx::setMapVal(KEY_RollVal,  roll);

    pitch += i_pitch;
    yaw   += i_yaw;
    roll  += i_roll;

    if(pitch >= 90 || pitch <= -90)
        i_pitch *= -1;
    if(yaw >= 180 && yaw <= -180)
        i_yaw *= -1;
    if(roll >= 50 || roll <= -50)
        i_roll *= -1;
});

//timerForTest->start(33); /* uncomment this, to test smoothness of PFD UI update without data coming from simulator */

内容的提问来源于stack exchange，提问作者Imran