[boost::asio] UDP-server

CMyServer::CMyServer(boost::asio::io_service&  IO_Servoce,short ListenPort=6000):
m_io_Service(IO_Servoce),m_UdpSocket(IO_Servoce,udp::endpoint(udp::v4(),ListenPort)),messages_sent_(0)
{
    m_UdpSocket.set_option(boost::asio::ip::udp::socket::reuse_address(true));
    m_ListenEndpoint=udp::endpoint(udp::v4(),ListenPort);
    m_UdpSocket.async_receive_from(
        boost::asio::buffer(data_, max_length), m_Sender_Endpoint,
        boost::bind(&CMyServer::handle_receive_from, this,
        boost::asio::placeholders::error,
        boost::asio::placeholders::bytes_transferred));
}
 
void CMyServer::handle_receive_from(const boost::system::error_code& error,size_t bytes_recvd)
{
    if (error) {
        std::cout << "receive error!" << std::endl;
        return;
    }
    std::string  message(data_, bytes_recvd);
    std::cout << "receive Msg:"<< message<< std::endl;
    if (message=="stop")FlagThread=false;
    m_UdpSocket.async_receive_from(
        boost::asio::buffer(data_, max_length), m_Sender_Endpoint,
        boost::bind(&CMyServer::handle_receive_from, this,
        boost::asio::placeholders::error,
        boost::asio::placeholders::bytes_transferred));
    boost::lock_guard<boost::recursive_mutex>    lock(mutex_);
    messages_.push_back(message);
}
 
void CMyServer::handle_send_to(const boost::system::error_code& error,size_t )
{
    if (error) {
        std::cout << "send error!" << std::endl;
    }
    ++messages_sent_;
    m_UdpSocket.async_receive_from(
        boost::asio::buffer(data_, max_length), m_Sender_Endpoint,
        boost::bind(&CMyServer::handle_receive_from, this,
        boost::asio::placeholders::error,
        boost::asio::placeholders::bytes_transferred));
}
 
void CMyServer::send(udp::endpoint other_end, const std::string &message)
{
    m_UdpSocket.async_send_to(
        boost::asio::buffer(message.c_str(), message.size()),
        other_end,
        boost::bind(&CMyServer::handle_send_to, this,
        boost::asio::placeholders::error,
        boost::asio::placeholders::bytes_transferred));
}
 
void CMyServer::Service_threadRun(void)
{
    while(FlagThread)
    {
        io_Service.run();
        io_Service.reset();
    }
}
 
int main(int argc, char* argv[])
{
    setlocale(LC_ALL, ".1251");
    try
    {
        //udp::socket m_UdpSocket(io_service, udp::endpoint(udp::v4(), 6000));
        
 
        CMyServer ServerA(io_Service,6000);
        FlagThread=true;
        boost::thread  ServerThread;//(CMyServer::Service_threadRun());
        udp::resolver resolver(io_Service);
        udp::resolver::query query(udp::v4(), "192.168.20.14", "6000");
        udp::endpoint endp_a = *resolver.resolve(query);
        io_Service.run();
 
        std::stringstream   sstr;
        boost::this_thread::yield();
        while(FlagThread){}
        io_Service.stop();
        ServerThread.join();
    }
 
    catch (std::runtime_error &exc)
    {
        std::cout << "runtime_error: " << exc.what() << std::endl;
        FlagThread=false;
    }
    catch (...)
    {
        std::cout << "Oops!" << std::endl;  
        FlagThread=false;
    }
        system("pause");
    return 0;
}