Try this:

#! perl -slw
use strict;
use threads;
use IO::Socket;

$|++;
use constant SERVER => '127.0.0.1';
use constant MAXIN  => 65536;
my $noBlock = 1;

my @svrs = map{
    IO::Socket::INET->new(
        Proto => 'udp', PeerHost => SERVER, PeerPort => $_
    ) or die $!;
} 8003, 8008, 8019, 8020;

for my $svr ( @svrs ) {
    async {
        open my $lsn, '<&', fileno( $svr ) or die "$!,/ $^E";
        ioctl( $lsn, 0x8004667e, \$noBlock );

        while( 1 ) {
            select'','','',0.1;
            recv( $lsn, my $in, MAXIN, 0 );
            next unless length $in;
            next if length( $in ) == 1 and ord( $in ) == 25;
            print "<$in";
        }
    }->detach;
}

while( sleep 5 ) {
    $_->send( chr( 1 ) ) for @svrs;
}
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