Simple init script that exposes the haproxy command socket over TCP using socat.
Install socat: sudo apt-get install socat
Copy the contents of etc/ in to the respective locations on your filesystem.
Launch with: sudo /etc/init.d/haproxy-remote start
Set to run on boot with: sudo update-rc.d haproxy-remote defaults
Done to complement using hatop remotely over TCP: https://github.com/Wirehive/hatop