How to create TCP socket on Robot to communicate with PC?

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I'm a new user of ROS. I'm trying to sending commend from a PC to a robot. The reason is that only my PC has a CUDA capable video card. My neural network program will run on the PC's GPU and send its output as the commend to the robot. My desktop is using Win7.

I know generally that I need to use TCP socket to let them communicate. But I don't know how to do that in detail. Can someone help me? Thank you.