For my current project I need a basic UDP Server. The first priority is to make it as fast, but as resource friendly as possible (It will be run on raspberry pi like devices).
I would like a review about the general code 'quality' and logic.
I know that I miss some error handling at the moment.

The server class:

using System;
using System.Net;
using System.Net.Sockets;
using System.Text;
using System.Threading;

namespace Nuernberger.FlyingDMX
{
    public class Server
    {
        // UDPClient.Receive needs a reference as parameter
        private IPEndPoint _endPoint;
        public IPEndPoint Endpoint 
        { 
            get { return _endPoint; }
            private set { _endPoint = value; } 
        }

        // The server loop exists after setting this to false (+25ms max timeout time) 
        public bool Listening { get; private set; }

        private UdpClient listener;
        private Thread serverThread;
        private ManualResetEvent threadBlocker = new ManualResetEvent(false);

        // How long should the server try to receive a packet?
        private const int SERVER_READ_TIMEOUT = 25;
        // How often should the server look for new packets? (In ms)
        private const int SERVER_LOOP_LIMIT = 5;

        public event EventHandler<IncomingCommandEventArgs> OnCommandIncoming;
        public event EventHandler<ServerStartStopEventArgs> OnServerStart;
        public event EventHandler<ServerStartStopEventArgs> OnServerStop;

        /// <summary>
        /// Initalizies a new instance of the FlyingDMX.Server-Class and bind's it to the given port
        /// </summary>
        /// <param name="port"> The port the server should be bound to</param>
        public Server(short port = 3636)
        {
            this.Endpoint = new IPEndPoint(IPHelper.GetBroadcastIP(), port);
            this.listener = new UdpClient(port);
            this.listener.EnableBroadcast = true;

            this.listener.Client.ReceiveTimeout = SERVER_READ_TIMEOUT;
        }

        /// <summary>
        /// Starts listening on the given port for UDP packet's
        /// </summary>
        /// <param name="blockThread"> Blocks the method until the listening loop exists</param>
        public void Start(bool blockThread = false)
        {
            this.serverThread = new Thread(() =>
            {
                this.Listening = true;

                if (this.OnServerStart != null)
                    this.OnServerStart(this, new ServerStartStopEventArgs(this.Endpoint));

                while (this.Listening)
                {
                    // listener.Available counts packet's we have to process. Wait if none are ready.
                    if(this.listener.Available > 0)
                    {
                        try
                        {
                            Byte[] data = this.listener.Receive(ref this._endPoint);
                            var receivedString = Encoding.ASCII.GetString(data);

                            if (this.OnCommandIncoming != null)
                                this.OnCommandIncoming(this, new IncomingCommandEventArgs(Command.TryParse(receivedString)));
                        }
                        catch(SocketException ex)
                        {
                            if (ex.ErrorCode != 10060)
                            {
                                // Handle the error. 10060 is a timeout error, which is expected.
                            }
                        }

                        Thread.Sleep(SERVER_LOOP_LIMIT);
                    }
                }
            });
            
            this.serverThread.Start();

            if (blockThread)
                threadBlocker.WaitOne();
        }

        /// <summary>
        /// Stops the server and unblocks the thread if needed.
        /// </summary>
        public void Stop()
        {
            this.Listening = false;
            this.listener.Close();

            // Let the server loop exit gracefully
            Thread.Sleep(SERVER_READ_TIMEOUT + SERVER_LOOP_LIMIT + 10);
            this.serverThread = null;

            // Release the thread block on the Start method
            this.threadBlocker.Set();

            if (this.OnServerStop != null)
                this.OnServerStop(this, new ServerStartStopEventArgs(this.Endpoint));
        }
    }
}

and in case it's relevant the TryParse method of the Command class:

public static Command TryParse(string text)
{
    return new Command((CommandType)Enum.Parse(typeof(CommandType), text.Split(':')[0]), text.Split(':')[1].Split(';'));
}

The form of the incoming command's is CommandType:Arg1;Arg2;Arg3;....

Thank you!