diff --git a/Source/Components/DataSources/UDPStreamer/UDPStreamer.cpp b/Source/Components/DataSources/UDPStreamer/UDPStreamer.cpp
index 06e5340..e724e18 100644
--- a/Source/Components/DataSources/UDPStreamer/UDPStreamer.cpp
+++ b/Source/Components/DataSources/UDPStreamer/UDPStreamer.cpp
@@ -57,8 +57,11 @@ static const uint32 UDPS_DEFAULT_MAX_PAYLOAD = 1400u;
 /** Minimum MaxPayloadSize: header + at least 1 byte of payload. */
 static const uint32 UDPS_MIN_PAYLOAD = static_cast<uint32>(sizeof(UDPSPacketHeader)) + 1u;
 
-/** Server socket receive timeout in milliseconds. */
-static const uint32 UDPS_RECV_TIMEOUT_MS = 5u;
+/** Server socket receive timeout in milliseconds.
+ *  Set to 0 for a pure non-blocking poll so the send loop can keep pace with
+ *  the RT thread regardless of its frequency.  Client commands (CONNECT /
+ *  DISCONNECT) are still caught on the very next loop iteration. */
+static const uint32 UDPS_RECV_TIMEOUT_MS = 0u;
 
 /** EventSem wait timeout in milliseconds for the data loop. */
 static const uint32 UDPS_DATA_WAIT_MS = 10u;
@@ -615,18 +618,24 @@ ErrorManagement::ErrorType UDPStreamer::Execute(ExecutionInfo &info) {
     }
 
     if (info.GetStage() == ExecutionInfo::MainStage) {
-        /* --- Poll server socket for incoming client commands ---
-         * Use select() directly so we get a silent timeout with no log spam.
-         * MARTe2's Read(buf, size, timeout) calls recvfrom() and logs an error
-         * on every timeout (EAGAIN from SO_RCVTIMEO). */
+        /* --- Wait for RT thread to post new data ---
+         * ResetWait sleeps the background thread until the RT thread calls
+         * Synchronise() and posts dataSem, or until the timeout expires.
+         * Doing this FIRST means the thread spends nearly all its time here
+         * instead of spinning on the non-blocking select() below.
+         * Command latency is bounded by UDPS_DATA_WAIT_MS (acceptable for
+         * CONNECT / DISCONNECT). */
+        ErrorManagement::ErrorType waitErr =
+            dataSem.ResetWait(TimeoutType(UDPS_DATA_WAIT_MS));
+        bool dataReady = (waitErr == ErrorManagement::NoError);
+
+        /* --- Poll server socket for incoming client commands (non-blocking) --- */
         uint8 cmdBuf[256u];
         Handle sockFd = serverSocket.GetReadHandle();
         fd_set rfds;
         FD_ZERO(&rfds);
         FD_SET(static_cast<int>(sockFd), &rfds);
-        struct timeval tv;
-        tv.tv_sec  = 0;
-        tv.tv_usec = static_cast<long>(UDPS_RECV_TIMEOUT_MS) * 1000L;
+        struct timeval tv = { 0, 0 };  /* non-blocking poll */
         int nReady = select(static_cast<int>(sockFd) + 1, &rfds, NULL_PTR(fd_set *), NULL_PTR(fd_set *), &tv);
         if (nReady > 0) {
             uint32 recvSize = static_cast<uint32>(sizeof(cmdBuf));
@@ -636,12 +645,6 @@ ErrorManagement::ErrorType UDPStreamer::Execute(ExecutionInfo &info) {
             }
         }
 
-        /* --- Wait for RT thread to post new data --- */
-        /* ResetWait atomically lowers the barrier then waits, preventing missed posts */
-        ErrorManagement::ErrorType waitErr =
-            dataSem.ResetWait(TimeoutType(UDPS_DATA_WAIT_MS));
-        bool dataReady = (waitErr == ErrorManagement::NoError);
-
         if (dataReady && clientConnected) {
             /* Copy readyBuffer → scratchBuffer under brief spinlock */
             uint64 ts = 0u;
diff --git a/Test/MARTeApp/run.sh b/Test/MARTeApp/run.sh
index 1e4318a..bf18da3 100755
--- a/Test/MARTeApp/run.sh
+++ b/Test/MARTeApp/run.sh
@@ -61,7 +61,7 @@ WEBUI_DIR="${REPO_ROOT}/Client/WebUI"
 WEBUI_BIN="${WEBUI_DIR}/udpstreamer-webui"
 if [ "${START_WEBUI}" -eq 1 ] && [ ! -x "${WEBUI_BIN}" ]; then
     echo "==> Building WebUI..."
-    (cd "${WEBUI_DIR}" && go build -o udpstreamer-webui ./...)
+    (cd "${WEBUI_DIR}" && rm udpstreamer-webui && go build -o udpstreamer-webui ./...)
     echo "==> WebUI build done."
 fi