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:
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.