listen socket

does anyone knows how to make a listen socket between the jetson tk1 and regular PC!

Network programming is standard on a Jetson, there is nothing special to it. The books by W. Richard Stevens have been the main source of information on UNIX network programming for a very long time:
https://www.amazon.com/dp/0131411551/ref=pd_lpo_sbs_dp_ss_1?pf_rd_p=1944687442&pf_rd_s=lpo-top-stripe-1&pf_rd_t=201&pf_rd_i=0132974290&pf_rd_m=ATVPDKIKX0DER&pf_rd_r=Z9J404NE1Q0GFEJXWQB4

You essentially write a program set to listen on a particular port, and another to talk to that port from the other machine. A utility you might find useful in finding out what you want is netcat. Netcat just reads and writes across a network. See “man ncat” or “man nc”. PC code will be exactly the same as Jetson code.